WO2020143228A1 - High-precision beidou monitoring pile integrated with electronic gyroscope - Google Patents

High-precision beidou monitoring pile integrated with electronic gyroscope Download PDF

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WO2020143228A1
WO2020143228A1 PCT/CN2019/101556 CN2019101556W WO2020143228A1 WO 2020143228 A1 WO2020143228 A1 WO 2020143228A1 CN 2019101556 W CN2019101556 W CN 2019101556W WO 2020143228 A1 WO2020143228 A1 WO 2020143228A1
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gnss
monitoring pile
gnss receiver
electronic gyroscope
dtu
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PCT/CN2019/101556
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French (fr)
Chinese (zh)
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梁晓东
周俊华
熊用
杨振武
雷创业
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湖南联智桥隧技术有限公司
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Priority to CN201910027411.2 priority Critical
Priority to CN201910027411.2A priority patent/CN109581420A/en
Application filed by 湖南联智桥隧技术有限公司 filed Critical 湖南联智桥隧技术有限公司
Publication of WO2020143228A1 publication Critical patent/WO2020143228A1/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/14Receivers specially adapted for specific applications
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/23Testing, monitoring, correcting or calibrating of receiver elements
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02ATECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

A high-precision Beidou monitoring pile integrated with an electronic gyroscope, comprising a monitoring pile body (1), a DTU (2) and a GNSS receiver (3) mounted inside the monitoring pile body (1), a GNSS measuring antenna (4) fixed to the top of the monitoring pile body (1), and a photovoltaic power supply system (5) fixed to the monitoring pile body (1). The DTU (2) is connected to a COM interface of the GNSS receiver (3) by means of a serial port line (3.3); the GNSS measuring antenna (4) is connected to an ANT interface of the GNSS receiver (3) by means of an antenna connecting line (4.1); the photovoltaic power supply system (5) is separately connected to the DTU (2) and the GNSS receiver (3) by means of a power line (5.4) to supply power for equipment. An electronic gyroscope (3.1), a GNSS board, and an MCU are integrated on a PCB motherboard of the GNSS receiver (3) to improve the positioning precision and the timeliness of the BeiDou monitoring pile. The GNSS measuring antenna (4) receives BeiDou navigation satellite signals, and transmits the signals to the motherboard of the GNSS receiver (3) for decoding; the GNSS receiver (3) sends satellite data received by the DTU (2) and real-time data information of the electronic gyroscope (3.1) simultaneously to a server, thereby implementing real-time auxiliary correction of a GNSS solution result to achieve high-precision monitoring.

Description

一种集成电子陀螺仪高精度北斗监测桩High-precision Beidou monitoring pile with integrated electronic gyroscope 技术领域Technical field
本发明涉及基坑监测技术领域,具体涉及一种集成电子陀螺仪高精度北斗监测桩。The invention relates to the technical field of foundation pit monitoring, in particular to an integrated electronic gyroscope high-precision Beidou monitoring pile.
背景技术Background technique
随着人类对自然环境的开发,各种突发的地质灾害,例如山洪、泥石流等对人们的影响越来越大,一些建设于山区的道路、桥梁和隧道等,一旦由于地质灾害造成破坏,进而导致交通中断,对抢修等工作造成严重影响。因此如何对可能出现的地质灾害做好预警工作成为亟待解决的问题。现有技术中,通常通过卫星遥感技术或利用飞机航拍对地质变化进行检测,无法发现地质环境的细微变化,影响对地质环境监测的时效性。With the development of the natural environment by mankind, various sudden geological disasters, such as flash floods and debris flows, have an increasing impact on people. Some roads, bridges, and tunnels built in mountain areas are destroyed by geological disasters. In turn, the traffic is interrupted, which has a serious impact on emergency repairs and other work. Therefore, how to do early warning for possible geological disasters has become an urgent problem to be solved. In the prior art, the geological changes are usually detected through satellite remote sensing technology or using aircraft aerial photography, and the subtle changes in the geological environment cannot be found, which affects the timeliness of monitoring the geological environment.
