CN117232380A - Method, device and equipment for monitoring deformation of strip engineering and readable storage medium - Google Patents

Method, device and equipment for monitoring deformation of strip engineering and readable storage medium Download PDF

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CN117232380A
CN117232380A CN202311504116.4A CN202311504116A CN117232380A CN 117232380 A CN117232380 A CN 117232380A CN 202311504116 A CN202311504116 A CN 202311504116A CN 117232380 A CN117232380 A CN 117232380A
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monitoring
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base station
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adjacent
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CN117232380B (en
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史俊波
侯诚
欧阳晨皓
郭际明
邹进贵
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Wuhan University WHU
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Abstract

A method, a device, equipment and a readable storage medium for monitoring deformation of a strip engineering comprise the steps of constructing a Beidou deformation monitoring network with multiple base stations, wherein each monitoring station is positioned between two adjacent base stations; when the base station and the monitoring station observe satellites at the same time, an error equation is constructed according to the target correction, the design matrix, the parameter correction and the closing difference between each base station and the monitoring station between 2 adjacent base stations; constructing a constraint equation according to the to-be-solved baseline component between each base station and the monitoring station, the known baseline components between the adjacent 2 base stations and the closure difference of the baseline components being 0; performing least square estimation on the constraint equation and the error equation to obtain a baseline vector between each base station and the monitoring station; calculating coordinates of the monitoring station based on all the baseline vectors and coordinates of the adjacent 2 base stations; and three-dimensional deformation results are obtained based on coordinate calculation of all monitoring stations, so that deformation monitoring of the strip engineering is realized, and stability and accuracy consistency of Beidou deformation monitoring results under the strip engineering are improved.

Description

Method, device and equipment for monitoring deformation of strip engineering and readable storage medium
Technical Field
The application relates to the technical field of Beidou high-precision deformation monitoring, in particular to a strip engineering deformation monitoring method, device and equipment and a readable storage medium.
Background
With the development of society, potential safety hazards of projects such as buildings, dams, mines, electric towers, roads, railways, water diversion and the like need to be found and early warned in time, and the deformation of the projects is generally perceived in time currently by using a Beidou deformation monitoring technology. The Beidou deformation monitoring technology generally realizes deformation monitoring through an absolute positioning method of a monitoring station, however, if the absolute positioning method of the monitoring station is only used, the accuracy requirement of actual monitoring application is difficult to reach, and the Beidou deformation monitoring accuracy can influence the judgment of a user on engineering safety conditions, so that the Beidou deformation monitoring accuracy is necessarily improved through related technologies and methods.
In the related art, in order to improve the Beidou deformation monitoring precision, a Beidou deformation monitoring network is often constructed by establishing a Beidou base station and a monitoring station so as to acquire the coordinates of the monitoring station relative to the base station and further acquire a high-precision deformation result of the monitoring station. In order to achieve the above objective, the conventional method generally adopts the Beidou relative positioning method including a single base station for processing, but because the strip engineering such as highway, railway, waterway and the like has the characteristics of large span, long distance and generally distributed in a long and narrow area, the conventional method lacks external base station constraint, so that the monitoring result of the monitoring station is poor in stability, and because the conventional method only has a single base station, the distance between part of the monitoring stations and the base station under the strip engineering is far, and the monitoring precision of the monitoring stations is inversely proportional to the distance, the conventional method also can cause poor consistency of the monitoring precision among the monitoring stations. Therefore, the Beidou relative positioning method of the single base station is only suitable for most of Beidou high-precision deformation monitoring applications with short distances and small ranges, but is not suitable for deformation monitoring applications of strip engineering.
Therefore, how to effectively realize deformation monitoring of the strip engineering so as to improve stability and accuracy consistency of Beidou deformation monitoring results under the strip engineering is a problem to be solved currently.
Disclosure of Invention
The application provides a method, a device and equipment for monitoring deformation of a strip-shaped project and a readable storage medium, which are used for effectively realizing deformation monitoring of the strip-shaped project and further improving stability and accuracy consistency of Beidou deformation monitoring results under the strip-shaped project.
In a first aspect, an embodiment of the present application provides a method for monitoring deformation of a strip-shaped engineering, including:
constructing a multi-base-station Beidou deformation monitoring network, wherein the multi-base-station Beidou deformation monitoring network comprises at least 2 base stations distributed on a strip-shaped engineering along line and at least 1 monitoring station distributed between every two adjacent 2 base stations;
for each monitoring station between 2 adjacent base stations, when the adjacent 2 base stations and the monitoring stations observe satellites at the same time, an error equation is constructed according to a target correction, a design matrix, a parameter correction and a closing difference between each base station in the 2 adjacent base stations and the monitoring stations, wherein the target correction is a correction of a pseudo range and a phase observation value;
constructing a constraint equation according to the to-be-solved baseline component between each base station of the adjacent 2 base stations and the monitoring station, the known baseline component between the adjacent 2 base stations and the closing difference of the baseline component being 0;
Performing least square estimation on the constraint equation and the error equation to obtain a baseline vector between each base station of the adjacent 2 base stations and the monitoring station;
calculating coordinates of the monitoring station based on all the baseline vectors and coordinates of the adjacent 2 base stations;
and calculating based on the coordinates of all the monitoring stations to obtain a three-dimensional deformation result.
In a second aspect, an embodiment of the present application provides a strip engineering deformation monitoring apparatus, including:
the construction module is used for constructing a multi-base-station Beidou deformation monitoring network, and the multi-base-station Beidou deformation monitoring network comprises at least 2 base stations arranged on a strip-shaped engineering along line and at least 1 monitoring station arranged between every two adjacent 2 base stations;
the monitoring module is used for constructing an error equation according to a target correction, a design matrix, a parameter correction and a closing difference between each base station and the monitoring station between the adjacent 2 base stations when the adjacent 2 base stations and the monitoring station observe satellites at the same time, wherein the target correction is a correction of a pseudo range and a phase observation value; constructing a constraint equation according to the to-be-solved baseline component between each base station and the monitoring station between the adjacent 2 base stations, the known baseline component between the adjacent 2 base stations and the closing difference of the baseline component being 0; performing least square estimation on the constraint equation and the error equation to obtain a baseline vector between each base station and a monitoring station between 2 adjacent base stations; calculating coordinates of the monitoring station based on all the baseline vectors and coordinates of the adjacent 2 base stations; and calculating based on the coordinates of all the monitoring stations to obtain a three-dimensional deformation result.
