CN113296137B - Interference type deformation monitoring method, device and receiver - Google Patents
Interference type deformation monitoring method, device and receiver Download PDFInfo
- Publication number
- CN113296137B CN113296137B CN202010113763.2A CN202010113763A CN113296137B CN 113296137 B CN113296137 B CN 113296137B CN 202010113763 A CN202010113763 A CN 202010113763A CN 113296137 B CN113296137 B CN 113296137B
- Authority
- CN
- China
- Prior art keywords
- measured surface
- angle
- interference signal
- signals
- direct
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012544 monitoring process Methods 0.000 title claims abstract description 18
- 238000012806 monitoring device Methods 0.000 claims abstract description 4
- 238000004590 computer program Methods 0.000 claims description 11
- 230000000295 complement effect Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000010355 oscillation Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
-
- 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: firstly, a first interference signal is obtained, then a second interference signal is obtained, wherein the first interference signal and the second interference signal are formed by direct signals and reflected signals corresponding to the direct signals, the reflected signals corresponding to the direct signals are signals of the direct signals after being reflected by a measured surface, the direct signals are GNSS signals of a global navigation satellite system, the emission angle of the direct signals forming the first interference signal is the same as the emission angle of the direct signals 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 application does not need to continuously detect interference signals, thereby effectively improving the reliability of the receiver.
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 (Global Navigation Satellite System-Reflectometry) has the advantages of high measurement accuracy, 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 is used for receiving direct signals emitted by satellites and reflected signals generated by the direct signals reflected by a measured surface, and integral calculation processing is carried out on the direct signals and the reflected signals to obtain deformation of the measured surface. However, the signal strength of the reflected signal generated by the reflection of the measured surface is generally low, so that the receiver needs to have a 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 lock of the reflected signal easily occurs, and the deformation amount of the measured surface cannot be monitored, so that the reliability is not high enough.
Disclosure of Invention
In view of the above, embodiments of the present application provide an interferometric deformation monitoring method, device and receiver for improving 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;
the method comprises the steps of obtaining a second interference signal, wherein the first interference signal and the second interference signal are formed by direct signals and reflected signals corresponding to the direct signals, the reflected signals corresponding to the direct signals are signals of the direct signals reflected by a measured surface, the direct signals are GNSS signals, the emission angles of the direct signals forming the first interference signal are the same as the emission angles of the direct signals forming the second interference signal, and the emission times are different;
and determining the deformation 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 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 includes:
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;
according to a preset navigation message and preset measured surface data, determining an equivalent height angle of the measured surface, wherein the equivalent height angle is the complementary angle of the incident angle of the direct signal on the measured surface;
and determining the deformation quantity of the measured surface according to the first phase difference and the equivalent height angle of the measured surface.
Optionally, determining the equivalent height angle of the measured surface according to the preset navigation message and the preset measured surface data includes:
determining a satellite altitude angle and a satellite azimuth angle of a measured surface according to the navigation message and the direct signal receiving position;
and determining the equivalent altitude of the measured surface according to the satellite altitude, the satellite azimuth and the measured surface data.
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 the equivalent altitude of the measured surface according to the satellite altitude, the satellite azimuth and the measured surface data includes:
the equivalent height angle of the measured surface is determined by adopting the following formula:
wherein beta represents an equivalent altitude angle of the measured surface, beta ' represents a projection angle of the equivalent altitude angle of the measured surface on a first reference plane, theta ' represents a projection angle of the satellite altitude angle on the first reference plane, gamma represents an inclination angle of the measured surface, alpha represents a difference between a satellite azimuth angle and an azimuth angle of the measured surface, alpha ' represents a projection angle of a difference between the satellite azimuth angle and the azimuth angle of the measured surface on a second reference plane, theta represents the satellite altitude angle, alpha s Representing satellite azimuth angle, alpha r The azimuth angle of the measured surface is represented, the first reference plane is perpendicular to the measured surface and the ground, the reflected signal receiving position is located in the first reference plane, the second reference plane is perpendicular to the measured surface and the first reference plane, and the reflected position of the measured surface is located in the second reference plane.
