JP2000337932A - System for monitoring and alarming landslide utilizing satellite positioning - Google Patents

Abstract

PROBLEM TO BE SOLVED: To adopt an intermittent positioning mode to a system and enable a long-time use by saving a power source, by normally driving a satellite positioning apparatus in the intermittent positioning mode, and immediately switching to a continuous positioning mode when a ground fluctuation or the like is detected. SOLUTION: A positioning operation device 13 continues positioning in a continuous positioning mode until a variation of a measured position is converged to the order of mms, and is brought into an intermittent positioning mode in accordance with a command of a continuous/intermittent control device 15 when the variation of the measured position is converged, thereby repeating positioning and stopping positioning. A positioning time and a positioning interruption time in the intermittent positioning mode are set to be, e.g. 10 seconds and 10 minutes (one hour at maximum). However, the times are optionally set in conformity with an actual state of a measured spot. When a ground fluctuation detection device 60 detects minute vibrations also indicative of a landslide during the intermittent positioning, a ground fluctuation detection signal-processing device 16 requests continuous positioning to the continuous/intermittent control device 15. The continuous/intermittent control device 15 immediately orders the positioning operation device 13 to execute continuous positioning.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a landslide monitoring / warning system based on satellite positioning using a carrier phase in a satellite positioning system.

[0002]

2. Description of the Related Art At present, a positioning system capable of determining a relative position with high accuracy using a carrier phase signal of a navigation satellite such as a GPS has been developed and used. In this positioning method, the carrier wave phase of the satellite signal (in the case of GPS: approximately 20 cm in wavelength is used as the observation value, so that the original positioning code signal (GP
In the case of S, the positioning accuracy is remarkably improved as compared with the positioning method (both single positioning and code differential positioning) using a wavelength of about 300 m.

However, in the positioning method using the carrier phase of the satellite signal, in order to obtain the position with high accuracy on the order of centimeters (cm), for example, the position within the wavelength of the carrier (about 20 cm) of the GPS system is used. To measure the phase,
Since the same phase is measured for each wavelength, that is, for each cycle, it is necessary to accurately measure which cycle the measured phase belongs to and to determine an integer value bias (integer cycle). In addition, the satellite signal is binary phase modulated (Binary P
Because of the hase-shift keying, there is a phase bias corresponding to an integral multiple of half a wavelength.

[0004] These biases are offset amounts based on the relative positions between two relative positions. If the phase bias is uncertain, as shown in FIG. Occurs at every integral multiple of half a wavelength, such as points A to H, including point D, which is the true solution, and it is necessary to accurately grasp the phase bias value. FIG. 3 shows a one-dimensional example for the sake of simplicity.

Normally, the phase bias value is determined by some method such as a method utilizing a change in the position of a satellite over time, and the true value is determined as one point (point D in FIG. 3). Can be.

[0006] In the positioning method using the carrier phase as described above, high-precision positioning can be performed, so that the positioning method is used for applications requiring detection of a minute change in position, such as a landslide monitoring and warning system. It is becoming.

In the landslide monitoring and warning system, a relative distance between a monitored point and a reference point and a change thereof are measured. A continuous positioning mode for continuously measuring the distance and a positioning state, There are two methods of an intermittent positioning mode for repeatedly observing and positioning suspended state.

However, at present, in the intermittent positioning mode, first, there is a problem that it is not possible to issue an alarm when a change in a position showing a sign of a landslide occurs while the positioning is interrupted. Continuous positioning mode is used in the system.

Further, there is another problem in the intermittent positioning mode. This problem will be described with reference to FIG. The figure shows a one-dimensional example of the allowable range of the position fluctuation in the intermittent positioning mode for the sake of simplicity.

[0010] Even if the observation point D moves while the positioning is suspended, the movement amount is ± λ / 4 (λ: wavelength of the carrier wave).
When the position is within the range, the bias N of the phase at the time of re-positioning is the same as that immediately before the suspension of the positioning, so that the correct position can be obtained by observing the carrier phase.

