CN112730883B - GNSS drifting floating blanket and method for measuring river water level height and gradient - Google Patents

GNSS drifting floating blanket and method for measuring river water level height and gradient Download PDF

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CN112730883B
CN112730883B CN202011518294.9A CN202011518294A CN112730883B CN 112730883 B CN112730883 B CN 112730883B CN 202011518294 A CN202011518294 A CN 202011518294A CN 112730883 B CN112730883 B CN 112730883B
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杨磊
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First Institute of Oceanography MNR
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Abstract

The invention relates to a GNSS drifting floating blanket and a method for measuring the height and the gradient of a river water level, and belongs to the technical field of GNSS water level space measuring devices. The invention comprises the following steps: inflating the GNSS floating blanket device; the GNSS reference base station transmits the differential post-processing information provided for the GNSS floating blanket to a control station on the land through 4G communication; calculating the accurate three-dimensional coordinate of the GNSS floating blanket; acquiring the height of a ground level by utilizing longitude and latitude information resolved by the GNSS floating blanket; calculating the height of the river water phase of each point relative to the ground level; carrying out data low-pass filtering; correcting by utilizing attitude data to obtain the GNSS water level height; calculating the accumulated distance of the GNSS floating blanket from the starting point through geodetic forward calculation; resampling GNSS river water data; the slope of the river per kilometer is calculated. The invention has low cost and high efficiency, and realizes the cooperative observation and the space dynamic observation of the river water level and the river slope.

Description

GNSS drifting floating blanket and method for measuring river water level height and gradient
Technical Field
The invention relates to a GNSS drifting floating blanket and a method for measuring the height and the gradient of a river water level, and belongs to the technical field of GNSS water level space measuring devices.
Background
At present, the water level and the gradient of a river are generally observed by water level stations at different positions set up by a water conservancy department, the distance between the water level stations is large, data between the stations are blank, and the river water level change information and the gradient change information which are continuous in space cannot be measured. The satellite radar altimeter can also observe river water level and gradient information along the orbit direction, but the resolution is about 5km generally, only part of water area where the satellite orbit and the river cross can be observed, the measurement range is limited, and the space information of the water level and the gradient along the river direction cannot be realized.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the GNSS drifting floating blanket and the method for measuring the height and the gradient of the river water level.
The method for measuring the height and the gradient of the river water level comprises the following steps:
s1: the GNSS floating blanket device is inflated to have sufficient buoyancy;
s2: the GNSS reference base station provides differential post-processing information for the GNSS floating blanket, and improves errors of a GNSS ionosphere, a troposphere and a satellite clock error;
s3: the GNSS working state information is transmitted to a control station on the land through 4G communication, so that the working state of the GNSS working state information is monitored in real time;
s4: the calculation of the accurate three-dimensional coordinates of the GNSS floating blanket comprises the following small steps:
s41: retrieving the GNSS floating blanket at a downstream destination;
s42: calculating a precise GNSS three-dimensional coordinate (Lat, Lon, Hwgs84) by combining a WGS84 reference ellipsoid and a GNSS reference base station by using a PPK precise post-processing technology;
s43: the accurate three-dimensional coordinates of the GNSS floating blanket are obtained by adopting a PPK differential positioning technology:
Figure GDA0003635256610000011
in the formula:
Figure GDA0003635256610000012
starting phase ambiguity for the GNSS floating blanket;
Figure GDA0003635256610000013
the whole cycle number of the phase from the GNSS floating blanket starting epoch to the observation epoch;
Figure GDA0003635256610000014
is the fractional part of the GNSS float blanket phase observations; d rho is each residual error of the same observation epoch;
s5: benefit toLongitude and latitude resolved by GNSS floating blanket
Figure GDA0003635256610000015
Carrying out distance weighted interpolation on the EMG2008 geodetic level model by the information to obtain the geodetic level height Hg in the GNSS floating blanket space position sequence;
s6: calculating the height H of the river water level of each point relative to the ground level:
H＝Hwgs84-Hg (2)
s7: performing low-pass filtering on data to eliminate random errors of GNSS floating blanket fluctuation;
s8: performing roll, pitch and fluctuation correction on the GNSS water level by utilizing attitude data acquired by an attitude sensor to obtain GNSS water level height which is filtered and has no attitude deviation relative to the ground level surface;
s9: through geodetic calculation, according to GNSS plane longitude and latitude coordinate
Figure GDA0003635256610000021
Calculating the accumulated distance of the GNSS floating blanket from the starting point, wherein the unit km is as follows:
Figure GDA0003635256610000022
Figure GDA0003635256610000023
d＝R·α (5)
in the formula: r is the earth radius atan2 as an azimuth calculation function;
s10: resampling the GNSS river data at intervals of each kilometer according to the accumulated distance;
s11: calculating the gradient of the river per kilometer:
Slope：Slope＝Ha-Hb/Da_b (6)
in the formula: da _ b is the distance from the GNSS measurement point Da to the GNSS measurement point Db, and the unit is 1 km.