Optionally, determining the deformation amount of the measured surface according to the first phase difference and the equivalent height angle of the measured surface includes:
the deformation of the measured surface is determined by adopting the following formula:
wherein d def The deformation amount of the measured surface is represented, beta represents the equivalent height angle of the measured surface, delta phi represents the first phase difference, and lambda 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 acquisition module is used for acquiring a first interference signal and a second interference signal, wherein the first interference signal and the second interference signal are formed by direct signals and reflected signals corresponding to the direct signals, the reflected signals corresponding to the direct signals are signals of the direct signals after the direct signals are reflected by a measured surface, the direct signals are GNSS signals of a global navigation satellite system, the emission angles of the direct signals forming the first interference signal are the same as the emission angles of the direct signals forming the second interference signal, and the emission times are different;
and the determining module is used for determining the deformation 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;
according to a preset navigation message and preset measured surface data, determining an equivalent height angle of the measured surface, wherein the equivalent height angle is the complementary angle of the incident angle of the direct signal on the measured surface;
and determining the deformation quantity 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 a satellite altitude angle and a satellite azimuth angle of a measured surface according to the navigation message and the direct signal receiving position;
and determining the equivalent altitude of the measured surface according to the satellite altitude, the satellite azimuth and the measured surface data.
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:
the equivalent height angle of the measured surface is determined by adopting the following formula:
wherein beta represents an equivalent altitude angle of the measured surface, beta ' represents a projection angle of the equivalent altitude angle of the measured surface on a first reference plane, theta ' represents a projection angle of the satellite altitude angle on the first reference plane, gamma represents an inclination angle of the measured surface, alpha represents a difference between a satellite azimuth angle and an azimuth angle of the measured surface, alpha ' represents a projection angle of a difference between the satellite azimuth angle and the azimuth angle of the measured surface on a second reference plane, theta represents the satellite altitude angle, alpha s Representing satellite azimuth angle, alpha r The azimuth angle of the measured surface is represented, the first reference plane is perpendicular to the measured surface and the ground, the reflected signal receiving position is located in the first reference plane, the second reference plane is perpendicular to the measured surface and the first reference plane, and the reflected position of the measured surface is located in the second reference plane.
Optionally, the determining module is specifically configured to:
the deformation of the measured surface is determined by adopting the following formula:
wherein d def The deformation amount of the measured surface is represented, beta represents the equivalent height angle of the measured surface, delta phi represents the first phase difference, and lambda 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, the processor implementing the method of the first aspect or any implementation manner of the first aspect when the processor executes the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium, including a computer readable storage medium storing a computer program, which when executed by a processor implements the method of the first aspect or any implementation manner 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 formed by direct signals and reflected signals corresponding to the direct signals, the reflected signals corresponding to the direct signals are signals after the direct signals are reflected by a measured surface, the direct signals are GNSS signals of a global navigation satellite system, the emission angle of the direct signals forming the first interference signal is the same as the emission angle of the direct signals 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 application can determine the deformation quantity 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 of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of an interferometric deformation monitoring method provided by an embodiment of the application;
fig. 2 is a schematic diagram of a receiver application scenario provided in an embodiment of the present application;
FIG. 3 is a two-dimensional schematic 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 an enlarged view of a portion of a GNSS reflection geometry model provided by an embodiment of the present application;
FIG. 6 is a flow chart of 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 application;
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 the particular system architecture, 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 should 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 the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
The global satellite navigation system (Global Navigation Satellite System, GNSS) is an air-based radio navigation positioning system capable of providing all-weather three-dimensional coordinates and speed and time information to a user at any place on the surface of the earth or in a near-earth space, and has many advantages such as all-weather, continuity, real-time performance and high precision. The GNSS system may specifically be a global satellite positioning system (Global Positioning System, GPS), a GLONASS navigation system (GLONASS), a Galileo system, or a beidou satellite navigation system. In the embodiment of the present application, the receiver may receive GNSS signals 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 mainly adopts the working mode that a receiver receives direct signals emitted by satellites, and as the direct signals emitted by satellites are wide in coverage, partial direct signals are reflected by a measured surface to form reflected signals, the reflected signals can be influenced by the measured surface to generate certain changes, then the receiver receives the reflected signals, finally, the direct signals and the reflected signals are compared to obtain information of different parts of the reflected signals and the direct signals, 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 generally low, so that the receiver needs to have a 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 liable to occur, and 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 direct signals and reflected signals.
