JP2018179734A - Displacement measurement method and displacement measurement system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a displacement measurement method and a displacement measurement system which improve accuracy in measuring displacement not only at a top part of a relatively stable object including a structure and the like but also at a side part thereof.SOLUTION: A method for measuring displacement of a relatively stable object including a structure and the like by using a satellite signal receiver for receiving a satellite signal from a plurality of positioning satellites, includes: a relative positioning step of acquiring, by relative positioning, temporal displacement between measurement points that consist of either a satellite signal receiver installed at one point on an outer surface of a relatively stable object including a structure and the like, or a plurality of satellite signal receivers installed at different positions from each other on the outer surface, and a fixed point that consists of a satellite signal receiver which is installed at a position on the outer surface of the relatively stable object including the structure and the like, or at a position other than the outer surface and including the ground. In the relative positioning step, a predetermined positioning satellite to be used in the relative positioning is selected from among the plurality of positioning satellites, and the satellite signal from the selected positioning satellite is used to obtain the displacement from the relative positioning.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a displacement measurement method and a displacement measurement system using a satellite positioning system, and more particularly to an accuracy improvement technique and accuracy improvement system for measuring the displacement of the side surface of a relatively stable object including a structure etc. .

  In the past, when measuring displacement and the like of a structure by a satellite positioning system, in general, the method using the GPS (Global Positioning System: satellite positioning system) satellites of the United States has been mainstream. For example, there is known a method of measuring displacement of a structure or the like by relative positioning between a GPS receiver installed at a fixed point around the structure and a GPS receiver installed at an observation point on the structure. (See, for example, Patent Documents 1 and 2). However, the number of GPS satellites in the United States is also limited, and there are the following limitations and problems in use.

(1) In order to capture GPS satellites necessary for positioning analysis, it is necessary to keep the elevation angle from the satellite positioning device at 15 ° or more.
(2) Therefore, in an urban area where structures and the like are congested and it is difficult to secure the sky view, the installation position of the satellite positioning device is limited to the roof of the structures and the like. That is, it is only possible to measure the displacement around the roof of a structure or the like.
(3) However, various facilities are placed on the roof, and the installation location of the satellite positioning device is limited.
(4) Even if satellite positioning equipment can be installed on the roof, it may be affected by other facilities on the roof and multipaths of surrounding buildings, which may hinder accurate displacement measurement.

  Conventionally, due to these problems, attention has not been paid to wall positioning of a structure or the like.

  On the other hand, with regard to positioning technology using GPS satellites, one of the applicants has already proposed a technology as shown in Patent Document 3. This technique discriminates satellite signals affected by multipath by a simple and reliable method, and corrects the measurement position of the mobile station.

JP, 2015-197344, A JP 2008-76117 A Patent No. 5232994

  By the way, not only GPS satellites in the United States, but also satellite positioning systems in Russia, Europe, China, and Japan (hereinafter, all of them are collectively called GNSS (Global Navigation Satellite System: GNSS)) are operated. When positioning with a satellite positioning device, it can receive signals from around 30 GNSS satellites. The number of GNSS satellites in each country is expected to increase in the future, and the increase in the number of quasi-zenith satellites in Japan will also facilitate the acquisition of signals from high elevation angles. The above problems tend to be easily solved with the increase in the number of satellites, but conversely, the problem of increasing the number of multipaths arises with the increase in the number of satellites, so a solution is expected.

  Therefore, the inventor of the present invention recognizes that “relatively stable objects and the like including structures and the like are considered as obstacles that give multipath to various positioning performed around the relatively stable objects and the like including the structures and the like. In many cases, if the GNSS positioning device is directly installed on the wall of a relatively stable object including a structure etc., the multipath from a relatively stable object etc. including the structure etc. is reduced conversely, the structure Not only on the roof of a structure etc. but also on the wall surface displacement measurement, focusing on the fact that it is effective for measuring the displacement of relatively stable objects etc. including .

  The present invention has been made in view of the above, and in particular, a displacement measurement that improves the accuracy for measuring the displacement of not only the top (rooftop) but also the side of a relatively stable object including a structure etc. It aims to provide a method and a displacement measurement system.