However, when the observation point D exceeds the range of ± λ / 4 during the suspension of the positioning, the true bias value is different from that immediately before the suspension of the positioning, so that a correct position cannot be obtained. For example, F is actually + λ away from point D.
When moving to the point, the carrier wave phase observation value is the same as the previous time, and the point D is obtained as the positioning result by using the bias value immediately before the suspension of the positioning. In other words, although it has actually moved to point F, the result is that it does not move at point D,
The correct result cannot be obtained.

For this reason, when the intermittent positioning mode is adopted, it is necessary for the user to set an intermittent positioning time interval that guarantees that the moving amount during the positioning suspension is equal to or less than ± λ / 4. It is not easy to select this set value. Also, if the user makes a setting error, a setting change delay, or forgets to change the setting, a correct position cannot be obtained, which is a major problem in the system.

For this reason, most systems in the landslide monitoring and warning system based on satellite positioning using a carrier wave (carrier) phase in the satellite positioning system are in a continuous positioning mode.

[0014]

In a landslide monitoring and warning system based on satellite positioning using a carrier wave (carrier) phase in a conventional satellite positioning system, when a landslide monitoring and warning is performed in an intermittent positioning mode, the landslide during warning is interrupted. Most systems use the continuous positioning mode because it may not be possible to issue an alarm when a change in the position indicating a sign appears. Therefore, it is necessary to increase the capacity of the internal battery and external battery of the satellite receiver to withstand long-term use, or to lay a power cable from commercial power supply, so that practical measures for power supply of the whole system are necessary. There were challenges.

According to the present invention, a satellite using a carrier (carrier) phase in a satellite positioning system is provided by allowing a continuous positioning mode to be entered when a change indicating a sign of a landslide occurs during positioning suspension. An object of the present invention is to make it possible to adopt an intermittent positioning mode in a landslide monitoring and warning system based on positioning.

[0016]

According to a first aspect of the present invention, there is provided a landslide monitoring and warning system using satellite positioning, which measures a position of an observation point as a relative distance from a reference station position using a carrier phase of a satellite signal. Device, a positioning interval control device that controls switching between a positioning state and a positioning suspended state of the satellite positioning device, and a fluctuation detection device that detects fluctuations in observation points, wherein the positioning interval control device has a positioning state and a positioning Controlling the satellite positioning apparatus in an intermittent positioning mode that alternately repeats a suspended state, and controlling the satellite positioning apparatus to a continuous positioning mode in response to detection of a change in an observation point from the change detection apparatus. .

According to this configuration, the satellite positioning device is always operated alternately between the positioning state and the positioning suspended state in the intermittent positioning mode, and the fluctuation of the ground including the sign of the landslide is detected by the fluctuation detecting device. In response to this detection, the mode is immediately switched from the intermittent positioning mode to the continuous positioning mode. Therefore, the landslide can be constantly monitored even if the monitoring is always performed in the intermittent positioning mode, so that the safety can be made to function as in the continuous positioning mode.

Further, since the monitoring / warning system is based on intermittent positioning, the duration of the internal battery and the external battery of the satellite receiver can be made longer than in the conventional landslide monitoring / warning system in the continuous positioning mode. Further, since the power supply load of the entire system can be reduced, the commercial power supply used as the external power supply can be eliminated, and the laying of the power supply cable to the observation point can be omitted.

A landslide monitoring and warning system using satellite positioning according to claim 2 is the landslide monitoring and warning system using satellite positioning according to claim 1, wherein the position of the observation point of the satellite positioning device during operation in the intermittent positioning mode is determined. It is characterized in that the time of the positioning state interval is changed according to the variation.

According to this configuration, when the position of the observation point in the positioning state is stable and its variation is small, it is determined that the risk of landslide is small, and the time interval of the intermittent positioning mode is increased. Conversely, if the variation is rather large, the time interval of the intermittent positioning mode can be shortened, so that the positioning mode can be set according to the entity of the observation point.

