CN115165029A - Beidou water level monitoring device, method and system based on double-antenna attitude measurement - Google Patents
Beidou water level monitoring device, method and system based on double-antenna attitude measurement Download PDFInfo
- Publication number
- CN115165029A CN115165029A CN202210766323.6A CN202210766323A CN115165029A CN 115165029 A CN115165029 A CN 115165029A CN 202210766323 A CN202210766323 A CN 202210766323A CN 115165029 A CN115165029 A CN 115165029A
- Authority
- CN
- China
- Prior art keywords
- antenna
- water
- observation
- sky
- water level
- 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.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Thermal Sciences (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a Beidou water level monitoring device, method and system based on double-antenna attitude measurement, wherein the monitoring device comprises an opposite-to-sky observation antenna, an opposite-to-water observation antenna, a water level information processing module and a communication module; the water level information processing module comprises an information receiving module, a baseline length resolving module, an antenna position determining module and a water level calculating module; the information receiving module is used for receiving Beidou signals sent by the sky observation antenna and the water observation antenna and differential data sent by the Beidou reference station; the base length calculating module is used for calculating the base lengths of the mirror imaging virtual antenna of the sky observation antenna and the water observation antenna in real time according to the received Beidou signals; the antenna position determining module is used for calculating the three-dimensional coordinates of the sky observation antenna in real time according to the received differential data; and the water level calculation module is used for calculating the current water surface elevation by adopting the components of the elevation of the phase center of the sky observation antenna in the three-dimensional coordinate and the base length in the vertical direction.
Description
Technical Field
The invention relates to a water level monitoring technology, in particular to a Beidou water level monitoring device, a Beidou water level monitoring method and a Beidou water level monitoring system based on double-antenna attitude measurement.
Background
The water level monitoring uses the existing water gauge and laser ranging technology. The water gauge needs manual degree measurement, the measurement precision is low, and the water gauge is still widely applied due to simple structure, stability and reliability. The laser ranging technology is a main technology used for automatic water level monitoring at present, and has the defect that the distance from equipment to the water surface can be measured, but no elevation information exists, and the elevation of the equipment needs to be calibrated by other equipment, so that the water level elevation monitoring can be finally realized, but the water level elevation monitoring is not carried out in real time. After the laser ranging equipment is fixed by adopting a structural part, after the elevation is calibrated, the elevation of the laser ranging equipment is defaulted to be unchanged, the water level elevation monitoring is realized, but the quick erection and the quick measurement of the equipment cannot be realized. Rapid Beidou technology
Disclosure of Invention
Aiming at the defects in the prior art, the Beidou water level monitoring device, the monitoring method and the monitoring system based on double-antenna attitude measurement can monitor the elevation of the water level in real time.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
first aspect provides a big dipper water level monitoring device based on appearance is surveyed to dual antenna, and it includes:
the sky observation antenna is installed in a sky-to-sky mode and used for receiving Beidou signals;
the water observation antenna is installed in water, is positioned on the same vertical plane with the sky observation antenna, and is used for receiving Beidou signals reflected by the water surface;
the water level information processing module comprises an information receiving module, a baseline length resolving module, an antenna position determining module and a water level calculating module;
the information receiving module is used for receiving Beidou signals sent by the sky observation antenna and the water observation antenna and differential data sent by the Beidou reference station;
the base length resolving module is used for calculating the components of the base lengths of the mirror imaging virtual antenna of the sky observation antenna and the water observation antenna in the vertical direction in real time according to the received Beidou signals;
the antenna position determining module is used for calculating the three-dimensional coordinates of the sky observation antenna in real time according to the received differential data;
the water level calculation module is used for calculating the current water surface elevation by adopting the elevation of the phase center of the sky observation antenna in the three-dimensional coordinate and the component of the base line length in the vertical direction;
and the communication module is used for transmitting information between the water level monitoring device and external communication equipment.
Further, the formula for calculating the current water surface elevation is as follows:
I＝H-((M-F)/2+F)
wherein I is the elevation of the water surface; h is the elevation of the phase center of the antenna observed on the sky; m is a component of the length of the base line in the vertical direction; and F is the distance between the sky observation antenna and the water observation antenna.
