CN112596076B - Disaster monitoring type GNSS receiver and monitoring method thereof - Google Patents

Disaster monitoring type GNSS receiver and monitoring method thereof Download PDF

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CN112596076B
CN112596076B CN202011474102.9A CN202011474102A CN112596076B CN 112596076 B CN112596076 B CN 112596076B CN 202011474102 A CN202011474102 A CN 202011474102A CN 112596076 B CN112596076 B CN 112596076B
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monitoring
receiver
disaster
server
interval
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CN112596076A (en
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黄观文
白正伟
张勤
杜源
王铎
景策
陈孜
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Changan University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/34—Power consumption
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications

Abstract

The invention discloses a disaster monitoring type GNSS receiver and a monitoring method thereof, wherein the disaster monitoring type GNSS receiver comprises: the system comprises a microcontroller serving as a decision core unit, a positioning module for positioning at fixed time, a 4G communication module for uploading and downloading, an electronic switch for powering on and off the positioning module and the 4G communication module, a first antenna interface for improving the sending gain of a receiver, a second antenna interface for enabling the receiver to receive satellite signals, a Caster server and a Windows server. The monitoring method of the receiver comprises the following steps: s1: receiver setup and deployment; s2: the receiver monitors and transmits data back; s3: resolving and analyzing software resolves the observation data and stores the monitoring result into a database; s4: the monitoring configuration software adjusts the monitoring time interval; s5: the receiver receives a new monitoring interval. The GNSS monitoring device solves the problem that the existing GNSS monitoring device cannot continuously observe for a long time, and has the advantage of self-adjusting the observation interval to prolong the service life.

Description

Disaster monitoring type GNSS receiver and monitoring method thereof
Technical Field
The invention relates to the technical field of geological disaster monitoring, in particular to a disaster monitoring type GNSS receiver and a monitoring method thereof.
Background
The construction of the Sichuan-Tibet railway has a great promoting effect on the economic and social development of Sichuan-Tibet areas and has great significance on the safety and stability of the country, but the geological disasters such as landslide, collapse and glacier debris flow are frequent due to severe movement of geological structures along the Sichuan-Tibet railway. In order to ensure the safe construction and operation of the Sichuan-Tibet railway, geological disasters along the planned railway need to be monitored, and disaster body deformation information is acquired to send out early warning information in advance, so that the safety of the railway in the construction and operation process is guaranteed, the life safety of personnel is protected, and property loss is reduced. Due to the fact that a large amount of high-altitude extreme climate and severe geological environment exist along the Sichuan-Tibet railway, monitoring equipment cannot be deployed in many areas needing monitoring, and long-term continuous monitoring cannot be achieved due to insufficient power supply of the deployed equipment. A geological disaster monitoring device deployed remotely and a monitoring method thereof (patent application number 202011120304) solve the problem of GNSS equipment deployment in the area where monitoring equipment cannot be deployed.
However, the existing GNSS device such as a real-time landslide monitoring type beidou receiver and the working method thereof (patent application No. 2016101250234) has the following 3 main problems: first, power consumption is high and power supply is difficult. Because the equipment can only continuously work for 24 hours, the equipment has high electric energy loss every day, and most of the obtained data are redundant similar monitoring data. In traditional GNSS monitoring, a GNSS receiver with 4W power consumption is equipped with a 60Ah solar battery pack (the weight of a lead-acid battery is 18kg), and a 100W solar battery panel is added, so that observation of continuous working for 7.5 days in a non-illumination environment can be realized, and therefore, even an area where conventional monitoring equipment can be deployed faces the problems of insufficient equipment power supply and monitoring interruption under the snow cover condition of more than several months.
Secondly, the method comprises the following steps: short service life and high cost. In the GNSS disaster deformation monitoring, the equipment continuously works for 24 hours, further, the loss of a positioning module and a communication module in the equipment is accelerated, and the service life of the equipment is shortened. Therefore, equipment maintenance or replacement must be carried out on the general GNSS in disaster monitoring for 3 to 4 years, and due to uninterrupted work of the positioning chip, the transmission module and the electronic component in the monitoring later stage, the stability of the equipment is greatly reduced, and faults can frequently occur.