解决现有位移沉降监测桩GNSS接收机只能通过接收卫星信号转换成相应电文格式传输给服务器解算出自己的相对位置,不能实时获取自己在该位置的准确姿态信息。To solve the existing displacement and settlement monitoring pile GNSS receiver can only be converted to the corresponding message format by receiving the satellite signal and transmitted to the server to solve its own relative position, and it cannot obtain its accurate attitude information at that position in real time.
综上所述,急需一种集成电子陀螺仪高精度北斗监测桩以解决现有技术中存在的问题。In summary, a high-precision Beidou monitoring pile with integrated electronic gyroscope is urgently needed to solve the problems in the prior art.
发明内容Summary of the invention
本发明目的在于提供一种集成电子陀螺仪高精度北斗监测桩,以解决不能实时监测以及监测精度可靠性差问题。The purpose of the present invention is to provide a high-precision Beidou monitoring pile integrated with an electronic gyroscope to solve the problems of real-time monitoring and poor reliability of monitoring accuracy.
为实现上述目的,本发明提供了一种集成电子陀螺仪高精度北斗监测桩,包括监测桩体、安装在监测桩体内部的DTU和GNSS接收机、固定在监测桩体顶部的GNSS测量天线以及固定在监测桩体上的光伏供电系统。In order to achieve the above object, the present invention provides a high-precision Beidou monitoring pile with integrated electronic gyroscope, which includes a monitoring pile body, a DTU and GNSS receiver installed inside the monitoring pile body, a GNSS measuring antenna fixed on the top of the monitoring pile body, and The photovoltaic power supply system fixed on the monitoring pile.
DTU通过串口线与GNSS接收机的COM接口连接;GNSS测量天线通过天线连接线与GNSS接收机的ANT接口连接;光伏供电系统通过电源线分别与DTU和GNSS接收机连接,为设备提供电源。The DTU is connected to the COM interface of the GNSS receiver through a serial cable; the GNSS measurement antenna is connected to the ANT interface of the GNSS receiver through an antenna cable; the photovoltaic power supply system is connected to the DTU and GNSS receiver through a power cable, respectively, to provide power for the equipment.
GNSS接收机的PCB主板上集成了电子陀螺仪、GNSS板卡以及MCU,用以提高北斗监测桩的定位精度和实效性。The GNSS receiver's PCB main board integrates an electronic gyroscope, GNSS board and MCU to improve the positioning accuracy and effectiveness of the Beidou monitoring pile.
优选地,所述DTU上连接有4G天线,用以通讯。Preferably, a 4G antenna is connected to the DTU for communication.
优选地,所述GNSS板卡为OEM板卡,OEM板卡为一种GNSS高精度定位定向板卡。Preferably, the GNSS board is an OEM board, and the OEM board is a GNSS high-precision positioning and orientation board.
优选地,所述光伏供电系统包括光伏板、光伏控制器和电池;光伏板通过三角支架固 定在监测桩体上,光伏控制器通过电源线分别与光伏板、电池连接。Preferably, the photovoltaic power supply system includes a photovoltaic panel, a photovoltaic controller and a battery; the photovoltaic panel is fixed on the monitoring pile through a triangular bracket, and the photovoltaic controller is connected to the photovoltaic panel and the battery through a power cord, respectively.
优选地,所述GNSS测量天线外部设置有天线罩,用以保护GNSS测量天线。Preferably, a radome is provided outside the GNSS measurement antenna to protect the GNSS measurement antenna.
应用本发明的技术方案,具有以下有益效果:The application of the technical solution of the present invention has the following beneficial effects:
(1)本发明一种集成电子陀螺仪高精度北斗监测桩,将高精度的电子陀螺仪、MCU(微控制单元)集成到GNSS接收机主板上,以提高解算精度。本发明结构设计简单、连接方便,MCU的嵌入,可控性强,成本低。(1) The present invention is an integrated electronic gyroscope high-precision Beidou monitoring pile, which integrates a high-precision electronic gyroscope and MCU (micro control unit) on the GNSS receiver main board to improve the resolution accuracy. The invention has simple structure design, convenient connection, embedded MCU, strong controllability and low cost.