The receiver provided by the embodiment of the application can be a software receiver, a hardware receiver, a single-frequency receiver or a double-frequency receiver and other devices with the function of receiving GNSS signals.
The technical scheme of the application is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
FIG. 1 is a schematic flow chart of an interferometric deformation monitoring method according to an embodiment of the present application, as shown in FIG. 1, the method may include the following steps:
s110, obtaining a first interference signal.
In the embodiment of the application, a receiver can receive direct signals of GNSS through a right-handed antenna, receive reflected signals of GNSS through a left-handed antenna, and then form interference signals by the direct signals and the reflected signals through a combiner, wherein the reflected signals are signals of the direct signals reflected by a measured surface, and the direct signals are GNSS signals of a global navigation satellite system. The receiver may determine the first obtained interference signal as the first interference signal.
In one embodiment, the receiver may receive direct signals of the GNSS through a right-handed antenna and reflected signals of the GNSS through a left-handed antenna. Fig. 2 is a schematic diagram of an application scenario of a receiver provided in an embodiment of the present application, as shown in fig. 2, two direct signals are sent by the same satellite, where one direct signal is emitted to a tested surface of a building 1, and then reflected by the tested 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.
The receiver can select the frequency components needed by the receiver from a plurality of electromagnetic waves existing in the air, inhibit or filter unwanted signals, noise or interference signals, and then amplify and demodulate the signals to obtain the original useful information. Therefore, in the embodiment of the present application, the receiver may parse the acquired GNSS signal to obtain information such as carrier information, pseudo-range code information, navigation message, etc., and the specific parsing steps are not repeated in the present application.
S120, obtaining a second interference signal.
The receiver may obtain the second interference signal when an emission angle of a direct signal forming the first interference signal and an emission angle of a direct signal forming the second interference signal are the same after the first interference signal is obtained.
In the embodiment of the application, the reflected signal is generated by reflection of the measured surface, so that the deformation of the measured surface can cause corresponding change of the reflected signal, and the receiver can obtain the change of the deformation of the measured surface through the interference signal.
Specifically, in the monitoring model composed of the satellite, the measured surface and the receiver, since the satellite is 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 direct signal emission angle relative to the measured surface. Further, 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 period of the satellites is also different: the revisiting period of the GLONASS satellite is 8 days, the revisiting period of the Galileo satellite is 10 days, the revisiting period of the inclined geosynchronous orbit (IGSO) satellite of the Beidou system is 1 day, and the revisiting period of the medium circular orbit (MEO) satellite is 7 days.
For example, the revisit period of the satellite is 24 hours, the receiver obtains the first interference signal between 12 am and 12 am half of the first day, and the receiver may obtain the second interference signal between 12 am and 12 am half of the third day, because the emission angle of the direct signal between 12 am and 12 am half of the first day is the same as the emission angle between 12 am and 12 am half of the third day with respect to the measured surface.
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, the receiver can stop receiving the signal after obtaining enough interference signal, thereby reducing the requirement on the signal tracking capability of the receiver and the monitoring time and effectively improving the reliability of the receiver.
S130, determining the deformation 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 variable in this step will be described first.
First, the GNSS signal T (T) emitted by each satellite can be expressed by the following formula:
wherein A is T Representing the amplitude of the transmitted signal, f represents the carrier frequency of the GNSS signal,representing the carrier wave of the GNSS signal, y (t) representing the pseudo-range code and d (t) representing the navigation message.
After the GNSS signals emitted by the satellites are finally acquired by the receiver through the atmosphere (here, direct signal R d (t)) can be expressed by the following formula:
wherein τ d Representing the time of transmission of the direct signal from the satellite to the receiver, f (t- τ) d ) Representing the carrier frequency of the direct signal, f Dd (t-τ d ) Representing the doppler shift of the direct signal,carrier wave representing received direct signal, A d The amplitude of the direct signal is represented, and n (t) represents the observed noise.