Furthermore, the sky observation antenna is a right-handed polarization antenna, the water observation antenna is a left-handed polarization antenna, a signal shielding partition plate is arranged between the two antennas, and the projection areas of the signal shielding partition plate on the sky observation antenna and the water observation antenna are larger than the areas of the corresponding antennas.
Furthermore, the signal shielding clapboard is arranged at the midpoint of a connecting shaft of the sky observation antenna and the water observation antenna, and is made of a wave-opaque material with the radius larger than the wavelength of the GNSS signal.
Furthermore, the Beidou water level monitoring device based on double-antenna attitude measurement further comprises a mounting column, wherein a solar panel is arranged on the mounting column and is connected with a water level information processing module and a power storage module powered by a communication module through a controller;
the sky observation antenna and the water observation antenna are symmetrically arranged on the connecting frame of the mounting column, and a water area is arranged right below the water observation antenna after the water observation antenna is mounted; the water level information processing module is arranged on the upright post.
Further, the baseline length calculation module comprises:
the building module is used for obtaining satellite position and receiver position resolving information according to the differential data, and building a carrier and pseudo-range double-difference observation equation:
wherein the content of the first and second substances,
the pseudo range observed value from the sky observation antenna m to the satellite j is obtained;
the carrier wave observed values from the sky observation antenna m to the satellite j are obtained;
the geometric distance from the sky observation antenna m to the satellite j; δ t u,m And δ t s,j Respectively a receiver clock error and a satellite j clock error; t is tropospheric delay; i is ionospheric delay; n is the carrier integer ambiguity; c is the speed of light under vacuum conditions; lambda is the wavelength of the corresponding frequency point;
and
respectively pseudo range and carrier wave observation noise;
the error elimination module is used for carrying out primary difference between the sky observation antenna and the water observation antenna and eliminating a receiver clock error residual error term, and the expression is as follows:
j and k respectively represent two different satellites, and m and s respectively represent an opposite-to-sky observation antenna and an opposite-to-water observation antenna;
is a double difference of the pseudoranges,
the two difference values of the geometric distance are obtained,
the carrier distance is a double difference value of the carrier distances,
is a single difference carrier phase, including integer ambiguity;
is the pseudorange single difference between two antennas for satellite j;
is a pseudorange single difference between two antennas for satellite k;
is the geometric distance single difference between two antennas for satellite j;
is the geometric distance single difference between two antennas for satellite k;
is the single difference value of the carrier phase between two antennas for the satellite j;
the single difference value of the carrier phase between two antennas for the satellite k is obtained;
is the single difference of the carrier distance between two antennas for satellite j;
is a single difference in carrier distance between two antennas for satellite k.
The floating point solution calculation module is used for calculating integer ambiguity floating point solution and baseline vector floating point solution by adopting a least square method according to a plurality of groups of pseudo-range and carrier double-difference observation equations;
the fixed solution calculation module is used for obtaining an integer solution of the integer ambiguity by adopting an LAMBDA ambiguity fixing method, substituting the integer solution into an original pseudo range and carrier double-difference observation equation, and calculating a fixed solution of a baseline vector;
and the angle calculation module is used for calculating the azimuth angle and the pitch angle of the water observation antenna according to the fixed solutions of the baseline vectors of the sky observation antenna and the water observation antenna:
obtaining the coordinate of the baseline vector of the water observation antenna at the time t as [ x y z ]] T Converting the baseline solution under the geocentric coordinate system into a standing-center coordinate system:
[e n u] T ＝S[x y z] T ，
wherein [ e n u] T Observing the vector coordinates of the baseline of the antenna for water in a station center coordinate system; s is a coordinate transformation matrix; lambda and phi are respectively the longitude and latitude of the sky observation antenna at the time t;
and calculating the azimuth angle and the pitch angle of the water observation antenna according to the definition of the attitude angle:
and the base line length component calculation module is used for calculating a component M of the base line length in the vertical direction according to the calculated azimuth angle, the calculated pitch angle and the base line vector.
Further, a difference algorithm, RTK baseline solution or network RTK solution method is adopted to calculate the three-dimensional coordinates of the sky observation antenna.