(2)本发明中,GNSS测量天线接收到北斗导航卫星信号,信号传达给GNSS接收机的PCB主板进行解码,与此同时GNSS接收机上的MCU(微控制单元)读取电子陀螺仪上的姿态数据与解码数据;GNSS接收机通过串口线将接收到的姿态数据与解码数据一块打包传送给DTU(数据传输单元),DTU内置通信卡,将收到的数据通过运营商网络传送到服务器进行结算分析;GNSS接收机利用DTU接收到的卫星数据和电子陀螺仪的实时资料信息同时发送给服务器,实现对GNSS解算结果的实时辅助修正从而达到高精度监测。(2) In the present invention, the GNSS measuring antenna receives the Beidou navigation satellite signal, and the signal is transmitted to the GNSS receiver's PCB main board for decoding. At the same time, the MCU (micro control unit) on the GNSS receiver reads the attitude on the electronic gyroscope Data and decoded data; GNSS receiver packages the received attitude data and decoded data together through a serial line to DTU (data transmission unit), DTU has a built-in communication card, and transmits the received data to the server through the operator network for settlement Analysis; The GNSS receiver uses the satellite data received by the DTU and the real-time data information of the electronic gyroscope to send to the server at the same time, realizing the real-time auxiliary correction of the GNSS calculation results to achieve high-precision monitoring.
除了上面所描述的目的、特征和优点之外,本发明还有其它的目的、特征和优点。下面将参照图,对本发明作进一步详细的说明。In addition to the objects, features, and advantages described above, the present invention has other objects, features, and advantages. The present invention will be further described in detail below with reference to the drawings.
附图说明BRIEF DESCRIPTION
构成本申请的一部分的附图用来提供对本发明的进一步理解,本发明的示意性实施例及其说明用于解释本发明,并不构成对本发明的不当限定。在附图中:The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The schematic embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an undue limitation on the present invention. In the drawings:
图1是北斗监测桩结构示意图;Figure 1 is a schematic diagram of Beidou monitoring pile structure;
图2是北斗监测桩内部接线示意图;Figure 2 is a schematic diagram of the internal wiring of the Beidou monitoring pile;
图3是GNSS接收机示意图;Figure 3 is a schematic diagram of a GNSS receiver;
图4是GNSS接收机主板的结构示意图;4 is a schematic diagram of the structure of the GNSS receiver motherboard;
图5是GNSS接收机主板功能控制原理图;Figure 5 is a schematic diagram of the function control of the GNSS receiver motherboard;
图6是1s输出的定位结果(2mm一格);Figure 6 is the positioning result of 1s output (2mm one grid);
图7是1min输出定位结果(0.5mm一格);Figure 7 is the 1min output positioning results (0.5mm one grid);
图8是15min输出定位结果(0.5mm一格);Figure 8 is the 15min output positioning results (0.5mm one grid);
图9是1h输出定位结果(北向0.02mm一格);Figure 9 is 1h output positioning results (north to 0.02mm a grid);
图10是12h输出定位结果(北向0.02mm一格);Figure 10 is the 12h output positioning results (north to 0.02mm a grid);
图11是24h输出定位结果;Figure 11 is the 24h output positioning results;
图12是东向1h滤波定位结果;Figure 12 is the eastward 1h filter positioning results;
图13是北向1h滤波定位结果;Figure 13 is the northbound 1h filter positioning results;
图14是天向1h滤波定位结果;Figure 14 is the result of the 1h filtering positioning in the sky;
其中,1、监测桩体,2、DTU,2.1、4G天线,3、GNSS接收机,3.1、电子陀螺仪,3.2、OEM板卡,3.3、串口线,4、GNSS测量天线,4.1、天线连接线,5、光伏供电系统,5.1、光伏板,5.2、光伏控制器,5.3、电池,5.4、电源线。Among them, 1. Monitoring pile, 2, DTU, 2.1, 4G antenna, 3, GNSS receiver, 3.1, electronic gyroscope, 3.2, OEM board, 3.3, serial line, 4, GNSS measuring antenna, 4.1, antenna connection Line, 5, photovoltaic power supply system, 5.1, photovoltaic panel, 5.2, photovoltaic controller, 5.3, battery, 5.4, power cord.
具体实施方式detailed description
以下结合附图对本发明的实施例进行详细说明,但是本发明可以根据权利要求限定和覆盖的多种不同方式实施。The following describes the embodiments of the present invention in detail with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.
