CN113296137A - Interferometric deformation monitoring method and device and receiver - Google Patents
Interferometric deformation monitoring method and device and receiver Download PDFInfo
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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
- G01S19/38—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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
- G01B15/06—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons for measuring the deformation in a solid
Abstract
The application provides an interference type deformation monitoring method, an interference type deformation monitoring device and a receiver, and relates to the technical field of remote sensing measurement and control, wherein the method comprises the following steps: the method comprises the steps of firstly obtaining a first interference signal and then obtaining a second interference signal, wherein the first interference signal and the second interference signal are both formed by a direct signal and a reflected signal corresponding to the direct signal, the reflected signal corresponding to the direct signal is a signal obtained by reflecting the direct signal by a measured surface, the direct signal is a Global Navigation Satellite System (GNSS) signal, the emission angle of the direct signal forming the first interference signal is the same as that of the direct signal forming the second interference signal, the emission time is different, and finally, the deformation quantity of the measured surface is determined according to a first carrier-to-noise ratio sequence of the first interference signal and a second carrier-to-noise ratio sequence of the second interference signal. The method and the device do not need to continuously detect interference signals, so that the reliability of the receiver can be effectively improved.
Description
Technical Field
The application belongs to the technical field of remote sensing measurement and control, and particularly relates to an interference type deformation monitoring method, device and receiver.
Background
The deformation monitoring technology based on the Global Navigation Satellite System-reflection measurement (GNSS-R) has the advantages of high measurement precision, low use cost, high operation safety and the like, and can be applied to the fields of geological measurement, landslide, building detection and the like.
The GNSS-R deformation monitoring technology belongs to a remote sensing technology, and is characterized in that a receiver receives a direct signal emitted by a satellite and a reflected signal generated by the direct signal reflected by a measured surface, and performs integral calculation processing on the direct signal and the reflected signal to obtain the deformation quantity of the measured surface. However, the signal strength of the reflected signal generated by the reflection of the measured surface is usually low, so that the receiver needs to have strong signal tracking capability to continuously receive the reflected signal with good quality. If the signal tracking capability of the receiver is insufficient, the problem that the integral calculation processing cannot be carried out due to the fact that the reflected signals are unlocked is easily caused, deformation of the measured surface cannot be monitored, and therefore reliability is not high enough.
Disclosure of Invention
In view of this, embodiments of the present application provide an interferometric deformation monitoring method, an interferometric deformation monitoring device, and a receiver, so as to improve reliability of the receiver.
In a first aspect, an embodiment of the present application provides an interferometric deformation monitoring method, including:
obtaining a first interference signal;
obtaining a second interference signal, wherein the first interference signal and the second interference signal are both formed by a direct signal and a reflected signal corresponding to the direct signal, the reflected signal corresponding to the direct signal is a signal obtained by reflecting the direct signal by a measured surface, the direct signal is a Global Navigation Satellite System (GNSS) signal, the transmitting angle of the direct signal forming the first interference signal is the same as the transmitting angle of the direct signal forming the second interference signal, and the transmitting time is different;
and determining the deformation amount of the measured surface according to the first carrier-to-noise ratio sequence of the first interference signal and the second carrier-to-noise ratio sequence of the second interference signal.
Optionally, determining the deformation amount of the measured surface according to the first carrier-to-noise ratio sequence of the first interference signal and the second carrier-to-noise ratio sequence of the second interference signal, including:
determining a first phase difference according to the first carrier-to-noise ratio sequence and the second carrier-to-noise ratio sequence, wherein the first phase difference is a phase difference between the first carrier-to-noise ratio sequence and the second carrier-to-noise ratio sequence;
determining an equivalent altitude angle of the measured surface according to a preset navigation message and preset measured surface data, wherein the equivalent altitude angle is a complementary angle of an incident angle of a direct signal on the measured surface;
and determining the deformation amount of the measured surface according to the first phase difference and the equivalent height angle of the measured surface.
Optionally, determining an equivalent altitude angle of the measured surface according to the preset navigation message and the preset measured surface data, including:
determining the satellite altitude angle and the satellite azimuth angle of the measured surface according to the navigation message and the direct signal receiving position;
and determining the equivalent altitude angle of the measured surface according to the satellite altitude angle, the satellite azimuth angle and the measured surface data of the measured surface.
Optionally, the measured surface data includes an inclination angle of the measured surface, an azimuth angle of the measured surface, and a vertical distance from the reflected signal receiving position to the measured surface.