In a third aspect, an embodiment of the present application provides a strip-shaped engineering deformation monitoring apparatus, including a processor, a memory, and a strip-shaped engineering deformation monitoring program stored on the memory and executable by the processor, where the strip-shaped engineering deformation monitoring program, when executed by the processor, implements the steps of the strip-shaped engineering deformation monitoring method as described above.
In a fourth aspect, an embodiment of the present application provides a computer readable storage medium having a strip engineering deformation monitoring program stored thereon, wherein the strip engineering deformation monitoring program, when executed by a processor, implements the steps of the strip engineering deformation monitoring method as described above.
The technical scheme provided by the embodiment of the application has the beneficial effects that at least:
the deformation monitoring of the strip engineering is realized by creating a Beidou deformation monitoring network of a plurality of base stations, wherein the external base station constraint of the monitoring station is constructed by building the plurality of base stations, so that the coordinates of the monitoring station calculated from any one base station are strictly equal, and the stability of a monitoring result is effectively improved; and because each monitoring station is located between the first base station and the last base station along the strip engineering, namely at least 1 base station is closer to the monitoring station, the situation that the distance between part of the monitoring stations and the base stations is far is avoided, and further the accuracy consistency of deformation monitoring results is effectively improved.
Drawings
Fig. 1 is a schematic structural diagram of a single-base-station Beidou deformation monitoring network;
FIG. 2 is a schematic flow chart of an embodiment of a method for monitoring deformation of a strip engineering according to the present application;
fig. 3 is a schematic structural diagram of a multi-base station Beidou deformation monitoring network;
fig. 4 is a schematic structural diagram of arranging 2 monitoring stations among 2 base stations in the multi-base-station Beidou deformation monitoring network;
fig. 5 is a schematic hardware structure of a belt-shaped engineering deformation monitoring device according to the scheme of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms "comprising" and "having" and any variations thereof in the description and claims of the application and in the foregoing drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. The terms "first," "second," and "third," etc. are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order, and are not limited to the fact that "first," "second," and "third" are not identical.
In describing embodiments of the present application, "exemplary," "such as," or "for example," etc., are used to indicate by way of example, illustration, or description. Any embodiment or design described herein as "exemplary," "such as" or "for example" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "such as" or "for example," etc., is intended to present related concepts in a concrete fashion.
In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; the text "and/or" is merely an association relation describing the associated object, and indicates that three relations may exist, for example, a and/or B may indicate: the three cases where a exists alone, a and B exist together, and B exists alone, and furthermore, in the description of the embodiments of the present application, "plural" means two or more than two.
In some of the processes described in the embodiments of the present application, a plurality of operations or steps occurring in a particular order are included, but it should be understood that the operations or steps may be performed out of the order in which they occur in the embodiments of the present application or in parallel, the sequence numbers of the operations merely serve to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the processes may include more or fewer operations, and the operations or steps may be performed in sequence or in parallel, and the operations or steps may be combined.
By way of example, it can be understood that the single-base-station Beidou deformation monitoring network is a monitoring network commonly used in the current strip engineering, and the specific working principle is as follows: the method comprises the steps of (1) obtaining accurate coordinates of a Beidou base station; (2) Acquiring baseline vectors between all monitoring stations and the base station by using a relative positioning method; (3) Calculating all monitoring station coordinates through the baseline vector and the base station coordinates; (4) And performing difference making and conversion on the multi-period coordinates of all the monitoring stations to obtain high-precision three-dimensional deformation information. Wherein, referring to FIG. 1, since the base station b is located on the west side of the monitoring network, there is a monitoring station r from west to east 1 And r 2 At this time, the distances between the monitoring stations and the base stations are inconsistent, then toCombining the coordinates of the base station b with each monitoring station rX b ,Y b ,Z b ) The coordinates of the monitoring station can be found as follows:
in (1), the following steps are carried outX r ,Y r ,Z r ) For the coordinates of the monitoring station r, deltaX b,r 、△Y b,r 、△Z b,r The base line vector between the base station b and the monitoring station r is respectively three components corresponding to the X direction, the Y direction and the Z direction. It should be noted that, for simplicity of description, the same parameters repeated in different formulas in the subsequent embodiments are only explained in the first occurrence.
The empirical formula for baseline measurement error is:
In the formula (2), the amino acid sequence of the compound,σ △X 、σ △Y 、σ △Z errors of three components corresponding to the baseline vector in the X direction, the Y direction and the Z direction are respectively, alpha is an addition constant, beta is a multiplication constant,D △X 、D △Y 、D △Z the distance of the three components corresponding to the baseline vector in the X direction, the Y direction and the Z direction is given in km.
Based on the error propagation law, since the base station coordinates can be considered to have no error, the error of the first term on the right of the equation of formula (1) is 0, and by combining the error of the second term on the right of the equation of formula (2) and formula (1), the error of the monitoring station coordinates on the left of the equation of formula (1) can be deduced as follows:
in the formula (4), the amino acid sequence of the compound,σ r for the coordinate error of the monitoring station r, i.e. the accuracy of the monitoring station coordinates,the errors of the coordinate components of the monitoring station r are respectively, namely the precision of the coordinate components of the monitoring station.
From equations (3) and (4), it can be derived: the closer the distance is to the base station, the smaller the distance measurement error is, and the higher the coordinate precision of the monitoring point is; the farther the distance from the base station is, the larger the distance measurement error is, and the lower the coordinate precision of the monitoring point is; therefore, the problem of inconsistent Beidou deformation monitoring precision in the strip engineering is caused. Meanwhile, the strip engineering lacks external base station constraint when the single base station is adopted to conduct Beidou deformation monitoring, so that the stability of monitoring results in the strip engineering is poor. In order to solve the problems of poor stability and inconsistent precision of the Beidou deformation monitoring result of the strip-shaped engineering, the embodiment provides a method for improving the stability and the consistency of the precision of the Beidou deformation monitoring result of the strip-shaped engineering by using multiple base stations.
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
In a first aspect, an embodiment of the present application provides a method for monitoring deformation of a strip engineering.