In a second aspect, a monitoring method of a Beidou water level monitoring device based on double-antenna attitude measurement is provided, and the monitoring method comprises the following steps:
receiving Beidou signals sent by the sky observation antenna and the water observation antenna and differential data sent by a Beidou reference station;
calculating the length of a base line of a mirror imaging virtual antenna of the sky observation antenna and the water observation antenna in real time according to the received Beidou signal; calculating the three-dimensional coordinates of the sky observation antenna in real time according to the received differential data;
calculating the current water surface elevation by adopting the components of the elevation of the phase center of the sky observation antenna in the three-dimensional coordinate and the base length in the vertical direction:
I＝H-((M-F)/2+F)
wherein I is the elevation of the water surface; h is the elevation of the phase center of the antenna observed on the sky; m is a component of the length of the base line in the vertical direction; and F is the distance between the sky observation antenna and the water observation antenna.
The third aspect provides a water level monitoring system which comprises a monitoring center and a Beidou water level monitoring device based on double-antenna attitude measurement, wherein the monitoring center is communicated with at least one Beidou water level monitoring device based on double-antenna attitude measurement; the water level monitoring device is in communication with at least one mobile terminal.
The invention has the beneficial effects that:
(1) This scheme water level monitoring precision is high. Survey the appearance through the two antennas of installation, install two antennas, one is installed to the sky, and a is downward to water, receives the big dipper signal of big dipper signal and surface of water reflection simultaneously, and antenna measurement's coordinate position is down, and antenna is down at the virtual position of surface of water formation of image promptly, but through two antenna signal accurate computation survey antenna and down the antenna at the base length between the virtual image of aquatic, the precision can reach the centimetre level.
(2) The scheme has strong real-time water level monitoring performance. The length of the base line is twice of the distance between the middle point of the phase centers of the two antennas and the water surface, the distance between the antennas and the water surface is calculated, the sky observation antennas and the Beidou foundation enhancement system are simultaneously measured in a combined mode, and the water level elevation can be calculated in real time.
(3) The device is simple and convenient to install and has the advantages that water level monitoring data are transmitted rapidly in a non-signal area in a long distance. The device can transmit the data uploaded by the water level monitoring device to the monitoring center and the preset mobile terminal in real time, so that when the water level of the monitored water area changes suddenly or exceeds the warning water level, the monitoring system can give an early warning automatically, and the monitoring center can inform related responsible persons in the forms of mails, short messages, telephones and the like so as to ensure the safety near the water area.
Drawings
Fig. 1 is a schematic block diagram of a Beidou water level monitoring device based on double-antenna attitude measurement and a Beidou reference station for communication.
FIG. 2 is a schematic structural diagram of a Beidou water level monitoring device based on double-antenna attitude measurement.
Fig. 3 is a diagram of the effect of the signal shielding partition plate on blocking the water surface reflected signal from entering the sky antenna.
Wherein, 1, observing the antenna on the sky; 2. observing the antenna for water; 3. a water level information processing module; 4. a solar panel; 5. mounting a column; 6. the signal shields the baffle.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1, the Beidou water level monitoring device based on double-antenna attitude measurement in the scheme comprises an opposite-sky observation antenna 1, an opposite-water observation antenna 2, a water level information processing module 3 and a communication module; the communication module is used for information transmission between the water level monitoring device and external communication equipment; two observation antenna pass through the two antenna cardboard of GNSS with signal transmission for water level information processing module 3, in addition for the convenience of the receipt of signal, two observation antenna backs all adopt and inhale the ripples material.
The opposite-sky observation antenna 1 is a right-handed polarized antenna and is used for receiving a direct signal of a Beidou satellite, namely a Beidou signal; the water observation antenna 2 is a left-handed polarized antenna, is installed in water, is positioned on the same vertical plane with the sky observation antenna 1, and is used for receiving Beidou signals reflected by the water surface.
The water level information processing module 3 comprises an information receiving module, a base length calculating module, an antenna position determining module and a water level calculating module;
the information receiving module is used for receiving Beidou signals sent by the sky observation antenna 1 and the water observation antenna 2 and differential data sent by the Beidou reference station; and the base length calculating module is used for calculating the components of the mirror imaging virtual antenna of the sky observation antenna 1 and the water observation antenna 2 in the vertical direction in real time according to the received Beidou signals.