The direct signal is reflected by the measured surface to generate a reflected signal, and the reflected signal R r (t) can be expressed by the following formula:
wherein τ r Representing the time of transmission of the reflected signal from the satellite to the receiver, f (t- τ) r ) Representing the carrier frequency of the reflected signal, f Dr (t-τ r ) Indicating the doppler shift of the reflected signal,representing the carrier phase of the reflected signal, A r Representing the amplitude of the reflected signal.
The direct signal and the reflected signal can generate interference signals through the combiner, and the direct signal and the reflected signal are both from the same satellite, so that frequencies between the direct signal and the reflected signal can be regarded as the same, and the interference signals can still be represented in the form of a single sine wave according to the sine wave superposition principle. Interference signal R i (t) can be expressed by the following formula:
wherein A is i Representing the amplitude of the interference signal, f (t- τ) i ) Representing the carrier frequency of the interference signal,represents the carrier phase of the interference signal, and d (t) =d (t- τ) d )d(t-τ r )，y(t)＝y(t-τ d )y(t-τ r )。
Further, the amplitude A of the interference signal i The expression can be expressed as follows:
wherein C is Δ (τ d -τ r ) The function of the auto-correlation is represented,straight representationCarrier phase difference of the transmitted signal and the reflected signal.
Because of the motion of the satellite, the carrier phase difference of the direct signal and the reflected signal is changed all the time, and the amplitude of the interference signal is known by the formula (5)Size and->(A r C Δ (τ d -τ r )) 2 2A d A r C Δ (τ d -τ r ) Has a relation of amplitude +.>The oscillation waveform of (2) is phase-different from the carrier wave>There is a relation that because +.>(A r C Δ (τ d -τ r )) 2 2A d A r C Δ (τ d -τ r ) Can be regarded as constant, so that the receiver can be based on the amplitude +>Determining carrier phase difference of oscillation waveform of (2)>
Further, the amplitude of the signal in the receiver, i.e. the strength of the signal, is typically determined by the carrier-to-noise ratio C/N 0 The units are expressed in dB-Hz, which represents the ratio of the intensity level of the signal to the intensity level of the noise at a bandwidth of 1 Hz. In particular, the receiver has a certain distance from the measured surface, so that the pseudo-range codes of the direct signal and the reflected signal are different, and therefore the receiver can automatically calculateThe correlation function distinguishes the pseudo-range code phases of the direct signal and the reflected signal, and the receiver can determine the peak value of the interference signal through the phase-locked loop and calculate to obtain a carrier-to-noise ratio sequence, namely the oscillation waveform of the amplitude.
Further, according to the relationship of the phase, the distance and the wavelength, the receiver can subtract the distance travelled by the reflected signal from the distance travelled by the direct signal to determine the distance travelled by the reflected signal more than the direct signal. Fig. 3 is a two-dimensional schematic diagram of a signal reflection model according to 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 point of point a, so COA is the distance (which may be referred to as propagation path difference) that the reflected signal passes more than the direct signal.
The propagation path difference Δd can be expressed by the following formula:
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 by an embodiment of the present application, and fig. 5 is a partial enlarged view of the GNSS reflection geometric model provided by the embodiment of the present application, where, as shown in fig. 4 and fig. 5, a certain geometric relationship exists among a satellite, a receiver and a measured surface, and the change of the propagation path difference Δd can be calculated by analyzing the geometric relationship among the satellite, the receiver and the measured surface. Wherein d represents the vertical distance between the receiver and the measured surface, beta represents the equivalent altitude angle of the measured surface, beta "represents the projection angle of the equivalent altitude angle of the measured surface on the first reference plane, theta 'represents the projection angle of the satellite altitude angle on the first reference plane, gamma represents the inclination angle of the measured surface, alpha represents the difference between the satellite azimuth angle and the azimuth angle of the measured surface, alpha' represents the projection angle of the difference between the satellite azimuth angle and the azimuth angle of the measured surface on the second reference plane, theta represents the satellite altitude angle, alpha s Representing satellite azimuth，α r The azimuth angle of the measured surface is represented, the first reference plane is perpendicular to the measured surface and the ground, the reflected signal receiving position is located in the first reference plane, the second reference plane is perpendicular to the measured surface and the first reference plane, and the reflected position of the measured surface is located in the second reference plane.