In an embodiment, referring to fig. 2, fig. 2 is a flow chart illustrating an embodiment of a method for monitoring deformation of a strip engineering according to the present application. As shown in fig. 2, the deformation monitoring method for the strip-shaped engineering includes:
step S10: the method comprises the steps of constructing a multi-base-station Beidou deformation monitoring network, wherein the multi-base-station Beidou deformation monitoring network comprises at least 2 base stations distributed on a strip-shaped engineering along line and at least 1 monitoring station distributed between every two adjacent 2 base stations.
Exemplary, referring to fig. 3, in this embodiment, at least 1 base station b will be added based on a single base station Beidou deformation monitoring network M I.e. at least 2 base stations are arranged on the strip engineering line and at least 1 monitoring station r is arranged between adjacent 2 base stations K To form a plurality ofBase station big dipper deformation monitoring net. For example, referring to fig. 4, the multi-base-station Beidou deformation monitoring network comprises a base station b 1 And base station b 2 Monitoring station r 1 And a monitoring station r 2 For example, a monitoring station r 1 And a monitoring station r 2 Are all located at base station b 1 And base station b 2 The base lines can be formed with 2 base stations respectively, and a known edge is formed between the 2 base stations; at this time, each monitoring station r K Is of the monitoring accuracy of (2)Simultaneously affected by 2 baselines, then there is, in combination with equation (4):
where, k= {1,2},the errors of the coordinate components of the kth monitoring station r,frepresenting a function between the measurement accuracy of 2 baseline components and the accuracy of the coordinate components of the kth monitoring station,/->Respectively base stationsb 1 The distances of three components corresponding to the baseline vector between the Kth monitoring stations r in the X direction, the Y direction and the Z direction,base station b respectively 2 And distances of three components corresponding to the baseline vector among the Kth monitoring stations r in the X direction, the Y direction and the Z direction.
It will be appreciated that for 1 short baseline of 1 base station with 1 monitoring station, the effects of ionospheric error, tropospheric delay, hardware delay, etc. can be ignored, then there is a double difference observation equation:
wherein,is a double difference operator, P is a pseudo-range observation value, L is a phase observation value, subscript i is a frequency corresponding to the observation value, b is a base station, r is a monitoring station, superscript s is an observation satellite,reffor the reference satellite to be a reference satellite,ρfor the geometric distance of the satellite from the station,λfor wavelength, N is integer ambiguity, +. >Representing base station b and monitoring station r synchronous observation satellites s and satellitesrefTime-corresponding double-difference pseudo-range observation, +.>Representing base station b and monitoring station r synchronous observation satellites s and satellitesrefTime-dependent double difference phase observations, +.>Representing base station b and monitoring station r synchronous observation satellites s and satellitesrefGeometrical distance of the corresponding satellite from the station, < ->Representing base station b and monitoring station r synchronous observation satellites s and satellitesrefThe corresponding double difference integer ambiguity.
In the formula (6)And (3) performing linear expansion: />
Wherein,coefficients, d (, delta) of the baseline components to be solved, respectivelyX b,r )、d(△Y b,r )、d(△Z b,r ) The base line component corrections are respectively given,l 0 is a constant term after linearization.
Substituting formula (7) into(6) The method comprises the following steps:
wherein in the formula (8),representing base station b and monitoring station r synchronous observation satellites s and satellitesrefPseudo-range observations corresponding to time ∈>Representing base station b and monitoring station r synchronous observation satellites s and satellitesrefThe corresponding phase observations are: />
Assuming that the base station and the monitoring station observe n satellites simultaneously (n is a positive integer), the following error equation is obtained:
in the formula (10), the amino acid sequence of the compound,a correction representing the pseudo-range and phase observations between base station b and monitoring station r; />Representing the design matrix between base station b and monitoring station r +. >Indicating the parameter correction between base station b and monitoring station r +.>Represents the closure difference between base station b and monitoring station r, and +.>And->The meaning of (2) is as follows:
in the formula (11), s n-1 Representing observed n-1 non-reference stars.
Then the least squares estimation is performed on equation (10) to obtain the baseline vector between the base station and the monitoring stationThe method comprises the steps of carrying out a first treatment on the surface of the Then the baseline vector +.>Substituting the coordinates into the formula (1) to obtain the coordinates of the monitoring station in the mode of 1 base station and 1 monitoring stationX r ,Y r ,Z r )：
。
Step S20: and constructing an error equation according to a target correction, a design matrix, a parameter correction and a closing difference between each base station and the monitoring stations between the adjacent 2 base stations when the adjacent 2 base stations and the monitoring stations observe satellites at the same time, wherein the target correction is a correction of a pseudo range and a phase observation value.
The error equation is constructed according to the target correction, the design matrix, the parameter correction and the closing difference between each base station and the monitoring station between the adjacent 2 base stations, and the error equation comprises the following steps:
substituting the target correction, the design matrix, the parameter correction and the closing difference between each base station and the monitoring station between the adjacent 2 base stations into a first calculation formula to obtain an error equation;
The first calculation formula is as follows:
wherein M and K are positive integers and M > 1, n represents the satellite number,indicating the target correction between the M-1 th base station b and the K-th monitoring station r,/>Representing the design matrix between the M-1 th base station b and the K-th monitoring station r->Representing the parameter correction between the M-1 th base station b and the K-th monitoring station r,/>Indicating the difference in closure between the M-1 th base station b and the K-th monitoring station r,/->Indicating the target correction between the M-th base station b and the K-th monitoring station r,/and->Representing the design matrix between the M-th base station b and the K-th monitoring station r,/the design matrix between the M-th base station b and the K-th monitoring station r>Representing the parameter correction between the mth base station b and the kth monitoring station r,representing the difference in closure between the mth base station b and the kth monitoring station r.
In this embodiment, the multi-base station Beidou deformation monitoring network comprises M base stations b, at least 1 monitoring station r is distributed between every two adjacent base stations, for example, K monitoring stations r are distributed between the M-1 base station b and the M base station b, and the same method is adopted to monitor and calculate the coordinates of each monitoring station between every two adjacent base stations, so that for simplicity of description, only the adjacent base station b is used in the following embodiments M-1 With base station b M One of the monitoring stations r K The principle and flow of monitoring station coordinate monitoring and calculation are described for purposes of example.