In order to solve the above problems and achieve the object, the displacement measurement method according to the present invention is relatively stable including a structure etc. using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites Satellite signal receiver installed at one point on the outer surface of a relatively stable object including a structure etc. or satellite signal reception installed at different positions on the outer surface Progress between the observation point configured by the aircraft and the fixed point configured by the satellite signal receiver installed at a position other than the outer surface of the relatively stable object including the structure etc. or on the ground The relative positioning step of acquiring displacement by relative positioning by relative positioning, the relative positioning step selects a predetermined positioning satellite to be used for relative positioning among a plurality of positioning satellites, and uses satellite signals from the selected positioning satellites And obtaining the relative positioning of the displacement.
Relative positioning generally uses a method of performing single positioning at this known point and observation point (unknown point) simultaneously after acquiring the exact position of the fixed point (known point), offsetting the common error, and positioning the unknown point. is there. The coordinate value may be used as the common error, and the wavelength of the transmission radio wave of the positioning satellite may be used. The former sends the error of the coordinates observed by the GNSS positioning device of the fixed point whose coordinates are known to the GNSS positioning device of the unknown point and subtracts it from the measurement coordinates of the unknown point to correct it and improve the accuracy. The latter is called interference positioning, and uses the wavelength of the transmission radio wave of the GNSS satellite as a measure of positioning. The following description is based on the contents using the wavelength of the transmission radio wave of the GNSS satellite as a measure of positioning.

  In the displacement measurement method according to the present invention, in the above-described invention, the relative positioning step using the wavelength of the fixed point and the observation point, and the reception intensity of the satellite signal at the fixed point and the observation point are measured. For each satellite signal, compare the reception strength at the fixed point and the reception strength at the observation point, and calculate the carrier phase of the observation point for the satellite signal for which the difference between the reception strength at the fixed point and the reception strength at the observation point is greater than a predetermined threshold When the satellite signal from the positioning satellite can not be received continuously during the calculation of the carrier phase and the step, the satellite signal is detected as a multipath when the calculated carrier phase is equal to or more than a predetermined threshold. Removing the position of the observation point using only the positioning satellite signal, and correcting the calculated position of the observation point using the position correction data. Comprising the step, and acquires the displacement based on the position of the corrected observation point.

  Further, in another displacement measuring method according to the present invention, in the above-mentioned invention, the relative positioning step determines the ambiguity of the carrier wave phase of the satellite signal based on the position of the fixed point or the observation point; And at least one of the steps of relative positioning based on cycle slip information of the carrier wave phase output from the satellite signal receiver.

  The displacement measurement system according to the present invention is a system that measures displacement of a structure using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites, and is relatively stable including the structure etc. Of a relatively stable object including a satellite signal receiver installed at one point on the outer surface of the object, or a satellite signal receiver installed at different positions on the outer surface, and a structure etc. The relative positioning means includes relative positioning means for obtaining, by relative positioning, displacement over time with a fixed point constituted by a satellite signal receiver installed at a position other than the outer surface including the outer surface or the ground. It is characterized in that a predetermined positioning satellite to be used for relative positioning is selected from a plurality of positioning satellites, and the displacement is obtained by relative positioning using satellite signals from the selected positioning satellite.

  Further, in another displacement measurement system according to the present invention, in the above-described invention, the relative positioning means measures the reception strength of the satellite signal at the fixed point and the observation point, and receives the reception strength at each fixed point and observes each satellite signal. Means for calculating the carrier wave phase of the observation point for satellite signals in which the reception strength at the fixed point is compared with the reception strength at the fixed point and the difference between the reception strength at the fixed point and the reception strength at the observation point is a predetermined threshold or more; If the satellite signal from can not be received continuously, it is detected as a multipath, and if the calculated carrier phase is equal to or greater than a predetermined threshold, only means for excluding the satellite signal from the positioning satellite signal and the positioning satellite signal Means for calculating the position of the observation point using the device, and means for correcting the calculated position of the observation point with the position correction data, and based on the corrected position of the observation point And acquiring the displacement.

  In another displacement measurement system according to the present invention, in the above-mentioned invention, the relative positioning means determines the ambiguity of the carrier wave phase of the satellite signal based on the position of the fixed point or the observation point; And at least one of the means for relative positioning based on the cycle slip information of the carrier wave phase output from the satellite signal receiver.