Specifically, in conjunction with fig. 3, 4 and 5, the following formula can be obtained through geometric analysis:
wherein the satellite altitude angle theta and the satellite azimuth angle alpha s The inclination angle gamma of the measured surface and the azimuth angle alpha of the measured surface can be obtained through calculation by the navigation message in the GNSS signal and the position of the receiver r And the vertical distance d may be obtained in advance by measurement.
Therefore, the propagation path difference Δd can be determined by the formula (7), and the following formula can be obtained in combination with the formulas (6) and (7):
the equivalent altitude angle also affects the carrier phase difference of the direct signal and the reflected signalAnd for the same measured surface, when the satellite equivalent altitude angle is the same, the carrier wave phase difference of the direct signal and the reflected signal is +.>The same is true of 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 the following formula can be obtained by deforming the formula (8):
wherein,representing the carrier phase difference of the direct signal and the reflected signal after deformation of the measured surface, d def Indicating the deformation of the measured surface.
Further, the following formula can be obtained by subtracting the formula (8) from the formula (9) and combining the formula (5):
wherein 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 of the two carrier-to-noise ratio sequences can be directly obtained, so as to further simplify the calculation step.
Further, by deforming 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 that the interference signals with the same emission angles of the two direct signals are obtained, the phase difference is obtained by comparing the two carrier-to-noise ratio sequences, and finally the phase difference, the equivalent height angle and the wavelength of the direct signals are input into the 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:
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 may determine a peak value of the first interference signal through the phase-locked loop under the condition that the first interference signal is obtained, and calculate to obtain a 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 and second carrier-to-noise ratio sequences, wherein the first phase difference is a phase difference between the first and second carrier-to-noise ratio sequences.
Specifically, because the carrier-to-noise ratio sequences have larger noise, the receiver can firstly fit sine waves to the two carrier-to-noise ratio sequences by using a quadrature fitting method, then obtain the phase spectrum of the sine waves through fourier transformation, and finally obtain the phase difference, namely the first phase difference.
S132, determining an equivalent height angle of the measured surface according to a preset navigation message and preset measured surface data.
In general, when a satellite emits a direct signal, the satellite carries the latest navigation message in the direct signal, but the latest navigation message is not corrected, so that the latest navigation message has a certain error with the actual situation. After receiving the navigation message, the satellite related mechanism corrects the navigation message, so that the accuracy of the navigation message is improved, and 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, the receiver can acquire more accurate navigation messages through a network or other modes after acquiring the interference signals for a plurality of days because the requirements on the continuity of the received signals are not met.
Specifically, the receiver can determine the satellite altitude and the satellite azimuth of the measured surface according to the navigation message and the receiving position of the direct signal. In practical applications, the direct signal receiving position is the actual position of the receiver.
Further, the receiver can determine the equivalent altitude of the measured surface according to the satellite altitude, the satellite azimuth and the measured surface data. The measured surface data comprise an inclination angle of the measured surface, an azimuth angle of the measured surface and a vertical distance from a direct signal receiving position to the measured surface.
Specifically, the receiver may input the satellite altitude, the satellite azimuth and the measured surface data of the measured surface into equation (7), to obtain an equivalent altitude of the measured surface, where the equivalent altitude is the complementary angle of the incident angle of the direct signal on the measured surface.
When the equivalent height angle is specifically determined, a specific angle value of the equivalent height angle may be determined according to formula (7), or a sin value of the equivalent height angle may be directly determined without calculating the angle value.
S133, determining the deformation quantity 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 into formula (11) to obtain the deformation amount of the measured surface.