Assuming that all stations observe n satellites simultaneously, then based on equation (10), i.e., according to base station b M-1 Base station b M Respectively with the monitoring station r K The target correction (i.e. the correction of the pseudo-range and phase observations), the design matrix, the parameter correction and the closure difference between them can be used to obtain an error equation; due to base station b M-1 And a monitoring station r K Form of error equation formed therebetween and base station b M And a monitoring station r K The form of the error equation formed therebetween is the same, and for simplicity of description, the following will be referred to as base station b M And a monitoring station r K The error equation (13) formed between them is formulated:
in the formula (13), the amino acid sequence of the compound,indicating the target correction between the M-1 th base station b and the K-th monitoring station r,/>Representing the design matrix between the M-1 th base station b and the K-th monitoring station r->Representing the parameter correction between the M-1 th base station b and the K-th monitoring station r,/>Indicating the difference in closure between the M-1 th base station b and the K-th monitoring station r,/->Indicating the target correction between the M-th base station b and the K-th monitoring station r,/and->Representing the design matrix between the M-th base station b and the K-th monitoring station r,/the design matrix between the M-th base station b and the K-th monitoring station r>Representing the parameter correction between the Mth base station b and the Kth monitoring station r ++ >Representing the difference in closure between the mth base station b and the kth monitoring station r.
Step S30: and constructing a constraint equation according to the to-be-solved baseline component between each base station of the adjacent 2 base stations and the monitoring station, the known baseline component between the adjacent 2 base stations and the closed difference of the baseline components being 0.
Wherein the constructing a constraint equation according to a to-be-solved baseline component between each of the 2 adjacent base stations and the monitoring station, a known baseline component between the 2 adjacent base stations and a closure difference of the baseline component being 0 comprises:
substituting a to-be-solved baseline component between each base station of the adjacent 2 base stations and the monitoring station, a known baseline component between the adjacent 2 base stations and a closing difference of the baseline component into 0 into a second calculation formula to obtain a constraint equation;
the second calculation formula is as follows:
in the method, in the process of the invention,representing the to-be-solved baseline component in the X direction between the M-1 th base station b and the K-th monitoring station r,representing the Y-direction to-be-solved baseline component between M-1 th base station b and K-th monitoring station r,/>Indicating the to-be-solved baseline component in the Z direction between the M-1 th base station b and the K-th monitoring station r,/>A to-be-solved baseline component representing X direction between the Kth monitoring station r and the Mth base station b,/and>representing the Y-direction to-be-solved baseline component between the Kth monitoring station r and the Mth base station b, < > >Indicating the to-be-solved baseline component in the Z direction between the Kth monitoring station r and the Mth base station b,/and%>Representing a known baseline component in the X direction between the mth base station b and the M-1 th base station b, and (2)>Representing the known baseline component in the Y-direction between the mth base station b and the M-1 th base station b, and (2)>Representing the known baseline component in the Z direction between the mth base station b and the M-1 th base station b.
Exemplary, in the present embodiment, for a monitoring stationBase station->Base station->And monitoring station->1 closed loop can be formed, namely each monitoring station and 2 adjacent base stations can form 1 closed loop, namely the closing difference of the X/Y/Z baseline components is 0, then the following 3 constraint equations can be obtained:
in the formula (14), the amino acid sequence of the compound,representing the to-be-solved baseline component in the X direction between the M-1 th base station b and the K-th monitoring station r,/>Representing the Y-direction to-be-solved baseline component between M-1 th base station b and K-th monitoring station r,/>Indicating the to-be-solved baseline component in the Z direction between the M-1 th base station b and the K-th monitoring station r,/>A to-be-solved baseline component representing X direction between the Kth monitoring station r and the Mth base station b,/and>representing the Y-direction to-be-solved baseline component between the Kth monitoring station r and the Mth base station b, < >>Indicating the to-be-solved baseline component in the Z direction between the Kth monitoring station r and the Mth base station b,/and% >Representing a known baseline component in the X direction between the mth base station b and the M-1 th base station b, and (2)>Representing the known baseline component in the Y-direction between the mth base station b and the M-1 th base station b, and (2)>A known baseline component representing the Z-direction between the Mth base station b and the M-1 th base station b; and baseline vector->The known baseline component may be calculated directly from the base station coordinates.
Step S40: and carrying out least square estimation on the constraint equation and the error equation to obtain a baseline vector between each base station and the monitoring station in the adjacent 2 base stations.
The least square estimation is performed on the constraint equation and the error equation to obtain a baseline vector between each base station and a monitoring station in the adjacent 2 base stations, and the least square estimation comprises the following steps:
constructing a system of equations based on the constraint equation and the error equation;
performing least square estimation on the equation set to obtain a baseline vector between each base station and a monitoring station in the adjacent 2 base stations;
the system of equations is:
in the method, in the process of the invention,representing the virtual observation correction corresponding to the constraint equation,/-, and>representing a virtual observation design matrix corresponding to the constraint equation, < >>Representing a virtual observed closure difference corresponding to the constraint equation.
Illustratively, in this embodiment, like equation (10), equations (13) and (14) are assembled into a set of equations, i.e., equation (14) is converted into an equation of a form similar to equation (13) for solution, and then for every 2 base station constraints, the set of solution equations is constructed as:
In the formula (15), the amino acid sequence of the compound,representing the virtual observation correction corresponding to the constraint equation,/-, and>representing a virtual observation design matrix corresponding to the constraint equation, < >>Represents the virtual observed closure difference corresponding to the constraint equation, and +.>The specific meaning of (2) is as follows:
in the formula (16), the amino acid sequence of the compound,are all baseline vector approximations (initial values) between the base station and the monitoring station, and +.>The method comprises the steps of carrying out a first treatment on the surface of the Then base station b can be obtained by least squares estimation of equation set (15) M-1 Base station b M Respectively with the monitoring station r K A baseline vector between.
Step S50: and calculating the coordinates of the monitoring station based on all the baseline vectors and the coordinates of the adjacent 2 base stations.
The calculating, based on all the baseline vectors and coordinates of the adjacent 2 base stations, coordinates of the monitoring station includes:
substituting all the baseline vectors and coordinates of the adjacent 2 base stations into a third calculation formula to obtain coordinates of the monitoring station;
the third calculation formula is as follows:
in the method, in the process of the invention,representing the coordinates of the kth monitoring station r, < >>Represents the coordinates of the mth base station b, +.>Representing a baseline vector between the mth base station b and the kth monitoring station r,represents the coordinates of the M-1 th base station b, etc.>Representing the baseline vector between the M-1 th base station b and the K-th monitoring station r.
