CN116125514A - Ground disaster monitoring method, device, terminal and medium based on Beidou PPP-RTK virtual observation value - Google Patents
Ground disaster monitoring method, device, terminal and medium based on Beidou PPP-RTK virtual observation value Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
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Abstract
The invention discloses a ground disaster monitoring method, a device, a terminal and a medium based on Beidou PPP-RTK virtual observation values, which are characterized in that through receiving a real-time data stream of a Beidou CORS station, a k-th epoch online CORS station and a common view satellite are detected, according to PPP-RTK technology, parameter recombination is carried out on an original observation equation of the CORS station, biased parameters of a satellite end, a space atmosphere end and a receiver end are obtained, the biased parameters are calculated, parameters of the satellite end, the space atmosphere end and the receiver end are obtained, one-way broadcasting satellite clock error, phase deviation and atmospheric delay are obtained, the atmospheric delay of the common view satellite is interpolated by combining a monitoring area and the CORS station, a virtual observation value of the center of the monitoring area is constructed, the one-way broadcasting is carried out on the monitoring station to carry out short baseline double difference positioning, and the relative coordinates of the monitoring station relative to a virtual base station are obtained in real time. Therefore, the embodiment of the invention can solve the problems that the prior art is influenced by the observation noise of the CORS master station or the master station is switched, the real-time monitoring result jumps, the ground disaster is misjudged, and the like.
Description
Technical Field
The invention relates to the technical field of power equipment monitoring, in particular to a ground disaster monitoring method, device, terminal and medium based on Beidou PPP-RTK virtual observation values.
Background
In the geological disaster monitoring and early warning process of landslide, collapse, subsidence and the like, the three-dimensional deformation of the catastrophe ground surface is an important parameter which can be monitored before catastrophe. The global satellite navigation system (GNSS, global Navigation Satellite System) becomes an advantageous monitoring means for monitoring the ground disaster due to the technical advantages of all weather, high precision, low cost and the like, particularly, the networking of the Beidou III of China is completed, and more abundant available satellites and available signal resources are provided for monitoring the ground disaster of the city. The real-time calculation of the high-precision three-dimensional displacement by using the Beidou satellite signals is a core link for monitoring the earth surface deformation by using the Beidou/GNSS.
With the continuous development of the Beidou real-time monitoring method, the prior art method can be roughly divided into three types: (1) A real-time monitoring method based on single/double base stations RTK (Real Time Kinematic) real-time dynamic measurement; because the big Dipper receivers with similar distances are affected by various errors with the same or similar effects, the errors can be eliminated through the difference between observed values, and therefore accurate relative positions among the big Dipper receivers can be obtained through a short baseline estimation method; therefore, one or two Beidou receivers are arranged in a stable area near the monitoring area to serve as reference stations, and monitoring stations are arranged in the monitoring area, so that real-time three-dimensional deformation monitoring of the monitoring area can be realized; (2) Real-time monitoring method based on precision single point positioning technology (PPP, precise Point Positioning); PPP is to estimate error items by global reference station observation value classification, then broadcast various parameters to a user terminal, and calculate accurate absolute position coordinates; therefore, monitoring stations are directly arranged in the monitoring area, and real-time three-dimensional deformation monitoring of the monitoring area can be realized; (3) Estimating regional atmospheric delay by using a Beidou satellite continuous operation reference station (CORS, continuously Operating Reference Stations) system existing in a city, interpolating relative regional atmospheric delay of a certain known position relative to a CORS main reference station, and fusing an original observation value of a main station to form a virtual observation value of the known position; therefore, entity monitoring stations are directly arranged in the monitoring area, and the observation values of virtual reference stations around the monitoring area are calculated in real time by using the method (1).
The prior art has the following disadvantages: 1. the virtual observation value generation directly depends on a main reference station, has weak noise resistance and is easily influenced by the observation environment of a CORS master station; if the master station is switched, the real-time monitoring result jumps, and misjudgment of ground disasters is caused; 2. the network RTK needs to transmit the outline position of the monitoring station back to the server as a virtual reference station coordinate, further generates a virtual observation value and transmits the virtual observation value to the monitoring station, each monitoring needs two-way communication, and under the condition that a plurality of monitoring points are concurrent at high frequency, the response burden of the server is heavy, a large computing system breakout risk exists, and the real-time monitoring failure of the ground disaster is caused.
Disclosure of Invention
The invention provides a ground disaster monitoring method based on Beidou PPP-RTK virtual observation values, which aims to solve the technical problems that in the prior art, the virtual observation values of monitoring stations are easily influenced by the observation environment of a CORS master station and network RTK monitoring needs two-way communication, and the virtual observation values are generated by adopting a combination mode of station star distance, satellite end deviation and single difference space atmosphere delay, so that the problems that the influence of the observation noise of the CORS master station or the master station is switched, the real-time monitoring result jumps, ground disaster misjudgment is caused and the like are solved, and the types of parameters for generating the virtual observation values are different and only one-way broadcasting is needed.
In order to achieve the above objective, in a first aspect, an embodiment of the present invention provides a method for monitoring a disaster based on a beidou PPP-RTK virtual observation value, including:
receiving a real-time data stream of a Beidou CORS station; detecting a CORS station and a common view satellite on line of a kth epoch, and selecting a reference star and a reference station; wherein the real-time data stream comprises: satellite clock difference, satellite code deviation, phase deviation and atmospheric delay; the atmospheric delays include tropospheric delays and ionospheric delays;
according to PPP-RTK technology, carrying out parameter recombination on the original observation equation of the CORS station to obtain biased parameters of a satellite end, a space atmosphere end and a receiver end;
calculating the biased parameters to obtain parameters of the satellite end, the space atmosphere end and the receiver end;
one-way broadcasting satellite clock error, phase deviation and atmospheric delay in the parameters, and interpolating the atmospheric delay of the common-view satellite by combining the central coordinate of a monitoring area and the CORS station coordinate to obtain a virtual observation value of the center of the monitoring area;
and one-way broadcasting the virtual observation value to a monitoring station in the monitoring area for short baseline double-difference positioning, and acquiring relative coordinates of the monitoring station relative to the virtual base station in real time so as to realize real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring the ground disaster.