According to a third aspect of the present invention, there is provided a landslide monitoring and warning system using satellite positioning according to the first and second aspects of the present invention, wherein an observation point of the satellite positioning device is operated during an intermittent positioning mode. When the variation of the position tends to increase, the intermittent positioning mode is switched to the continuous positioning mode without operating the fluctuation detecting device.

According to this configuration, when the positioning results during positioning in the intermittent positioning mode show a tendency to increase in variation, the mode is switched from the intermittent positioning mode to the continuous positioning mode without operating the fluctuation detecting device. Therefore, the reliability of the monitoring operation is further improved.

[0023]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS.

FIG. 1 is a block diagram of an embodiment of a landslide monitoring and warning system using satellite positioning according to the present invention, and FIG. 2 is a conceptual diagram of intermittent positioning.

Referring to FIG. 1, the landslide monitoring and warning system includes a landslide detection device 10, a satellite reception antenna 20, a reference station data reception antenna 30, user data transmission / reception antennas 40a and 40b, a user terminal device 50, and a ground deformation detection device 60. You.

First, the satellite receiving antenna 20 is installed at a point where landslide is to be monitored, and the received signal is supplied to the satellite signal processing device 11 of the landslide detecting device 10. The reference station data receiving antenna 30 is provided at the reference station, and the received signal is supplied as reference station data to the reference station observation data demodulator 12 of the landslide detector 10.

The user terminal device 50 transmits the data set by the user (setting for the continuous / intermittent positioning mode, the time interval for the intermittent positioning in the intermittent positioning mode, etc.) to the landslide detecting device 1 via the user data transmitting / receiving antennas 40a and 40b.
0 to the user data input / output device 17,
User data transmission / reception antenna 4 from landslide detection device 10
The positioning results of the observation points obtained via the communication points 0a and 40b are displayed on a display.

The ground deformation detecting device 60 is constituted by, for example, a seismometer, and detects a ground change at an observation point. When the ground change is detected, a flag indicating the detection is set as a data series V1 and a landslide is performed. It outputs to the ground deformation detection signal processing device 16 of the detection device 10. When the occurrence of the ground change is not detected, the data series is not output to the ground change detection signal processing device 16.

The landslide detecting device 10 performs positioning of the observation point by exchanging data with the satellite receiving antenna 20, the reference station data receiving antenna 30, the user terminal device 50, and the ground deformation detecting device 60.

From the satellite signal received from the satellite receiving antenna 20, the satellite signal processor 11 processes the carrier phase as observation data in a form including time information at the time of observation. Then, the carrier phase observation data for each satellite is converted into data series V5.
And outputs the result to the positioning operation device 13. Note that the satellite signal processing device 11 does not process the above observation data during the positioning suspension in the intermittent positioning mode in order to reduce the load on the internal battery and the external power supply device. Further, the interruption and restart of the signal processing are controlled by inputting a data sequence indicating a flag capable of suspending the positioning and a flag capable of performing the re-positioning from the positioning operation device 13, respectively.

The reference station observation data demodulator 12 demodulates the carrier phase observation data (including observation time information) received by the reference station data reception antenna 30, and outputs the data sequence V
6 is output to the positioning operation device 13.

The positioning operation device 13 to which the data series V5 and the data series V6 are input processes the carrier phase observation data at the same time and performs the positioning operation. Further, the current positioning position is set as a data series V7, and the positioning operation information storage device 14
Output to

The positioning calculation information storage device 14 extracts and stores the positioning position immediately before the interruption from the input data series V7 as a processing immediately before the interruption of the positioning, and sets a flag indicating that the storage is completed as the data series V8. Output to the positioning operation device 13. In addition, as a process immediately before re-positioning, in response to an output request for the measured position immediately before the interruption stored by the positioning operation device 13, the positioning position immediately before the interruption is output to the positioning operation device 13 as a data sequence V10.