In the present embodiment, for the Kth monitoring station r, the base station b is exemplified by M-1 With monitoring station r K Base station b and base line vector between them M With monitoring station r K Base line vector between base station b M-1 And base station b M The coordinates of (c) are substituted into the following formula (17) to obtain the monitoring station r K Coordinates of (c)：
。
Step S60: and calculating based on the coordinates of all the monitoring stations to obtain a three-dimensional deformation result.
In this embodiment, after the calculation of the coordinates of all the monitoring stations is completed by adopting the same method, the multi-period coordinates of all the monitoring stations are subjected to difference and conversion to obtain high-precision three-dimensional deformation information. It should be noted that, how to calculate the three-dimensional deformation result according to the coordinates of the monitoring station is common knowledge, and will not be described herein. Therefore, the deformation monitoring of the strip engineering is realized by creating the Beidou deformation monitoring network with multiple base stations, wherein the external base station constraint of the monitoring stations is constructed by building the multiple base stations, so that the coordinates of the monitoring stations calculated from any one base station are strictly equal, and the stability of the monitoring result is effectively improved; and because each monitoring station is located between two adjacent base stations, namely at least 1 base station is closer to the monitoring station, the situation that the distance between part of the monitoring stations and the base stations is far is avoided, and further the accuracy consistency of deformation monitoring results is effectively improved.
The calculation process of the coordinates of the monitoring stations will be described below by taking the case that the multi-base station Beidou deformation monitoring network only comprises 2 base stations and 1 monitoring station as an example.
It can be understood that for a multi-base station Beidou deformation monitoring network comprising 2 base stations and 1 monitoring station, 3 to-be-solved baselines can be formed: 1 base line to be solved between the base station 1 and the monitoring station r, 1 base line to be solved between the base station 2 and the monitoring station r, and 1 base line to be solved between the base station 1 and the base station 2; similarly, if the base station includes 2 base stations and N monitoring stations, 2N baselines may be formed, where N is a positive integer.
Assuming that n satellites are observed simultaneously by all stations, the following error equation can be derived based on equation (10):
in the formula (18), b 1 Representing base stations 1, b 2 Representing the base station 2.
Due to base station b 1 Base station b 2 And the monitoring station r can form 1 closed loop, i.e. the X/Y/Z baseline component closure differences should all be 0, so the following 3 constraint equations can be obtained:
in the formula (19), the amino acid sequence of the compound,for the required baseline component between 2 base stations and monitoring station, and +.>；/>Is the baseline component between two base stations, which can be directly calculated according to the base station coordinatesObtained.
Thus, similar to equation (10), the equations (18) and (19) are assembled into a system of equations, i.e., equation (18) is written in a similar form to equation (19), which is convenient to solve, and can be obtained:
In the formula (20), V r For virtual observation correction, B r A matrix is designed for the virtual observation and,l r for virtual observation of the closure difference, the specific meaning is as follows:
in the formula (21), j= {1,2},baseline vector approximations (initial values) between the base station and the monitoring station, respectively, and +.>。
Then, the least squares estimation is performed on equation (20) to obtain a baseline vector between the base station and the monitoring stationThe method comprises the steps of carrying out a first treatment on the surface of the Substituting the baseline vector into the formula (1) to obtain the coordinates of the monitoring station>：/>
。
Thus, the coordinate calculation of the monitoring station r is completed. It should be understood that if N monitoring stations are included between adjacent 2 base stations in the multiple base station beidou deformation monitoring network, the same method and procedure described above may be used to perform coordinate calculation for each monitoring station between the adjacent 2 base stations.
In the following, the stability of the multi-base-station Beidou deformation monitoring network and the single-base-station Beidou deformation monitoring network will be compared and analyzed by taking the multi-base-station Beidou deformation monitoring network as an example, wherein the multi-base-station Beidou deformation monitoring network only comprises 2 base stations and N monitoring stations are arranged among the 2 base stations.
It should be understood that formulas (10), (11) and (12) may constitute a conventional Beidou deformation monitoring solution model of "1 base station+1 monitoring station", in which the number of observations m=2 (n-1), n represents the number of satellites observed, the number of parameters to be solved u=t=3+ (n-1) =2+n, t represents the number of necessary observations, and the degree of freedom c=m-t=n-4. The combination of formulas (20), (21) and (22) can form a Beidou monitoring and calculating model of '2 base station+1 monitoring station' in the embodiment, wherein the number of observations m=2 (n-1) +2 (n-1) =4 (n-1) in the model, and the number of constraint conditions is s=3 (namely 3 constraint equations corresponding to the formula (19)), then the number u= [3+ (n-1) ]+ [2 (2+n) of parameters to be solved is, and then the degree of freedom c=m-t=m- (u-s) =4 (n-1) - [2 (2+n) -3] =2n-5.
Therefore, compared with the traditional Beidou deformation monitoring and resolving model of 1 base station+1 monitoring station, the degree of freedom is improved by delta c= (2 n-5) - (n-4) =n-1 when the Beidou monitoring and resolving model of 2 base station+1 monitoring station is used in the embodiment; meanwhile, for the double-difference positioning method adopted by deformation monitoring, n is generally more than or equal to 4, so that the degree of freedom is improved by delta c=n-1 to be more than or equal to 3. Therefore, for each monitoring station, if the Beidou monitoring and resolving model of '2 base stations+1 monitoring stations' is used for coordinate calculation, the degree of freedom is improved by delta c= (2 n-5) - (n-4) =n-1 not less than 3, so that the strength of the monitoring and resolving model and the stability of monitoring results can be improved by adopting 2 base stations. Furthermore, the identity to the right of formulas (17) and (22) shows: after the external base station constraint is added, calculating the coordinates of the monitoring station from any one base station, wherein the coordinates are strictly equal; in practical monitoring application, the characteristic can mutually test the monitoring result, so that the stability of the monitoring result is improved.