  According to the displacement measurement method of the present invention, a relatively stable displacement of an object including a structure etc. is measured using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites, A satellite signal receiver installed at one point on the outer surface of a relatively stable object including a structure or a satellite signal receiver installed at different positions on the outer surface, and a structure Relative positioning to obtain displacement over time with a fixed point composed of a satellite signal receiver installed at a position other than the outer surface of a relatively stable object including the ground or on the ground, by relative positioning The step is provided, and the relative positioning step selects a predetermined positioning satellite to be used for relative positioning among a plurality of positioning satellites, and acquires the displacement by relative positioning using satellite signals from the selected positioning satellites. An effect that a relatively stable installed observation point displaced in the outer surface of the object, including the structure and the like can be measured accurately. For this reason, the present invention is intended to monitor not only the top (roof) of a relatively stable object including a structure or the like installed in a crowded environment but also displacement, deformation, etc. of the side (wall). It is suitable.

  Further, according to another displacement measurement method according to the present invention, the reception strengths of satellite signals at fixed points and observation points are measured, and the reception strengths at fixed points and reception strengths at observation points are compared for each satellite signal, Calculating the carrier wave phase of the observation point for the satellite signal for which the difference between the reception strength at the fixed point and the reception strength at the observation point is equal to or greater than a predetermined threshold, and continuously calculating satellite signals from positioning satellites during the calculation of the carrier phase. If it can not be received, it is detected as a multipath, and if the calculated carrier phase is above a predetermined threshold, the satellite signal is excluded from the positioning satellite signal and the position of the observation point is calculated using only the positioning satellite signal. And correcting the calculated position of the observation point using the position correction data, and acquiring the displacement based on the corrected position of the observation point In, to determine the satellite signal affected by a multipath by simple and reliable methods, by correcting the position of the observation point, there is an effect that it is possible to realize a highly accurate displacement measurement.

  Further, according to another displacement measurement method according to the present invention, the relative positioning step determines the carrier phase ambiguity of the satellite signal based on the position of the fixed point or the observation point, and holds the ambiguity. Since at least one of the step of performing and the relative positioning based on the cycle slip information of the carrier wave phase output from the satellite signal receiver is included, it is possible to realize highly accurate displacement measurement.

  Further, according to the displacement measurement system according to the present invention, it is a system for measuring displacement of a structure using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites. Signal receiver including a satellite signal receiver installed at one point on the outer surface of a dynamically stable object, or satellite signal receivers installed at different positions on the outer surface, and relatively stable including structures etc. Relative positioning means comprising relative positioning means for acquiring, by relative positioning, displacement with time with a fixed point constituted by a satellite signal receiver installed at a position other than the outer surface including the outer surface of the object or the ground. Selects a predetermined positioning satellite to be used for relative positioning among a plurality of positioning satellites, and acquires the displacement by relative positioning using satellite signals from the selected positioning satellites, so that a comparison including a structure etc. is made. An effect that a displacement of the outer surface of the stable observation point only structure installed in an object can be measured accurately. For this reason, the present invention is intended to monitor not only the top (roof) of a relatively stable object including a structure or the like installed in a crowded environment but also displacement, deformation, etc. of the side (wall). It is suitable.

  Further, according to another displacement measurement system according to the present invention, the relative positioning means measures the reception intensity of the satellite signal at the fixed point and the observation point, and receives the reception intensity at the fixed point and the reception at the observation point for each satellite signal. A means for calculating the carrier phase of the observation point for satellite signals whose strengths are compared and the difference between the reception strength at the fixed point and the reception strength at the observation point is equal to or greater than a predetermined threshold; If the signal can not be received continuously, it is detected as a multipath, and if the calculated carrier phase is equal to or higher than a predetermined threshold, observation is performed using only the means for excluding satellite signals from the satellite signals for positioning and the satellite signals for positioning. The displacement is obtained based on the position of the observation point corrected by the means for calculating the position of the point and the means for correcting the calculated position of the observation point using the position correction data. Since, to determine the satellite signal affected by a multipath by simple and reliable methods, by correcting the position of the observation point, there is an effect that it is possible to realize a highly accurate displacement measurement.

  Further, according to another displacement measurement system according to the present invention, the relative positioning means holds means for determining the ambiguity of the carrier wave phase of the satellite signal based on the position of the fixed point or the observation point, and holds the ambiguity. And at least one of the means for performing relative positioning based on the cycle slip information of the carrier wave phase output from the satellite signal receiver, so that it is possible to realize highly accurate displacement measurement.