The antenna position determining module is used for calculating the three-dimensional coordinates of the sky observation antenna 1 in real time according to the received differential data; specifically, the three-dimensional coordinates of the celestial observation antenna 1 can be calculated by using a differential algorithm, an RTK baseline solution or a network RTK solution. The water level calculation module is used for calculating the current water surface elevation by adopting the components of the elevation of the phase center of the sky observation antenna 1 in the three-dimensional coordinate and the length of the base line in the vertical direction:
I＝H-((M-F)/2+F)
wherein I is the elevation of the water surface; h is the elevation of the phase center of the sky observation antenna 1; m is a component of the length of the base line in the vertical direction; f is the distance between the observation antenna for sky 1 and the observation antenna for water 2.
The system utilizes double-antenna attitude measurement to obtain important parameters for calculating the water level elevation, the double-antenna attitude measurement is to utilize an antenna arranged on a carrier to obtain the motion attitude of the carrier, and the principle is to use real-time space coordinates obtained by the antenna arranged on the carrier to calculate the azimuth angle and the pitch angle of the carrier.
In the system, the positions of the observation antenna 1 and the observation antenna 2 are unchanged, and the elevation of the water surface changes at all times, so that the position of the observation antenna 2 relative to the position of the observation antenna 1 also changes at all times, and the azimuth angle and the pitch angle of the observation antenna 2 relative to the observation antenna 1 and the vertical component of the baseline vector between the two antennas can be obtained by utilizing the attitude measurement of the two antennas.
In one embodiment of the invention, the baseline length calculation module comprises:
the building module is used for obtaining satellite position and receiver position resolving information according to the differential data, and building a carrier and pseudo-range double-difference observation equation:
wherein the content of the first and second substances,
is a pseudo-range observed value from an antenna 1m to a satellite j;
the carrier wave observed values from the sky observation antenna 1m to the satellite j are obtained;
the geometric distance from the antenna 1m to the satellite j is observed in the sky; δ t u,m And δ t s,j Respectively a receiver clock error and a satellite j clock error; t is tropospheric delay; i is ionospheric delay; n is the carrier integer ambiguity; c is the speed of light under vacuum conditions; λ isThe wavelength of the corresponding frequency point;
and
respectively pseudo range and carrier wave observation noise;
the error elimination module is used for carrying out primary difference between the sky observation antenna 1 and the water observation antenna 2 and eliminating a receiver clock error residual term, and the expression is as follows:
j and k respectively represent two different satellites, and m and s respectively represent an opposite-to-sky observation antenna and an opposite-to-water observation antenna;
is a double difference of the pseudoranges,
the two difference values of the geometric distance are obtained,
the carrier distance is a double difference value of the carrier distances,
is a single difference carrier phase, including integer ambiguity;
is the pseudorange simple difference between two antennas for satellite j;
is a pseudorange single difference between two antennas for satellite k;
is the geometric distance single difference between two antennas for satellite j;
is the geometric distance single difference between two antennas for satellite k;
is the single difference value of the carrier phase between two antennas for the satellite j;
the single difference value of the carrier phase between two antennas for the satellite k is obtained;
is the single difference of the carrier distance between two antennas for satellite j;
is a single difference in carrier distance between two antennas for satellite k.
The floating point solution calculation module is used for calculating integer ambiguity floating point solution and baseline vector floating point solution by adopting a least square method according to a plurality of groups of pseudo-range and carrier double-difference observation equations;
the fixed solution calculation module is used for obtaining integer solutions of the integer ambiguities by adopting an LAMBDA ambiguity fixing method, substituting the integer solutions into an original pseudo range and carrier double-difference observation equation, and calculating fixed solutions of the baseline vectors;
the angle calculation module is used for calculating the azimuth angle and the pitch angle of the water observation antenna 2 according to the fixed solutions of the base line vectors of the sky observation antenna 1 and the water antenna:
obtaining the coordinate of the vector of the base line of the water observation antenna 2 at the moment t as [ x y z ]] T Converting the baseline solution under the geocentric coordinate system into a standing-center coordinate system:
[e n u] T ＝S[x y z] T ，
wherein [ e n u] T A base line vector coordinate of the water observation antenna 2 in a station center coordinate system; s is a coordinate transformation matrix; λ and φ are the longitude and latitude of the sky observation antenna 1 at the time t, respectively;
according to the definition of the attitude angle, the azimuth angle and the pitch angle of the water observation antenna 2 are calculated:
and the base line length component calculation module is used for calculating a component M of the base line length in the vertical direction according to the calculated azimuth angle, the calculated pitch angle and the base line vector.