The following embodiment will use a multi-base station Beidou deformation monitoring network to include only 2 base stations (i.e. base station b 1 And base stationb 2 ) And only 2 monitoring stations (i.e. monitoring station r) are included among 2 base stations 1 And a monitoring station r 2 ) For example, the accuracy consistency of the multi-base-station Beidou deformation monitoring network and the single-base-station Beidou deformation monitoring network is compared and analyzed. Wherein, the accuracy of 2 monitoring stations obtained by resolving a Beidou monitoring resolving model (indicated by a superscript a) adopting a 1 base station+1 monitoring station is respectively recorded asAnd->The method comprises the steps of carrying out a first treatment on the surface of the And the precision of 2 monitoring stations obtained by resolving a Beidou monitoring resolving model (indicated by a superscript b) adopting a '2 base station+1 monitoring station' is respectively +.>And->。
For a "1 base station+1 monitoring station" solution model, based on formulas (2) and (3), it is possible to obtain:
and substituting the formula (23) into the formula (4), there are:
as can be seen from fig. 4, due to the monitoring station r 1 And a monitoring station r 2 With base station b 1 Baseline distance betweenAnd->The following formula is satisfied: />
Then, in conjunction with equation (24), there is:
based on formulas (23) - (26), the base station b can be adopted 1 、b 2 When the model is calculated by the 1 base station and the 1 monitoring station, the monitoring station r is obtained 1 And a monitoring station r 2 The monitoring accuracy of (2) has the following relation:
for the "2 base station+1 monitoring station" solution model, the monitoring station r can be obtained based on equation (5) 1 And a monitoring station r 2 The obtained monitoring precision is as follows:
the linear expansion of equation (28) and then the error propagation calculation can be obtained:
Wherein,for base station b 1 And a monitoring station r 1 Linearization coefficients for the negative correlation between baseline and distance; />For base station b 2 And a monitoring station r 1 Linearization coefficients for the negative correlation between baseline and distance; />For base station b 1 And a monitoring station r 2 Linearization coefficients for the negative correlation between baseline and distance; />For base station b 2 And a monitoring station r 2 Linearization coefficients of the negative correlation between the base line and the distance, and the above 4 coefficients also refer to weights based on the base line calculated by two base stations, so the following conclusion can be obtained:
since in actual strip engineering, the monitoring stations are in strip distribution and located between 2 base stations, as shown in fig. 3, there are:
from this, it can be seen that, for the "2 base station+1 monitoring station" solution model used in this embodiment, the monitoring accuracy of the monitoring station is as follows:
the comprehensive formulas (26) and (32) are given for the monitoring accuracy using two kinds of solution models:
in summary, the solution model of the constraint of 2 base stations adopted in the embodiment can effectively promote the monitoring station r 1 And a monitoring station r 2 Is used for monitoring the consistency of the precision. According to the embodiment, the improvement of the consistency of the monitoring precision of the monitoring station by adopting the resolving model of 2 base station constraints is deduced, and the same can be popularized to adopting more base station constraints, so that the consistency of the monitoring precision of the monitoring station can be improved. The method and the device are suitable for the field of Beidou deformation monitoring technology in discovery and early warning of various engineering deformation potential safety hazards, and are particularly suitable for improving stability and accuracy consistency of Beidou deformation monitoring results of strip engineering.
In a second aspect, the embodiment of the application also provides a strip engineering deformation monitoring device.
In one embodiment, a strip engineering deformation monitoring device includes:
the construction module is used for constructing a multi-base-station Beidou deformation monitoring network, and the multi-base-station Beidou deformation monitoring network comprises at least 2 base stations arranged on a strip-shaped engineering along line and at least 1 monitoring station arranged between every two adjacent 2 base stations;
the monitoring module is used for constructing an error equation according to a target correction, a design matrix, a parameter correction and a closing difference between each base station and the monitoring station between the adjacent 2 base stations when the adjacent 2 base stations and the monitoring station observe satellites at the same time, wherein the target correction is a correction of a pseudo range and a phase observation value; constructing a constraint equation according to the to-be-solved baseline component between each base station and the monitoring station between the adjacent 2 base stations, the known baseline component between the adjacent 2 base stations and the closing difference of the baseline component being 0; performing least square estimation on the constraint equation and the error equation to obtain a baseline vector between each base station and a monitoring station between 2 adjacent base stations; calculating coordinates of the monitoring station based on all the baseline vectors and coordinates of the adjacent 2 base stations; and calculating based on the coordinates of all the monitoring stations to obtain a three-dimensional deformation result.
Further, in an embodiment, the monitoring module is specifically configured to:
substituting the target correction, the design matrix, the parameter correction and the closing difference between each base station and the monitoring station between the adjacent 2 base stations into a first calculation formula to obtain an error equation;
the first calculation formula is as follows:
wherein M and K are positive integers, n represents the satellite number,indicating target correction between M-1 th base station b and K-th monitoring station rCount (n)/(l)>Representing the design matrix between the M-1 th base station b and the K-th monitoring station r->Representing the parameter correction between the M-1 th base station b and the K-th monitoring station r,/>Indicating the difference in closure between the M-1 th base station b and the K-th monitoring station r,/->Indicating the target correction between the M-th base station b and the K-th monitoring station r,/and->Representing the design matrix between the M-th base station b and the K-th monitoring station r,/the design matrix between the M-th base station b and the K-th monitoring station r>Representing the parameter correction between the Mth base station b and the Kth monitoring station r ++>Representing the difference in closure between the mth base station b and the kth monitoring station r.
Further, in an embodiment, the monitoring module is specifically further configured to:
substituting 0 as the closure difference of the baseline component to be solved between each base station of the adjacent 2 base stations and the monitoring station, the known baseline component between the adjacent 2 base stations and the baseline component into a second calculation formula to obtain a constraint equation;
The second calculation formula is as follows:
in the method, in the process of the invention,represents the M-1 th base station bThe baseline component to be solved in the X direction between the kth monitoring stations r,representing the Y-direction to-be-solved baseline component between M-1 th base station b and K-th monitoring station r,/>Indicating the to-be-solved baseline component in the Z direction between the M-1 th base station b and the K-th monitoring station r,/>A to-be-solved baseline component representing X direction between the Kth monitoring station r and the Mth base station b,/and>representing the Y-direction to-be-solved baseline component between the Kth monitoring station r and the Mth base station b, < >>Indicating the to-be-solved baseline component in the Z direction between the Kth monitoring station r and the Mth base station b,/and%>Representing a known baseline component in the X direction between the mth base station b and the M-1 th base station b, and (2)>Representing the known baseline component in the Y-direction between the mth base station b and the M-1 th base station b, and (2)>Representing the known baseline component in the Z direction between the mth base station b and the M-1 th base station b.