Thirdly, the method comprises the following steps: the GNSS monitoring device which is not suitable for the unmanned aerial vehicle to carry on remote deployment is applied to the scene of long-term continuous observation. In some long-range landslides, glacier landslide, the special disaster scene that needs that personnel such as mountain dangerous peak can't reach carry out real-time supervision, adopt the unmanned aerial vehicle of research and development to carry on the GNSS monitoring devices of long-range deployment, can solve the deployment problem of GNSS monitoring facilities, but unmanned aerial vehicle carries on weight limited, and traditional mode power supply system is overweight, can't be applied to in carrying on the GNSS monitoring devices of long-range deployment through unmanned aerial vehicle, consequently traditional GNSS monitoring facilities can not satisfy in the middle of the GNSS monitoring devices of integrated to long-range deployment, in order to realize long-term continuous observation to long-range landslide, mountain dangerous peak scene.
Therefore, a disaster monitoring GNSS receiver capable of monitoring at regular time and automatically adjusting the monitoring interval is needed. The receiver can monitor a disaster body for a long time in continuous rainy weather (more than 30 days) and continuous accumulated snow covering environment for several months, has long service life, and can be carried in a remotely deployed GNSS monitoring device for long-term monitoring. The long-term safety of construction and operation along the railway is guaranteed.
Disclosure of Invention
The technical problem solved by the invention is as follows: the traditional GNSS monitoring equipment cannot be integrated into a remotely deployed GNSS monitoring device to realize long-term continuous observation on remote landslide and high mountain dangerous peak scenes.
The technical scheme of the invention is as follows:
a disaster monitoring GNSS receiver comprising:
a microcontroller used as a control and decision core unit when the equipment operates normally, a counter is arranged in the microcontroller,
a positioning module for processing the signals collected by the satellite antenna and outputting satellite observation quantity, positioning data and time service data in a certain format,
the 4G communication module is used for uploading satellite observation data to the server and issuing a control command to the receiver, the 4G communication module is provided with two Socket channels for accessing the server or a service program,
an electronic switch for powering on and off the positioning module and the 4G communication module,
a status indication unit for indicating various operating states of the receiver,
a first antenna interface which is used for improving the sending gain and the receiving sensitivity of the 4G communication module through an external signal gain antenna and is electrically connected with the 4G communication module,
a second antenna interface for enabling the positioning module to receive signals of the Beidou, GPS, Glonass and Galileo satellite navigation systems through an external satellite signal receiving antenna and electrically connected with the positioning module,
a Caster server for receiving the receiver return data stream and bi-directionally communicating with the receiver over a Socket channel,
a Windows server for intelligent adjustment receiver monitoring interval and through Socket passageway and receiver both-way communication, Windows server installs: the monitoring system comprises resolving and analyzing software for resolving the observation data of the GNSS receiver, monitoring and configuring software for acquiring deformation point monitoring information and automatically adjusting monitoring intervals, a database for storing the GNSS deformation monitoring data acquired after the processing of the resolving and analyzing software and capable of being accessed by the monitoring and configuring software,
wherein, the positioning module, the 4G communication module, the state indicating unit and the microcontroller are electrically connected.
Further, the receiver further comprises: the signal conversion unit is used for connecting a PC (personal computer) to realize equipment configuration and data output USB interfaces, converting USB signals into USRT (Universal Serial bus) signals to match with the interface of the microcontroller and be electrically connected with the USB interfaces, so that the receiver can acquire data through the USB interfaces, and the USB interfaces can serve as temporary data transmission interfaces when the data cannot be acquired through a wireless network.
Furthermore, the signal conversion unit is electrically connected with the microcontroller, and the signal conversion unit can transmit the converted data to the microcontroller.
Further, the receiver further comprises: the power supply interface is used for connecting external power supply, the DC-DC unit is used for converting the external power supply into a proper power supply required by each module so that the modules can work normally and is electrically connected with the power supply interface, and the DC-DC unit is electrically connected with the microcontroller.
Furthermore, the case server is a Linux server installed with NTRIP case service software, the Windows server is a Windows server installed with monitoring configuration software, so that the receiver can access the case server through case authentication, and the Windows server can monitor the state of the receiver in real time and plan the observation time interval of the receiver according to the acquired data.