Preferably, in S1, the GNSS floating blanket is placed as follows: GNSS starting-up observation is carried out on the upstream position of river observation, the GNSS sampling interval is set to be 1s, and GNSS floating blanket equipment is placed from the upstream of the river to enable the GNSS floating blanket equipment to freely drift downstream.
Preferably, in S1, the GNSS float blanket has a built-in geodetic GNSS antenna and GNSS, the receiver receives positioning signals of the beidou satellites and the GPS satellites, and the raw observation data is stored in the GNSS float blanket memory.
Preferably, in S2, the GNSS reference base station is disposed at an intermediate terrestrial position in the river observation interval, and is used for differential GNSS solution, so as to improve the GNSS three-dimensional coordinate calculation accuracy.
Preferably, in S43, when the PPK differential positioning technique is used for calculation, the distance between the GNSS reference station and the GNSS floating blanket should be less than 50km, and if the distance is greater than 50km, the GNSS reference station along the way needs to be encrypted, and the spatial correlation between the satellite ephemeris and the error of the propagation path of the GNSS reference station and the GNSS floating blanket is within a short distance.
The GNSS drifting floating blanket for measuring the height and the gradient of the water level of a river comprises a GNSS floating blanket arranged on the water surface, wherein a GNSS measuring device is arranged in the GNSS floating blanket and comprises a GNSS antenna positioned on the upper surface of the GNSS floating blanket, an attitude sensor for acquiring attitude data, a GNSS receiver connected with the GNSS antenna and a GNSS controller; the attitude sensor collects attitude data of the GNSS floating blanket moving from the GNSS measuring point Da to the GNSS measuring point Db, the attitude data is transmitted to the GNSS controller, and the GNSS controller transmits processed GNSS working state information to a control station on the land through 4G communication.
The invention has the beneficial effects that: according to the GNSS drifting floating blanket and the method for measuring the water level height and the slope of the river, the GNSS floating blanket can be conveniently laid in the river from the upstream, the GNSS floating blanket moves towards the downstream along with the water, the water level height along the way is collected, the slope information along the river direction can be obtained through inversion, the cost is low, the efficiency is high, and the spatial resolution is greatly improved compared with that of a satellite and a hydrological station; the method can realize river water level monitoring with cm-level precision and slope monitoring with cm/km-level precision, can be used for river water resource monitoring of ground business, and can also be used for river observation field calibration of a new generation of wide swath satellite radar altimeter in the future.
Drawings
Fig. 1 is a schematic diagram of a GNSS floating blanket.
Fig. 2 is a second schematic diagram of the structure of the GNSS floating blanket.
Fig. 3 is a schematic connection diagram of the principle of the present invention.