The ground change detection signal processing device 16 is a device for processing a data sequence V1 which is a detection signal of the ground change detection device 60. When the data sequence V1 is input, a flag requesting continuous positioning is set in the data sequence V1. It is output to the continuous / intermittent control device 15 as V2. When the data series V1 is not input, the output of the data series to the continuous / intermittent control device 15 is not performed.

The continuous / intermittent control device 15 controls the continuous positioning mode or the intermittent positioning mode. When the data sequence V2 is not input from the ground change detection signal processing device 16, the control is performed in the intermittent positioning mode. The positioning calculation device 13 uses a flag requesting positioning as a data sequence V3.
Output to When the data sequence V2 is input from the ground deformation detection signal processing device 16, the switching to the continuous positioning mode is controlled and output to the positioning operation device 13 as a data sequence V3 'requesting the positioning operation device 13 for continuous positioning. .

When the continuous / intermittent control unit 15 receives a request for intermittent positioning from the user data input / output unit 17 and a data series V4 indicating the value of the time interval for intermittent positioning, the positioning / calculating unit 13 To output the data series V4.

The operation of the landslide monitoring and alarm system thus configured will be described step by step.

First, when the landslide monitoring / warning system starts up or is reset, the positioning operation device 1
In the operation of No. 3, in this case, since the bias value of the carrier phase for each satellite is not determined, the continuous / intermittent control device 1 until the positioning position converges on the order of [mm].
Even if the intermittent positioning mode is requested from 5, the positioning does not shift to the intermittent positioning mode, and the positioning is continued in the continuous positioning mode.

When the variation of the positioning position converges to the order of [mm], in response to a command from the continuous / intermittent control device 15, the data sequence V3 or V4 required for the intermittent positioning is sent to the positioning operation device 13. It is input and enters the intermittent positioning mode.

When entering the intermittent positioning mode, positioning is started, and first, an increment operation of the time counter is started. Then, it performs positioning calculation and outputs positioning information P (time, position information, positioning mode, intermittent positioning time, etc.) to the user data input / output device 17. Next, when the time counter switches to the positioning interruption, the positioning interruption processing is performed.

The positioning interruption processing is as follows. Reset the time counter. -The current positioning position is stored in the positioning calculation information storage device 14 as the data series V7. When the data sequence V8 indicating that the storage has been completed is input from the positioning calculation information storage device 14, a flag capable of interrupting the positioning is set and output to the satellite signal processing device 11 as a data sequence V9. -Perform processing to adjust the positioning suspension time interval according to the variation of the positioning position. When the user inputs the data series V4 specifying the positioning suspension time interval, the positioning is suspended at the time interval.

When the positioning is interrupted, the time counter is incremented. When the time counter switches to the set positioning, the following positioning start processing is performed, and the positioning state is entered. Reset the time counter. A request for inputting the positioning position stored immediately before the interruption to the positioning calculation information storage device 14 is made, and the data is input as a data sequence V10. A flag for performing re-positioning is set, and is input to the satellite signal processing device 11 as a data sequence V11. After the re-positioning, the satellite signal tracks, and when the tracked satellite is used for positioning, the phase bias for each satellite is obtained from the positioning position stored immediately before the interruption.

Intermittent positioning, in which positioning and positioning interruption are repeated, is performed according to a time schedule as shown in the conceptual diagram of FIG. The positioning time and the positioning suspension time are, for example, 10
The positioning can be suspended for 10 seconds, and the positioning can be suspended for 10 minutes (up to 1 hour), but can be set arbitrarily according to the user's specification according to the actual situation of the site to be measured.