A monitoring method of a disaster monitoring type GNSS receiver comprises the following steps:
s1: setting a receiver mounting point name, an observation data type, starting time, a monitoring interval, duration, a Caster server IP address and port number, a Windows server IP address and port number, a Caster server authentication password and self-starting parameters, deploying the receiver on a disaster body, initializing the receiver after powering on, and configuring the receiver according to the information after the initialization is finished;
s2: the receiver compares the current time with a preset time to judge whether data acquisition is carried out at the current time, if not, the microcontroller controls the electronic switch to be closed, and the equipment enters a dormant state; if the 4G communication module and the positioning module work normally in the power-on state, the microcontroller keeps the electronic switch connected, and after the 4G communication module and the positioning module are successfully authenticated with the Caster server, observation data are transmitted into the Caster server through the Socket channel;
s3: the Windows server provided with the resolving analysis software receives observation data sent back by the receiver from the Caster server in real time, carries out high-precision positioning resolving, acquires the accumulated displacement, displacement rate and acceleration of the disaster body in the current three-dimensional direction, analyzes and acquires the deformation stage, danger level, tangent angle and vector angle of the area where the monitoring point is located, and stores the deformation stage, danger level, tangent angle and vector angle in a database;
s4: the monitoring configuration software installed on the Windows server automatically adjusts the monitoring interval according to the set adjustment monitoring interval parameters through an automatic mode, when the monitoring configuration software monitors that a receiver is on-line, the current deformation information of on-line equipment is firstly read from a database, then the preset configuration parameters of the point adjustment monitoring interval are compared, if the next set threshold value is reached, the configuration information is automatically sent, the monitoring interval of the receiver is changed, otherwise, no operation is adopted, and the software can automatically adjust the monitoring interval according to the current deformation information of the monitoring point;
s5: and the receiver identifies the information of the data transmitted by the Windows server, stores the monitoring interval configuration information in the corresponding variables and the memory after confirming the configuration command, and starts to observe next time according to the new configuration information after the current monitoring data acquisition is completed.
Preferably, in step S2, the time acquisition of the receiver is implemented by a positioning module in the receiver, the positioning module acquires satellite observation data, and outputs GGA information including valid GPS time for updating the local time of the receiver after processing, and the time update of the receiver is implemented by a time value superimposed by a timer in a microcontroller of the receiver.
Preferably, in the step S4, the monitoring configuration software further includes a manual mode, the manual mode needs to manually configure and send the configuration command each time the monitoring interval is adjusted, and when the automatic mode does not meet the real condition, the automatic mode can be adjusted and controlled through the manual mode, so that the receiver has better environment adaptability.
Preferably, in the step S4, the automatic adjustment of the monitoring setting is determined comprehensively according to a single index or multiple indexes, such as the current deformation rate, acceleration, tangent angle, risk probability, and early warning level of the disaster body, and the Windows server has more reference bases for the monitored indexes due to the multiple single elements.
Further preferably, the expression for adjusting the monitoring interval setting according to the deformation rate may be expressed as:
Figure BDA0002834572010000051
the expression for adjusting the monitoring interval setting according to the deformation acceleration may be expressed as:
Figure BDA0002834572010000052
the expression for adjusting the monitoring interval setting according to the early warning level of the disaster body can be expressed as:
Figure BDA0002834572010000053
the expression for adjusting the monitoring interval setting according to the risk occurrence probability may be expressed as:
Figure BDA0002834572010000061
wherein T' is a monitoring interval, T is an initial monitoring time interval when the disaster body is stable, and ViFor the deformation rate, V, of the monitoring point at the current momentaThe deformation rate alpha of the constant-speed deformation stage at the early stage of the development of the disaster body of the type is given according to experienceiFor the deformation acceleration at the present moment, αjThe speed experience threshold value is adopted, Pi is the probability of the disaster body occurring risk at the current moment, and the Windows server can set various monitored indexes according to various single elements, and has good error avoiding capability particularly when one item of data has an error.
The invention has the beneficial effects that:
1. the invention realizes sparse monitoring when the disaster body is in a stable and motionless state, and encrypted monitoring when the disaster body is damaged is accelerated, thereby maximally reducing the daily electric energy consumption of the equipment, prolonging the service life of the equipment, reducing the annual average cost of the equipment, maximally improving the monitoring days by 30 times on the premise of the same power supply electric quantity, prolonging the service life by 1 time, and reducing the annual average cost by half;
2. the invention provides a method for automatically adjusting the monitoring interval of a receiver according to deformation information acquired by monitoring of a GNSS receiver;
3. the GNSS receiver used in the geological disaster monitoring device capable of being deployed remotely is researched and developed, long-term monitoring of regional disaster bodies, where personnel cannot reach field deployment equipment, of the regional disaster bodies is achieved, continuous rainy weather scenes, snow cover scenes of more than several months and personnel cannot reach the field deployment equipment are achieved, and long-term monitoring of the monitoring equipment under the scenes of the unmanned aerial vehicle remote deployment GNSS monitoring device is achieved.