By adopting the baseline length calculating module, the influence caused by low strength of water surface reflected signals, water wave jumping and the like can be avoided, so that the baseline length of the double antennas (the virtual antenna for imaging the upward sky observation antenna 1 and the downward water observation antenna 2 on the water surface) can be stably and accurately calculated.
As shown in fig. 3, in this scheme, a signal shielding partition plate 6 is preferably disposed between the two antennas, and the projection areas of the signal shielding partition plate 6 on the sky observation antenna 1 and the water observation antenna 2 are larger than the areas of the corresponding antennas.
After the signal shelters from baffle 6, can resist the multipath influence, reduce upwards to the satellite signal influence that sky observation antenna 1 was reflected by the surface of water, reduce downwards to the influence of the direct injection signal of satellite of 2 levogyration polarization antennas of water observation antenna.
The signal shelters from baffle 6 and installs in the central point of the connecting axle of observation antenna 1 and observation antenna 2 to water, and it adopts to be greater than GNSS signal wavelength and is the radial opaque material, and the selection of position and material can prevent that the satellite from penetrating the signal directly and falling to the ground observation antenna 2 to water, prevents that surface of water reflection signal from falling to observation antenna 1 to the sky, shelters from at the signal simultaneously 6 two sides adhesion absorbing material of baffle, reduces the signal and shelters from 6 self reflection signal of baffle, reduces multipath effect's influence.
As shown in fig. 2, the Beidou water level monitoring device based on the double-antenna attitude measurement preferably further comprises a mounting column 5, a solar panel 4 is arranged on the mounting column 5, and the solar panel 4 is connected with a power storage module for supplying power to the water level information processing module 3 and the communication module through a controller;
the observation antenna 1 and the observation antenna 2 are symmetrically arranged on the connecting frame of the mounting column 5, and after the observation antenna 2 is mounted, a water area is arranged right below the observation antenna 2; the water level information processing module 3 is installed on the column.
The erection column 5 that sets up can be so that install each part of water level monitoring device on it to erect fast of fixed point monitoring, this device uses the flexibility than stronger, can pass through column mouting in aqueous, the bank, also can install on the floater of aqueous, in order to realize moving the monitoring.
In a second aspect, the present scheme further provides a monitoring method of the Beidou water level monitoring device based on the dual-antenna attitude measurement, which includes:
receiving Beidou signals sent by the sky observation antenna 1 and the water observation antenna 2 and differential data sent by a Beidou reference station;
calculating the length of a base line of the mirror imaging virtual antenna of the sky observation antenna 1 and the water observation antenna 2 in real time according to the received Beidou signal; calculating the three-dimensional coordinates of the sky observation antenna 1 in real time according to the received differential data;
calculating the current water surface elevation by adopting the components of the elevation of the phase center of the sky observation antenna 1 in the three-dimensional coordinates and the base length in the vertical direction:
I＝H-((M-F)/2+F)
wherein I is the elevation of the water surface; h is the elevation of the phase center of the sky observation antenna 1; m is a component of the length of the base line in the vertical direction; f is the distance between the observation antenna for sky 1 and the observation antenna for water 2.
In a third aspect, a water level monitoring system is provided, which comprises a monitoring center and a Beidou water level monitoring device based on double-antenna attitude measurement, wherein the monitoring center is communicated with at least one Beidou water level monitoring device based on double-antenna attitude measurement; the water level monitoring device is in communication with at least one mobile terminal.
In conclusion, the water level detection device and the monitoring method provided by the scheme can realize real-time monitoring of the absolute height of the water level through the base length calculated in real time and the high precision of the three-dimensional coordinate of the sky observation antenna 1.