实施例1:Example 1:
参见图1~图4,一种集成电子陀螺仪高精度北斗监测桩,包括监测桩体1、安装在监测桩体内部的DTU2和GNSS接收机3、固定在监测桩体顶部的GNSS测量天线4以及固定在监测桩体上的光伏供电系统5;所述GNSS测量天线4外部设置有天线罩,用以保护GNSS测量天线。Referring to FIGS. 1 to 4, a high-precision Beidou monitoring pile with integrated electronic gyroscope includes a monitoring pile body 1, a DTU2 and a GNSS receiver 3 installed inside the monitoring pile body, and a GNSS measuring antenna 4 fixed on the top of the monitoring pile body And a photovoltaic power supply system 5 fixed on the monitoring pile; the GNSS measuring antenna 4 is provided with a radome outside to protect the GNSS measuring antenna.
DTU2通过串口线3.3与GNSS接收机3的COM接口连接;GNSS测量天线4通过天线连接线4.1与GNSS接收机3的ANT接口连接;光伏供电系统5通过电源线5.4分别与DTU2和GNSS接收机3连接,为设备提供电源;所述DTU2上连接有4G天线2.1,用以通讯。DTU2 is connected to the COM interface of GNSS receiver 3 through serial line 3.3; GNSS measurement antenna 4 is connected to the ANT interface of GNSS receiver 3 through antenna connection line 4.1; PV power supply system 5 is connected to DTU2 and GNSS receiver 3 through power line 5.4, respectively Connect to provide power for the device; 4G antenna 2.1 is connected to the DTU2 for communication.
GNSS接收机3的PCB主板上集成了电子陀螺仪3.1、GNSS板卡以及MCU,用以提高北斗监测桩的定位精度和实效性。所述GNSS板卡优选OEM板卡3.2,OEM板卡3.2为一种GNSS高精度定位定向板卡。The GNSS receiver 3 integrates the electronic gyroscope 3.1, GNSS board and MCU on the PCB main board to improve the positioning accuracy and effectiveness of the Beidou monitoring pile. The GNSS board is preferably an OEM board 3.2, which is a GNSS high-precision positioning and orientation board.
所述光伏供电系统5包括光伏板5.1、光伏控制器5.2和电池5.3;光伏板5.1通过三角支架固定在监测桩体1上,光伏控制器5.2通过电源线5.4分别与光伏板5.1、电池5.3连接。The photovoltaic power supply system 5 includes a photovoltaic panel 5.1, a photovoltaic controller 5.2 and a battery 5.3; the photovoltaic panel 5.1 is fixed on the monitoring pile 1 by a triangular bracket, and the photovoltaic controller 5.2 is respectively connected to the photovoltaic panel 5.1 and the battery 5.3 through a power cord 5.4 .
所述GNSS接收机的性能技术指标如下表所示:The performance technical indicators of the GNSS receiver are shown in the following table:
Figure PCTCN2019101556-appb-000001
Figure PCTCN2019101556-appb-000001
所述GNSS接收机的物理指标如下表所示:The physical indicators of the GNSS receiver are shown in the following table:
外形尺寸Dimensions 141mm×138.5mm×70mm(不包括天线插座)141mm×138.5mm×70mm (excluding antenna socket)
安装尺寸Installation size 70mm×124mm70mm×124mm
重量weight <750g<750g
工作温度Operating temperature -45℃~+65℃-45℃~+65℃
存储温度storage temperature -45℃~+85℃-45℃~+85℃
湿度humidity 95%无冷凝95% non-condensing
参见图5,上述一种集成电子陀螺仪高精度北斗监测桩工作流程如下:Referring to Fig. 5, the workflow of the above-mentioned integrated electronic gyroscope high-precision Beidou monitoring pile is as follows:
(1)GNSS测量天线接收到北斗导航卫星信号,信号传达给GNSS接收机的OEM板卡进行解码,与此同时GNSS接收机上的MCU(微控制单元)读取电子陀螺仪上的姿态数据与解码数据。(1) The GNSS measuring antenna receives the Beidou navigation satellite signal, and the signal is transmitted to the OEM board of the GNSS receiver for decoding. At the same time, the MCU (micro control unit) on the GNSS receiver reads the attitude data on the electronic gyroscope and decodes it. data.
(2)GNSS接收机通过串口线将接收到的姿态数据与解码数据一块打包传送给DTU,DTU内置通信卡,将收到的数据通过运营商网络传送到服务器进行结算分析。(2) The GNSS receiver packages and transmits the received attitude data and decoded data to the DTU through the serial line. The DTU has a built-in communication card, and transmits the received data to the server through the operator's network for settlement analysis.
(3)GNSS接收机利用DTU接收到的卫星数据和电子陀螺仪的实时资料信息同时发送给服务器,实现对GNSS解算结果的实时辅助修正从而达到高精度监测。(3) The GNSS receiver uses the satellite data received by the DTU and the real-time data information of the electronic gyroscope to send to the server at the same time, to achieve real-time auxiliary correction of the GNSS calculation results to achieve high-precision monitoring.
实施例2:Example 2:
本实施例是用于对北斗监测桩的定位解算时效性的检测。This embodiment is used to detect the timeliness of the positioning solution of the Beidou monitoring pile.
测试设备及工具:两组集成电子陀螺仪高精度北斗监测桩、GNSS测量天线、三脚架测量仪。(说明:为了更好的模拟实际使用过程中基坑的形变,本实施例未将GNSS接收机、DTU等元件固定在检测桩体上,并使用电源箱代替光伏供电系统给相应设备供电。)Test equipment and tools: two sets of integrated electronic gyroscope high-precision Beidou monitoring pile, GNSS measuring antenna, tripod measuring instrument. (Note: In order to better simulate the deformation of the foundation pit during actual use, this embodiment does not fix the GNSS receiver, DTU and other components on the detection pile, and uses a power box to replace the photovoltaic power supply system to supply power to the corresponding equipment.)
具体试验过程如下:The specific test process is as follows:
(1)两台连有DTU的GNSS接收机都放置在电源箱内,并连接电源;两个GNSS测量天线其中一个作为基准站天线,放置在检测墩上,固定不动;另一个GNSS测量天线作为流动站天线放置在三脚架测量仪上。(1) Two GNSS receivers with DTU are placed in the power box and connected to the power supply; one of the two GNSS measuring antennas is used as the reference station antenna, placed on the detection pier, fixed; the other GNSS measuring antenna Placed as a rover antenna on a tripod measuring instrument.
(2)差分数据和定位结果均通过服务器传输,静态定位测试25h+。前24h数据剔除,拷机24h后1.5h的数据纳入分析。基准站输出的差分数据,包含了原始卫星观测数据(北斗、GPS伪距、载波相位、导航电文等)和坐标信息,监测点不仅通过数据链路接收来自基准站的数据,还要采集卫星观测数据,并在系统内组成差分观测值进行实时处理,同时给出厘米级的定位结果,再加上平滑、滤波算法,初始化后可以达到毫米级的精度。(2) Differential data and positioning results are transmitted through the server, static positioning test 25h+. The data was removed in the first 24 hours, and the data in 1.5 hours after the copying machine was included in the analysis. The differential data output by the base station contains original satellite observation data (Beidou, GPS pseudorange, carrier phase, navigation message, etc.) and coordinate information. The monitoring point not only receives data from the base station through the data link, but also collects satellite observations. The data is composed of differential observations in the system for real-time processing, and at the same time gives centimeter-level positioning results, plus smoothing and filtering algorithms, it can achieve millimeter-level accuracy after initialization.
(3)不同输出定位精度分析,输出gpenu语句(gpenu语句为自定义指令,其功能为输出不同滤波的定位结构),输出包含1s、1min、15min、1h、12h、24h平滑的数据,matlab读取后,计算每个方向的均值、标准差和峰峰值,单位为米,做了平滑和滤波算法的好处在于:取每秒的实时结果可能是厘米级,取24小时后的结果就是毫米级。输出的结果就是相对于基准站的东北天位置,如下表所示:(3) Different output positioning accuracy analysis, output gpenu sentence (gpenu sentence is a custom command, its function is to output different filtering positioning structure), the output contains 1s, 1min, 15min, 1h, 12h, 24h smooth data, matlab read After taking, calculate the mean, standard deviation and peak-to-peak value of each direction, the unit is meter. The advantage of smoothing and filtering algorithm is that the real-time result per second may be centimeter level, and the result after 24 hours is millimeter level . The output result is the northeast sky position relative to the reference station, as shown in the following table:
Figure PCTCN2019101556-appb-000002
Figure PCTCN2019101556-appb-000002
由上表统计数据可知:From the statistics in the table above, we can see:
(1)1s输出的东向标准差为1.94mm,北向标准差为2.09mm,天向标准差为6.53mm;(1) The eastward standard deviation of 1s output is 1.94mm, the northward standard deviation is 2.09mm, and the skyward standard deviation is 6.53mm;
(2)1min输出的东向标准差为1.24mm,北向标准差为0.99mm,天向标准差为3.87mm;(2) The eastward standard deviation of 1min output is 1.24mm, the northward standard deviation is 0.99mm, and the skyward standard deviation is 3.87mm;
(3)15min输出的东向标准差为0.74mm,北向标准差为0.59mm,天向标准差为2.07mm;(3) The standard deviation of the east direction output at 15min is 0.74mm, the standard deviation of the north direction is 0.59mm, and the standard deviation of the sky direction is 2.07mm;
(4)1h输出的东向标准差为0.54mm,北向标准差为0.35mm,天向标准差为1.03mm;(4) The eastward standard deviation of the 1h output is 0.54mm, the northward standard deviation is 0.35mm, and the skyward standard deviation is 1.03mm;
(5)12h输出的东向标准差为0.05mm,北向标准差为0.08mm,天向标准差为0.07mm;(5) The eastward standard deviation of the output at 12h is 0.05mm, the northward standard deviation is 0.08mm, and the skyward standard deviation is 0.07mm;
(6)24h输出的东向标准差为0.05mm,北向标准差为0.04mm,天向标准差为0.05mm。(6) The eastward standard deviation of the 24h output is 0.05mm, the northward standard deviation is 0.04mm, and the skyward standard deviation is 0.05mm.
每组数据定位结果,如图6~11所示。从统计数据看,滤波15min数据的东向和北向标准差均小于1mm;滤波1h数据的天向标准差均接近1mm。从图6~11中点的分布来看,时间越长,标准差越小,数据传输越平稳,离散性越小,数据接收的越及时,丢失的越少。从而证明了本发明一种集成电子陀螺仪高精度北斗监测桩提高了定位解算实效性。The positioning results of each group of data are shown in Figures 6-11. From the statistical data, the east and north standard deviations of the filtered 15min data are less than 1mm; the sky standard deviations of the filtered 1h data are close to 1mm. From the distribution of the midpoints in Figures 6 to 11, the longer the time, the smaller the standard deviation, the smoother the data transmission, the smaller the dispersion, the more timely the data is received, and the less lost. Therefore, it is proved that the integrated electronic gyroscope high-precision Beidou monitoring pile of the present invention improves the effectiveness of positioning calculation.
实施例3:Example 3:
本实施例是用于对北斗监测桩的监测精度的检测。This embodiment is used to detect the monitoring accuracy of the Beidou monitoring pile.
测试设备及工具:两组集成电子陀螺仪高精度北斗监测桩设备(一组作为基准站、另一组作为流动站),三脚架测量仪。Test equipment and tools: two sets of integrated electronic gyroscope high-precision Beidou monitoring pile equipment (one group serves as a reference station, the other group serves as a rover), and a tripod measuring instrument.
说明:为了更好的模拟实际使用过程中基坑的形变,本实施例未将GNSS接收机、DTU等元件固定在监测桩体上,并使用电源箱代替光伏供电系统给相应设备供电。Note: In order to better simulate the deformation of the foundation pit during actual use, this embodiment does not fix the GNSS receiver, DTU and other components on the monitoring pile, and uses a power box to replace the photovoltaic power supply system to supply power to the corresponding equipment.