Optionally, determining an equivalent altitude angle of the measured surface according to the satellite altitude angle, the satellite azimuth angle and the measured surface data of the measured surface, including:
determining the equivalent height angle of the measured surface by adopting the following formula:
wherein β represents an equivalent altitude angle of the measured surface, β ″ represents a projection angle of the equivalent altitude angle of the measured surface on a first reference plane, θ 'represents a projection angle of a satellite altitude angle on the first reference plane, γ represents an inclination angle of the measured surface, α represents a difference between a satellite azimuth angle and an azimuth angle of the measured surface, α' represents a projection angle of a difference between a satellite azimuth angle and an azimuth angle of the measured surface on a second reference plane, θ represents a satellite altitude angle, α ″ represents a projection angle of the satellite altitude angle on the second reference planesRepresenting satellite azimuth, αrIndicating the azimuth of the measured surface, the first referenceThe plane is respectively vertical to the measured surface and the ground, the receiving position of the reflected signal is positioned in a first reference plane, the second reference plane is respectively vertical to the measured surface and the first reference plane, and the reflecting position of the measured surface is positioned in a second reference plane.
Optionally, determining a deformation amount of the measured surface according to the first phase difference and the equivalent height angle of the measured surface, including:
determining the deformation quantity of the measured surface by adopting the following formula:
wherein d isdefThe distortion of the measured surface is represented, β represents the equivalent height angle of the measured surface, Δ Φ represents the first phase difference, and λ represents the wavelength in the direct signal.
In a second aspect, an embodiment of the present application provides a communication apparatus of a receiver, including:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a first interference signal and a second interference signal, the first interference signal and the second interference signal are both formed by a direct signal and a reflected signal corresponding to the direct signal, the reflected signal corresponding to the direct signal is a signal obtained by reflecting the direct signal by a measured surface, the direct signal is a Global Navigation Satellite System (GNSS) signal, the transmitting angle of the direct signal forming the first interference signal is the same as that of the direct signal forming the second interference signal, and the transmitting time is different;
and the determining module is used for determining the deformation amount of the measured surface according to the first carrier-to-noise ratio sequence of the first interference signal and the second carrier-to-noise ratio sequence of the second interference signal.
Optionally, the determining module is specifically configured to:
determining a first phase difference according to the first carrier-to-noise ratio sequence and the second carrier-to-noise ratio sequence, wherein the first phase difference is a phase difference between the first carrier-to-noise ratio sequence and the second carrier-to-noise ratio sequence;
determining an equivalent altitude angle of the measured surface according to a preset navigation message and preset measured surface data, wherein the equivalent altitude angle is a complementary angle of an incident angle of a direct signal on the measured surface;
and determining the deformation amount of the measured surface according to the first phase difference and the equivalent height angle of the measured surface.
Optionally, the determining module is specifically configured to:
determining the satellite altitude angle and the satellite azimuth angle of the measured surface according to the navigation message and the direct signal receiving position;
and determining the equivalent altitude angle of the measured surface according to the satellite altitude angle, the satellite azimuth angle and the measured surface data of the measured surface.
Optionally, the measured surface data includes an inclination angle of the measured surface, an azimuth angle of the measured surface, and a vertical distance from the reflected signal receiving position to the measured surface.
Optionally, the determining module is specifically configured to:
determining the equivalent height angle of the measured surface by adopting the following formula:
wherein β represents an equivalent altitude angle of the measured surface, β ″ represents a projection angle of the equivalent altitude angle of the measured surface on a first reference plane, θ 'represents a projection angle of a satellite altitude angle on the first reference plane, γ represents an inclination angle of the measured surface, α represents a difference between a satellite azimuth angle and an azimuth angle of the measured surface, α' represents a projection angle of a difference between a satellite azimuth angle and an azimuth angle of the measured surface on a second reference plane, θ represents a satellite altitude angle, α ″ represents a projection angle of the satellite altitude angle on the second reference planesRepresenting satellite azimuth, αrThe azimuth angle of the measured surface is represented, the first reference plane is respectively vertical to the measured surface and the ground, the receiving position of the reflected signal is located in the first reference plane, the second reference plane is respectively vertical to the measured surface and the first reference plane, and the reflecting position of the measured surface is located in the second reference plane.
Optionally, the determining module is specifically configured to:
determining the deformation quantity of the measured surface by adopting the following formula:
wherein d isdefThe distortion of the measured surface is represented, β represents the equivalent height angle of the measured surface, Δ Φ represents the first phase difference, and λ represents the wavelength in the direct signal.
In a third aspect, an embodiment of the present application provides a receiver, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method of the first aspect or any of the embodiments of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which includes a computer program stored thereon, and when executed by a processor, the computer program implements the method of the first aspect or any of the implementation manners of the first aspect.