FIG. 1 is a schematic situation view showing an embodiment of a displacement measuring method and a displacement measuring system according to the present invention. FIG. 2 is a schematic configuration view showing an embodiment of a displacement measurement system according to the present invention. FIG. 3 is a schematic flowchart showing an embodiment of a displacement measuring method according to the present invention. FIG. 4 is a view showing an example of an aerial view and a positioning satellite as viewed by a fisheye camera.

  As described above, the present inventor often says that “structures and the like are often found to be obstacles that give multipath to various positioning performed around structures and the like. When installed directly on the wall surface of a relatively stable object including, on the contrary, multipass from a relatively stable object including a structure etc. is reduced, and for displacement measurement of a relatively stable object including a structure etc Focusing on the point of "effective", the present invention has been made possible to measure not only the roof of a relatively stable object including a structure etc. but also displacement measurement of a wall surface. In addition, the present invention is not limited to the wall surface positioning of a relatively stable object including merely a structure etc., and also around the installation location of the satellite positioning device even on the roof of a relatively stable object including a structure etc The present invention is also applicable to positioning in the case where there is an obstacle or the like that causes multipath.

  Hereinafter, embodiments of a displacement measurement method and a displacement measurement system according to the present invention will be described in detail based on the drawings. In the following description, a relative positioning using a GNSS positioning device as a satellite signal receiver will be described as an example of a small and medium-sized apartment set up in an overcrowded environment of an urban area as a target structure for measuring and monitoring displacement. However, the present invention is not limited by this embodiment.

  A displacement measurement method according to an embodiment of the present invention is a method of measuring the displacement of a structure using a GNSS positioning device (satellite signal receiver) that receives satellite signals from a plurality of positioning satellites. Satellite signal receivers installed at one point on the outer surface of a relatively stable object including a satellite, or satellite signal receivers installed at different positions on the outer surface, and structures, etc. A relative positioning step of acquiring, by relative positioning, displacement over time with a fixed point constituted by a satellite signal receiver installed at a position other than the outer surface including the outer surface or the ground of a relatively stable object The relative positioning step selects a predetermined positioning satellite to be used for relative positioning among a plurality of positioning satellites, and acquires the displacement by relative positioning using a satellite signal from the selected positioning satellite. That. Here, a method using interference positioning using a carrier with the highest accuracy among relative positioning will be described.

  More specifically, after determining the coordinates of the fixed point at the initial stage of installation of the GNSS positioning device, the GNSS positioning device at all the fixed points and observation points observes at the same time, and the difference in radio wave arrival from the satellite (phase difference) Analyze the distance between fixed point and observation point. For example, in the case of installing five GNSS positioning devices, when counting fixed points and other observation points as one set, by acquiring five sets of coordinate changes and changes in base length, it is possible to select any part of the structure. It can be grasped whether inclination or sinking has occurred.

  Next, the flow from initial coordinate setting to observation will be described by taking a displacement measurement system in which five GNSS positioning devices (observation points) are installed as an example.

  As shown in FIG. 1, five GNSS positioning devices for receiving satellite signals from GNSS satellites are installed at different positions on the outer wall 2 of the structure 1 such as a small and medium-sized apartment, and are used as observation points. One GNSS positioning device is installed on 4 and interference positioning is performed as a fixed point F. Although the example of FIG. 1 shows the case where GNSS positioning devices A to E are installed at a total of five places of four corners in the top, bottom, left, and right of the outer wall 2 facing the road and the center, The position is not limited to the above, and any position or number may be used as long as the same structure has one point or a plurality of points different from each other. The fixed point may be set on a surface other than the outer wall surface 2 and may be installed on the ground around the structure 1 or on the roof of another structure 3, for example.

  As a GNSS positioning device installed at the observation point or fixed point, either a high performance dual frequency GNSS device or a cheap single frequency GNSS device may be used. The GNSS positioning devices A to E are connected to a computer in a measurement room at a remote location through a communication device (not shown) via a wired or wireless communication line.

  FIG. 2 is a schematic configuration diagram of a displacement measurement system 10 according to the present invention. As shown in this figure, this displacement measurement system 10 has a computer 12 provided in a measurement room. The computer 12 is provided with a relative positioning unit 14, a notification unit 16, an alarm unit 18, a storage unit 20, and a control unit 22 that controls these. The storage unit 20 stores and collects measurement data obtained from the GNSS positioning devices A to E in real time. The data stored and collected in the storage unit 20 is appropriately read through the control unit 22 and processed by the relative positioning unit 14. The relative positioning means 14 acquires displacement / deformation information associated with the passage of time between the GNSS positioning devices A to E by relative positioning, and is constituted by various analysis software, calculation means, and the like. The computer 12 is connected to the Internet. Therefore, for example, in response to the user's request, displacement of the structure acquired by the user of the person in charge of management of the structure (for example, a personal computer or a mobile telephone terminal) via the Internet by the function of the notification means 16 -It is possible to deliver deformation information. Further, the alarm means 18 performs processing of emitting an alarm such as an alarm sound through the computer 12 of the control room or the above-mentioned user terminal device when a displacement equal to or more than a predetermined threshold is acquired.

  As shown in FIG. 3, first, GNSS positioning devices A to E are installed at five observation points (step S1). Next, initial coordinates of the fixed point F set in the structure 4 are determined by single positioning for several hours to several days, static positioning with an electronic reference point in the periphery, or the like (step S2).

  Next, observation is started simultaneously at the fixed point and the observation point, and the difference (phase difference) of radio wave arrival from the satellite is analyzed, and the distance between the fixed point and the observation point is determined (step S3). From the above setting of the initial coordinates, interference positioning can be performed by analysis software (not shown) provided in the computer 12 of the measurement room and the interference positioning means 14. In the present embodiment, real time kinematic (RTK) positioning is used as relative positioning. At that time, an algorithm described later is applied to obtain an appropriate coordinate / baseline long solution with respect to the outer wall surface 2 of the structure 1.

  The displacement / deformation information as the observation result including the abnormal value is notified to the computer 12 of the measurement room or the screen of the user terminal device by the function of the notification means 16 (step S4). Here, when the acquired abnormal value is equal to or greater than a predetermined threshold value, the alarm unit 18 issues an alarm such as an alarm sound through the computer 12 of the measurement room or the user terminal device. As a result, the user such as a manager or a person in charge of management can immediately grasp that a displacement equal to or greater than the threshold has occurred.

  In the above embodiment, the computer 12 can acquire the positioning information of the observation point (in combination with the fixed point) in real time, and the analysis by the relative positioning means 14 is also possible in real time. Further, the notification unit 16 can also notify the user of, for example, analysis results (observation results) every predetermined time (for example, every one day (24 hours)), for example, in response to the user's request. Therefore, the analysis time required when five observation points are provided is also based on real time. Also, since structures generally do not displace so much, it is customary to compare positioning information with positioning average values averaged over several hours or daily, except during large earthquakes and the like.

  According to the present embodiment, for example, public facilities such as schools installed in a congested environment such as urban areas, deformation / displacement of piles and structures such as small and medium-sized condominiums without builders, slopes, dam inclination Departments can be monitored. Although public facilities are generally used as evacuation sites, the present invention can also be used when confirming whether the facilities are safe or not while the aftershocks and the like after a large earthquake continue.

<Algorithm>
Next, functions of an algorithm used in the above RTK positioning (relative positioning) will be described.

a) Function of selecting signals of GNSS satellites GNSS positioning devices A to E receive signals from GNSS satellites in the sky. If it does not become multi-pass, the signal level to be reached from each GNSS satellite to the GNSS positioning devices A to E is decided, so that the function to select the GNSS satellite to be used for analysis is provided. In FIG. 4, reference numerals such as C01, G21, J01, etc indicate satellite numbers. For example, the method described in Patent Document 3 described above can be used as a method of providing the function of selecting the GNSS satellites used for analysis more strictly.

  When using the method described in Patent Document 3, for example, the reception strengths of satellite signals at fixed points and observation points are measured, and the reception strengths at fixed points and reception strengths at observation points are compared for each satellite signal. The carrier phase of the observation point is calculated for a satellite signal in which the difference between the reception strength at the fixed point and the reception strength at the observation point is equal to or greater than a predetermined threshold. Here, if the satellite signal from the positioning satellite can not be received continuously during calculation of the carrier wave phase, it is detected as a multipath, and if the calculated carrier wave phase is equal to or more than a predetermined threshold, the satellite signal is used as a satellite signal for positioning. Excluded from The position of the observation point is calculated using only the positioning satellite signal, and the calculated position of the observation point is corrected by the position correction data. The displacement and deformation of the outer wall 2 of the structure 1 are observed based on the corrected position of the observation point.

  Here, the carrier phase is the relative velocity between the GNSS positioning device and the satellite, ie, the gaze velocity. The carrier phase can be easily calculated by measuring the Doppler shift of the satellite signal. When it is affected by multipath, the incident direction of the radio wave also changes. Due to the change in the incident direction of the radio wave, the velocity in the sight line direction of the satellite also changes significantly. That is, when multipath occurs, the carrier phase also changes significantly at the same time as the reception strength of the satellite signal changes rapidly. Therefore, the carrier wave phase is further calculated for the satellite signal whose reception intensity has largely changed at the observation point compared to the fixed point, and the satellite signal whose carrier phase has also largely change is surely used as the satellite signal affected by multipath. It becomes possible to distinguish.

  Here, high-precision displacement measurement of the outer wall surface 2 of the structure 1 may be realized by adding the following three functions b) to d) to the method described in Patent Document 3 described above.

b) A function to determine the ambiguity that is the key of RTK with high reliability The positioning of the outer wall 2 of the structure 1 can detect deviations of several cm etc. in one day or longer period (one year) This is the main purpose, and by adding a function to input in advance positions that are candidates for ambiguity in advance, a continuous FIX solution can be obtained.

  In other words, for the installation positions of the GNSS positioning devices A to E on the outer wall 2 of the structure 1, since the correct precise position is known in advance, the initial value when determining the carrier phase ambiguity is set to that value. . This is not supported by existing software. If the initial value is correctly input, as long as the carrier phase measurement value is correctly output, the correct FIX solution can be obtained, and the accuracy is about 1 cm. On the contrary, it is also possible to reduce or eliminate the miss FIX solution (error carrier phase ambiguity).

  By newly incorporating this function, the convenience (for example, the one showing the percentage of time that RTK can be performed by 24-hour RTK positioning) is significantly improved compared to the conventional RTK general-purpose software. The present inventor has been confirmed.

  Here, since the carrier wave in RTK positioning (relative positioning) is an unmodulated, infinitely continuous sine wave with a wavelength of 19 cm and a wavelength of 24 cm in L1 band and L2 band, the phase when the GNSS positioning device starts to receive the signal The integer part (integer value bias) is not known. For this reason, it is necessary to solve this integer bias in some way in normal relative positioning.

  The difference between the above method and the general RTK positioning is as follows. That is, in the case of normal RTK positioning, after the position information of the fixed point is input, interference positioning analysis is performed using transmission radio waves of GNSS satellites as a positioning measure, but the above method is a new method set in the algorithm , Unlike conventional RTK positioning.

c) Function of holding ambiguity With ambiguity holding, for a satellite without cycle slip etc., once the correct ambiguity is determined, RTK positioning can continue theoretically even if the value is held. Ambiguity retention uses that feature. The feature of this method is that, even in the case where ambiguity retention is interrupted in the conventional method, such interruption is eliminated as much as possible. As one specific example, the ambiguity determination requires a double phase difference between the main satellite and the secondary satellite. Ambiguity can not be maintained if the main satellite is changed. In order to cope with such an event, the function is to select in advance a high quality main satellite and to have the ability to hold an ambiguity with another main satellite instantly even if the main satellite is changed. This is also not supported by existing software.

d) Function to use cycle slip information etc. of the carrier phase output by the GNSS positioning device For example, in a satellite signal receiver made by u-blox, an indicator is added to the output information as to whether the carrier phase is reliable or unreliable. ing. Therefore, this function selects and analyzes only such reliable information from the output information from the GNSS positioning device. Such functions are not supported by existing software.

  Here, the cycle slip will be described. The phase measurement is interrupted when the radio wave from the satellite is blocked by an obstacle. Therefore, it is impossible to know the carry-over and carry-down of the integer part between them. Before and after this interruption, the integer part of the phase has an uncertainty of only the integer part. This is called cycle slip. At this time, it is necessary to re-estimate the ambiguity of integer values at the time of baseline processing.

  As described above, by combining the three functions b) to d) with the method described in Patent Document 3 described above, displacement measurement can be performed with higher accuracy.

  As described above, according to the displacement measurement method according to the present invention, a relatively stable displacement of an object including a structure or the like is measured using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites. Satellite signal receivers installed at one point on the outer surface of a relatively stable object including a structure etc., or satellite signal receivers installed at a plurality of different positions on the outer surface. Relative displacement over time between a point and a fixed point constructed by a satellite signal receiver installed at a position other than the outer surface of a relatively stable object including a structure etc. or on the ground A relative positioning step for obtaining by positioning is provided, wherein the relative positioning step selects a predetermined positioning satellite to be used for relative positioning among a plurality of positioning satellites, and relatively measures the displacement using a satellite signal from the selected positioning satellite Since acquiring it makes it possible to measure the displacement of the outer surface of relatively stable objects including structures such as only observation point installed on the outer surface of relatively stable objects including structures like accurately. For this reason, the present invention is intended to monitor not only the top (roof) of a relatively stable object including a structure or the like installed in a crowded environment but also displacement, deformation, etc. of the side (wall). It is suitable.

  Further, according to another displacement measurement method according to the present invention, the relative positioning step measures the reception intensity of the satellite signal at the fixed point and the observation point, and receives the reception intensity at the fixed point and the reception at the observation point for each satellite signal. Calculating the carrier wave phase of the observation point for satellite signals whose strengths are compared and the difference between the reception strength at the fixed point and the reception strength at the observation point is equal to or greater than a predetermined threshold; When the signal can not be received continuously, it is detected as a multipath, and when the calculated carrier phase is equal to or higher than a predetermined threshold, the satellite signal is excluded from the positioning satellite signal and observation is performed using only the positioning satellite signal. Calculating the position of the point and correcting the calculated position of the observation point using the position correction data, and based on the corrected position of the observation point Since acquiring the displacement, to determine the satellite signal affected by a multipath by simple and reliable methods, by correcting the position of the observation point, it is possible to realize a highly accurate displacement measurement.

  Further, according to another displacement measurement method according to the present invention, the relative positioning step determines the carrier phase ambiguity of the satellite signal based on the position of the fixed point or the observation point, and holds the ambiguity. Since it has at least one of the step of performing and relative positioning based on the cycle slip information of the carrier wave phase which a satellite signal receiver outputs, highly accurate displacement measurement is realizable.

  Further, according to the displacement measurement system according to the present invention, it is a system for measuring relatively stable displacement of an object including a structure etc. using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites. A satellite signal receiver installed at one point on the outer surface of a relatively stable object including a structure or a satellite signal receiver installed at a plurality of different positions on the outer surface, and a structure To obtain the displacement with the passage of time with a fixed point composed of a satellite signal receiver installed at a position other than the outer surface of the relatively stable object or ground including the object etc. by relative positioning A relative positioning unit is provided, and the relative positioning unit selects a predetermined positioning satellite to be used for relative positioning among a plurality of positioning satellites, and acquires the displacement by relative positioning using a satellite signal from the selected positioning satellite. Since, it is possible to measure the displacement of the outer surface of relatively stable objects including structures such as only observation point installed on the outer surface of relatively stable objects including structures like accurately. For this reason, the present invention is intended to monitor not only the top (roof) of a relatively stable object including a structure or the like installed in a crowded environment but also displacement, deformation, etc. of the side (wall). It is suitable.

  Further, according to another displacement measurement system according to the present invention, the relative positioning means calculates the position of the fixed point, and calculates the position correction data indicating the deviation from the absolute position of the fixed point, the fixed point, Measure the reception strength of the satellite signal at the observation point, compare the reception strength at the fixed point with the reception strength at the observation point for each satellite signal, and the difference between the reception strength at the fixed point and the reception strength at the observation point is greater than a predetermined threshold Means for calculating the carrier wave phase of the observation point with respect to the satellite signal, and when the satellite signal from the positioning satellite can not be received continuously during calculation of the carrier wave phase, it is detected as multipath and the calculated carrier wave phase has a predetermined threshold In the case of the above, the means for excluding the satellite signal from the positioning satellite signal, the means for calculating the position of the observation point using only the positioning satellite signal, and the calculated position of the observation point Since the displacement is obtained based on the corrected position of the observation point, the satellite signal affected by the multipath is determined by a simple and reliable method, and By correcting the position, highly accurate displacement measurement can be realized.

  Further, according to another displacement measurement system according to the present invention, the relative positioning means holds means for determining the ambiguity of the carrier wave phase of the satellite signal based on the position of the fixed point or the observation point, and holds the ambiguity. And at least one of the relative positioning based on the cycle slip information of the carrier wave phase output from the satellite signal receiver, it is possible to realize highly accurate displacement measurement.