Drawings
FIG. 1 is a block diagram of a GNSS receiver of the present invention;
FIG. 2 is a flow chart of a GNSS receiver automatic adjustment monitoring interval method of the present invention
FIG. 3 is a signal conversion unit according to the present invention;
FIG. 4 is a circuit diagram of the electronic switch of the present invention;
FIG. 5 is a pictorial view of an apparatus of the present invention;
the system comprises a first antenna interface 1, a 2-4G communication module, a 3-state indicating unit, a 4-microcontroller, a 5-signal conversion unit, a 6-USB interface, a 7-power interface, an 8-DC-DC unit, a 9-positioning module, a 10-second antenna interface, an 11-electronic switch, a 12-Windows server, a 13-Caster server, a 14-database, 15-resolving analysis software and 16-monitoring configuration software.
Detailed Description
Example 1
As shown in fig. 1 and 5, a disaster monitoring GNSS receiver includes:
a microcontroller 4 as a control and decision core unit when the equipment operates normally, a counter is arranged in the microcontroller 4,
a positioning module 9 for processing the signals collected by the satellite antenna and outputting satellite observation quantity, single-point positioning data and time service data with a certain format,
the 4G communication module 2 is used for uploading satellite observation data to a server and issuing a control command to a receiver, the 4G communication module 2 is provided with two Socket channels for accessing the server or a service program,
as shown in fig. 4, an electronic switch 11 for switching on and off the positioning module 9 and the 4G communication module 2,
a status indication unit 3 for indicating various operating states of the receiver,
the USB interface 6 is used for connecting a PC to realize equipment configuration and data output, adopts the Micro USB standard, is the same as the interfaces of most of the prior Android system mobile phones, can be freely available for data connecting wires, can better adapt to field configuration operation,
as shown in fig. 3, a signal conversion unit 5 for converting the USB signal into the USRT signal matching the interface of the microcontroller 4 and electrically connected to the USB interface 6,
a power interface 7 for connecting external power supply, the external power supply received by the power interface 7 is a 12V 0.5A DC power supply,
a DC-DC unit 8 for converting the external power supply into the proper power supply required by each module for the normal operation of the module and electrically connected with the power interface 7,
a first antenna interface 1 for improving the sending gain and receiving sensitivity of the 4G communication module 2 through an external signal gain antenna and electrically connected with the 4G communication module 2,
a second antenna interface 10 for making the positioning module 9 receive the signals of the Beidou, GPS, Glonass and Galileo satellite navigation systems through an external satellite signal receiving antenna and electrically connected with the positioning module 9,
a case server 13 used for receiving the data stream returned by the receiver and loaded with the resolving analysis software 15 through the Socket channel in two-way communication with the receiver, wherein the case server 13 is a Linux server installed with NTRIP case service software,
a Windows server 12 for intelligently adjusting receiver monitoring intervals and bidirectionally communicating with the receiver through a Socket channel, the Windows server 12 is installed with: the monitoring system comprises a resolving and analyzing software 15 for resolving the observation data of the GNSS receiver, a monitoring and configuring software 16 for acquiring deformation point monitoring information and automatically adjusting monitoring intervals, and a database 14 for storing the GNSS deformation monitoring data acquired after the processing of the resolving and analyzing software 15 and capable of being accessed by the monitoring and configuring software 16.
The positioning module 9, the 4G communication module 2, the state indicating unit 3, the DC-DC unit 8, the signal converting unit 5, and the microcontroller 4 are electrically connected, and the 4G communication module 2, the microcontroller 4, the signal converting unit 5, the USB interface 6, the power supply interface 7, the DC-DC unit 8, the positioning module 9, the first antenna interface 1, and the second antenna interface 10 are all in the prior art.