As an improvement of the above scheme, the parameter reorganizing the original observation equation of the CORS station according to the PPP-RTK technique to obtain biased parameters of the satellite end, the spatial atmosphere end and the receiver end specifically includes:
according to PPP-RTK technology, carrying out parameter recombination on the original observation equation of the CORS station, eliminating rank deficiency caused by parameter linear correlation, obtaining full rank observation equation, and obtaining biased parameters of a satellite end, a space atmosphere end and a receiver end;
wherein the original observation equation is
Wherein s represents the identification of the satellite; r represents the receiver identity; j represents the identity of the frequency;
a pseudorange observation representing the receiver r to satellite s at the jth frequency; />
Representing carrier phase observations of the receiver r to satellite s at the jth frequency; />
Representing the geometrical distance of the receiver r from the satellite s; dt (dt) r Representing the receiver r clock difference; dt (dt) s Representing the satellite s clock difference; d, d r,j Representing the code bias of the receiver r at the j-th frequency; />
Representing the code bias of the satellite s at the j-th frequency; delta r,j Representing the phase deviation of the receiver r at the j-th frequency; />
Representing the phase offset of the satellite s at the jth frequency; / >
A tropospheric delay representative of the receiver r to satellite s; />
An ionospheric delay representing the receiver r to satellite s at said jth frequency; />
Representing an ambiguity parameter; lambda (lambda) j A wavelength representing the jth frequency; epsilon p Observation noise representing the pseudorange observations; epsilon φ Observation noise representing the carrier phase observations;
the full rank observation equation is
In the method, in the process of the invention,
a pseudo-range observation value from the receiver r to the satellite s on the jth frequency after rank deficiency is eliminated is shown; />
Representing carrier phase observations of the receiver r to satellite s on the jth frequency after rank depletion cancellation; />
Representing a tropospheric mapping function at the receiver r; Δτ r An increment representing the zenith tropospheric delay wet component at the receiver r; />
Indicating that the receiver r has a skew; />
Indicating that the satellite s has a bias; mu (mu) j ＝(λ j /λ 1 ) 2 Representing ionospheric coefficients; />
Representing the biased tropospheric delay of the receiver r to satellite s; />
Representing a biased code bias of the receiver r at a j-th frequency; />
Representing a biased code bias of the satellite s at a j-th frequency; />
Representing a biased phase offset of the receiver r at the jth frequency; />
Representing a biased phase offset of the satellite s at the jth frequency; / >
Representing a biased blur parameter.
As an improvement of the above solution, the unidirectional broadcasting of the satellite clock difference, the phase deviation and the atmospheric delay in the parameters, and the interpolating the atmospheric delay of the common view satellite by combining the central coordinate of the monitoring area and the coordinate of the CORS station, to obtain the virtual observation value of the center of the monitoring area, specifically includes:
one-way broadcasting satellite clock difference, phase deviation and atmospheric delay in the parameters, interpolating the atmospheric delay of the common-view satellite by combining the central coordinate of a monitoring area and the CORS station coordinate, recombining the parameters of the satellite end, the space atmospheric end and the receiver end, constructing a virtual observation value expression of the center of the monitoring area, and obtaining a virtual observation value of the center of the monitoring area;
wherein the virtual observation value expression is
In the method, in the process of the invention,
a virtual observation value of the distance from the coordinates of the central position v of the monitoring area to the satellite s on the jth frequency; />
A carrier phase virtual observation value from the coordinate of the central position v of the monitoring area on the jth frequency to the satellite s; />
The space geometrical distance between the coordinates of the central position v of the monitoring area on the jth frequency and the satellite s, namely the satellite distance; />
A troposphere mapping function on coordinates representing the central position v of the monitoring area; Δτ v Representation ofAn increment of a zenith troposphere delay wet component on a coordinate of a central position v of the monitoring area; />
A biased tropospheric delay from the coordinates representing the central location v of the monitored zone to satellite s.
As an improvement of the above scheme, the one-way broadcasting of the virtual observation value performs short baseline double difference positioning for the monitoring station in the monitoring area, and obtains the relative coordinates of the monitoring station relative to the virtual base station in real time, so as to realize real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring ground disasters, and specifically comprises:
the virtual observation value is broadcast in one direction to carry out short baseline double difference positioning on the monitoring station in the monitoring area, a double difference observation value expression of the monitoring station and the virtual reference station is obtained, so that the relative coordinates of the monitoring station relative to the virtual base station are obtained in real time, the real-time monitoring of the three-dimensional deformation of the surface of the monitoring area is realized, and the ground disaster is monitored;
wherein the double difference observation value expression is
In the method, in the process of the invention,
representing the virtual double difference observation values of the coordinates of the central position v of the monitoring area on the jth frequency relative to the virtual reference station m, the satellite p and the satellite q; />
Representing the coordinate of the central position v of the monitoring area on the jth frequency to the carrier phase virtual observation value of the satellite P; / >
Representing the coordinate of the central position v of the monitoring area on the jth frequency to the carrier phase virtual observation value of the satellite q; />
Representing carrier phase virtual observations of the virtual reference station m to satellite p at the jth frequency; />
Representing carrier phase virtual observations of the virtual reference station m to satellite q at the jth frequency; />
Representing the virtual double difference observation value of the coordinates of the central position v of the monitoring area on the jth frequency relative to the distance between the virtual reference station m and the satellites p and q; />
Representing a double difference ambiguity parameter.
As an improvement of the above scheme, the calculating the biased parameter to obtain parameters of the satellite end, the space atmosphere end and the receiver end specifically includes:
if the kth epoch is the first epoch, estimating the biased parameter by adopting a classical least square indirect adjustment method; and if the kth epoch is not the first epoch, taking the phase deviation and the ambiguity of the common star of the kth epoch and the k+1 epoch as the forecast value, and estimating the biased parameter through Kalman filtering.
In a second aspect, an embodiment of the present invention provides a ground disaster monitoring device based on a beidou PPP-RTK virtual observation value, including:
the data receiving module is used for receiving the real-time data stream of the Beidou CORS station; detecting a CORS station and a common view satellite on line of a kth epoch, and selecting a reference star and a reference station; wherein the real-time data stream comprises: satellite clock difference, satellite code deviation, phase deviation and atmospheric delay; the atmospheric delays include tropospheric delays and ionospheric delays;
The parameter recombination module is used for carrying out parameter recombination on an original observation equation of the CORS station according to a PPP-RTK technology to obtain biased parameters of a satellite end, a space atmosphere end and a receiver end;
the parameter estimation module is used for calculating the biased parameters to obtain parameters of the satellite end, the space atmosphere end and the receiver end;
the parameter broadcasting module is used for broadcasting satellite clock error, phase deviation and atmospheric delay in the parameters in one way, and interpolating the atmospheric delay of the common vision star by combining the central coordinate of the monitoring area and the CORS station coordinate to obtain a virtual observation value of the center of the monitoring area;
the coordinate acquisition module is used for one-way broadcasting the virtual observation value to the monitoring station in the monitoring area for short baseline double difference positioning, and acquiring the relative coordinate of the monitoring station relative to the virtual base station in real time so as to realize real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring the ground disaster.