Further, in an embodiment, the monitoring module is specifically further configured to:
constructing a system of equations based on the constraint equation and the error equation;
performing least square estimation on the equation set to obtain a baseline vector between each base station and a monitoring station in the adjacent 2 base stations;
the system of equations is:
In the method, in the process of the application,representing the virtual observation correction corresponding to the constraint equation,/-, and>representing a virtual observation design matrix corresponding to the constraint equation, < >>Representing a virtual observed closure difference corresponding to the constraint equation.
Further, in an embodiment, the monitoring module is specifically further configured to:
substituting all the baseline vectors and coordinates of the adjacent 2 base stations into a third calculation formula to obtain coordinates of the monitoring station;
the third calculation formula is as follows:
/>
in the method, in the process of the application,representing the coordinates of the kth monitoring station r, < >>Represents the coordinates of the mth base station b, +.>Representing a baseline vector between the mth base station b and the kth monitoring station r,represents the coordinates of the M-1 th base station b, etc.>Representing the M-1 th base station b and the K-th monitoringBaseline vector between stations r.
The function implementation of each module in the strip engineering deformation monitoring device corresponds to each step in the strip engineering deformation monitoring method embodiment, and the function and implementation process of each module are not described here again.
In a third aspect, an embodiment of the present application provides a strip-shaped engineering deformation monitoring apparatus, which may be a personal computer (personal computer, PC), a notebook computer, a server, or other apparatus having a data processing function.
Referring to fig. 5, fig. 5 is a schematic hardware structure of a belt-shaped engineering deformation monitoring apparatus according to an embodiment of the present application. In an embodiment of the application, the strip engineering deformation monitoring device may include a processor, a memory, a communication interface, and a communication bus. The communication bus may be of any type for implementing the processor, memory, and communication interface interconnections.
The communication interfaces include input/output (I/O) interfaces, physical interfaces, logical interfaces, and the like for implementing device interconnections inside the strip engineering deformation monitoring apparatus, and interfaces for implementing interconnection of the strip engineering deformation monitoring apparatus with other apparatuses (e.g., other computing apparatuses or user apparatuses). The physical interface may be an ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device may be a Display, a Keyboard (Keyboard), or the like.
The memory may be various types of storage media such as random access memory (randomaccess memory, RAM), read-only memory (ROM), nonvolatile RAM (non-volatileRAM, NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (electrically erasable PROM, EEPROM), and the like.
The processor may be a general-purpose processor, and the general-purpose processor may call the strip engineering deformation monitoring program stored in the memory, and execute the strip engineering deformation monitoring method provided by the embodiment of the present application. For example, the general purpose processor may be a central processing unit (central processing unit, CPU). The method performed when the deformation monitoring program of the strip engineering is called can refer to various embodiments of the deformation monitoring method of the strip engineering of the present application, and will not be described herein.
Those skilled in the art will appreciate that the hardware configuration shown in fig. 5 is not limiting of the application and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium.
The application stores a strip engineering deformation monitoring program on a readable storage medium, wherein the strip engineering deformation monitoring program realizes the steps of the strip engineering deformation monitoring method when being executed by a processor.
The method implemented when the deformation monitoring program of the strip engineering is executed may refer to various embodiments of the deformation monitoring method of the strip engineering of the present application, which are not described herein.
It should be noted that, the foregoing reference numerals of the embodiments of the present application are only for describing the embodiments, and do not represent the advantages and disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but may of course also be implemented by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a terminal device to perform the method according to the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (10)

1. The method for monitoring the deformation of the strip-shaped engineering is characterized by comprising the following steps of:
Constructing a multi-base-station Beidou deformation monitoring network, wherein the multi-base-station Beidou deformation monitoring network comprises at least 2 base stations distributed on a strip-shaped engineering along line and at least 1 monitoring station distributed between every two adjacent 2 base stations;
for each monitoring station between 2 adjacent base stations, when the adjacent 2 base stations and the monitoring stations observe satellites at the same time, an error equation is constructed according to a target correction, a design matrix, a parameter correction and a closing difference between each base station in the 2 adjacent base stations and the monitoring stations, wherein the target correction is a correction of a pseudo range and a phase observation value;
constructing a constraint equation according to the to-be-solved baseline component between each base station of the adjacent 2 base stations and the monitoring station, the known baseline component between the adjacent 2 base stations and the closing difference of the baseline component being 0;
performing least square estimation on the constraint equation and the error equation to obtain a baseline vector between each base station of the adjacent 2 base stations and the monitoring station;
calculating coordinates of the monitoring station based on all the baseline vectors and coordinates of the adjacent 2 base stations;
and calculating based on the coordinates of all the monitoring stations to obtain a three-dimensional deformation result.
2. The strip engineering deformation monitoring method of claim 1, wherein the constructing an error equation based on the target correction, the design matrix, the parameter correction, and the closure difference between each of the 2 adjacent base stations and the monitoring station comprises:
Substituting the target correction, the design matrix, the parameter correction and the closing difference between each base station and the monitoring station in the adjacent 2 base stations into a first calculation formula to obtain an error equation;
the first calculation formula is as follows:
wherein M and K are positive integers and M > 1, n represents the satellite number,indicating the target correction between the M-1 th base station b and the K-th monitoring station r,/>Representing the design matrix between the M-1 th base station b and the K-th monitoring station r->Representing the parameter correction between the M-1 th base station b and the K-th monitoring station r,/>Indicating the difference in closure between the M-1 th base station b and the K-th monitoring station r,/->Indicating the target correction between the M-th base station b and the K-th monitoring station r,/and->Representing the design matrix between the M-th base station b and the K-th monitoring station r,/the design matrix between the M-th base station b and the K-th monitoring station r>Representing the parameter correction between the Mth base station b and the Kth monitoring station r ++>Representing the difference in closure between the mth base station b and the kth monitoring station r.