The application provides an interference type deformation monitoring method, a device and a receiver, wherein a first interference signal can be obtained firstly, then a second interference signal is obtained, the first interference signal and the second interference signal are both formed by a direct signal and a reflected signal corresponding to the direct signal, the reflected signal corresponding to the direct signal is a signal obtained by reflecting the direct signal by a measured surface, the direct signal is a Global Navigation Satellite System (GNSS) signal, the emission angle of the direct signal forming the first interference signal is the same as that of the direct signal forming the second interference signal, the emission time is different, and finally the deformation quantity of the measured surface is determined according to a first carrier-to-noise ratio sequence of the first interference signal and a second carrier-to-noise ratio sequence of the second interference signal. The method and the device can determine the deformation amount of the measured surface through the relation between the carrier-to-noise ratio sequence of the interference signal and the carrier phase difference of the direct signal and the reflected signal, and can effectively improve the reliability of the receiver because the interference signal does not need to be continuously detected.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart of an interferometric deformation monitoring method provided by an embodiment of the present application;
fig. 2 is a schematic diagram of a receiver application scenario provided by an embodiment of the present application;
FIG. 3 is a two-dimensional schematic diagram of a signal reflection model provided by an embodiment of the present application;
FIG. 4 is a three-dimensional schematic diagram of a GNSS reflection geometry model provided by an embodiment of the present application;
FIG. 5 is a partial magnified view of a GNSS reflection geometry model provided by embodiments of the present application;
FIG. 6 is a flow chart for determining a measured surface shape variable provided by an embodiment of the present application;
FIG. 7 is a block diagram of an interferometric deformation monitoring device according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a receiver according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
The Global Navigation Satellite System (GNSS) is a space-based radio Navigation positioning System capable of providing users with all-weather three-dimensional coordinates, speed and time information at any place on the earth surface or in the near-earth space, and has many advantages of all-weather, continuity, real-time, high precision and the like. The GNSS System may be a Global Positioning System (GPS), a GLONASS navigation System (GLONASS), a Galileo (Galileo) System, or a beidou satellite navigation System. In the embodiment of the present application, the receiver may receive a GNSS signal of any GNSS system, which is not particularly limited in this embodiment.
The GNSS-R deformation monitoring technology belongs to a remote sensing technology, and the main working mode is that a receiver receives a direct signal transmitted by a satellite, and as the direct signal transmitted by the satellite covers a wide area, part of direct information is reflected by a measured surface to form a reflected signal, the reflected signal is influenced by the measured surface to generate certain changes, then the receiver receives the reflected signal, finally, the information of different parts of the reflected signal and the direct signal is obtained by comparing the direct signal with the reflected signal, and the information is analyzed to obtain certain information of the measured surface. However, the signal strength of the reflected signal generated by the reflection of the measured surface is usually low, so that the receiver needs to have strong signal tracking capability to continuously receive the reflected signal with good quality. If the signal tracking capability of the receiver is insufficient, the problem that the integral calculation processing cannot be performed due to the loss of the reflected signal is easily caused, and further the deformation amount of the measured surface cannot be monitored, so that the reliability is not high enough.
Therefore, the embodiment of the application provides a technical scheme which can effectively improve the reliability of the receiver without continuously detecting the direct signal and the reflected signal.
The receiver provided by the embodiment of the application can be a device with a function of receiving GNSS signals, such as a software receiver, a hardware receiver, a single-frequency receiver or a dual-frequency receiver.
The technical solution of the present application will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a schematic flow chart of an interferometric deformation monitoring method provided in an embodiment of the present application, and as shown in fig. 1, the method may include the following steps:
and S110, obtaining a first interference signal.
In the embodiment of the application, the receiver can receive a direct signal of the GNSS through the right-handed antenna, receive a reflected signal of the GNSS through the left-handed antenna, and then form an interference signal by passing the direct signal and the reflected signal through the combiner, wherein the reflected signal is a signal obtained by reflecting the direct signal by the measured surface, and the direct signal is a GNSS signal of a global navigation satellite system. The receiver may determine the interference signal obtained for the first time as the first interference signal.
In one embodiment, the receiver may receive direct signals of the GNSS via a right-handed antenna and reflected signals of the GNSS via a left-handed antenna. Fig. 2 is a schematic diagram of an application scenario of a receiver according to an embodiment of the present invention, as shown in fig. 2, two direct signals are transmitted from the same satellite, wherein one of the direct signals is incident on a measured surface of a building 1, and then is reflected by the measured surface 1 to generate a reflected signal. In the case of acquiring the direct signal and the reflected signal, the receiver may combine the direct signal and the reflected signal into an interference signal through a combiner.