As an improvement of the above solution, the parameter reorganization module is specifically configured to:
according to PPP-RTK technology, carrying out parameter recombination on the original observation equation of the CORS station, eliminating rank deficiency caused by parameter linear correlation, obtaining full rank observation equation, and obtaining biased parameters of a satellite end, a space atmosphere end and a receiver end;
Wherein the original observation equation is
Wherein s represents the identification of the satellite; r represents the receiver identity; j represents the identity of the frequency;
a pseudorange observation representing the receiver r to satellite s at the jth frequency; />
Representing carrier phase observations of the receiver r to satellite s at the jth frequency; />
Representing the geometrical distance of the receiver r from the satellite s; dt (dt) r Representing the receiver r clock difference; dt (dt) s Representing the satellite s clock difference; d, d r,j Representing the code bias of the receiver r at the j-th frequency; />
Representing the code bias of the satellite s at the j-th frequency; delta r,j Representing the phase deviation of the receiver r at the j-th frequency; />
Representing the phase offset of the satellite s at the jth frequency; />
A tropospheric delay representative of the receiver r to satellite s; />
An ionospheric delay representing the receiver r to satellite s at said jth frequency; />
Representing an ambiguity parameter; lambda (lambda) j A wavelength representing the jth frequency; epsilon p Observation noise representing the pseudorange observations; epsilon φ Observation noise representing the carrier phase observations;
the full rank observation equation is
In the method, in the process of the invention,
a pseudo-range observation value from the receiver r to the satellite s on the jth frequency after rank deficiency is eliminated is shown; / >
Representation of the eliminationCarrier phase observations from receiver r to satellite s at the jth frequency after rank depletion; />
Representing a tropospheric mapping function at the receiver r; Δτ r An increment representing the zenith tropospheric delay wet component at the receiver r; />
Indicating that the receiver r has a skew; />
Indicating that the satellite s has a bias; mu (mu) j ＝(λ j /λ 1 ) 2 Representing ionospheric coefficients; />
Representing the biased tropospheric delay of the receiver r to satellite s; />
Representing a biased code bias of the receiver r at a j-th frequency; />
Representing a biased code bias of the satellite s at a j-th frequency; />
Representing a biased phase offset of the receiver r at the jth frequency; />
Representing a biased phase offset of the satellite s at the jth frequency; />
Representing a biased blur parameter.
As an improvement of the above solution, the parameter broadcasting module is specifically configured to:
one-way broadcasting satellite clock difference, phase deviation and atmospheric delay in the parameters, interpolating the atmospheric delay of the common-view satellite by combining the central coordinate of a monitoring area and the CORS station coordinate, recombining the parameters of the satellite end, the space atmospheric end and the receiver end, constructing a virtual observation value expression of the center of the monitoring area, and obtaining a virtual observation value of the center of the monitoring area;
Wherein the virtual observation value expression is
In the method, in the process of the invention,
a virtual observation value of the distance from the coordinates of the central position v of the monitoring area to the satellite s on the jth frequency; />
A carrier phase virtual observation value from the coordinate of the central position v of the monitoring area on the jth frequency to the satellite s; />
The space geometrical distance between the coordinates of the central position v of the monitoring area on the jth frequency and the satellite s, namely the satellite distance; />
A troposphere mapping function on coordinates representing the central position v of the monitoring area; Δτ v An increment of a zenith troposphere delay wet component on a coordinate representing a central position v of the monitoring area; />
A biased tropospheric delay from the coordinates representing the central location v of the monitored zone to satellite s.
In a third aspect, an embodiment of the present invention correspondingly provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor implements the above-mentioned disaster monitoring method based on the beidou PPP-RTK virtual observation value when executing the computer program.
In addition, the embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program, wherein the equipment where the computer readable storage medium is located is controlled to execute the disaster monitoring method based on the Beidou PPP-RTK virtual observation value when the computer program runs.
Compared with the prior art, the ground disaster monitoring method, device, terminal and medium based on the Beidou PPP-RTK virtual observation value disclosed by the embodiment of the invention are characterized in that through receiving the real-time data stream of the Beidou CORS station, the k-th epoch online CORS station and the common view satellite are detected, according to the PPP-RTK technology, the original observation equation of the CORS station is subjected to parameter recombination, the biased parameters of a satellite end, a space atmosphere end and a receiver end are obtained, the biased parameters are calculated, the parameters of the satellite end, the space atmosphere end and the receiver end are obtained, the satellite clock difference, the phase deviation and the atmosphere delay in the parameters are broadcasted in one direction, the atmosphere delay of the common view satellite is interpolated by combining the central coordinate of a monitoring area and the coordinate of the CORS station, the virtual observation value at the center of the monitoring area is obtained, the virtual observation value is broadcasted in one direction to the monitoring station to perform short baseline double difference positioning, and the relative coordinate of the monitoring station relative to the virtual base station is obtained in real time. Therefore, the embodiment of the invention utilizes various error parameters estimated by the CORS network, and adopts a combination mode of 'station star distance + satellite end deviation + single difference space atmosphere delay' to generate a virtual observation value; the problems that the prior art is influenced by the observation noise of a CORS master station or the master station is switched, the real-time monitoring result jumps, the ground disaster is misjudged and the like are solved; in the aspect of virtual observation broadcasting: because the types of the generated parameters are different, only one-way broadcasting is needed; therefore, under the condition that the calculation force of the server is constant, the mass monitoring point service can be realized; besides being compatible with the existing RTK technology, the method can provide enhanced services for the real-time monitoring terminal based on the precise single-point positioning technology.