According to the interference type deformation monitoring method provided by the embodiment of the application, a first interference signal can be obtained, then a second interference signal is obtained, wherein the first interference signal and the second interference signal are formed by direct signals and reflected signals corresponding to the direct signals, the reflected signals corresponding to the direct signals are signals after the direct signals are reflected by a measured surface, the direct signals are GNSS signals of a global navigation satellite system, the emission angle of the direct signals forming the first interference signal is the same as the emission angle of the direct signals forming the second interference signal, the emission time is different, and finally the deformation amount of the measured surface is determined 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. The application can determine the deformation quantity 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 number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
FIG. 7 is a block diagram of an interferometric deformation monitoring device according to an embodiment of the present application, as shown in FIG. 7, which may include:
the acquisition module 110 is configured to acquire a first interference signal and acquire 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, 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;
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;
according to a preset navigation message and preset measured surface data, determining an equivalent height angle of the measured surface, wherein the equivalent height angle is the complementary angle of the incident angle of the direct signal on the measured surface;
and determining the deformation quantity 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 a satellite altitude angle and a satellite azimuth angle of a measured surface according to the navigation message and the direct signal receiving position;
and determining the equivalent altitude of the measured surface according to the satellite altitude, the satellite azimuth and the measured surface data.
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:
the equivalent height angle of the measured surface is determined by adopting the following formula:
wherein beta represents an equivalent altitude angle of the measured surface, beta ' represents a projection angle of the equivalent altitude angle of the measured surface on a first reference plane, theta ' represents a projection angle of the satellite altitude angle on the first reference plane, gamma represents an inclination angle of the measured surface, alpha represents a difference between a satellite azimuth angle and an azimuth angle of the measured surface, alpha ' represents a projection angle of a difference between the satellite azimuth angle and the azimuth angle of the measured surface on a second reference plane, theta represents the satellite altitude angle, alpha s Representing satellite azimuth angle, alpha r The azimuth angle of the measured surface is represented, the first reference plane is perpendicular to the measured surface and the ground, the reflected signal receiving position is located in the first reference plane, the second reference plane is perpendicular to the measured surface and the first reference plane, and the reflected position of the measured surface is located in the second reference plane.
Optionally, the determining module 110 is specifically configured to;
the deformation of the measured surface is determined by adopting the following formula:
wherein d def The deformation amount of the measured surface is represented, beta represents the equivalent height angle of the measured surface, delta phi represents the first phase difference, and lambda 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, as shown in fig. 8, where 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 processor 20 implementing the steps in any of the various receiver control method embodiments described above when executing the computer program 22.
The receiver may be a software receiver, a hardware receiver, a single frequency receiver, or a dual frequency receiver. It will be appreciated by those skilled in the art that fig. 8 is merely an example of a receiver and is not intended to be limiting of the receiver, and may include more or fewer components than shown, or may combine certain components, or may include different components, such as input-output devices, network access devices, etc.
The processor 20 may be a central processing unit (Central Processing Unit, CPU), and the processor 20 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 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 in other embodiments also be an external storage device of the receiver, such as a plug-in hard disk provided on the receiver, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or 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 to store an operating system, application programs, boot loader (BootLoader), data, and other programs and the like, such as program codes of computer programs and the like. The memory 21 may also be used to temporarily store data that has been output or is to be output.
Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps for implementing the various method embodiments described above.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is 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 solution. 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 embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (7)
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 formed by direct signals and reflected signals corresponding to the direct signals, the reflected signals corresponding to the direct signals are signals of the direct signals after being reflected by a measured surface, the direct signals are GNSS signals, the emission angles of the direct signals forming the first interference signal are the same as the emission angles of the direct signals forming the second interference signal, and the emission times are different;
determining the deformation 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;
wherein, the determining the deformation 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 includes:
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 height angle of the measured surface according to a preset navigation message and preset measured surface data, wherein the equivalent height angle is a complementary angle of an incident angle of the direct signal on the measured surface;
and determining the deformation quantity of the measured surface according to the first phase difference and the equivalent height angle of the measured surface.
2. The method of claim 1, wherein determining the equivalent elevation angle of the surface to be measured according to the preset navigation message and the preset surface to be measured data comprises:
determining a satellite altitude angle and a satellite azimuth angle of the measured surface according to the navigation message and the direct signal receiving position;
determining an equivalent height angle of the measured surface according to the satellite height angle, the satellite azimuth angle and the measured surface data of the measured surface; the measured surface data comprise an inclination angle of the measured surface, an azimuth angle of the measured surface and a vertical distance from the direct signal receiving position to the measured surface.