The monitoring method of the embodiment comprises the following steps:
s1: setting the name of a mounting point of the receiver, the type of observation data, the starting time, the monitoring interval, the duration, the IP address and the port number of the Caster server 13, the IP address and the port number of the Windows server 12, the authentication password of the Caster server 13 and self-starting parameters, deploying the receiver on a disaster body, initializing the receiver after being electrified, and configuring the receiver according to the information after the initialization is finished;
s2: the receiver compares the current time with a preset time to judge whether data acquisition is carried out at the current time, if not, the microcontroller 4 controls the electronic switch 11 to be closed, and the equipment enters a dormant state; if yes, the microcontroller 4 keeps the electronic switch 11 communicated, so that the 4G communication module 2 and the positioning module 9 work normally in a power-on state, and transmits observation data to the Caster server 13 through a Socket channel after the authentication with the Caster server 13 is successful;
s3: the Windows server 12 provided with the resolving and analyzing software 15 receives observation data sent back by the receiver from the Caster server 13 in real time, carries out high-precision positioning resolving, obtains the accumulated displacement, displacement rate and acceleration of the disaster body in the current three-dimensional direction, analyzes and obtains the deformation stage, danger level, tangent angle and vector angle of the area where the monitoring point is located, and stores the deformation stage, danger level, tangent angle and vector angle into the database 14;
s4: as shown in fig. 2, the monitoring configuration software 16 installed in the Windows server 12 automatically adjusts the monitoring interval according to the set adjusted monitoring interval parameters by an automatic mode, when the monitoring configuration software 16 monitors that the receiver is online, first, the current deformation information of the online device is read from the database 14, then, the preset configuration parameters of the point adjusted monitoring interval are compared, if the threshold of the next setting is reached, the configuration information is automatically sent, the monitoring interval of the receiver is changed, otherwise, no operation is taken, the software can automatically adjust the monitoring interval according to the current deformation information of the monitoring point, the automatic adjustment of the monitoring setting is specifically determined according to the current deformation rate index of the disaster body, and the expression for adjusting the monitoring interval setting according to the deformation rate can be expressed as:
Figure BDA0002834572010000091
wherein T' is a monitoring interval, T is an initial monitoring time interval when the disaster body is stable, and ViFor the deformation rate, V, of the monitoring point at the current momentaThe deformation rate of the constant-speed deformation stage at the initial stage of the disaster body development is given according to experience;
s5: the receiver identifies the information of the data transmitted from the Windows server 12, and after confirming the data as the configuration command, the monitoring interval configuration information is stored in the corresponding variables and the memory, and the receiver starts the next observation according to the new configuration information after the current monitoring data acquisition is completed.
Thus, the observation interval set automatically by the software is T hours/time, when 0<Vi<VaThen, the receiver keeps the original observation interval; when V isa<Vi<2.75VaThe observation interval of the receiver is T/2 hours/time; when the voltage is 2.75Va<Vi<5.67VaThe observation interval of the receiver is T/4 hours/time; when 5.67Va<Vi<11.42VaThe observation interval of the receiver is T/8 hours/time; when the deformation rate exceeds 11.43VaAnd then, the GNSS receiver starts to continuously observe for 24 hours without interruption, and observes once per second to obtain a deformation monitoring result.
Example 2
The present embodiment differs from embodiment 1 in that, in the monitoring method of the present embodiment, in step S4, the automatic adjustment of the monitoring setting is specifically determined according to the deformation acceleration index of the disaster body at present, and the expression for adjusting the monitoring interval setting according to the deformation acceleration can be expressed as:
Figure BDA0002834572010000101
wherein T' is a monitoring interval, T is an initial monitoring time interval when the disaster body is stable, and alphaiFor the deformation acceleration at the present moment, αjIs an empirical threshold of speed.
For example, the observation interval set automatically by the software is T24 hours, and the receiver observes once in 24 hours when 0<αi<αjThen, the receiver keeps the original observation interval; when alpha isj<αi<2αjThe observation interval of the receiver is 12 hours/time; when 2 α isj<αi<3αjThe observation interval of the receiver is 6 hours/time; when alpha isi>3αjAnd then, the GNSS receiver starts to continuously observe for 24 hours without interruption, and observes once per second to obtain a deformation monitoring result. .
Example 3
The present embodiment is different from embodiment 1 in that, in the monitoring method of the present embodiment, in step S4, the automatic adjustment of the monitoring setting is specifically determined according to the current warning level index of the disaster body, and the expression for adjusting the monitoring interval setting according to the warning level may be expressed as:
Figure BDA0002834572010000102
wherein, T' is a monitoring interval, and T is an initial monitoring time interval when the disaster body is stable.