Drawings
FIG. 1 is a schematic flow chart of a ground disaster monitoring method based on Beidou PPP-RTK virtual observation values, which is provided by the embodiment of the invention;
fig. 2 is a schematic structural diagram of a ground disaster monitoring device based on a beidou PPP-RTK virtual observation value provided by an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "comprises" and "comprising," along with any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that, the specific process of the ground disaster monitoring method based on the network RTK virtual reference station is as follows:
the original observation equation of the CORS station is used for forming double-difference observed quantity among base lines, and double-difference wide lane ambiguity is estimated by rounding the double-difference pseudo-range wide term combination value:
wherein a and b are monitoring station numbers, p and q are satellite numbers, lambda w ＝c/(f 1 -f 2 ) Is a wide lane wavelength. Further, a double difference narrow term ambiguity can be obtained:
wherein lambda is n ＝c/(f 1 +f 2 ) For a narrow lane wavelength,
is the combined value of spatial correlation errors such as atmosphere. />
Integer solutions can be obtained according to the LAMBDA algorithm, then +.>
Can be calculated. B is now taken as the main reference station, and if a virtual base station v (the coordinates are known) exists at the moment, the spatial correlation error of the virtual base station v relative to the main reference station can be interpolated according to the coordinates or the distance>
The virtual double difference observations of the master reference station b with respect to the virtual base station v and satellites p, q may be constructed as:
taking satellite q as a reference satellite, the satellite p non-difference virtual observations can be expressed as:
wherein, the liquid crystal display device comprises a liquid crystal display device,
the method can be obtained according to satellite and virtual reference station coordinate calculation, and further writes the whole-cycle ambiguity into a non-difference form, and then the non-difference virtual observation value can be expressed as:
as can be seen from the above description,
for the actual observations of the CORS master station, +.>
For model calculation, the last three terms +. >
For reference star reference, the reference can be eliminated by inter-star single difference at the user side. Thus, non-bad virtual observation generation based on the network RTK model can be expressed as:
at the moment, the data quality is continuously better, two-way communication is needed between the monitoring station and the CORS system, and the number of users of the CORS system is limited.
Let the monitoring station be denoted as m, its double difference observations with the virtual reference station can be expressed as:
in the formula, because the distance between the virtual base station and the monitoring station is close, the space atmospheric delay is similar, so that the positioning equation becomes a short baseline RTK model, and the double-difference ambiguity is changed into a double-difference ambiguity
After fixing according to->
Real-time position changes of the monitoring station relative to the reference station may be calculated.
Referring to fig. 1, fig. 1 is a flow chart of a disaster monitoring method based on a beidou PPP-RTK virtual observation value, provided in an embodiment of the invention, the method includes steps S11 to S15:
s11: receiving a real-time data stream of a Beidou CORS station; detecting a CORS station and a common view satellite on line of a kth epoch, and selecting a reference star and a reference station; wherein the real-time data stream comprises: satellite clock difference, satellite code deviation, phase deviation and atmospheric delay; the atmospheric delays include tropospheric delays and ionospheric delays;
S12: according to PPP-RTK technology, carrying out parameter recombination on the original observation equation of the CORS station to obtain biased parameters of a satellite end, a space atmosphere end and a receiver end;
s13: calculating the biased parameters to obtain parameters of the satellite end, the space atmosphere end and the receiver end;
s14: one-way broadcasting satellite clock error, phase deviation and atmospheric delay in the parameters, and interpolating the atmospheric delay of the common-view satellite by combining the central coordinate of a monitoring area and the CORS station coordinate to obtain a virtual observation value of the center of the monitoring area;
s15: and one-way broadcasting the virtual observation value to a monitoring station in the monitoring area for short baseline double-difference positioning, and acquiring relative coordinates of the monitoring station relative to the virtual base station in real time so as to realize real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring the ground disaster.
As a preferred embodiment, step S12 specifically includes:
according to PPP-RTK technology, carrying out parameter recombination on the original observation equation of the CORS station, eliminating rank deficiency caused by parameter linear correlation, obtaining full rank observation equation, and obtaining biased parameters of a satellite end, a space atmosphere end and a receiver end;
wherein the original observation equation is
Wherein s represents the identification of the satellite; r represents the receiver identity; j represents the identity of the frequency;
a pseudorange observation representing the receiver r to satellite s at the jth frequency; />
Representing carrier phase observations of the receiver r to satellite s at the jth frequency; />
Representing the geometrical distance of the receiver r from the satellite s; dt (dt) r Representing the receiver r clock difference; dt (dt) s Representing the satellite s clock difference; d, d r,j Representing the code bias of the receiver r at the j-th frequency; />
Representing the code bias of the satellite s at the j-th frequency; delta r,j Representing the phase deviation of the receiver r at the j-th frequency; />
Representing the phase offset of the satellite s at the jth frequency; />
A tropospheric delay representative of the receiver r to satellite s; />
An ionospheric delay representing the receiver r to satellite s at said jth frequency; />
Representing an ambiguity parameter; lambda (lambda) j A wavelength representing the jth frequency; epsilon p Observation noise representing the pseudorange observations; epsilon φ Observation noise representing the carrier phase observations;
the full rank observation equation is
In the method, in the process of the invention,
a pseudo-range observation value from the receiver r to the satellite s on the jth frequency after rank deficiency is eliminated is shown; />
Representing carrier phase observations of the receiver r to satellite s on the jth frequency after rank depletion cancellation; / >
Representing a tropospheric mapping function at the receiver r; Δτ r An increment representing the zenith tropospheric delay wet component at the receiver r; />
Indicating that the receiver r has a skew; />
Indicating that the satellite s has a bias; mu (mu) j ＝(λ j /λ 1 ) 2 Representing ionospheric coefficients; />
Representing the biased tropospheric delay of the receiver r to satellite s; />
Representing a biased code bias of the receiver r at a j-th frequency; />
Representing a biased code bias of the satellite s at a j-th frequency; />
Representing a biased phase offset of the receiver r at the jth frequency; />
Representing a biased phase offset of the satellite s at the jth frequency; />
Representing a biased blur parameter.
It should be noted that the number of the substrates,
wherein dt is 1 Representing the receiver 1 clock difference; d, d r,1 Representing the code deviation of the receiver r at frequency 1; d, d r,2 Representing the code deviation of the receiver r at frequency 2; d, d 1,1 Representing the code deviation of the receiver 1 at frequency 1; d, d 1,2 Representing the code deviation of the receiver 1 at frequency 2; dt (dt) s Representing the satellite s clock difference;
representing the code bias of the satellite s at frequency 1; />
Representing the code bias of the satellite s at frequency 2.