In the figure: 1. a GNSS antenna; 2. a GNSS controller; 3. a GNSS floating blanket; 4. a water surface;
101. WGS84 reference ellipsoid; 102. ground level; 103. river water level; 104. land; 105. a GNSS measurement point Db; 106. GNSS measurement point Da; 107. a GNSS reference base station; 108. big dipper and GPS satellite.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
hydrological stations in the prior art can only realize river water level measurement at fixed positions, river gradient can only be calculated by two adjacent hydrological stations, and river gradient information between the water level stations cannot be determined. The satellite radar altimeter can observe river water level and slope information, but cannot observe high-resolution information along the river direction, and the satellite can only observe a plurality of areas where satellite orbit subsatellite points and rivers intersect. As shown in fig. 1 to 3, the method for measuring the water level height and slope of a river according to the present invention can be conveniently deployed from upstream to the river, the GNSS floating blanket 3 moves downstream along with the water, collects the water level height along the way, and can obtain the slope information along the river direction by inversion, the cost is low, the efficiency is high, and the spatial resolution is greatly improved compared with the satellite and the hydrological station, and specifically includes the following steps:
s1: the GNSS floating blanket 3 device is inflated to have sufficient buoyancy;
s2: the GNSS reference base station 107 provides differential post-processing information for the GNSS floating blanket 3, and improves GNSS ionosphere, troposphere and satellite clock error;
s3: the GNSS working state information is transmitted to the control station of the land 104 through 4G communication, so that the working state of the GNSS working state information can be monitored in real time;
s4: the calculation of the accurate three-dimensional coordinates of the GNSS floating blanket 3 includes the following small steps:
s41: retrieving the GNSS floating blanket 3 at the downstream end point;
s42: calculating a precise GNSS three-dimensional coordinate (Lat, Lon, Hwgs84) by combining a WGS84 reference ellipsoid 101 and a GNSS reference base station 107 by using a PPK precise post-processing technology;
s43: the accurate three-dimensional coordinates of the GNSS floating blanket 3 are obtained by adopting a PPK differential positioning technology:
Figure GDA0003635256610000041
in the formula:
Figure GDA0003635256610000042
starting phase ambiguity for the GNSS floating blanket 3;
Figure GDA0003635256610000043
the whole cycle number of the phase from the starting epoch to the observation epoch of the GNSS floating blanket 3;
Figure GDA0003635256610000044
is the fractional part of the GNSS float blanket 3 phase observation; d rho is each residual error of the same observation epoch;
s5: longitude and latitude resolved by GNSS floating blanket 3
Figure GDA0003635256610000045
Distance weighted interpolation is carried out on the EMG2008 geoid 102 model by the information, and the height Hg of the geoid 102 in the GNSS floating blanket 3 space position sequence is obtained;
s6: the height H of the river level 103 relative to the ground level 102 for each point is calculated:
H＝Hwgs84-Hg (2)
s7: performing low-pass filtering on the data to eliminate random errors of fluctuation of the GNSS floating blanket 3;
s8: performing roll, pitch and fluctuation correction on the GNSS water level by using attitude data acquired by an attitude sensor to obtain GNSS water level height which is filtered and has no attitude deviation relative to the ground level surface 102;
s9: through geodetic calculation, according to GNSS plane longitude and latitude coordinate
Figure GDA0003635256610000046
Calculating the accumulated distance of the GNSS floating blanket 3 from the starting point, and the unit km:
Figure GDA0003635256610000047
Figure GDA0003635256610000048
d＝R·α (5)
in the formula: r is the earth radius atan2 as an azimuth calculation function;
s10: resampling the GNSS river water level 103 data at intervals of each kilometer according to the accumulated distance;
s11: calculating the gradient of the river per kilometer:
Slope：Slope＝Ha-Hb/Da_b (6)
in the formula: da _ b is the distance from the GNSS measurement point Da106 to the GNSS measurement point Db105, and has a unit of 1 km.
Specifically, in S1, the GNSS floating blanket 3 is placed as follows: GNSS starting-up observation is carried out at the upstream position of river observation, the GNSS sampling interval is set to be 1s, and GNSS floating blanket 3 equipment is placed from the upstream of the river to enable the GNSS floating blanket to freely drift downstream.
Specifically, in S1, GNSS floating blanket 3 is embedded with geodetic GNSS antenna 1 and GNSS, the receiver receives positioning signals of beidou and GPS satellites 108, and the raw observation data is stored in the memory of GNSS floating blanket 3.
Specifically, in S2, the GNSS reference base station 107 is disposed at the middle land 104 position in the river observation interval, and is used for differential GNSS solution, so as to improve the GNSS three-dimensional coordinate calculation accuracy.
Specifically, in S43, when the PPK differential positioning technique is used for calculation, the distance between the GNSS reference station and the GNSS floating blanket 3 should be less than 50km, and if the distance is greater than 50km, the spatial correlation of the errors of the satellite ephemeris and propagation path of the GNSS reference station 107, the GNSS reference station 107 and the GNSS floating blanket 3 along the path needs to be encrypted.
The GNSS drifting floating blanket for measuring the height and the gradient of the river water level comprises a GNSS floating blanket 3 arranged on a water surface 4, wherein a GNSS measuring device is arranged in the GNSS floating blanket 3, and the GNSS measuring device comprises a GNSS antenna 1 positioned on the upper surface of the GNSS floating blanket 3, an attitude sensor for acquiring attitude data, a GNSS receiver connected with the GNSS antenna 1 and a GNSS controller 2; the attitude sensor collects attitude data of the GNSS floating blanket 3 moving from the GNSS surveying point Da106 to the GNSS surveying point Db105, and transmits the attitude data to the GNSS controller 2, and the GNSS controller 2 transmits the processed GNSS working state information to the control station of the land 104 through 4G communication.