3. The method of claim 2, wherein determining the equivalent altitude of the surface under test based on the satellite altitude, the satellite azimuth, and the surface under test data comprises:
the equivalent height angle of the measured surface is determined by adopting the following formula:
wherein beta represents an equivalent altitude angle of the measured surface, beta ' represents a projection angle of the equivalent altitude angle of the measured surface on a first reference plane, theta ' represents a projection angle of the satellite altitude angle on the first reference plane, gamma represents an inclination angle of the measured surface, alpha represents a difference between the satellite azimuth angle and the azimuth angle of the measured surface, alpha ' represents a projection angle of the difference between the satellite azimuth angle and the azimuth angle of the measured surface on a second reference plane, theta represents the satellite altitude angle, alpha s Representing the satellite azimuth angle, alpha r The first reference plane is perpendicular to the measured surface and the ground, the reflected signal receiving position is located in the first reference plane, the second reference plane is perpendicular to the measured surface and the first reference plane, and the measured surface reflecting position is located in the second reference plane.
4. The method of any one of claims 1-3, wherein determining the deformation of the surface based on the first phase difference and the equivalent elevation angle of the surface comprises:
and determining the deformation of the measured surface by adopting the following formula:
wherein d def Representing the deformation of the measured surface, beta representing the equivalent height angle of the measured surface, delta phi representing the first phase difference, and lambda representing the wavelength in the direct signal.
5. An interferometric deformation monitoring device, the device comprising:
the acquisition module is used for acquiring a first interference signal and a second interference signal, wherein the first interference signal and the second interference signal are formed by direct signals and reflected signals corresponding to the direct signals, the reflected signals corresponding to the direct signals are signals of the direct signals after being reflected by a measured surface, the direct signals are GNSS signals, the emission angles of the direct signals forming the first interference signal are the same as the emission angles of the direct signals forming the second interference signal, and the emission times are different;
the determining module is used for determining the deformation 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;
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 height angle of the measured surface according to a preset navigation message and preset measured surface data, wherein the equivalent height angle is a complementary angle of an incident angle of the direct signal on the measured surface;
and determining the deformation quantity of the measured surface according to the first phase difference and the equivalent height angle of the measured surface.
6. A receiver comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 4 when executing the computer program.
7. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010113763.2A CN113296137B (en) | 2020-02-24 | 2020-02-24 | Interference type deformation monitoring method, device and receiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010113763.2A CN113296137B (en) | 2020-02-24 | 2020-02-24 | Interference type deformation monitoring method, device and receiver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113296137A CN113296137A (en) | 2021-08-24 |
| CN113296137B true CN113296137B (en) | 2023-11-17 |
Family
ID=77318554
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010113763.2A Active CN113296137B (en) | 2020-02-24 | 2020-02-24 | Interference type deformation monitoring method, device and receiver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113296137B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915918A (en) * | 2010-07-23 | 2010-12-15 | 大连海事大学 | Wet land microwave remote sensing and monitoring method |
| CN102221700A (en) * | 2011-03-30 | 2011-10-19 | 无锡北斗卫导科技有限公司 | Method for enhancing direct signal by utilizing reflected signal |
| CN102645269A (en) * | 2012-05-18 | 2012-08-22 | 山东省科学院海洋仪器仪表研究所 | Sound pressure monitoring device of ocean background noise |