In this landslide monitoring / warning system, during monitoring in the intermittent positioning mode in which positioning and positioning suspension are repeated, if a microtremor vibration that is a sign of a landslide occurs, the ground change detecting device 60 including a seismometer or the like is used. The micro-vibration is detected, and a data series V1 as a detection signal is output to the landslide ground fluctuation detection signal processing device 16. When the data sequence V1 is input, the ground deformation detection signal processing device 16
A flag for requesting continuous positioning is output to the continuous / intermittent control device 15 as a data sequence V2.

The continuous / intermittent control device 15 is controlled to immediately switch from the intermittent positioning mode to the continuous positioning mode in response to the input of the data sequence V2 from the ground deformation detection signal processing device 16, and the data sequence V3 for requesting the continuous positioning. Is output to the positioning operation device 13 as'.

As a result, the landslide monitoring and warning system is set to the continuous positioning state in preparation for the landslide, and the occurrence of the landslide is not missed. If no landslide occurs even after a predetermined time has elapsed after the detection of the microtremor vibration by the ground movement detecting device 60, the continuous / intermittent control device 15 returns to the intermittent positioning mode again.

As described above, the landslide monitoring / warning system using satellite positioning according to the present invention comprises a ground movement detecting device which can be switched between the continuous positioning mode and the intermittent positioning mode, and which can detect slight movement fluctuation of the ground. In preparation, the monitoring operation is always performed in the intermittent positioning mode, and when the smile fluctuation of the ground indicating the sign of the landslide is detected, the monitoring operation is immediately switched to the continuous positioning mode. When the change in the ground smile has subsided, the mode is switched back to the intermittent positioning mode and monitored.

As a result, the landslide can be constantly monitored even when the monitoring is always performed in the intermittent positioning mode, so that the safety can be made to function as in the continuous positioning mode. As a result, since the monitoring / warning system is based on the intermittent positioning, the duration of the internal battery and the external battery of the satellite receiver can be longer than in the conventional landslide monitoring / warning system in the continuous positioning mode. Further, since the power supply load of the entire system can be reduced, the commercial power supply used as the external power supply can be eliminated, and the laying of the power supply cable to the observation point can be omitted.

In the above-described embodiment, the mode is switched from the intermittent positioning mode to the continuous positioning mode when the slight movement of the ground is detected. However, the following embodiment can be adopted.

During monitoring in the intermittent positioning mode, the degree of variation in the position of the obtained observation points is monitored. Is shortened. At this time, it is preferable that the criterion of the variation is set to the order of [mm] depending on the measurement accuracy of the apparatus.

When the dispersion of the positions of the observation points of the satellite positioning device tends to increase during the operation in the intermittent positioning mode, even if the ground change detecting device 60 does not operate,
The mode is switched from the intermittent positioning mode to the continuous positioning mode.

This is because the positioning result of the observation point includes, for example,
Assuming that the measurement resolution is 1% of the wavelength and the carrier wavelength is 20 cm, there is a variation of several mm so that the variation of the measurement position in the steady state is 2 mm. On the other hand, before the occurrence of a landslide, position fluctuations in cm units often occur as a sign of this, and the fact that the dispersion of measurement positions has increased beyond the measurement resolution of several mm units indicates that landslides have occurred. In connection with the occurrence, the monitoring alarm is controlled on the safer side.

In this case, when the position of the observation point in the positioning state is stable and its variation is small, it is determined that the risk of landslide is small, and the time interval of the intermittent positioning mode is lengthened. If the variation is rather large, the positioning mode can be set in accordance with the actual observation point by shortening the time interval of the intermittent positioning mode.

Further, when the positioning results during positioning in the intermittent positioning mode show a tendency to increase, the switching from the intermittent positioning mode to the continuous positioning mode is performed without operating the fluctuation detecting device. Sex is further enhanced.