Example 2:
in this embodiment, the method for extracting water level information of river space change and observing and extracting river space gradient information emphasizes on river space change, realizes cooperative observation of river level and gradient, and realizes space dynamic observation of river level and gradient, and specifically includes the following steps:
s1: the GNSS floating blanket 3 device is inflated to have sufficient buoyancy. GNSS starting-up observation is carried out at the upstream position of river observation, the GNSS sampling interval is set to be 1s, and GNSS floating blanket 3 equipment is placed from the upstream of the river to enable the GNSS floating blanket to freely drift downstream. The built-in geodetic GNSS antenna 1 and the built-in geodetic GNSS receiver receive American GPS, Chinese Beidou and other navigation positioning signals, and original observation data are stored in a GNSS floating blanket 3 memory.
S2: in order to improve the calculation accuracy of the GNSS three-dimensional coordinate by using differential GNSS solution, a GNSS static base station is arranged at the middle land 104 position in the river observation interval. The base station provides differential post-processing information for the GNSS floating blanket 3, and improves errors of a GNSS ionosphere, a troposphere, a satellite clock error and the like.
S3: the GNSS operating state information will be transmitted to the land 104 control station via 4G communication, thereby monitoring its operating state in real time.
S4: the GNSS float blanket 3 is retrieved at the downstream end point. And (3) solving the precise GNSS three-dimensional coordinates (kat, Lon, Hwgs84) by combining the PPK precise post-processing technology with the GNSS static base station. When PPK is adopted for calculation, the distance between the reference station and the GNSS floating blanket 3 is less than 50km, if the distance is more than 50km, the spatial correlation of errors such as satellite ephemeris, propagation path and the like of the GNSS base station along the way and the GNSS floating blanket 3 in a short distance needs to be encrypted, and the PPK differential positioning technology is adopted to obtain the accurate three-dimensional coordinates of the GNSS floating blanket 3:
Figure GDA0003635256610000061
in the formula:
Figure GDA0003635256610000062
starting phase ambiguity for the GNSS buoy;
Figure GDA0003635256610000063
the phase integer number from the starting epoch to the observation epoch of the GNSS buoy;
Figure GDA0003635256610000064
the decimal part of the phase observation of the GNSS buoy; and d rho is residual errors of the same observation epoch.
S5: longitude and latitude resolved by GNSS floating blanket 3
Figure GDA0003635256610000065
And (3) carrying out distance weighted interpolation on the EMG2008 geoid 102 model by the information to obtain the height Hg of the geoid 102 in the GNSS floating blanket 3 space position sequence.
S6: further, the height H of the river water level 103 at each point with respect to the level is calculated:
H＝Hwgs84-Hg (2)
s7: and performing low-pass filtering on the data to eliminate random errors of fluctuation of the GNSS floating blanket 3.
S8: the GNSS water level is corrected for roll, pitch and heave using attitude data collected by the synchronous attitude sensor to obtain filtered and attitude deviation-free GNSS water level height (relative to the ground level 102).
S9: through geodetic calculation, according to GNSS plane longitude and latitude coordinate
Figure GDA0003635256610000066
Calculating the accumulated distance (unit km) of the GNSS buoy from the starting point:
Figure GDA0003635256610000067
Figure GDA0003635256610000068
d＝R·α (5)
in the formula: r is the earth radius atan2 as a function of the azimuthal calculation.
S10: the GNSS river water level 103 data is resampled at intervals of each kilometer according to the accumulated distance.
S11: calculating the Slope per kilometer of the river: Slope-Ha-Hb/Da _ b. Where Da _ b is the distance (1km) from the Da point to the Db point.
The invention has the beneficial effects that: according to the GNSS drifting floating blanket and the method for measuring the water level height and the slope of the river, the GNSS floating blanket 3 can be conveniently laid in the river from the upstream, the GNSS floating blanket 3 moves towards the downstream along with the water, the water level height along the way is collected, the slope information along the river direction can be obtained through inversion, the cost is low, the efficiency is high, and the spatial resolution is greatly improved compared with that of a satellite and a hydrological station; the method can realize the monitoring of the river water level 103 with the accuracy of cm level and the monitoring of the slope with the accuracy of cm/km level, can be used for monitoring river water resources of ground business, and can also be used for calibrating the river observation field of a new generation of wide swath satellite radar altimeter in the future.