It should be noted that the receiver can select a frequency component required by itself from a plurality of electromagnetic waves existing in the air, suppress or filter out an unwanted signal, noise or interference signal, and then obtain original useful information through amplification and demodulation. Therefore, in the embodiment of the present application, the receiver may analyze the acquired GNSS signal to obtain information such as carrier information, pseudorange code information, and navigation message, and the specific analysis step is not described in detail in the present application.
And S120, obtaining a second interference signal.
The receiver may obtain the second interference signal after obtaining the first interference signal when a transmission angle of a direct signal forming the first interference signal and a transmission angle of a direct signal forming the second interference signal are the same.
In the embodiment of the application, because the reflection signal is generated by reflection of the measured surface, the deformation of the measured surface can cause corresponding change of the reflection signal, and therefore the receiver can obtain the change of the deformation of the measured surface through the interference signal.
Specifically, in a monitoring model composed of the satellite, the measured surface and the receiver, since the satellite is too far away from the measured surface and the receiver, the position change of the satellite relative to the measured surface can be approximately regarded as the change of the emission angle of the direct signal relative to the measured surface. Furthermore, the satellite moves around the earth in a fixed period, so that the change of the emission angle of the direct signal is also periodically changed relative to the measured surface, and therefore, at the same time of different periods, the emission angle of the direct signal is also the same relative to the measured surface. Wherein, in different satellite systems, the motion periods of the satellites are also different: the revisit cycle of the GLONASS satellite is 8 days, the revisit cycle of the Galileo satellite is 10 days, the revisit cycle of the inclined geosynchronous orbit (IGSO) satellite of the Beidou system is 1 day, and the revisit cycle of the middle circular orbit (MEO) satellite is 7 days.
For example, if the satellite has a 24-hour revisit cycle and the receiver has acquired a first interference signal between 12 pm and half 12 pm on the first day, the receiver may acquire a second interference signal between 12 pm and half 12 pm on the third day because the transmission angle of the direct signal with respect to the surface under test between 12 pm and half 12 pm on the first day is the same as the transmission angle with respect to the surface under test between 12 pm and half 12 pm on the third day.
It should be noted that, in the embodiment of the present application, the first interference signal and the second interference signal are defined with respect to a signal acquisition timing relationship of a deformation monitoring process.
In the embodiment of the application, the carrier phase of the interference signal is not used, so that the interference signal does not need to be continuously obtained, and the receiver can stop receiving the signal after obtaining enough interference signal, thereby reducing the requirement on the signal tracking capability and the monitoring time of the receiver and effectively improving the reliability of the receiver.
And S130, determining the deformation amount of the measured surface according to the first carrier-to-noise ratio sequence of the first interference signal and the second carrier-to-noise ratio sequence of the second interference signal.
For ease of understanding, the principle of determining the measured surface shape variables in this step will be described.
First, the GNSS signals t (t) transmitted by each satellite can be expressed by the following formula:
wherein A isTRepresenting the amplitude of the transmitted signal, f representing the carrier frequency of the GNSS signal,
a carrier wave representing GNSS signals, y (t) a pseudo range code, d (t) a navigation message.
The GNSS signals transmitted by the satellites are finally acquired by the receiver through the atmosphere (here, the direct signals Rd(t)), which can be expressed by the following formula:
wherein, taudRepresenting the time of flight of the direct signal from the satellite to the receiver, f (t-tau)d) Representing the carrier frequency of the direct signal, fDd(t-τd) Indicating the doppler shift of the direct signal,
a carrier wave representing the received direct signal, AdRepresenting the amplitude of the direct signal and n (t) representing the observed noise.
The direct signal is reflected by the surface to be measured to generate a reflected signal Rr(t) can be expressed by the following formula:
wherein tau isrRepresenting the time of flight of the reflected signal from the satellite to the receiver, f (t-tau)r) Representing the carrier frequency of the reflected signal, fDr(t-τr) Indicating the doppler shift of the reflected signal,
representing the carrier phase of the reflected signal, ArRepresenting the amplitude of the reflected signal.
The direct signal and the reflected signal can generate an interference signal through the combiner, and both the direct signal and the reflected signal come from the same satellite, so that the frequencies between the direct signal and the reflected signal can be regarded as the same, and therefore, according to the sine wave superposition principle, the interference signal can still be represented in the form of a single sine wave. Interference signal Ri(t) can be expressed by the following formula:
wherein A isiRepresenting the amplitude of the interference signal, f (t-tau)i) Which is indicative of the carrier frequency of the interference signal,
denotes the carrier phase of the interference signal, and d (t) d (t- τ)d)d(t-τr)，y(t)＝y(t-τd)y(t-τr)。
Further, the amplitude A of the interference signaliCan be expressed by the following formula：
Wherein, CΔ(τd-τr) The self-correlation function is represented by a function,
representing the carrier phase difference of the direct and reflected signals.