In the above description of the embodiment, the continuous intermittent control device 15 is used for controlling the continuous positioning mode and the intermittent positioning mode separately, but it is not always necessary to stick to this. For example, a positioning time interval control device that controls the positioning time interval depending on the degree of variation in the position of the observation point may be used. Further, it is also possible that the positioning of the monitoring point is not performed at all times, and the positioning is performed when the fluctuation detecting device indicating the sign of the landslide is operated. However, in this case, in order to secure the reliability of the landslide detection device 10, it is necessary to periodically execute positioning for operation confirmation. Therefore, in practice, the intermittent positioning mode having a long positioning time interval is used. It can be said.

[0056]

According to the configuration of the first aspect of the present invention, the satellite positioning device is always operated alternately between the positioning state and the positioning suspended state in the intermittent positioning mode to change the fluctuation of the ground including the landslide state. The detection is performed by the detection device, and the intermittent positioning mode is immediately switched to the continuous positioning mode in response to the detection. Therefore, the landslide can be constantly monitored even if the monitoring is always performed in the intermittent positioning mode, so that the safety can be made to function as in the continuous positioning mode.

Furthermore, since the monitoring and alarm system is based on intermittent positioning, the duration of the internal battery and the external battery of the satellite receiver can be made longer than in the conventional landslide monitoring and alarm system in the continuous positioning mode. Further, since the power supply load of the entire system can be reduced, the commercial power supply used as the external power supply can be eliminated, and the laying of the power supply cable to the observation point can be omitted.

According to the configuration of claim 2 of the present invention, when the position of the observation point in the positioning state is stable and its variation is small, it is determined that the risk of landslide is small, and the intermittent positioning mode is set. By increasing the time interval and conversely, if the variation is rather large, the time interval of the intermittent positioning mode is shortened, so that the positioning mode can be set in accordance with the entity of the observation point.

According to the configuration of the third aspect of the present invention, when the variation in the positioning result during the positioning in the intermittent positioning mode tends to increase, the intermittent positioning mode can be performed even if the fluctuation detecting device does not operate. Since the mode is switched to the continuous positioning mode, the reliability of the monitoring operation is further enhanced.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a landslide monitoring and warning system using satellite positioning according to an embodiment of the present invention.

FIG. 2 is a conceptual diagram of intermittent positioning.

FIG. 3 is a diagram for explaining a multiple solution of a position due to an uncertain phase bias.

FIG. 4 is a view for explaining an allowable range of position fluctuation in the missing positioning mode.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Landslide detection device 11 Satellite signal processing device 12 Reference station observation data demodulation device 13 Positioning operation device 14 Positioning operation information storage device 15 Continuous / intermittent control device 16 Ground change detection signal processing device 17 User data input / output device 20 Satellite receiving antenna 30 Reference station Data receiving antennas 40a, 40b User data transmitting / receiving antenna 50 User terminal device 60 Ground deformation detecting device

Claims (3)

[Claims] 1. A satellite positioning device that measures a position of an observation point as a relative distance from a reference station position using a carrier phase of a satellite signal, and controls switching between a positioning state and a positioning suspension state of the satellite positioning device. A positioning interval control device, and a fluctuation detecting device for detecting a fluctuation of an observation point, wherein the positioning interval control device controls the satellite positioning device in an intermittent positioning mode in which a positioning state and a positioning suspended state are alternately repeated. A landslide monitoring and warning system using satellite positioning, wherein the satellite positioning device is controlled to a continuous positioning mode in response to detection of a change in an observation point from the fluctuation detection device. 2. The landslide monitoring and warning system using satellite positioning according to claim 1, wherein the time of the positioning state interval is changed according to the variation in the positions of the observation points of the satellite positioning device during operation in the intermittent positioning mode. Landslide monitoring and alerting system using satellite positioning. 3. The landslide monitoring / warning system using satellite positioning according to claim 1, wherein when the dispersion of the positions of the observation points of the satellite positioning device tends to increase during operation in the intermittent positioning mode, A landslide monitoring and warning system using satellite positioning, wherein the mode is switched from the intermittent positioning mode to the continuous positioning mode even if the fluctuation detecting device does not operate.