For example, the observation interval automatically set by the software is T24 hours, and when the current early warning situation of the disaster body is blue early warning, the receiver keeps the original observation interval; when the current early warning condition of the disaster body is yellow early warning, the observation interval of the receiver is 8 hours/time; when the current early warning condition of the disaster body is orange early warning, the observation interval of the receiver is 4 hours/time; when the current early warning condition of the disaster body is red early warning, the GNSS receiver starts uninterrupted continuous observation for 24 hours, and the observation is carried out once per second, so that a deformation monitoring result is obtained.
Example 4
The present embodiment differs from embodiment 1 in that in the step S4 in the monitoring method of the present embodiment, the automatic adjustment of the monitoring setting is specifically determined according to the risk occurrence probability index of the disaster body, and the expression for adjusting the monitoring interval setting according to the risk occurrence probability can be expressed as:
Figure BDA0002834572010000111
wherein, T' is a monitoring interval, T is an initial monitoring time interval when the disaster body is more stable, and Pi is the probability of the disaster body occurring risk at the current moment.
For example, the observation interval T automatically set by the software is 24 hours, and when 0% < Pi < 5%, the receiver maintains the original observation interval; when 5% < Pi < 20%, the receiver observation interval is 12 hours/time; when 20% < Pi < 50%, the receiver observation interval is 6 hours/time; when 50% < Pi < 100%, the GNSS receiver starts uninterrupted 24-hour continuous observation once per second, and one deformation monitoring result is obtained.
Example 5
The present embodiment is different from embodiment 1 in that, in the monitoring method of the present embodiment, in step S4, the monitoring setting uses a manual mode, and the manual mode requires a human to manually configure and send a configuration command each time the monitoring interval is adjusted. When the automatic mode can not meet the severe environment with quick change, the manual mode can greatly reduce the loss of the observation data of the receiver caused by insufficient reaction of the automatic mode.
The above embodiments include, but are not limited to, the use in landslide monitoring, ground plate motion continuity monitoring, road, railroad slope monitoring, ground settlement monitoring, bridge, and building deformation monitoring.

Claims (8)

1. A disaster monitoring GNSS receiver, comprising:
a microcontroller (4) used as a control and decision core unit when the equipment operates normally, a counter is arranged in the microcontroller (4),
a positioning module (9) for processing the signals collected by the satellite antenna and outputting satellite observation quantity, single-point positioning data and time service data with a certain format,
the 4G communication module (2) is used for uploading satellite observation data to a server and issuing a control command to a receiver, the 4G communication module (2) is provided with two Socket channels for accessing the server or a service program,
an electronic switch (11) for switching the positioning module (9) and the 4G communication module (2) on and off,
a status indication unit (3) for indicating various operating states of the receiver,
a first antenna interface (1) which is used for improving the sending gain and the receiving sensitivity of the 4G communication module (2) through an external signal gain antenna and is electrically connected with the 4G communication module (2),
a second antenna interface (10) which is used for enabling the positioning module (9) to receive the signals of the Beidou, the GPS, the Glonass and the Galileo satellite navigation system through an external satellite signal receiving antenna and is electrically connected with the positioning module (9),
a Caster server (13) for receiving the receiver return data stream and communicating bi-directionally with the receiver over said Socket channel,
a Windows server (12) that is used for intelligent adjustment receiver monitoring interval and passes through Socket passageway and receiver intercommunication, Windows server (12) are installed: a resolving and analyzing software (15) used for resolving the observation data of the GNSS receiver, a monitoring and configuring software (16) used for acquiring deformation point monitoring information and automatically adjusting monitoring intervals, a database (14) used for storing the GNSS deformation monitoring data acquired after the processing of the resolving and analyzing software (15) and being accessed by the monitoring and configuring software (16),
the monitoring and configuring software (16) automatically adjusts the monitoring interval parameters according to the set adjustment through an automatic mode, the threshold value of the automatic adjustment of the monitoring and configuring software (16) is determined by multi-source sensing monitoring equipment, the automatic adjustment of the monitoring and configuring software is specifically determined according to single indexes such as the current deformation rate, the acceleration, the tangent angle, the risk probability and the early warning level of a disaster body, and the expression for adjusting the monitoring interval settings according to the deformation rate can be expressed as:
Figure FDA0003296803280000021
the expression for adjusting the monitoring interval setting according to the deformation acceleration may be expressed as:
Figure FDA0003296803280000022
the expression for adjusting the monitoring interval setting according to the early warning level at which the disaster body is located can be expressed as:
Figure FDA0003296803280000023
the expression for adjusting the monitoring interval setting according to the risk occurrence probability may be expressed as:
Figure FDA0003296803280000024
wherein T' is a monitoring interval, T is an initial monitoring time interval when the disaster body is stable, and ViFor the deformation rate, V, of the monitoring point at the current momentaThe deformation rate alpha of the constant-speed deformation stage at the early stage of the development of the disaster body of the type is given according to experienceiFor the deformation acceleration at the present moment, αjPi is the probability of the risk of the disaster at the current moment,
the positioning module (9), the 4G communication module (2) and the state indicating unit (3) are electrically connected with the microcontroller (4).