Because of the movement of the satellite, the carrier phase difference between the direct signal and the reflected signal will change all the time, and the amplitude of the interference signal can be known from the formula (5)
Size and of
(ArCΔ(τd-τr))2And 2AdArCΔ(τd-τr) Has a relationship of, but the magnitude
The oscillation waveform is out of phase with the carrier
Is related to that in a short time
(ArCΔ(τd-τr))2And 2AdArCΔ(τd-τr) Can be regarded as a constant, so that the receiver can be based on the amplitude
Determining the phase difference of the carrier wave by the oscillation waveform
Further, the amplitude of the signal, i.e. the strength of the signal, in the receiver is typically determined by the carrier-to-noise ratio C/N0Expressed in dB-Hz, represents the ratio of the intensity level of the signal to the intensity level of the noise at a 1Hz bandwidth. Specifically, the receiver has a certain distance from the measured surface, so the pseudo-range codes of the direct signal and the reflected signal are different, so the receiver can distinguish the pseudo-range code phases of the direct signal and the reflected signal according to the autocorrelation function, the receiver can determine the peak value of the interference signal through a phase-locked loop, and calculate to obtain a carrier-to-noise ratio sequence, namely the oscillation waveform of the amplitude.
Further, based on the relationship between phase, distance and wavelength, the receiver may subtract the distance traveled by the reflected signal from the distance traveled by the direct signal to determine the distance traveled by the reflected signal more than the direct signal. Fig. 3 is a two-dimensional schematic diagram of a signal reflection model provided in an embodiment of the present application. As shown in fig. 3, point a is the position of the receiver, the direct signal is parallel to the reflected signal, DO represents the measured surface, the direct signal reaches point a after being reflected by the measured surface at point O, and point B is the mirror image point of point a, so COA is the distance that the reflected signal travels more than the direct signal (which may be referred to as propagation path difference).
The propagation path difference Δ d can be expressed by the following equation:
where λ represents the wavelength of the GNSS signal.
Further, the receiver may build a GNSS reflection geometry model. Fig. 4 is a three-dimensional schematic diagram of a GNSS reflection geometric model provided in an embodiment of the present application, and fig. 5 is a partially enlarged view of the GNSS reflection geometric model provided in the embodiment of the present application, as shown in fig. 4 and fig. 5, a certain geometric relationship exists between a satellite, a receiver, and a measured surface, and a change in a propagation path difference Δ d can also be calculated by analyzing the geometric relationship between the satellite, the receiver, and the measured surface. Wherein d represents the vertical distance from the receiver to the measured surface, βRepresenting the equivalent altitude angle of the measured surface, beta ' representing the projection angle of the equivalent altitude angle of the measured surface on a first reference plane, theta ' representing the projection angle of the satellite altitude angle on the first reference plane, gamma representing the inclination angle of the measured surface, alpha representing the difference between the satellite azimuth angle and the azimuth angle of the measured surface, alpha ' representing the projection angle of the difference between the satellite azimuth angle and the azimuth angle of the measured surface on a second reference plane, theta representing the satellite altitude angle, alphasRepresenting satellite azimuth, αrThe azimuth angle of the measured surface is represented, the first reference plane is respectively vertical to the measured surface and the ground, the receiving position of the reflected signal is located in the first reference plane, the second reference plane is respectively vertical to the measured surface and the first reference plane, and the reflecting position of the measured surface is located in the second reference plane.
Specifically, with reference to fig. 3, 4 and 5, the following formula can be obtained through geometric analysis:
wherein the satellite elevation angle theta and the satellite azimuth angle alphasCan be obtained by calculation through navigation messages in GNSS signals and the position of a receiver, the inclination angle gamma of the measured surface and the azimuth angle alpha of the measured surfacerAnd the vertical distance d may be obtained in advance by measurement.
Therefore, the propagation path difference Δ d can be determined by equation (7), and the following equation can be obtained by combining equations (6) and (7):
the equivalent altitude angle also affects the carrier phase difference between the direct and reflected signals
And for the same measured surface, when the equivalent altitude angles of the satellites are the same, the carrier phase difference of the direct signal and the reflected signal
The same applies to the carrier-to-noise ratio sequence of the interference signal.
When the measured surface is deformed, the emission angle of the direct signal is the same as that when the measured surface is not deformed, and then the formula (8) can be deformed into the following formula:
wherein the content of the first and second substances,
representing the phase difference between the direct and reflected signals after deformation of the measured surface, ddefThe deformation amount of the measured surface is shown.