| CN202676278U (en) * | 2012-05-18 | 2013-01-16 | 山东省科学院海洋仪器仪表研究所 | A sound pressure signal monitoring device of ocean background noise |
| CN102894965A (en) * | 2012-11-09 | 2013-01-30 | 西南大学 | Device for detecting pulse signals by light interference method |
| CN105334510A (en) * | 2015-10-19 | 2016-02-17 | 叶雷 | GNSS-R ground surface detection apparatus and method |
| CN105783949A (en) * | 2016-05-28 | 2016-07-20 | 中国航空工业集团公司北京长城计量测试技术研究所 | Common-light-path heterodyne laser interference measuring system |
| CN109412744A (en) * | 2018-12-07 | 2019-03-01 | 北京和协导航科技有限公司 | A kind of comprehensive interference system of unmanned plane |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2410551B (en) * | 2004-01-30 | 2006-06-14 | Westerngeco Ltd | Marine seismic acquisition system |
| ES2865077T3 (en) * | 2012-03-29 | 2021-10-14 | Npl Management Ltd | Measurement device, system and method |
| FR2992070B1 (en) * | 2012-06-15 | 2019-05-10 | Thales | SATELLITE SIGNAL RECEIVER FOR LOCALIZATION |
-
2020
- 2020-02-24 CN CN202010113763.2A patent/CN113296137B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915918A (en) * | 2010-07-23 | 2010-12-15 | 大连海事大学 | Wet land microwave remote sensing and monitoring method |
| CN102221700A (en) * | 2011-03-30 | 2011-10-19 | 无锡北斗卫导科技有限公司 | Method for enhancing direct signal by utilizing reflected signal |
| CN102645269A (en) * | 2012-05-18 | 2012-08-22 | 山东省科学院海洋仪器仪表研究所 | Sound pressure monitoring device of ocean background noise |
| CN202676278U (en) * | 2012-05-18 | 2013-01-16 | 山东省科学院海洋仪器仪表研究所 | A sound pressure signal monitoring device of ocean background noise |
| CN102894965A (en) * | 2012-11-09 | 2013-01-30 | 西南大学 | Device for detecting pulse signals by light interference method |
| CN105334510A (en) * | 2015-10-19 | 2016-02-17 | 叶雷 | GNSS-R ground surface detection apparatus and method |
| CN105783949A (en) * | 2016-05-28 | 2016-07-20 | 中国航空工业集团公司北京长城计量测试技术研究所 | Common-light-path heterodyne laser interference measuring system |
| CN109412744A (en) * | 2018-12-07 | 2019-03-01 | 北京和协导航科技有限公司 | A kind of comprehensive interference system of unmanned plane |
Non-Patent Citations (2)
| Title |
|---|
| MARTIN-NEIRA M.《A Passive Reflectometry and Interferometry System》.《ESA J》.1993,第17卷(第4期),第331-355页. * |
| 朱雪松 等.《基于导航卫星载波信号的海浪高度反演系统》.《电波科学学报》.2012,第27卷(第6期),第1071-1075页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113296137A (en) | 2021-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200348422A1 (en) | Systems and methods for high-integrity satellite positioning | |
| US20120050103A1 (en) | Synthetic aperture device for receiving signals of a system comprising a carrier and means for determining its trajectory | |
| US8035552B2 (en) | Distance dependant error mitigation in real-time kinematic (RTK) positioning | |
| US5812961A (en) | Method and reciever using a low earth orbiting satellite signal to augment the global positioning system | |
| AU2008260578B2 (en) | Distance dependant error mitigation in real-time kinematic (RTK) positioning | |
| EP3803461B1 (en) | Anti-spoofing system for gnss receivers | |
| US20080129598A1 (en) | Positioning Method and Device | |
| US11415703B2 (en) | Spoofing detection in real time kinematic positioning | |
| CN113805208B (en) | GNSS-IR height measurement method suitable for navigation receiver | |
| CN113124919B (en) | Abnormity monitoring method and device for reference station and related equipment | |
| Hobiger et al. | GLONASS-R: GNSS reflectometry with a frequency division multiple access-based satellite navigation system | |
| Breivik et al. | Estimation of multipath error in GPS pseudorange measurements | |
| CN113296137B (en) | Interference type deformation monitoring method, device and receiver | |
| JP2012137448A (en) | Apparatus for evaluating ionosphere delay and navigation apparatus | |
| US6172638B1 (en) | Satellite signal receiver with detector of incoherence between code phase and carrier frequency measurements | |
| CN113296136B (en) | Multi-target deformation monitoring method, device and receiver | |
| CN113296135B (en) | Deformation monitoring method, device and receiver | |
| JPH07306253A (en) | Movement information output unit | |
| US20230129514A1 (en) | Positioning system and method | |
| Su | Single-frequency RTK GNSS positioning | |
| Leikvoll | On the Feasibility of Real-time Sea Level Monitoring using Ground-based GNSS-Reflectometry Measurements | |
| Bhalla et al. | GLONASS Development |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |