JP2019211445A - Displacement measurement method and displacement measurement system - Google Patents

Abstract

To provide a displacement measurement method and a displacement measurement system with improved positioning accuracy.SOLUTION: A method for measuring a displacement of a relatively stable object including a structure by using a satellite signal receiver for receiving satellite signals from positioning satellites of a plurality of different satellite positioning systems, includes a relative positioning step for obtaining a displacement over time between an observation point installed on an outer surface of the object and a fixed point installed at a location other than the outer surface of the object by relative positioning. The relative positioning step selects a positioning satellite at the highest elevation angle from the satellite signal receiver as a main satellite and positioning satellites other than the positioning satellite as sub satellites, among the plurality of positioning satellites, removes a bias between the different satellite positioning systems by assuming the selected main satellite and the selected sub satellites as being positioning satellites of the same satellite positioning system, and performs relative positioning on the basis of a double phase difference calculated using satellite signals of the main satellite and the sub satellites.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a displacement measuring method and a displacement measuring system using a satellite positioning system, and more particularly to a displacement measuring method and a displacement measuring system suitable for measuring a relatively stable side displacement of an object including a structure or the like. .

  Conventionally, when measuring the displacement of a structure using a satellite positioning system, generally, a method using a GPS (Global Positioning System) satellite in the United States has been the mainstream. For example, a method of measuring the displacement of a structure by relative positioning between a GPS receiver installed at a fixed point on the ground around the structure and a GPS receiver installed at an observation point on the structure is known. (For example, refer to Patent Documents 1 and 2). However, the number of GPS satellites in the United States is also limited, and there are the following restrictions and issues in use.

(1) In order to capture GPS satellites sufficiently necessary for positioning analysis, it is necessary to devise such as keeping the elevation angle from the satellite positioning device at 15 ° or more.
(2) Therefore, in urban areas where structures and the like are overcrowded and it is difficult to secure an aerial view, the location of satellite positioning devices is limited to the rooftops of structures and the like. In other words, it can only measure displacement around the rooftop of structures and the like.
(3) However, various facilities are arranged on the roof, and the installation location of satellite positioning equipment is limited.
(4) Even if a satellite positioning device can be installed on the rooftop, it may interfere with accurate displacement measurement due to the influence of other equipment on the rooftop and the multipath of surrounding buildings.

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

  On the other hand, as a positioning technique using a GPS satellite, a technique as shown in Patent Document 3 is known. This technique discriminates satellite signals affected by multipaths by a simple and reliable method, and corrects the measurement position of the mobile station.

  By the way, not only GPS satellites in the United States but also Russian, European, Chinese, and Japanese satellite positioning systems (hereinafter collectively referred to as GNSS (Global Navigation Satellite System)) are operated. Therefore, when positioning with a satellite positioning device, signals from about 30 GNSS satellites can be received. In the future, the number of GNSS satellites in each country is expected to increase, and the increase in the number of quasi-zenith satellites in Japan will make it easier to acquire signals from high elevation angles. The above problem tends to be easily solved as the number of satellites increases, but conversely, as the number of satellites increases, the problem of an increase in multipaths also arises.

As a technique for solving such a problem, a part of the inventors has already proposed a technique as shown in Patent Document 4. This technique has the following functions. According to this, since the observation point displacement installed on the wall surface of the structure can be accurately measured, it is suitable for monitoring the displacement / deformation etc. of the rooftop / side part of the structure installed in an overcrowded environment. .
(1) A function for selecting GNSS satellite signals (2) A function for determining ambiguity that is the key to RTK positioning with high reliability (3) A function for maintaining ambiguity (4) A GNSS receiver outputs Function to use cycle slip information of carrier phase

  The function (3) will be supplementarily described. With ambiguity holding, once a correct ambiguity is obtained for a satellite without a cycle slip, RTK positioning can be continued even if the value is held theoretically. Ambiguity retention uses this characteristic. The feature of this method is that even when the ambiguity maintenance is interrupted in the conventional method, the interruption can be eliminated as much as possible, and the recovery after the interruption can be performed early. As one specific example, a double phase difference between a primary satellite and a secondary satellite is essential for determining ambiguity. Ambiguity cannot be maintained if the main satellite is changed. This function has the ability to select a high-quality primary satellite in advance so that it can cope with such an event and to maintain ambiguity with another primary satellite instantly even if the primary satellite is changed.

  Since RTK positioning is relative positioning between a reference point and an observation point, a double phase difference is used for calculation. The double phase difference is obtained by simultaneously receiving the carrier phase from the same satellite by two receivers, and obtaining the single phase difference of both received data for each of the two satellites in units of one cycle, and the difference between the two single phase differences. Required by taking By using this double phase difference, satellite and receiver clock errors can be eliminated. In RTK positioning, three or more combinations for obtaining this double phase difference are made, and by using the positioning data of a large number of times, a carrier wave between each satellite and the receiver for each channel of the channel of the carrier wave by the least square method. An uncertain element (integer value bias) is estimated to determine a baseline vector (three-dimensional coordinate difference).

  When RTK positioning is performed using different types of satellites, various biases to be taken into consideration are generated due to the use frequency and the like being different for each type of satellite. In order to avoid the influence of these biases, in RTK positioning, mixed positioning that takes a double phase difference separately for each type of satellite positioning system has become the mainstream. In the mixed positioning analysis, at least two satellites of the same type are always required (for example, the primary satellite and the secondary satellite), and the satellite with the highest elevation visible from the receiver at that time is adopted as the primary satellite. In the first place, only one satellite is not used for analysis.

  For example, if the primary satellite is a GPS satellite, the secondary satellite also selects the GPS satellite, and if the primary satellite is the quasi-zenith satellite, the secondary satellite also selects the quasi-zenith satellite, and the double phase difference is calculated for the selected pair. Here, it is assumed that there are two GPS satellites, quasi-zenith satellites, Galileo satellites, and Glonus satellites in the sky. Since there are two different types of satellites, the double phase difference is calculated with the satellite near the zenith as the primary satellite and the satellite at a position off the zenith as the secondary satellite. In this case, an appropriate ambiguity is calculated from the double phase difference calculated for the GPS satellite pair, the quasi-zenith satellite pair, the Galileo satellite pair, and the Glonus satellite pair. This mixed positioning uses the double phase difference of many satellite groups, so positioning accuracy is improved.

JP-A-2015-197344 JP 2008-76117 A Japanese Patent No. 5232994 Japanese Patent Application No. 2017-079210 (unpublished at present)

  In the case of open sky with no obstacles in the sky, all types of satellites are placed appropriately in the sky at any time, so the double phase difference of each satellite group is easily calculated, and even in mixed positioning Accurate calculation is possible. However, when positioning observation points such as the outer wall of a building in an overcrowded environment or the slope of the left bank and the right bank of a dam, the sky field of view is relatively narrow, so the number of satellites of the same type in the sky is less than two. May be. Even if there are many positioning satellites in the sky, it is difficult to calculate the double phase difference of a certain satellite group, and as a result, the accuracy of mixed positioning may be reduced.

  Furthermore, when the sky field of view is relatively narrow, the time period in which two or more same-type satellites are in the sky is also limited. For example, even if there are seven satellites in the sky, there can often be one kind of satellite. If the breakdown of these seven is two GPS satellites, one quasi-zenith satellite, two Galileo satellites, one Glonus satellite, and one BeiDou satellite, the GPS satellite can calculate the double phase difference by conventional positioning analysis. And only the Galileo satellite, there is a risk that the positioning accuracy will decrease.

  The quasi-zenith satellites have specifications conforming to the GPS satellites, so if the number of GPS satellites is reduced and there are multiple quasi-zenith satellites (three or more in total in a good environment), the maximum elevation angle A double phase difference can be calculated using a certain GPS satellite or quasi-zenith satellite as a primary satellite and others as secondary satellites. However, since it is rare that this state continues for a long time on the outer wall of the building or the left bank and the right bank of the dam, it is difficult to measure the position continuously for 24 hours.

  In order to deal with such a problem, the present inventor has made various studies by paying attention to a system bias between satellites, particularly a clock difference between satellites. As described above, there is no clock difference between GPS satellites and quasi-zenith satellites, so a double phase difference can be obtained by combining GPS satellites and quasi-zenith satellites as primary satellites and other GPS satellites and quasi-zenith satellites as secondary satellites. Can be calculated. However, since there is a clock difference between the GPS satellite / quasi-zenith satellite and other types of satellites, it is necessary for other types of satellites to calculate a double phase difference for each satellite type.

  As a result of repeatedly acquiring various positioning data and modifying / trialting the positioning analysis algorithm in this way, the present inventor has reached the following present invention in which positioning accuracy can be improved as compared with the above-mentioned conventional Patent Document 4. In other words, the system bias (satellite clock difference) between the satellites is eliminated in advance by the algorithm, so that the satellites in the sky are used as much as possible, one is the primary satellite and the other is the secondary satellite. The phase difference can be acquired, and as a result, the present invention has been reached which can improve the positioning accuracy.

  The present invention has been made in view of the above, and an object thereof is to provide a displacement measuring method and a displacement measuring system with improved positioning accuracy.

  In order to solve the above-described problems and achieve the object, a displacement measuring method according to the present invention uses a satellite signal receiver that receives satellite signals from positioning satellites of a plurality of different satellite positioning systems to A method for measuring the displacement of a relatively stable object including an observation point constituted by a satellite signal receiver installed on the outer surface of the object, and a satellite signal receiver installed at a place other than the outer surface of the object A relative positioning step for acquiring relative displacement with time from a fixed point constituted by a relative positioning step, wherein the relative positioning step is a positioning satellite at a maximum elevation angle from a satellite signal receiver among a plurality of positioning satellites. Is selected as the primary satellite, a positioning satellite other than this positioning satellite is selected as the secondary satellite, and the selected primary satellite and secondary satellite are regarded as positioning satellites of the same satellite positioning system. Bias is removed between a satellite positioning system comprising, and performs relative positioning based on double phase difference calculated using a satellite signal of the main satellite and 従衛 star.

  The displacement measurement system according to the present invention measures a relatively stable displacement of an object including a structure using a satellite signal receiver that receives satellite signals from positioning satellites of a plurality of different satellite positioning systems. A time lapse between an observation point configured by a satellite signal receiver installed on the outer surface of the object and a fixed point configured by a satellite signal receiver installed at a location other than the outer surface of the object. Relative positioning means for acquiring the displacement caused by relative positioning by relative positioning. The relative positioning means selects the positioning satellite at the highest elevation angle from the satellite signal receiver among the plurality of positioning satellites as the main satellite, and other than this positioning satellite. By selecting one of the positioning satellites as a secondary satellite, the bias between different satellite positioning systems is removed by considering the selected primary and secondary satellites as positioning satellites of the same satellite positioning system. And, and performs relative positioning based on double phase difference calculated using a satellite signal of the main satellite and 従衛 star.

  According to the displacement measurement method of the present invention, the displacement of a relatively stable object including a structure or the like is measured using a satellite signal receiver that receives satellite signals from positioning satellites of a plurality of different satellite positioning systems. A time lapse between an observation point constituted by a satellite signal receiver installed on the outer surface of the object and a fixed point constituted by a satellite signal receiver installed at a place other than the outer surface of the object The relative positioning step acquires the displacement accompanying the relative positioning by relative positioning. In the relative positioning step, the positioning satellite at the highest elevation angle from the satellite signal receiver is selected as the primary satellite from the plurality of positioning satellites, and other than the positioning satellites. By selecting one of the positioning satellites as a secondary satellite, the bias between different satellite positioning systems is removed by considering the selected primary and secondary satellites as positioning satellites of the same satellite positioning system. Since relative positioning is performed based on the double phase difference calculated using the satellite signals of the primary and secondary satellites, the displacement of the observation point installed on the outer surface of a relatively stable object, including structures, can be accurately detected. The effect that it can measure is produced. For this reason, the present invention monitors not only the top (rooftop) of a relatively stable object including structures installed in an overcrowded environment but also the displacement / deformation of the side (wall surface). Is preferred.

  In addition, according to the displacement measurement system of the present invention, the displacement of a relatively stable object including a structure or the like can be detected using a satellite signal receiver that receives satellite signals from positioning satellites of a plurality of different satellite positioning systems. A system for measuring between an observation point configured by a satellite signal receiver installed on the outer surface of the object and a fixed point configured by a satellite signal receiver installed at a location other than the outer surface of the object Relative positioning means for acquiring displacement with time by relative positioning is provided, and the relative positioning means selects a positioning satellite at the highest elevation angle from a satellite signal receiver as a main satellite from a plurality of positioning satellites. By selecting a positioning satellite other than the satellite as a secondary satellite and considering the selected primary and secondary satellites as positioning satellites of the same satellite positioning system, a via between different satellite positioning systems Relative positioning is performed based on the double phase difference calculated using the satellite signals of the primary and secondary satellites, so the displacement of the observation point installed on the outer surface of a relatively stable object including structures There is an effect that measurement can be performed with high accuracy. For this reason, the present invention monitors not only the top (rooftop) of a relatively stable object including structures installed in an overcrowded environment but also the displacement / deformation of the side (wall surface). Is preferred.

FIG. 1 is a schematic situation diagram showing an embodiment of a displacement measuring method and a displacement measuring system according to the present invention. FIG. 2 is a schematic configuration diagram showing an embodiment of a displacement measurement system according to the present invention. FIG. 3 is a schematic flowchart showing an embodiment of the displacement measuring method according to the present invention. FIGS. 4A and 4B are diagrams showing the sky field of view of the observation point as viewed by the fisheye camera, where (1) is the sky field of view of observation point 1 and (2) is the sky field of view of observation point 2. FIG. FIG. 5 is a diagram showing an RTK positioning result at the observation point 1. FIG. 6 is a diagram showing an RTK positioning result at the observation point 2.

  As described above, as a result of the inventor's attempts to acquire various positioning data and modify / analyze the algorithm, the present invention has been achieved in which positioning accuracy can be improved as compared with the conventional Patent Document 4. By applying the present invention, it becomes possible to use data such as a Galileo satellite having only one aircraft in the sky, for example. As described later, a “reliable (horizontal within ± 10 cm) Fix rate” for evaluating RTK positioning performance is provided. Greatly improved.

  Hereinafter, embodiments of a displacement measuring method and a displacement measuring system according to the present invention will be described in detail with reference to the drawings. In the following description, wall surface positioning of a small and medium-sized apartment installed in an overcrowded environment in an urban area will be described as an example of a structure for measuring and monitoring displacement, but the present invention is limited by this embodiment. It is not a thing. It should be noted that the present invention is not limited to wall positioning of a relatively stable stationary object including a structure or the like, but also a satellite positioning device such as a roof of a relatively stable stationary object including a structure or the like. It is also applicable to positioning when there are obstacles that cause multipath around the installation location.

  In the displacement measuring method according to the embodiment of the present invention, the displacement of a structure is measured using a GNSS positioning device (satellite signal receiver) that receives satellite signals from GNSS satellites (positioning satellites) of a plurality of different satellite positioning systems. It is a method of measuring. In the present embodiment, the time between the observation point configured by the GNSS positioning device installed on the outer wall surface of the structure and the fixed point configured by the GNSS positioning device installed at a location other than the outer wall surface of the structure. A relative positioning step of acquiring a displacement with progress by relative positioning;

  The relative positioning step selects a GNSS satellite at the highest elevation angle from a GNSS positioning device as a primary satellite among a plurality of GNSS satellites, and selects a GNSS satellite other than this satellite as a secondary satellite. Is regarded as a satellite of the same satellite positioning system, the bias between different satellite positioning systems is removed, and relative positioning is performed based on the double phase difference calculated using the satellite signals of the primary satellite and the secondary satellite. Here, a method using interference positioning using a carrier wave having the highest accuracy in relative positioning will be described.