Further, subtracting the formula (8) and the formula (9) and combining the formula (5) can obtain the following formula:
and delta phi is the phase difference between the carrier-to-noise ratio sequence before the deformation of the measured surface and the carrier-to-noise ratio sequence after the deformation of the measured surface. It should be noted that, when the receiver obtains two carrier-to-noise ratio sequences, the phase difference between the two carrier-to-noise ratio sequences can be directly obtained, thereby further simplifying the calculation steps.
Further, by modifying the formula (10), the following formula can be obtained:
after the theoretical analysis, the receiver can obtain the carrier-to-noise ratio sequence of the interference signal under the condition of obtaining the interference signal with the same emission angle of the two direct signals, obtain the phase difference by comparing the two carrier-to-noise ratio sequences, and finally input the phase difference, the equivalent altitude angle and the wavelength of the direct signals into a formula (11) to obtain the deformation quantity of the measured surface.
Specifically, fig. 6 is a flowchart of determining a measured surface shape variable according to an embodiment of the present application, and as shown in fig. 6, the receiver may determine the measured surface shape variable by the following steps:
s131, determining a first phase difference according to the first carrier-to-noise ratio sequence and the second carrier-to-noise ratio sequence.
The receiver can determine the peak value of the first interference signal through the phase-locked loop under the condition of acquiring the first interference signal, and calculate to obtain the first carrier-to-noise ratio sequence. Similarly, the receiver may also obtain a second carrier-to-noise ratio sequence. The receiver may then determine a first phase difference based on the first sequence of carrier-to-noise ratios and the second sequence of carrier-to-noise ratios, where the first phase difference is a phase difference between the first sequence of carrier-to-noise ratios and the second sequence of carrier-to-noise ratios.
Specifically, because the carrier-to-noise ratio sequences have large noise, the receiver can first fit sine waves to the two carrier-to-noise ratio sequences by an orthogonal fitting method, then obtain the phase spectrum of the sine waves by fourier transform, and finally obtain the phase difference, i.e., the first phase difference, by performing the difference.
And S132, determining the equivalent altitude angle of the measured surface according to the preset navigation message and the preset measured surface data.
Usually, when a satellite transmits a direct signal, the satellite carries the latest navigation message in the direct signal, but the latest navigation message is usually not corrected, so that a certain error exists between the latest navigation message and the real situation. After receiving the navigation message, the satellite related mechanism corrects the navigation message to improve the accuracy of the navigation message, so that the accuracy of the monitoring result can be improved by using the navigation message issued by the satellite related mechanism.
In the embodiment of the application, because the requirement on the continuity of the received signal is not required, the receiver can acquire more accurate navigation messages through a network or other modes after acquiring interference signals of multiple days.
Specifically, the receiver can determine the satellite altitude and the satellite azimuth of the measured surface according to the received positions of the navigation message and the direct signal. In practical applications, the direct signal receiving position is the actual position of the receiver.
Furthermore, the receiver can determine the equivalent altitude angle of the measured surface according to the satellite altitude angle, the satellite azimuth angle and the measured surface data of the measured surface. The data of the measured surface comprises the inclination angle of the measured surface, the azimuth angle of the measured surface and the vertical distance from the direct signal receiving position to the measured surface.
Specifically, the receiver may input the satellite elevation angle, the satellite azimuth angle, and the measured surface data of the measured surface into equation (7), to obtain an equivalent elevation angle of the measured surface, where the equivalent elevation angle is a complementary angle of an incident angle of the direct signal on the measured surface.
It should be noted that, when the equivalent altitude angle is specifically determined, a specific angle value of the equivalent altitude angle may be determined according to the formula (7), or a sin value of the equivalent altitude angle may be directly determined without calculating the angle value.
And S133, determining the deformation amount of the measured surface according to the first phase difference and the equivalent height angle of the measured surface.
After obtaining the first phase difference and the equivalent height angle of the measured surface, the receiver may input the data to equation (11) to obtain the deformation amount of the measured surface.
The interferometric deformation monitoring method provided by the embodiment of the application can obtain a first interference signal and then obtain a second interference signal, wherein the first interference signal and the second interference signal are both formed by a direct signal and a reflected signal corresponding to the direct signal, the reflected signal corresponding to the direct signal is a signal obtained by reflecting the direct signal by a measured surface, the direct signal is a Global Navigation Satellite System (GNSS) signal, an emission angle of the direct signal forming the first interference signal is the same as an emission angle of the direct signal forming the second interference signal, the emission times are different, and finally, a deformation amount of the measured surface is determined according to a first carrier-to-noise ratio sequence of the first interference signal and a second carrier-to-noise ratio sequence of the second interference signal. The method and the device can determine the deformation amount of the measured surface through the relation between the carrier-to-noise ratio sequence of the interference signal and the carrier phase difference of the direct signal and the reflected signal, and can effectively improve the reliability of the receiver because the interference signal does not need to be continuously detected.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 7 is a block diagram of an interferometric deformation monitoring device according to an embodiment of the present application, and as shown in fig. 7, the interferometric deformation monitoring device may include:
an obtaining module 110, configured to obtain a first interference signal and a second interference signal, where the first interference signal and the second interference signal are both formed by a direct signal and a reflected signal corresponding to the direct signal, the reflected signal corresponding to the direct signal is a signal obtained by reflecting the direct signal by a measured surface, the direct signal is a GNSS signal of a global navigation satellite system, an emission angle of the direct signal forming the first interference signal is the same as an emission angle of the direct signal forming the second interference signal, and emission times of the direct signal forming the second interference signal are different;
the determining module 110 is configured to determine the deformation amount of the measured surface according to the first carrier-to-noise ratio sequence of the first interference signal and the second carrier-to-noise ratio sequence of the second interference signal.