As a preferred embodiment, step S14 specifically includes:
One-way broadcasting satellite clock difference, phase deviation and atmospheric delay in the parameters, interpolating the atmospheric delay of the common-view satellite by combining the central coordinate of a monitoring area and the CORS station coordinate, recombining the parameters of the satellite end, the space atmospheric end and the receiver end, constructing a virtual observation value expression of the center of the monitoring area, and obtaining a virtual observation value of the center of the monitoring area;
wherein the virtual observation value expression is
In the method, in the process of the invention,
a virtual observation value of the distance from the coordinates of the central position v of the monitoring area to the satellite s on the jth frequency; />
A carrier phase virtual observation value from the coordinate of the central position v of the monitoring area on the jth frequency to the satellite s; />
The space geometrical distance between the coordinates of the central position v of the monitoring area on the jth frequency and the satellite s, namely the satellite distance; />
A troposphere mapping function on coordinates representing the central position v of the monitoring area; Δτ v An increment of a zenith troposphere delay wet component on a coordinate representing a central position v of the monitoring area; />
A biased tropospheric delay from the coordinates representing the central location v of the monitored zone to satellite s.
As a preferred embodiment, step S15 specifically includes:
the virtual observation value is broadcast in one direction to carry out short baseline double difference positioning on the monitoring station in the monitoring area, a double difference observation value expression of the monitoring station and the virtual reference station is obtained, so that the relative coordinates of the monitoring station relative to the virtual base station are obtained in real time, the real-time monitoring of the three-dimensional deformation of the surface of the monitoring area is realized, and the ground disaster is monitored;
Wherein the double difference observations can be expressed as
In the method, in the process of the invention,
representing the virtual double difference observation values of the coordinates of the central position v of the monitoring area on the jth frequency relative to the virtual reference station m, the satellite p and the satellite q; />
Representing the coordinate of the central position v of the monitoring area on the jth frequency to the carrier phase virtual observation value of the satellite P; />
Representing the coordinate of the central position v of the monitoring area on the jth frequency to the carrier phase virtual observation value of the satellite q; />
Representing carrier phase virtual observations of the virtual reference station m to satellite p at the jth frequency; />
Representing carrier phase virtual observations of the virtual reference station m to satellite q at the jth frequency; />
Representing the virtual double difference observation value of the coordinates of the central position v of the monitoring area on the jth frequency relative to the distance between the virtual reference station m and the satellites p and q; />
Representing a double difference ambiguity parameter.
As a preferred embodiment, the calculating the biased parameter obtains parameters of the satellite side, the space atmosphere side and the receiver side, specifically:
if the kth epoch is the first epoch, estimating the biased parameter by adopting a classical least square indirect adjustment method; and if the kth epoch is not the first epoch, taking the phase deviation and the ambiguity of the common star of the kth epoch and the k+1 epoch as the forecast value, and estimating the biased parameter through Kalman filtering.
Fig. 2 is a schematic structural diagram of a ground disaster monitoring device based on a beidou PPP-RTK virtual observation value, which is provided by an embodiment of the invention, and includes:
the data receiving module 21 is used for receiving the real-time data stream of the Beidou CORS station; detecting a CORS station and a common view satellite on line of a kth epoch, and selecting a reference star and a reference station; wherein the real-time data stream comprises: satellite clock difference, satellite code deviation, phase deviation and atmospheric delay; the atmospheric delays include tropospheric delays and ionospheric delays;
the parameter reorganization module 22 is configured to reorganize parameters of an original observation equation of the CORS station according to a PPP-RTK technique, so as to obtain biased parameters of a satellite end, a space atmosphere end and a receiver end;
the parameter estimation module 23 is configured to calculate the biased parameter to obtain parameters of the satellite end, the space atmosphere end and the receiver end;
the parameter broadcasting module 24 is configured to uni-directionally broadcast a satellite clock error, a phase deviation and an atmospheric delay in the parameters, and interpolate the atmospheric delay of the common-view satellite by combining a central coordinate of a monitoring area and a coordinate of the CORS station to obtain a virtual observation value of the center of the monitoring area;
The coordinate acquisition module 25 is configured to unidirectionally broadcast the virtual observation value to a monitoring station in the monitoring area to perform short baseline double difference positioning, and acquire, in real time, relative coordinates of the monitoring station with respect to the virtual base station, so as to realize real-time monitoring of surface three-dimensional deformation of the monitoring area, thereby monitoring a ground disaster.
As a preferred embodiment, the parameter reorganization module 22 is specifically configured to:
according to PPP-RTK technology, carrying out parameter recombination on the original observation equation of the CORS station, eliminating rank deficiency caused by parameter linear correlation, obtaining full rank observation equation, and obtaining biased parameters of a satellite end, a space atmosphere end and a receiver end;
wherein the original observation equation is
Wherein s represents the identification of the satellite; r represents the receiver identity; j represents the identity of the frequency;
a pseudorange observation representing the receiver r to satellite s at the jth frequency; />
Representing carrier phase observations of the receiver r to satellite s at the jth frequency; />
Representing the geometrical distance of the receiver r from the satellite s; dt (dt) r Representing the receiver r clock difference; dt (dt) s Representing the satellite s clock difference; d, d r,j Representing the code bias of the receiver r at the j-th frequency; />
Representing the code bias of the satellite s at the j-th frequency; delta r,j Representing the phase deviation of the receiver r at the j-th frequency; />
Representing the phase offset of the satellite s at the jth frequency; />
Representing the receiver r to satellite s pairA flow layer delay; />
An ionospheric delay representing the receiver r to satellite s at said jth frequency; />
Representing an ambiguity parameter; lambda (lambda) j A wavelength representing the jth frequency; epsilon p Observation noise representing the pseudorange observations; epsilon φ Observation noise representing the carrier phase observations;
the full rank observation equation is
In the method, in the process of the invention,
a pseudo-range observation value from the receiver r to the satellite s on the jth frequency after rank deficiency is eliminated is shown; />
Representing carrier phase observations of the receiver r to satellite s on the jth frequency after rank depletion cancellation; />
Representing a tropospheric mapping function at the receiver r; Δτ r An increment representing the zenith tropospheric delay wet component at the receiver r; />
Indicating that the receiver r has a skew; />
Indicating that the satellite s has a bias; mu (mu) j ＝(λ j /λ 1 ) 2 Representing ionospheric coefficients; />
Representing the biased tropospheric delay of the receiver r to satellite s; />
Representing a biased code bias of the receiver r at a j-th frequency; />
Representing a biased code bias of the satellite s at a j-th frequency; / >
Representing a biased phase offset of the receiver r at the jth frequency; />
Representing a biased phase offset of the satellite s at the jth frequency; />
Representing a biased blur parameter.