  First, after determining the coordinates of the fixed point in the initial stage of installation of the GNSS positioning device, the GNSS positioning devices at all the fixed points and observation points are simultaneously observed, and the difference in arrival of radio waves from the satellite (single phase difference), double Analyze the phase difference to find the distance between the fixed point and the observation point. For example, when five GNSS positioning devices are installed, when a fixed point and another observation point are counted as one set, by acquiring five sets of coordinate changes and baseline length changes, It is possible to grasp whether there is an inclination or settlement.

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

  As shown in FIG. 1, five GNSS positioning devices A to E that receive satellite signals from satellites are installed at different positions on the outer wall surface 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 the structure 4 and interference positioning is performed as a fixed point F. In the example of FIG. 1, the case where GNSS positioning devices A to E are installed at a total of five places in the four corners of the top, bottom, left, and right of the outer wall surface 2 facing the road and the center is shown. The position is not limited to the above, and any position and number may be used as long as they are one point or a plurality of points different from each other for the same structure. As shown in FIG. 1, the fixed point F may be set 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 an observation point or a fixed point, either a high-performance two-frequency GNSS device or a cheap one-frequency GNSS device may be used. Note that the GNSS positioning devices A to E are connected to a computer in a remote measurement room through a communication device (not shown) via a wired or wireless communication line.

  FIG. 2 is a schematic configuration diagram of the 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 includes a relative positioning unit 14, a notification unit 16, an alarm unit 18, a storage unit 20, and a control unit 22 for controlling them. The storage means 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 means 20 is appropriately read out through the control means 22 and processed by the relative positioning means 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 includes various analysis software, arithmetic means, and the like. The computer 12 is connected to the Internet. For this reason, the displacement of the structure acquired in the user terminal device (for example, a personal computer, a mobile telephone terminal, etc.) which the management relevant person of the structure has via the Internet by the function of the notification means 16 according to a user request, for example.・ Transformation information can be distributed. Moreover, the alarm means 18 performs the process which issues alarms, such as an alarm sound, through the computer 12 of said management room or said user terminal device, when the displacement more than a predetermined threshold value is acquired.

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

  Next, observation is started simultaneously at the fixed point and the observation point, and the difference between the arrival of radio waves from the satellite (single phase difference) and the double phase difference are analyzed to obtain the distance between the fixed point and the observation point (step S3). From the above initial coordinate setting, interference positioning can be performed by analysis software or interference positioning means (not shown) provided in the computer 12 of the measurement room. 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 length solution for 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 or the user terminal device in the measurement room. As a result, users such as managers and managers can immediately recognize that a displacement 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. The notification unit 16 can also notify the user of an analysis result (observation result) every predetermined time (for example, every day (24 hours)), for example, in response to a user request. Therefore, the analysis time required when five observation points are provided is basically in real time. In general, since structures do not change so much, it is common to compare positioning information with average values obtained by averaging several hours or one day, except during a large earthquake.

  According to this embodiment, for example, public facilities such as schools installed in an overcrowded environment such as urban areas, deformation and displacement of piles and structures such as small and medium-sized condominiums that have lost the construction, slope, dam inclination Can be monitored. Public facilities are generally used as evacuation sites, but the present invention can also be used when confirming whether the facility is safe while aftershocks after a major earthquake continue.

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

  This algorithm selects a GNSS satellite at the highest elevation from a GNSS positioning device as a primary satellite among a plurality of GNSS satellites, selects a GNSS satellite other than this satellite as a secondary satellite, and selects the selected primary and secondary satellites. It is intended to perform relative positioning based on the double phase difference calculated using the satellite signals of the primary and secondary satellites by removing the bias between the different satellite positioning systems by regarding them as satellites of the same satellite positioning system. .

  In this algorithm, in the calculation process of RTK positioning, different types of GNSS satellites such as GPS, Quasi-Zenith (QZSS), Galileo, etc. are regarded as GNSS satellites of the same type (on the satellite positioning system) and the double phase difference is calculated. . More specifically, the double phase difference is calculated using the GNSS satellite at the highest elevation among the satellites receivable from the GNSS positioning device as the primary satellite and all other GNSS satellites as the secondary satellites. In the subsequent positioning analysis, this double phase difference is used.

  In this way, the double phase difference is not calculated with a pair of satellites of the same type, but the double phase difference is calculated using all the satellites in the sky field of view of the GNSS positioning device. This makes it possible to use a single satellite in the sky to create a double phase difference by forming a pair of satellites near the zenith as the primary satellite and all other satellites as secondary satellites. Can be calculated, and the ambiguity can be calculated more accurately. As a result, the positioning accuracy is improved.

  For example, assume that there are four GPS satellites, one quasi-zenith satellite, three Galileo satellites, and four BeiDou satellites in the sky field of view of the GNSS positioning device. In the conventional method, four double phase differences can be obtained from a total of five GPS satellites and quasi-zenith satellites, with one of the highest elevation angles being the primary satellite and the other four being secondary satellites. From the three Galileo satellites, two double phase differences can be obtained, with one of the highest elevation angles being the primary satellite and the other two being secondary satellites. From the four BeiDou satellites, three double phase differences can be acquired with one of the highest elevation angles as the primary satellite and the other three as secondary satellites. Therefore, in the conventional method, a total of nine (= 4 + 2 + 3) double phase differences can be acquired. However, it is a condition that each satellite group is in an environment where a double phase difference can be calculated. In contrast, in the method of the present invention, a total of 11 double phase differences can be acquired from all 12 positioning satellites (= 4 + 1 + 3 + 4), with one of the highest elevation angles as the primary satellite and the other 11 satellites as slave satellites. As described above, according to the present invention, more double phase differences can be obtained than in the conventional method, so that the ambiguity is calculated more accurately, and as a result, the positioning accuracy is improved.

<Verification of the effect of the present invention>
Next, a positioning experiment conducted for verifying the effect of the present invention will be described. In this experiment, the observation point 1 and the observation point 2 are provided at different locations on the wall surface of the existing building, and the embodiment of the present invention in which the positioning analysis is performed using the above algorithm, and the comparative example in which the positioning analysis is performed with the conventional RTKLIB software, The results are compared. All the positioning analyzes were analyzed using 23 hours 1 Hz (data for 82800 seconds) in the time zone from 3:30 UTC on November 15, 2017 to 2:30 UTC on March 16. In addition, GPS satellites, QZSS satellites, BeiDou satellites, and Galileo satellites were used as different types of satellite positioning systems, and more than 7 satellites were used from these systems. FIG. 4 (1) shows a photograph of the sky field of the observation point 1, and FIG. 4 (2) shows a photograph of the sky field of the observation point 2. The sky field of view is narrow.

  FIG. 5 shows the positioning result at observation point 1, and FIG. 6 shows the positioning result at observation point 2. In each figure, (1) is a plot of results in the horizontal direction, (2) is a comparison of results, (3) is a time series transition in the latitude direction, (4) is a time series transition in the longitude direction, and (5) is a high It is a time series transition in the vertical direction.

  As shown in these figures, as a result of analyzing the positioning data using the algorithm of this example, the Fix rate (reliability (horizontal within ± 10 cm)) of the observation point 1 is 99.93% to 100 of the comparative example. %, It was confirmed that the observation point 2 was improved from 65.28% of the comparative example to 98.89%. In addition, the jump of a large position that sometimes appears during positioning time has been eliminated.

  As described above, according to the displacement measuring method according to the present invention, the satellite signal receiver that receives the satellite signals from the positioning satellites of a plurality of different satellite positioning systems is used, and the structure including the structure is relatively stable. A method for measuring the displacement of an object, comprising an observation point constituted by a satellite signal receiver installed on the outer surface of the object and a fixed point constituted by a satellite signal receiver installed at a place other than the outer surface of the object The relative positioning step acquires relative displacement with time with the relative positioning step, and the relative positioning step selects the positioning satellite at the highest elevation angle from the satellite signal receiver among the plurality of positioning satellites as the main satellite. In addition, different positioning satellites can be obtained by selecting positioning satellites other than this positioning satellite as secondary satellites and considering the selected primary and secondary satellites as positioning satellites of the same satellite positioning system. Since the relative positioning is performed based on the double phase difference calculated using the satellite signals of the primary and secondary satellites, it is installed on the outer surface of a relatively stable object including structures. Observation point displacement can be accurately measured.

  In addition, according to the displacement measurement system of the present invention, the displacement of a relatively stable object including a structure or the like can be detected using a satellite signal receiver that receives satellite signals from positioning satellites of a plurality of different satellite positioning systems. A system for measuring between an observation point configured by a satellite signal receiver installed on the outer surface of the object and a fixed point configured by a satellite signal receiver installed at a location other than the outer surface of the object Relative positioning means for acquiring displacement with time by relative positioning is provided, and the relative positioning means selects a positioning satellite at the highest elevation angle from a satellite signal receiver as a main satellite from a plurality of positioning satellites. By selecting a positioning satellite other than the satellite as a secondary satellite and considering the selected primary and secondary satellites as positioning satellites of the same satellite positioning system, a via between different satellite positioning systems Relative positioning is performed based on the double phase difference calculated using the satellite signals of the primary and secondary satellites, so the displacement of the observation point installed on the outer surface of a relatively stable object including structures It can measure with high accuracy.

  As described above, the displacement measuring method and the displacement measuring system according to the present invention are useful for monitoring the displacement of an object such as a structure using a plurality of different satellite positioning systems, particularly in an overcrowded environment such as an urban area. It is suitable for monitoring the displacement of a wall of a structure or the like that is installed, or for monitoring the displacement by installing a satellite positioning device on a rooftop where there is an obstacle that causes multipath.

1, 4 Structure 2 Outer wall surface (outer surface)
3 Rooftop (outside)
DESCRIPTION OF SYMBOLS 10 Displacement measurement system 12 Computer 14 Relative positioning means 16 Notification means 18 Alarm means 20 Storage means 22 Control means A-E GNSS observation point (positioning equipment)
F GNSS fixed point

Claims (2)

A method of measuring displacement of a relatively stable object including a structure using a satellite signal receiver that receives satellite signals from positioning satellites of a plurality of different satellite positioning systems,
Displacement over time between an observation point configured by a satellite signal receiver installed on the outer surface of the object and a fixed point configured by a satellite signal receiver installed at a location other than the outer surface of the object, It has a relative positioning step to acquire by relative positioning,
The relative positioning step selects a positioning satellite at the highest elevation angle from the satellite signal receiver among the plurality of positioning satellites as a primary satellite, and selects a positioning satellite other than the positioning satellite as a secondary satellite, and selects the selected primary satellite and the secondary satellite. Relative positioning based on double phase difference calculated using satellite signals of primary and secondary satellites by removing the bias between different satellite positioning systems by regarding the satellite as a positioning satellite of the same satellite positioning system Displacement measuring method characterized by A system for measuring displacement of a relatively stable object including a structure using a satellite signal receiver that receives satellite signals from positioning satellites of a plurality of different satellite positioning systems,
Displacement over time between an observation point configured by a satellite signal receiver installed on the outer surface of the object and a fixed point configured by a satellite signal receiver installed at a location other than the outer surface of the object, Equipped with relative positioning means to acquire by relative positioning,
The relative positioning means selects a positioning satellite at the highest elevation angle from the satellite signal receiver among a plurality of positioning satellites as a primary satellite, selects a positioning satellite other than the positioning satellite as a secondary satellite, and selects the selected primary satellite and the secondary satellite. Relative positioning based on double phase difference calculated using satellite signals of primary and secondary satellites by removing the bias between different satellite positioning systems by regarding the satellite as a positioning satellite of the same satellite positioning system Displacement measurement system characterized by