Optionally, the determining module 110 is specifically configured to:
determining a first phase difference according to the first carrier-to-noise ratio sequence and the second carrier-to-noise ratio sequence, wherein the first phase difference is a phase difference between the first carrier-to-noise ratio sequence and the second carrier-to-noise ratio sequence;
determining an equivalent altitude angle of the measured surface according to a preset navigation message and preset measured surface data, wherein the equivalent altitude angle is a complementary angle of an incident angle of a direct signal on the measured surface;
and determining the deformation amount of the measured surface according to the first phase difference and the equivalent height angle of the measured surface.
Optionally, the determining module 110 is specifically configured to:
determining the satellite altitude angle and the satellite azimuth angle of the measured surface according to the navigation message and the direct signal receiving position;
and determining the equivalent altitude angle of the measured surface according to the satellite altitude angle, the satellite azimuth angle and the measured surface data of the measured surface.
Optionally, the measured surface data includes an inclination angle of the measured surface, an azimuth angle of the measured surface, and a vertical distance from the reflected signal receiving position to the measured surface.
Optionally, the determining module 110 is specifically configured to:
determining the equivalent height angle of the measured surface by adopting the following formula:
wherein β represents an equivalent altitude angle of the measured surface, β ″ represents a projection angle of the equivalent altitude angle of the measured surface on a first reference plane, θ 'represents a projection angle of a satellite altitude angle on the first reference plane, γ represents an inclination angle of the measured surface, α represents a difference between a satellite azimuth angle and an azimuth angle of the measured surface, α' represents a projection angle of a difference between a satellite azimuth angle and an azimuth angle of the measured surface on a second reference plane, θ represents a satellite altitude angle, α ″ represents a projection angle of the satellite altitude angle on the second reference planesRepresenting satellite azimuth, αrThe azimuth angle of the measured surface is represented, the first reference plane is respectively vertical to the measured surface and the ground, the receiving position of the reflected signal is located in the first reference plane, the second reference plane is respectively vertical to the measured surface and the first reference plane, and the reflecting position of the measured surface is located in the second reference plane.
Optionally, the determining module 110 is specifically configured to;
determining the deformation quantity of the measured surface by adopting the following formula:
wherein d isdefThe distortion of the measured surface is represented, β represents the equivalent height angle of the measured surface, Δ Φ represents the first phase difference, and λ represents the wavelength in the direct signal.
Fig. 8 is a schematic structural diagram of a receiver according to an embodiment of the present application, and as shown in fig. 8, the receiver according to the embodiment includes: at least one processor 20 (only one shown in fig. 8), a memory 21, and a computer program 22 stored in the memory 21 and executable on the at least one processor 20, the steps of any of the various receiver control method embodiments described above being implemented when the computer program 22 is executed by the processor 20.
The receiver may be a software receiver, a hardware receiver, a single frequency receiver, or a dual frequency receiver, etc. Those skilled in the art will appreciate that fig. 8 is merely an example of a receiver and is not intended to be limiting, and may include more or fewer components than those shown, or some components may be combined, or different components may be included, such as input and output devices, network access devices, etc.
The Processor 20 may be a Central Processing Unit (CPU), and the Processor 20 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 21 may in some embodiments be an internal storage unit of the receiver, such as a hard disk or a memory of the receiver. The memory 21 may also be an external storage device of the receiver in other embodiments, such as a plug-in hard disk provided on the receiver, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 21 may also include both an internal storage unit of the receiver and an external storage device. The memory 21 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of a computer program. The memory 21 may also be used to temporarily store data that has been output or is to be output.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. An interferometric deformation monitoring method, comprising:
obtaining a first interference signal;
obtaining a second interference signal, wherein the first interference signal and the second interference signal are both formed by a direct signal and a reflected signal corresponding to the direct signal, the reflected signal corresponding to the direct signal is a signal of the direct signal reflected by a measured surface, the direct signal is a Global Navigation Satellite System (GNSS) signal, an emission angle of the direct signal forming the first interference signal is the same as an emission angle of the direct signal forming the second interference signal, and the emission times are different;
and determining the deformation amount of the measured surface according to the first carrier-to-noise ratio sequence of the first interference signal and the second carrier-to-noise ratio sequence of the second interference signal.