As a preferred embodiment, the parameter broadcasting module 24 is specifically configured to:
one-way broadcasting satellite clock difference, phase deviation and atmospheric delay in the parameters, interpolating the atmospheric delay of the common-view satellite by combining the central coordinate of a monitoring area and the CORS station coordinate, recombining the parameters of the satellite end, the space atmospheric end and the receiver end, constructing a virtual observation value expression of the center of the monitoring area, and obtaining a virtual observation value of the center of the monitoring area;
wherein the virtual observation value expression is
In the method, in the process of the invention,
for the jth frequencyA virtual observation value of the distance from the coordinates of the central position v of the monitoring area to the satellite s on the rate; />
A carrier phase virtual observation value from the coordinate of the central position v of the monitoring area on the jth frequency to the satellite s; />
The space geometrical distance between the coordinates of the central position v of the monitoring area on the jth frequency and the satellite s, namely the satellite distance; />
A troposphere mapping function on coordinates representing the central position v of the monitoring area; Δτ v An increment of a zenith troposphere delay wet component on a coordinate representing a central position v of the monitoring area; / >
A biased tropospheric delay from the coordinates representing the central location v of the monitored zone to satellite s.
The disaster monitoring device based on the Beidou PPP-RTK virtual observation value provided by the embodiment of the invention can realize all the processes of the disaster monitoring method based on the Beidou PPP-RTK virtual observation value in the embodiment, and the actions and the realized technical effects of each module in the device are respectively corresponding to the actions and the realized technical effects of the disaster monitoring method based on the Beidou PPP-RTK virtual observation value in the embodiment, and are not repeated here.
The embodiment of the invention correspondingly provides a terminal device, which comprises: a processor, a memory, and a computer program stored in the memory and executable on the processor. And the processor realizes the steps in the embodiment of the ground disaster monitoring method based on the Beidou PPP-RTK virtual observation value when executing the computer program. Or the processor realizes the functions of the modules in the embodiment of the disaster monitoring device based on the Beidou PPP-RTK virtual observation value when executing the computer program.
The computer program may be divided into one or more modules, which are stored in the memory and executed by the processor to accomplish the present invention, for example. The one or more modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in the terminal device.
The terminal equipment can be computing equipment such as a desktop computer, a notebook computer, a palm computer, a cloud server and the like. The terminal device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a terminal device and does not constitute a limitation of the terminal device, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the terminal device may further include an input-output device, a network access device, a bus, etc.
The processor may be a central processing unit, but also other general purpose processors, digital signal processors, application specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the terminal device, and which connects various parts of the entire terminal device using various interfaces and lines.
The memory may be used to store the computer program and/or module, and the processor may implement various functions of the terminal device by running or executing the computer program and/or module stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card, at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
Wherein the terminal device integrated modules may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a stand alone product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by instructing related hardware by a computer program, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of each of the method embodiments described above when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier wave signal, a telecommunication signal, a software distribution medium, and so forth.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program, wherein when the computer program runs, equipment where the computer readable storage medium is located is controlled to execute the disaster monitoring method based on the Beidou PPP-RTK virtual observation value according to the embodiment.
In summary, the embodiment of the invention discloses a ground disaster monitoring device, a terminal and a medium based on Beidou PPP-RTK virtual observation values, which are characterized in that through receiving a Beidou CORS station real-time data stream, a k-th epoch online CORS station and a common view satellite are detected, according to PPP-RTK technology, parameter recombination is carried out on an original observation equation of the CORS station, biased parameters of a satellite end, a space atmosphere end and a receiver end are obtained, the biased parameters are calculated, parameters of the satellite end, the space atmosphere end and the receiver end are obtained, satellite clock differences, phase deviations and atmospheric delays in the parameters are broadcasted in one direction, the atmospheric delays of the common view satellite are interpolated by combining a central coordinate of a monitoring area and the CORS station coordinate, the virtual observation value of the center of the monitoring area is obtained, the virtual observation value is broadcasted in one direction, short base line double difference positioning is carried out on the monitoring station, and the relative coordinates of the monitoring station relative to the virtual base station are obtained in real time. Therefore, the embodiment of the invention utilizes various error parameters estimated by the CORS network, and adopts a combination mode of 'station star distance + satellite end deviation + single difference space atmosphere delay' to generate a virtual observation value; the problems that the prior art is influenced by the observation noise of a CORS master station or the master station is switched, the real-time monitoring result jumps, the ground disaster is misjudged and the like are solved; in the aspect of virtual observation broadcasting: because the types of the generated parameters are different, only one-way broadcasting is needed; therefore, under the condition that the calculation force of the server is constant, the mass monitoring point service can be realized; besides being compatible with the existing RTK technology, the method can provide enhanced services for the real-time monitoring terminal based on the precise single-point positioning technology.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (10)
1. A ground disaster monitoring method based on Beidou PPP-RTK virtual observation values is characterized by comprising the following steps:
receiving a real-time data stream of a Beidou CORS station; detecting a CORS station and a common view satellite on line of a kth epoch, and selecting a reference star and a reference station; wherein the real-time data stream comprises: satellite clock difference, satellite code deviation, phase deviation and atmospheric delay; the atmospheric delays include tropospheric delays and ionospheric delays;
according to PPP-RTK technology, carrying out parameter recombination on the original observation equation of the CORS station to obtain biased parameters of a satellite end, a space atmosphere end and a receiver end;
calculating the biased parameters to obtain parameters of the satellite end, the space atmosphere end and the receiver end;
one-way broadcasting satellite clock error, phase deviation and atmospheric delay in the parameters, and interpolating the atmospheric delay of the common-view satellite by combining the central coordinate of a monitoring area and the CORS station coordinate to obtain a virtual observation value of the center of the monitoring area;
And one-way broadcasting the virtual observation value to a monitoring station in the monitoring area for short baseline double-difference positioning, and acquiring relative coordinates of the monitoring station relative to the virtual base station in real time so as to realize real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring the ground disaster.