Claims (9)
1. Big dipper water level monitoring device based on two antennas survey appearance, its characterized in that includes:
the sky observation antenna is installed in a sky-to-sky mode and used for receiving Beidou signals;
the water observation antenna is installed in water, is positioned on the same vertical plane with the sky observation antenna, and is used for receiving Beidou signals reflected by the water surface;
the water level information processing module comprises an information receiving module, a baseline length resolving module, an antenna position determining module and a water level calculating module;
the information receiving module is used for receiving Beidou signals sent by the sky observation antenna and the water observation antenna and differential data sent by the Beidou reference station;
the base length calculating module is used for calculating the components of the base lengths of the mirror imaging virtual antenna of the sky observation antenna and the water observation antenna in the vertical direction in real time according to the received Beidou signals;
the antenna position determining module is used for calculating the three-dimensional coordinates of the sky observation antenna in real time according to the received differential data;
the water level calculation module is used for calculating the current water surface elevation by adopting the elevation of the phase center of the sky observation antenna in the three-dimensional coordinate and the component of the base line length in the vertical direction;
and the communication module is used for transmitting information between the water level monitoring device and external communication equipment.
2. The Beidou water level monitoring device based on double-antenna attitude measurement according to claim 1, characterized in that a formula for calculating the current water surface elevation is as follows:
I＝H-((M-F)/2+F)
wherein I is the elevation of the water surface; h is the elevation of the phase center of the antenna observed on the sky; m is a component of the length of the base line in the vertical direction; and F is the distance between the sky observation antenna and the water observation antenna.
3. The Beidou water level monitoring device based on double-antenna attitude measurement according to claim 1, wherein the sky observation antenna is a right-handed polarized antenna, the water observation antenna is a left-handed polarized antenna, a signal shielding partition plate is arranged between the two antennas, and the projection area of the signal shielding partition plate on the sky observation antenna and the water observation antenna is larger than the area of the corresponding antenna.
4. The Beidou water level monitoring device based on double-antenna attitude measurement according to claim 3, wherein the signal shielding partition plate is installed at the midpoint of a connecting shaft of the sky observation antenna and the water observation antenna and is made of a wave-opaque material with a radius larger than the wavelength of the GNSS signals.
5. The Beidou water level monitoring device based on double-antenna attitude measurement according to any one of claims 1-4, characterized by further comprising a mounting column, wherein a solar panel is arranged on the mounting column, and the solar panel is connected with an electric storage module which supplies power to the water level information processing module and the communication module through a controller;
the sky observation antenna and the water observation antenna are symmetrically arranged on the connecting frame of the mounting column, and a water area is arranged right below the water observation antenna after the water observation antenna is mounted; the water level information processing module is arranged on the upright post.
6. The Beidou water level monitoring device based on double-antenna attitude measurement according to any one of claims 1 to 4, wherein the baseline length calculating module comprises:
the construction module is used for acquiring satellite position and receiver position resolving information according to the differential data, and establishing a carrier and pseudo-range double-difference observation equation:
wherein the content of the first and second substances,
the pseudo range observed value from the sky observation antenna m to the satellite j is obtained;
the carrier observed values from the sky observation antenna m to the satellite j are obtained;
the geometric distance from the sky observation antenna m to the satellite j; δ t u,m And δ t s,j Respectively a receiver clock error and a satellite j clock error; t is tropospheric delay; i is ionospheric delay; n is the carrier integer ambiguity; c is the speed of light under vacuum conditions; lambda is the wavelength of the corresponding frequency point;
and
respectively pseudo range and carrier wave observation noise;
the error elimination module is used for carrying out primary difference between the sky observation antenna and the water observation antenna and eliminating a receiver clock error residual error term, and the expression is as follows:
j and k respectively represent two different satellites, and m and s respectively represent an opposite-to-sky observation antenna and an opposite-to-water observation antenna;
is a double difference of the pseudoranges,
the two difference values of the geometric distance are obtained,
the carrier distance is a double difference value of the carrier distances,
is a single difference carrier phase, including integer ambiguity;
is the pseudorange single difference between two antennas for satellite j;
is a pseudorange single difference between two antennas for satellite k;
is the geometric distance single difference between two antennas for satellite j;
is the geometric distance single difference between two antennas for satellite k;
is the single difference value of the carrier phase between two antennas for the satellite j;
is a carrier phase single difference value between two antennas for the satellite k;
is the single difference of the carrier distance between two antennas for satellite j;
is a single difference in carrier distance between two antennas for satellite k.