  As described above, the displacement measurement method and the displacement measurement system according to the present invention are useful for relatively stable displacement monitoring of objects including structures etc. using a satellite positioning system, and in particular, overcrowding in urban areas etc. Monitoring the displacement of a relatively stable object such as a structure installed in an environment, or installing a satellite positioning device on a roof or other place where there is an obstacle that causes multipath It is suitable for cases such as

1 Structure 2 Outer wall surface (outer surface)
3 roof (outside)
DESCRIPTION OF REFERENCE NUMERALS 10 displacement measurement system 12 computer 14 relative positioning means 16 notification means 18 alarm means 20 storage means 22 control means A to E GNSS observation point

Claims (6)

A method of measuring relatively stable displacement of an object including a structure etc. using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites,
A satellite signal receiver installed at one point on the outer surface of a relatively stable object including a structure or a satellite signal receiver installed at different positions on the outer surface, and a structure Relative positioning to obtain displacement over time with a fixed point composed of a satellite signal receiver installed at a position other than the outer surface of a relatively stable object including the ground or on the ground, by relative positioning Equipped with steps
The relative positioning step selects a predetermined positioning satellite to be used for relative positioning among a plurality of positioning satellites, and acquires the displacement by relative positioning using satellite signals from the selected positioning satellites. Method.   The relative positioning step measures the reception strength of the satellite signal at the fixed point and the observation point, compares the reception strength at the fixed point with the reception strength at the observation point for each satellite signal, and receives the reception strength at the fixed point and the reception at the observation point Calculating the carrier wave phase of the observation point for satellite signals whose difference in intensity is equal to or greater than a predetermined threshold, and detecting as a multipath when satellite signals from positioning satellites can not be received continuously during calculation of the carrier wave phase; If the calculated carrier wave phase is equal to or higher than a predetermined threshold value, the satellite signal is excluded from the positioning satellite signal, the position of the observation point is calculated using only the positioning satellite signal, and the position of the calculated observation point Correcting the position by using the position correction data, and acquiring the displacement based on the position of the corrected observation point. Displacement measurement method described.   The relative positioning step determines the ambiguity of the carrier phase of the satellite signal based on the position of the fixed point or observation point, holds the ambiguity, and cycles the carrier phase output from the satellite signal receiver. The displacement measurement method according to claim 1 or 2, further comprising at least one of the steps of performing relative positioning based on slip information. A system for measuring a relatively stable displacement of an object including a structure or the like using a satellite signal receiver that receives satellite signals from a plurality of positioning satellites,
A satellite signal receiver installed at one point on the outer surface of a relatively stable object including a structure or a satellite signal receiver installed at different positions on the outer surface, and a structure Relative positioning to obtain displacement over time with a fixed point composed of a satellite signal receiver installed at a position other than the outer surface of a relatively stable object including the ground or on the ground, by relative positioning Equipped with
The relative positioning means selects a predetermined positioning satellite to be used for relative positioning among a plurality of positioning satellites, and acquires the displacement by relative positioning using a satellite signal from the selected positioning satellite. system.   The relative positioning means measures the reception strength of the satellite signal at the fixed point and the observation point, compares the reception strength at the fixed point with the reception strength at the observation point for each satellite signal, and receives the reception strength at the fixed point and the reception at the observation point Means for calculating the carrier wave phase of the observation point for satellite signals whose difference in intensity is equal to or greater than a predetermined threshold, and detection as multipath when satellite signals from positioning satellites can not be received continuously during calculation of carrier phase; If the calculated carrier wave phase is equal to or higher than a predetermined threshold value, means for excluding the satellite signal from the positioning satellite signal, means for calculating the position of the observation point using only the positioning satellite signal, and the calculated position of the observation point 5. The displacement measurement system according to claim 4, further comprising means for correcting the position by the position correction data, and acquiring the displacement based on the corrected position of the observation point. Beam. The relative positioning means determines the ambiguity of the carrier phase of the satellite signal based on the position of the fixed point or observation point, the means for holding the ambiguity, and the cycle of the carrier phase output from the satellite signal receiver. The displacement measurement system according to claim 4 or 5, further comprising at least one of means for performing relative positioning based on slip information.