2. The method for monitoring the ground disaster based on the Beidou PPP-RTK virtual observation value according to claim 1, wherein the method comprises the steps of carrying out parameter recombination on an original observation equation of the CORS station according to PPP-RTK technology to obtain biased parameters of a satellite end, a space atmosphere end and a receiver end, and specifically comprises the following steps:
according to PPP-RTK technology, carrying out parameter recombination on the original observation equation of the CORS station, eliminating rank deficiency caused by parameter linear correlation, obtaining full rank observation equation, and obtaining biased parameters of a satellite end, a space atmosphere end and a receiver end;
wherein the original observation equation is
Wherein s represents the identification of the satellite; r represents the receiver identity; j represents the identity of the frequency;
a pseudorange observation representing the receiver r to satellite s at the jth frequency; />
Representing carrier phase observations of the receiver r to satellite s at the jth frequency; />
Representing the geometrical distance of the receiver r from the satellite s; dt (dt) r Representing the receiver r clock difference; dt (dt) s Representing the satellite s clock difference; d, d r,j Representing the code bias of the receiver r at the j-th frequency; />
Representing the code bias of the satellite s at the j-th frequency; delta r,j Representing the phase deviation of the receiver r at the j-th frequency; />
Representing the phase offset of the satellite s at the jth frequency; />
A tropospheric delay representative of the receiver r to satellite s; />
An ionospheric delay representing the receiver r to satellite s at said jth frequency; />
Representing an ambiguity parameter; lambda (lambda) j A wavelength representing the jth frequency; epsilon p Observation noise representing the pseudorange observations; epsilon φ Observation noise representing the carrier phase observations;
the full rank observation equation is
In the method, in the process of the invention,
a pseudo-range observation value from the receiver r to the satellite s on the jth frequency after rank deficiency is eliminated is shown; />
Representing carrier phase observations of the receiver r to satellite s on the jth frequency after rank depletion cancellation; />
Representing a tropospheric mapping function at the receiver r; Δτ r An increment representing the zenith tropospheric delay wet component at the receiver r; />
Indicating that the receiver r has a skew; />
Indicating that the satellite s has a bias; mu (mu) j ＝(λ j /λ 1 ) 2 Representing ionospheric coefficients; / >
Representing the biased tropospheric delay of the receiver r to satellite s; />
Representing a biased code bias of the receiver r at a j-th frequency; />
Representing a biased code bias of the satellite s at a j-th frequency; />
Representing a biased phase offset of the receiver r at the jth frequency; />
Representing a biased phase offset of the satellite s at the jth frequency; />
Representing a biased blur parameter.
3. The method for monitoring the ground disaster based on the Beidou PPP-RTK virtual observation value according to claim 1, wherein the one-way broadcasting of satellite clock differences, phase deviations and atmospheric delays in the parameters is combined with the central coordinates of a monitoring area and the CORS station coordinates to interpolate the atmospheric delays of the common vision star, and the method for obtaining the virtual observation value of the center of the monitoring area specifically comprises the following steps:
one-way broadcasting satellite clock difference, phase deviation and atmospheric delay in the parameters, interpolating the atmospheric delay of the common-view satellite by combining the central coordinate of a monitoring area and the CORS station coordinate, recombining the parameters of the satellite end, the space atmospheric end and the receiver end, constructing a virtual observation value expression of the center of the monitoring area, and obtaining a virtual observation value of the center of the monitoring area;
Wherein the virtual observation value expression is
In the method, in the process of the invention,
a virtual observation value of the distance from the coordinates of the central position v of the monitoring area to the satellite s on the jth frequency; />
A carrier phase virtual observation value from the coordinate of the central position v of the monitoring area on the jth frequency to the satellite s; />
The space geometrical distance between the coordinates of the central position v of the monitoring area on the jth frequency and the satellite s, namely the satellite distance; />
A troposphere mapping function on coordinates representing the central position v of the monitoring area; Δτ v An increment of a zenith troposphere delay wet component on a coordinate representing a central position v of the monitoring area; />
A biased tropospheric delay from the coordinates representing the central location v of the monitored zone to satellite s.
4. The method for monitoring the ground disaster based on the Beidou PPP-RTK virtual observation value according to claim 1, wherein the one-way broadcasting of the virtual observation value carries out short baseline double difference positioning on a monitoring station in the monitoring area, and relative coordinates of the monitoring station relative to a virtual base station are obtained in real time so as to realize real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring the ground disaster, and the method specifically comprises the following steps:
the virtual observation value is broadcast in one direction to carry out short baseline double difference positioning on the monitoring station in the monitoring area, a double difference observation value expression of the monitoring station and the virtual reference station is obtained, so that the relative coordinates of the monitoring station relative to the virtual base station are obtained in real time, the real-time monitoring of the three-dimensional deformation of the surface of the monitoring area is realized, and the ground disaster is monitored;
Wherein the double difference observation value expression is
In the method, in the process of the invention,
representing the virtual double difference observation values of the coordinates of the central position v of the monitoring area on the jth frequency relative to the virtual reference station m, the satellite p and the satellite q; />
Representing the coordinate of the central position v of the monitoring area on the jth frequency to the carrier phase virtual observation value of the satellite P; />
Representing the coordinate of the central position v of the monitoring area on the jth frequency to the carrier phase virtual observation value of the satellite q; />
Representing carrier phase virtual observations of the virtual reference station m to satellite p at the jth frequency; />
Representing carrier phase virtual observations of the virtual reference station m to satellite q at the jth frequency; />
Representing the virtual double difference observation value of the coordinates of the central position v of the monitoring area on the jth frequency relative to the distance between the virtual reference station m and the satellites p and q;
representing double differential modesA pasting parameter. />
5. The method for monitoring the ground disaster based on the Beidou PPP-RTK virtual observation value according to claim 1, wherein the calculating of the biased parameters is performed to obtain parameters of the satellite end, the space atmosphere end and the receiver end, specifically:
if the kth epoch is the first epoch, estimating the biased parameter by adopting a classical least square indirect adjustment method; and if the kth epoch is not the first epoch, taking the phase deviation and the ambiguity of the common star of the kth epoch and the k+1 epoch as the forecast value, and estimating the biased parameter through Kalman filtering.