The floating point solution calculation module is used for calculating integer ambiguity floating point solution and baseline vector floating point solution by adopting a least square method according to a plurality of groups of pseudo-range and carrier double-difference observation equations;
the fixed solution calculation module is used for obtaining an integer solution of the integer ambiguity by adopting an LAMBDA ambiguity fixing method, substituting the integer solution into an original pseudo range and carrier double-difference observation equation, and calculating a fixed solution of a baseline vector;
the angle calculation module is used for calculating the azimuth angle and the pitch angle of the water observation antenna according to the fixed solutions of the base line vectors of the sky observation antenna and the water observation antenna:
obtaining the coordinate of the vector of the baseline of the water observation antenna at the moment t as [ x y z ]] T Converting the baseline solution under the geocentric coordinate system into a standing-center coordinate system:
[e n u] T ＝[x y z] T ，
wherein [ e n u] T Observing the vector coordinates of the baseline of the antenna for water in a station center coordinate system; s is a coordinate transformation matrix; lambda and phi are respectively the longitude and latitude of the sky observation antenna at the time t;
and calculating the azimuth angle and the pitch angle of the water observation antenna according to the definition of the attitude angle:
and the base line length component calculation module is used for calculating a component M of the base line length in the vertical direction according to the calculated azimuth angle, the calculated pitch angle and the base line vector.
7. The Beidou water level monitoring device based on double-antenna attitude measurement according to claim 1, characterized in that a difference algorithm, RTK baseline solution or network RTK solution method is adopted to calculate three-dimensional coordinates of the opposite-to-sky observation antenna.
8. The monitoring method of the Beidou water level monitoring device based on double-antenna attitude measurement as set forth in any one of claims 1 to 7 is characterized by comprising the following steps:
receiving Beidou signals sent by the sky observation antenna and the water observation antenna and differential data sent by a Beidou reference station;
calculating the length of a base line of a mirror imaging virtual antenna of the sky observation antenna and the water observation antenna in real time according to the received Beidou signal; calculating the three-dimensional coordinates of the sky observation antenna in real time according to the received differential data;
calculating the current water surface elevation by adopting the components of the elevation of the phase center of the sky observation antenna in the three-dimensional coordinates and the length of the base line in the vertical direction:
I＝H-((M-F)/2+F)
wherein I is the elevation of the water surface; h is the elevation of the phase center of the antenna observed on the sky; m is a component of the length of the base line in the vertical direction; and F is the distance between the sky observation antenna and the water observation antenna.
9. A water level monitoring system is characterized by comprising a monitoring center and the Beidou water level monitoring devices based on double-antenna attitude measurement in claims 1-7, wherein the monitoring center is communicated with at least one Beidou water level monitoring device based on double-antenna attitude measurement; the water level monitoring device is communicated with at least one mobile terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210766323.6A CN115165029B (en) | 2022-07-01 | 2022-07-01 | Beidou water level monitoring device, method and system based on double-antenna attitude measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210766323.6A CN115165029B (en) | 2022-07-01 | 2022-07-01 | Beidou water level monitoring device, method and system based on double-antenna attitude measurement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115165029A true CN115165029A (en) | 2022-10-11 |
| CN115165029B CN115165029B (en) | 2023-03-28 |
Family
ID=83489645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210766323.6A Active CN115165029B (en) | 2022-07-01 | 2022-07-01 | Beidou water level monitoring device, method and system based on double-antenna attitude measurement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115165029B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426103A (en) * | 2019-09-11 | 2019-11-08 | 益阳软通智造电子有限公司 | A kind of water level monitoring terminal and system |