2. The interferometric strain monitoring method of claim 1, wherein determining the deformation of the measured surface based on the first carrier-to-noise ratio sequence of the first interference signal and the second carrier-to-noise ratio sequence of the second interference signal comprises:
determining a first phase difference according to the first carrier-to-noise ratio sequence and the second carrier-to-noise ratio sequence, wherein the first phase difference is a phase difference between the first carrier-to-noise ratio sequence and the second carrier-to-noise ratio sequence;
determining an equivalent altitude angle of the measured surface according to a preset navigation message and preset measured surface data, wherein the equivalent altitude angle is a complementary angle of an incident angle of the direct signal on the measured surface;
and determining the deformation amount of the measured surface according to the first phase difference and the equivalent height angle of the measured surface.
3. The interferometric strain monitoring method of claim 2, wherein determining the equivalent altitude angle of the measured surface according to the preset navigation message and the preset data of the measured surface comprises:
determining the satellite altitude angle and the satellite azimuth angle of the measured surface according to the navigation message and the direct signal receiving position;
and determining the equivalent altitude angle of the measured surface according to the satellite altitude angle, the satellite azimuth angle and the measured surface data of the measured surface.
4. The interferometric strain monitoring method of claim 3, wherein the measured surface data includes an inclination angle of the measured surface, an azimuth angle of the measured surface, and a vertical distance from the reflected signal receiving position to the measured surface.
5. The interferometric deformation monitoring method of claim 4, wherein determining the equivalent altitude of the measured surface from the satellite altitude, the satellite azimuth and the measured surface data of the measured surface comprises:
determining the equivalent height angle of the measured surface by adopting the following formula:
wherein β represents an equivalent elevation angle of the measured surface, β ″ represents a projection angle of the equivalent elevation angle of the measured surface on a first reference plane, θ 'represents a projection angle of the satellite elevation angle on the first reference plane, γ represents a tilt angle of the measured surface, α represents a difference between the satellite azimuth angle and the azimuth angle of the measured surface, and α' represents a difference between the satellite azimuth angle and the azimuth angle of the measured surface on a second reference planeThe projection angle on the surface, theta, denotes the satellite altitude, alphasRepresenting the satellite azimuth angle, αrAnd the azimuth angle of the measured surface is represented, the first reference plane is respectively vertical to the measured surface and the ground, the reflection signal receiving position is positioned in the first reference plane, the second reference plane is respectively vertical to the measured surface and the first reference plane, and the reflection position of the measured surface is positioned in the second reference plane.
6. The interferometric strain monitoring method of any one of claims 2-5, wherein determining the amount of deformation of the measured surface based on the first phase difference and the equivalent elevation angle of the measured surface comprises:
determining the deformation quantity of the measured surface by adopting the following formula:
wherein d isdefRepresenting the deformation of the measured surface, β representing the equivalent elevation angle of the measured surface, Δ Φ representing the first phase difference, and λ representing the wavelength in the direct signal.
7. An interferometric deformation monitoring device, the device comprising:
the device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a first interference signal and a second interference signal, the first interference signal and the second interference signal are both formed by a direct signal and a reflected signal corresponding to the direct signal, the reflected signal corresponding to the direct signal is a signal of the direct signal reflected by a measured surface, the direct signal is a Global Navigation Satellite System (GNSS) signal, the transmitting angle of the direct signal forming the first interference signal is the same as the transmitting angle of the direct signal forming the second interference signal, and the transmitting time is different;
and the determining module is used for determining the deformation amount of the measured surface according to the first carrier-to-noise ratio sequence of the first interference signal and the second carrier-to-noise ratio sequence of the second interference signal.
8. The deformation monitoring device according to claim 7, wherein the determining module is specifically configured to:
determining a first phase difference according to the first carrier-to-noise ratio sequence and the second carrier-to-noise ratio sequence, wherein the first phase difference is a phase difference between the first carrier-to-noise ratio sequence and the second carrier-to-noise ratio sequence;
determining an equivalent altitude angle of the measured surface according to a preset navigation message and preset measured surface data, wherein the equivalent altitude angle is a complementary angle of an incident angle of the direct signal on the measured surface;
and determining the deformation amount of the measured surface according to the first phase difference and the equivalent height angle of the measured surface.
9. A receiver comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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