6. Ground disaster monitoring device based on big dipper PPP-RTK virtual observation value, characterized by comprising:
the data receiving module is used for receiving the real-time data stream of the Beidou CORS station; detecting a CORS station and a common view satellite on line of a kth epoch, and selecting a reference star and a reference station; wherein the real-time data stream comprises: satellite clock difference, satellite code deviation, phase deviation and atmospheric delay; the atmospheric delays include tropospheric delays and ionospheric delays;
the parameter recombination module is used for carrying out parameter recombination on an original observation equation of the CORS station according to a PPP-RTK technology to obtain biased parameters of a satellite end, a space atmosphere end and a receiver end;
the parameter estimation module is used for calculating the biased parameters to obtain parameters of the satellite end, the space atmosphere end and the receiver end;
the parameter broadcasting module is used for broadcasting satellite clock error, phase deviation and atmospheric delay in the parameters in one way, and interpolating the atmospheric delay of the common vision star by combining the central coordinate of the monitoring area and the CORS station coordinate to obtain a virtual observation value of the center of the monitoring area;
the coordinate acquisition module is used for one-way broadcasting the virtual observation value to the monitoring station in the monitoring area for short baseline double difference positioning, and acquiring the relative coordinate of the monitoring station relative to the virtual base station in real time so as to realize real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring the ground disaster.
7. The device for monitoring the ground disaster based on the Beidou PPP-RTK virtual observation value according to claim 6, wherein the parameter reorganization module is specifically configured to:
according to PPP-RTK technology, carrying out parameter recombination on the original observation equation of the CORS station, eliminating rank deficiency caused by parameter linear correlation, obtaining full rank observation equation, and obtaining biased parameters of a satellite end, a space atmosphere end and a receiver end;
wherein the original observation equation is
Wherein s represents the identification of the satellite; r represents the receiver identity; j represents the identity of the frequency;
a pseudorange observation representing the receiver r to satellite s at the jth frequency; />
Representing carrier phase observations of the receiver r to satellite s at the jth frequency; />
Representing the geometrical distance of the receiver r from the satellite s; dt (dt) r Representing the receiver r clock difference; dt (dt) s Representing the satellite s clock difference; d, d r,j Representing the code bias of the receiver r at the j-th frequency; />
Representing the code bias of the satellite s at the j-th frequency; delta r,j Representing the phase deviation of the receiver r at the j-th frequency; />
Representing the phase offset of the satellite s at the jth frequency; />
A tropospheric delay representative of the receiver r to satellite s; / >
An ionospheric delay representing the receiver r to satellite s at said jth frequency; />
Representing an ambiguity parameter; lambda (lambda) j A wavelength representing the jth frequency; epsilon p Observation noise representing the pseudorange observations; epsilon φ Observation noise representing the carrier phase observations;
the full rank observation equation is
In the method, in the process of the invention,
a pseudo-range observation value from the receiver r to the satellite s on the jth frequency after rank deficiency is eliminated is shown; />
Representing carrier phase observations of the receiver r to satellite s on the jth frequency after rank depletion cancellation; />
Representing a tropospheric mapping function at the receiver r; Δτ r An increment representing the zenith tropospheric delay wet component at the receiver r; />
Indicating that the receiver r has a skew; />
Indicating that the satellite s has a bias; mu (mu) j ＝(λ j /λ 1 ) 2 Representing ionospheric coefficients; />
Representing the biased tropospheric delay of the receiver r to satellite s; />
Representing a biased code bias of the receiver r at a j-th frequency; />
Representing a biased code bias of the satellite s at a j-th frequency; />
Representing a biased phase offset of the receiver r at the jth frequency; />
Representing a biased phase offset of the satellite s at the jth frequency; />
Representing a biased blur parameter.
8. The device for monitoring the ground disaster based on the Beidou PPP-RTK virtual observation value according to claim 7, wherein the parameter broadcasting module is specifically configured to:
one-way broadcasting satellite clock difference, phase deviation and atmospheric delay in the parameters, interpolating the atmospheric delay of the common-view satellite by combining the central coordinate of a monitoring area and the CORS station coordinate, recombining the parameters of the satellite end, the space atmospheric end and the receiver end, constructing a virtual observation value expression of the center of the monitoring area, and obtaining a virtual observation value of the center of the monitoring area;
wherein the virtual observation value expression is
In the method, in the process of the invention,
a virtual observation value of the distance from the coordinates of the central position v of the monitoring area to the satellite s on the jth frequency; />
A carrier phase virtual observation value from the coordinate of the central position v of the monitoring area on the jth frequency to the satellite s; />
The space geometrical distance between the coordinates of the central position v of the monitoring area on the jth frequency and the satellite s, namely the satellite distance; />
A troposphere mapping function on coordinates representing the central position v of the monitoring area; Δτ v An increment of a zenith troposphere delay wet component on a coordinate representing a central position v of the monitoring area; />
A biased tropospheric delay from the coordinates representing the central location v of the monitored zone to satellite s.
9. A terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the beidou PPP-RTK virtual observer based ground fault monitoring method according to any one of claims 1-5 when executing the computer program.
10. A computer readable storage medium, wherein the computer readable storage medium includes a stored computer program, and when the computer program runs, the computer readable storage medium is controlled to execute the disaster monitoring method based on the Beidou PPP-RTK virtual observation value according to any one of claims 1 to 5.
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| CN116299598A (en) * | 2023-05-19 | 2023-06-23 | 中国科学院精密测量科学与技术创新研究院 | Bridge Deformation Monitoring Method Based on PPP-RTK and Multipath Correction |
| CN116299598B (en) * | 2023-05-19 | 2023-09-12 | 中国科学院精密测量科学与技术创新研究院 | Bridge deformation monitoring method based on PPP-RTK and multipath correction |
| CN116774266A (en) * | 2023-08-23 | 2023-09-19 | 北京理工大学 | Dam deformation detection method based on RTK-PPP technology |
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| CN117148398A (en) * | 2023-10-31 | 2023-12-01 | 中国测绘科学研究院 | Two-network-integrated station distribution geometric configuration assessment method, system and equipment |
| CN117148398B (en) * | 2023-10-31 | 2023-12-29 | 中国测绘科学研究院 | Two-network-integrated station distribution geometric configuration assessment method, system and equipment |
| CN117233799A (en) * | 2023-11-08 | 2023-12-15 | 武汉大学 | Coal mine goaf surface deformation monitoring method based on virtual reference station |
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