| CN113029298A (en) * | 2021-03-05 | 2021-06-25 | 湖南五凌电力科技有限公司 | Water level measuring device, method and system based on Beidou technology |
| CN113049062A (en) * | 2021-03-12 | 2021-06-29 | 北京航空航天大学 | Device for measuring lake water level through GNSS direct reflection signal carrier interference |
| US20210223387A1 (en) * | 2020-01-21 | 2021-07-22 | The Regents Of The University Of Colorado, A Body Corporate | Adaptive Hybrid Tracking Algorithms for Radio Signal Parameters Estimations |
| CN216746293U (en) * | 2021-11-25 | 2022-06-14 | 沈阳铁道科学技术研究所有限公司 | Railway bridge and culvert displacement and water level integrated monitoring system based on Beidou positioning |
| WO2022125192A2 (en) * | 2020-10-21 | 2022-06-16 | The Regents Of The University Of Colorado, A Body Corporate | A filtering method for carrier phase measurements from open-loop tracking |
-
2022
- 2022-07-01 CN CN202210766323.6A patent/CN115165029B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426103A (en) * | 2019-09-11 | 2019-11-08 | 益阳软通智造电子有限公司 | A kind of water level monitoring terminal and system |
| US20210223387A1 (en) * | 2020-01-21 | 2021-07-22 | The Regents Of The University Of Colorado, A Body Corporate | Adaptive Hybrid Tracking Algorithms for Radio Signal Parameters Estimations |
| WO2022125192A2 (en) * | 2020-10-21 | 2022-06-16 | The Regents Of The University Of Colorado, A Body Corporate | A filtering method for carrier phase measurements from open-loop tracking |
| CN113029298A (en) * | 2021-03-05 | 2021-06-25 | 湖南五凌电力科技有限公司 | Water level measuring device, method and system based on Beidou technology |
| CN113049062A (en) * | 2021-03-12 | 2021-06-29 | 北京航空航天大学 | Device for measuring lake water level through GNSS direct reflection signal carrier interference |
| CN216746293U (en) * | 2021-11-25 | 2022-06-14 | 沈阳铁道科学技术研究所有限公司 | Railway bridge and culvert displacement and water level integrated monitoring system based on Beidou positioning |
Non-Patent Citations (3)
| Title |
|---|
| 刘云波;吴吕稳;许茵;: "GPS-RTK与数字测深仪在玉环县漩门湾水下地形测量中的应用" * |
| 夏佩;王峰;黄祖德;邱文添;: "基于双天线的RTK-GPS定向方法" * |
| 徐豁,陈顺华,何义斌,赵建虎: "RTK确定高程的方法及其应用" * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115165029B (en) | 2023-03-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Nie et al. | Real-time precise point positioning with a low-cost dual-frequency GNSS device | |
| Groves et al. | A portfolio approach to NLOS and multipath mitigation in dense urban areas | |
| Braasch | Multipath | |
| EP3410144B1 (en) | High-precision, real-time satellite positioning device and method thereof | |
| Morales et al. | DGPS, RTK-GPS and StarFire DGPS performance under tree shading environments | |
| CN105334510A (en) | GNSS-R ground surface detection apparatus and method | |
| CN108594275A (en) | A kind of Big Dipper+GPS dual-mode one-point positioning method | |
| Alkan et al. | Comparative analysis of real-time kinematic and PPP techniques in dynamic environment | |
| El-Mowafy | Performance analysis of the RTK technique in an urban environment | |
| WO2024007365A1 (en) | Beidou/gnss-based real-time high-precision sea surface measurement method and buoy | |
| CN114879197B (en) | Real-time calibration method for on-board DDM | |
| Erol et al. | Performance analysis of real-time and post-mission kinematic precise point positioning in marine environments | |
| Lu et al. | Characteristics of the BDS-3 multipath effect and mitigation methods using precise point positioning | |
| US7739048B2 (en) | Method and system for determining water vapor profile using GPS signals | |
| CN115079221A (en) | Whole scene sharing navigation positioning and generalized graphic element hunting operation solving method | |
| Yan et al. | Performance analysis of oceanographic research vessel precise point positioning based on BDS/GNSS RTK receivers | |
| CN115616006A (en) | Method for inverting soil humidity by utilizing QZSS system satellite L5 reflection signal | |
| Wang et al. | Analysis of GNSS-R Code-Level Altimetry using QZSS C/A, L1C, and BDS B1C signals and their Combinations in a Coastal Experiment | |
| CN115165029B (en) | Beidou water level monitoring device, method and system based on double-antenna attitude measurement | |
| CN106226844B (en) | Utilize the rainfall intensity mountain base measurement method of GNSS signal polarization phase-shift | |
| CN109116396B (en) | Multi-antenna GNSS differential positioning method | |
| Tarig | Positioning with wide-area GNSS networks: Concept and application | |
| Colombo et al. | Testing decimeter-level, kinematic, differential GPS over great distances at sea and on land | |
| Altmayer | Experiences using pseudolites to augment gnss in urban environments | |
| CN111337551A (en) | Soil humidity measuring method of double-linear polarization antenna GNSS |
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 |