2. The disaster monitoring GNSS receiver of claim 1 wherein the receiver further comprises: the signal conversion unit (5) is used for connecting a PC (personal computer) to realize equipment configuration and data output USB interface (6), and converting USB signals into USRT signals to match with the interface of the microcontroller (4) and electrically connected with the USB interface (6).
3. A disaster monitoring GNSS receiver according to claim 2, wherein said signal conversion unit (5) is electrically connected to said microcontroller (4).
4. The disaster monitoring GNSS receiver of claim 1 wherein the receiver further comprises: the power supply system comprises a power supply interface (7) used for connecting external power supply, and a DC-DC unit (8) used for converting the external power supply into a proper power supply required by each module so as to enable the module to work normally and electrically connected with the power supply interface (7), wherein the DC-DC unit (8) is electrically connected with the microcontroller (4).
5. A disaster monitoring GNSS receiver according to claim 1, characterized in that said Caster server (13) is a Linux server installed with NTRIP Caster service software.
6. Monitoring method of a disaster monitoring GNSS receiver according to any of the claims 1 to 5 characterized by the following steps:
s1: setting a receiver mounting point name, an observation data type, starting time, a monitoring interval, duration, an IP address and a port number of a Caster server (13), an IP address and a port number of a Windows server (12), an authentication password of the Caster server (13) and self-starting parameters, deploying the receiver on a disaster body, initializing the receiver after electrifying, and configuring according to the information after the initialization is finished;
s2: the receiver compares the current time with a preset time to judge whether data acquisition is carried out at the current time, if not, the microcontroller (4) controls the electronic switch (11) to be closed, and the equipment enters a dormant state; if yes, the microcontroller (4) keeps the electronic switch (11) communicated, so that the 4G communication module (2) and the positioning module (9) work normally in a power-on state, and after the authentication with the Caster server (13) is successful, observation data are transmitted into the Caster server (13) through a Socket channel;
s3: the Windows server provided with the resolving analysis software (15) receives observation data sent back by the receiver from the Caster server (13) in real time, carries out high-precision positioning resolving, acquires the accumulated displacement, displacement rate and acceleration of the disaster body in the current three-dimensional direction, analyzes and obtains the deformation stage, danger level, tangent angle and vector angle of the area where the monitoring point is located, and stores the deformation stage, danger level, tangent angle and vector angle into the database (14);
s4: monitoring configuration software (16) installed on a Windows server (12) automatically adjusts the monitoring interval according to set adjustment monitoring interval parameters for software in an automatic mode, when the monitoring configuration software monitors that a receiver is on line, current deformation information of on-line equipment is read from a database (14), then the preset configuration parameters of the point adjustment monitoring interval are compared, if a next set threshold value is reached, configuration information is automatically sent, the monitoring interval of the receiver is changed, otherwise, no operation is taken, and the monitoring interval setting can be automatically adjusted according to the current deformation information of the monitoring point by the software;
s5: the receiver identifies the information of the data transmitted by the Windows server (12), and after confirming the data as a configuration command, the monitoring interval configuration information is stored in a corresponding variable and a memory, and the receiver starts to observe next time according to new configuration information after the monitoring data is acquired.
7. The GNSS receiver for disaster monitoring according to claim 6, wherein in step S2, the receiver time acquisition is realized by a positioning module (9) inside the receiver, the positioning module (9) acquires satellite observation data, and outputs GGA information containing valid GPS time for updating the local time of the receiver after processing, and the receiver time update is realized by a timer overlay time value inside the receiver microcontroller (4).
8. The GNSS receiver monitoring method according to claim 6, wherein in step S4, the monitoring configuration software (16) further comprises a manual mode, and the manual mode requires manual configuration and sending configuration commands each time the monitoring interval is adjusted.
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