3. The strip engineering deformation monitoring method of claim 2, wherein the constructing a constraint equation based on a to-be-solved baseline component between each of the 2 adjacent base stations and the monitoring station, a known baseline component between the 2 adjacent base stations, and a closure difference of the baseline components being 0 comprises:
Substituting 0 as the closure difference of the baseline component to be solved between each base station of the adjacent 2 base stations and the monitoring station, the known baseline component between the adjacent 2 base stations and the baseline component into a second calculation formula to obtain a constraint equation;
the second calculation formula is as follows:
in the method, in the process of the invention,representing the to-be-solved baseline component in the X direction between the M-1 th base station b and the K-th monitoring station r,/>Representing the Y-direction to-be-solved baseline component between M-1 th base station b and K-th monitoring station r,/>Indicating the to-be-solved baseline component in the Z direction between the M-1 th base station b and the K-th monitoring station r,/>A to-be-solved baseline component representing X direction between the Kth monitoring station r and the Mth base station b,/and>representing the Y-direction to-be-solved baseline component between the kth monitoring station r and the mth base station b,indicating the to-be-solved baseline component in the Z direction between the Kth monitoring station r and the Mth base station b,/and%>Representation ofKnown baseline component in X direction between Mth base station b and M-1 th base station b, < ->Representing the known baseline component in the Y-direction between the mth base station b and the M-1 th base station b, and (2)>Representing the known baseline component in the Z direction between the mth base station b and the M-1 th base station b.
4. A strip engineering deformation monitoring method as claimed in claim 3 wherein said least squares estimation of said constraint equation and said error equation yields a baseline vector between each of the 2 adjacent base stations and the monitoring station, comprising:
Constructing a system of equations based on the constraint equation and the error equation;
performing least square estimation on the equation set to obtain a baseline vector between each base station and a monitoring station in the adjacent 2 base stations;
the system of equations is:
in the method, in the process of the invention,representing the virtual observation correction corresponding to the constraint equation,/-, and>representing a virtual observation design matrix corresponding to the constraint equation, < >>Representing a virtual observed closure difference corresponding to the constraint equation.
5. The strip engineering deformation monitoring method of claim 1, wherein the calculating the coordinates of the monitoring station based on all the baseline vectors and coordinates of the adjacent 2 base stations comprises:
substituting all the baseline vectors and coordinates of the adjacent 2 base stations into a third calculation formula to obtain coordinates of the monitoring station;
the third calculation formula is as follows:
in the method, in the process of the invention,representing the coordinates of the kth monitoring station r, < >>Representing the coordinates of the mth base station b,indicating the baseline vector between the M-th base station b and the K-th monitoring station r, +.>Represents the coordinates of the M-1 th base station b, etc.>Representing the baseline vector between the M-1 th base station b and the K-th monitoring station r.
6. A strip engineering deformation monitoring device, characterized in that the strip engineering deformation monitoring device comprises:
The construction module is used for constructing a multi-base-station Beidou deformation monitoring network, and the multi-base-station Beidou deformation monitoring network comprises at least 2 base stations arranged on a strip-shaped engineering along line and at least 1 monitoring station arranged between every two adjacent 2 base stations;
the monitoring module is used for constructing an error equation according to a target correction, a design matrix, a parameter correction and a closing difference between each base station and the monitoring station between the adjacent 2 base stations when the adjacent 2 base stations and the monitoring station observe satellites at the same time, wherein the target correction is a correction of a pseudo range and a phase observation value; constructing a constraint equation according to the to-be-solved baseline component between each base station and the monitoring station between the adjacent 2 base stations, the known baseline component between the adjacent 2 base stations and the closing difference of the baseline component being 0; performing least square estimation on the constraint equation and the error equation to obtain a baseline vector between each base station and a monitoring station between 2 adjacent base stations; calculating coordinates of the monitoring station based on all the baseline vectors and coordinates of the adjacent 2 base stations; and calculating based on the coordinates of all the monitoring stations to obtain a three-dimensional deformation result.
7. The strip engineering deformation monitoring device of claim 6, wherein the monitoring module is specifically configured to:
Substituting the target correction, the design matrix, the parameter correction and the closing difference between each base station and the monitoring station between the adjacent 2 base stations into a first calculation formula to obtain an error equation;
the first calculation formula is as follows:
wherein M and K are positive integers, n represents the satellite number,indicating the target correction between the M-1 th base station b and the K-th monitoring station r,/>Representing the design matrix between the M-1 th base station b and the K-th monitoring station r->Representing the parameter correction between the M-1 th base station b and the K-th monitoring station r,/>Indicating the difference in closure between the M-1 th base station b and the K-th monitoring station r,/->Indicating the target correction between the M-th base station b and the K-th monitoring station r,/and->Representing the design matrix between the M-th base station b and the K-th monitoring station r,/the design matrix between the M-th base station b and the K-th monitoring station r>Representing the parameter correction between the Mth base station b and the Kth monitoring station r ++>Representing the difference in closure between the mth base station b and the kth monitoring station r.
8. The strip engineering deformation monitoring device of claim 7, wherein the monitoring module is further specifically configured to:
substituting 0 as the closure difference of the baseline component to be solved between each base station and the monitoring station among the adjacent 2 base stations, the known baseline component among the adjacent 2 base stations and the baseline component into a second calculation formula to obtain a constraint equation;
The second calculation formula is as follows:
in the method, in the process of the invention,representing the to-be-solved baseline component in the X direction between the M-1 th base station b and the K-th monitoring station r,/>Represent the firstY-direction to-be-solved base line component between M-1 base station b and Kth monitoring station r, < ->Indicating the to-be-solved baseline component in the Z direction between the M-1 th base station b and the K-th monitoring station r,/>A to-be-solved baseline component representing X direction between the Kth monitoring station r and the Mth base station b,/and>representing the Y-direction to-be-solved baseline component between the kth monitoring station r and the mth base station b,indicating the to-be-solved baseline component in the Z direction between the Kth monitoring station r and the Mth base station b,/and%>Representing a known baseline component in the X direction between the mth base station b and the M-1 th base station b, and (2)>Representing the known baseline component in the Y-direction between the mth base station b and the M-1 th base station b, and (2)>Representing the known baseline component in the Z direction between the mth base station b and the M-1 th base station b.
9. A strip engineering deformation monitoring apparatus comprising a processor, a memory and a strip engineering deformation monitoring program stored on the memory and executable by the processor, wherein the strip engineering deformation monitoring program, when executed by the processor, implements the steps of the strip engineering deformation monitoring method according to any one of claims 1 to 5.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a strip engineering deformation monitoring program, wherein the strip engineering deformation monitoring program, when executed by a processor, implements the steps of the strip engineering deformation monitoring method according to any one of claims 1 to 5.
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