The invention can be widely applied to the occasions of GNSS water level space measuring devices, and can measure the height of river water level with space change and the water level gradient of a river water level.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. A method for measuring the height and the gradient of a river water level is characterized by comprising the following steps:
s1: the GNSS floating blanket (3) device is inflated to have sufficient buoyancy;
s2: the GNSS reference base station (107) provides differential post-processing information for the GNSS floating blanket (3) and improves errors of a GNSS ionosphere, a troposphere and a satellite clock error;
s3: the GNSS working state information is transmitted to a control station on land (104) through 4G communication, so that the working state of the GNSS working state information is monitored in real time;
s4: the calculation of the accurate three-dimensional coordinates of the GNSS floating blanket (3) comprises the following small steps:
s41: retrieving the GNSS float blanket (3) at the downstream end point;
s42: calculating a precise GNSS three-dimensional coordinate (Lat, Lon, Hwgs84) by combining a WGS84 reference ellipsoid (101) and a GNSS reference base station (107) by utilizing a PPK precise post-processing technology;
s43: the accurate three-dimensional coordinates of the GNSS floating blanket (3) are obtained by adopting a PPK differential positioning technology:
Figure FDA0003635256600000011
in the formula:
Figure FDA0003635256600000012
starting phase ambiguity for the GNSS floating blanket (3);
Figure FDA0003635256600000013
the whole cycle number of the phase from the starting epoch to the observation epoch of the GNSS floating blanket (3);
Figure FDA0003635256600000014
is the fractional part of the GNSS floating blanket (3) phase observation; d rho is residual errors of the same observation epoch;
s5: longitude and latitude coordinates resolved by GNSS floating blanket (3)
Figure FDA0003635256600000015
Performing distance weighted interpolation on the EMG2008 geoid (102) model to obtain the height Hg of the geoid (102) in the GNSS floating blanket (3) space position sequence;
s6: calculating the height H of the river water level (103) relative to the ground level (102) of each point:
H＝Hwgs84-Hg (2)
s7: carrying out data low-pass filtering to eliminate random errors of fluctuation of the GNSS floating blanket (3);
s8: the GNSS water level is corrected in roll, pitch and fluctuation by utilizing attitude data acquired by an attitude sensor, and the GNSS water level height which is relative to a ground level surface (102) and has no attitude deviation is obtained;
s9: through geodetic calculation, according to the longitude and latitude coordinates of GNSS plane
Figure FDA0003635256600000016
Calculating the accumulated distance of the GNSS floating blanket (3) from the starting point, wherein the unit km is:
Figure FDA0003635256600000017
Figure FDA0003635256600000018
d＝R·α (5)
in the formula: r is the earth radius, atan2 is the azimuth calculation function;
s10: resampling GNSS river water level (103) data at intervals of each kilometer according to the accumulated distance;
s11: calculating the gradient of the river per kilometer:
Slope＝Ha-Hb/Da_b (6)
in the formula: da _ b is the distance from the GNSS measurement point Da (106) to the GNSS measurement point Db (105), and is in km.
2. The method for measuring the river water level height and slope according to claim 1, wherein in the step S1, the GNSS floating blanket (3) is placed in the following way: GNSS starting-up observation is carried out at the upstream position of river observation, the GNSS sampling interval is set to be 1s, and GNSS floating blanket (3) equipment is placed from the upstream of the river to enable the GNSS floating blanket to freely drift downstream.
3. The method for measuring the river water level height and slope according to claim 1 or 2, wherein in the step S1, the GNSS floating carpet (3) is internally provided with a geodetic GNSS antenna (1) and GNSS, the receiver receives positioning signals of big dipper and GPS satellite (108), and the raw observation data is saved in the memory of the GNSS floating carpet (3).
4. The method for measuring the height and the gradient of the water level of the river as claimed in claim 1, wherein in the step S2, a GNSS reference base station (107) is arranged at a position of middle land (104) in a river observation interval for differential GNSS solution, so as to improve the computation accuracy of GNSS three-dimensional coordinates.
5. The method for measuring river water level height and slope according to claim 1, wherein in step S43, when the PPK differential positioning technique is used for calculation, the distance between the GNSS reference station and the GNSS floating blanket (3) should be less than 50km, and if it is greater than 50km, the spatial correlation of the errors of the satellite ephemeris and propagation path along the GNSS reference station (107) and the GNSS floating blanket (3) within a short distance needs to be encrypted.
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