具体试验过程如下:The specific test process is as follows:
(1)两台连有DTU的GNSS接收机都放置在电源箱内,并连接电源;两个GNSS测量天线其中一个作为基准值天线,放置在监测墩上,固定不动;另一个GNSS测量天线作为流动站天线放置在三脚架测量仪上,流动站天线可在三脚架测量仪上沿水平和高程方向进行毫米级移动。(1) Two GNSS receivers with DTU are placed in the power box and connected to the power supply; one of the two GNSS measuring antennas is used as a reference antenna, placed on the monitoring pier, fixed; the other GNSS measuring antenna As the rover antenna is placed on the tripod measuring instrument, the rover antenna can be moved on the tripod measuring instrument in the horizontal and elevation directions by millimeters.
(2)测试时间为14:00~20:00时,准备就绪后,14:15时开始通电测试,此次测试初始化时间为1h(建议12h以上)。然后在测试过程中,每隔一段时间(随机选取时间点)调整一次流动站天线的位移,模拟实际使用过程中基坑的形变。(2) The test time is from 14:00 to 20:00. When it is ready, the power-on test starts at 14:15. The initialization time of this test is 1h (more than 12h is recommended). Then during the test, the displacement of the rover antenna is adjusted at intervals (randomly selected time points) to simulate the deformation of the foundation pit during actual use.
(3)在15:15时,将流动站天线沿水平方向移动4mm。(3) At 15:15, move the rover antenna 4mm in the horizontal direction.
(4)在16:15时,将流动站天线沿高程方向移动5mm。(4) At 16:15, move the rover antenna 5mm in the elevation direction.
(5)在18:58时,将流动站天线沿水平方向移动6mm。(5) At 18:58, move the rover antenna 6mm in the horizontal direction.
(6)流动站的GNSS接收机会将定位结果实时传输到服务器,通过读取上传的定位结果与真实移动的参数做对比。(6) The GNSS receiver of the rover will transmit the positioning results to the server in real time, and compare the uploaded positioning results with the real movement parameters by reading.
本次测试使用的坐标是东北天坐标,测试过程中的水平移动主要是沿北向移动,东向基本无变化,天向即高程方向,具体数据分析如下。The coordinates used in this test are northeast sky coordinates. The horizontal movement during the test is mainly along the north direction, and there is basically no change in the east direction. The sky direction is the elevation direction. The specific data analysis is as follows.
如图12所示,横坐标表示时间,纵坐标表示的是东向距离,且最小刻度为0.1mm,从图中可以看出,东向的位置没有太大变动,变化值在毫米内,峰峰值为1mm,即变化值在1mm内波动。As shown in Figure 12, the abscissa represents time, and the ordinate represents eastward distance, and the minimum scale is 0.1mm. It can be seen from the figure that the eastward position does not change much, the change value is within millimeters, the peak The peak value is 1mm, that is, the change value fluctuates within 1mm.
如图13所示,横坐标表示时间,纵坐标表示的是北向距离,纵坐标每小格为1mm,根据实时结算上传的定位结果得知:As shown in Figure 13, the abscissa represents the time, the ordinate represents the northward distance, and each cell of the ordinate is 1mm, according to the positioning results uploaded by real-time settlement:
(1)测试开始时北向位置有1mm左右的波动。(1) At the beginning of the test, there is a fluctuation of about 1 mm in the north position.
(2)监测到下午15:15水平移动了4mm,一个小时后趋于稳定,变化值在1mm左右。(2) It was monitored that the horizontal movement was 4mm at 15:15 in the afternoon, and it stabilized after an hour, and the change value was about 1mm.
(3)监测到16:15至18:58时间内北向位置较平稳,变化值在1mm左右。(3) It is monitored that the north position is relatively stable from 16:15 to 18:58, and the change value is about 1mm.
(4)监测到18:58水平移动了6mm,一个小时后趋于稳定,变化值在1mm左右。(4) It was monitored that 18:58 moved horizontally by 6mm, and it stabilized after an hour, and the change value was about 1mm.
(5)根据实时结算的定位结果得知变化的时间和参数与真实移动的一致。(5) According to the positioning result of real-time settlement, it is known that the time and parameters of the change are consistent with the real movement.
如图14所示,横坐标表示时间,纵坐标表示的是天向距离,纵坐标每小格为1mm,根据实时结算上传的定位结果分析得知:As shown in Figure 14, the abscissa represents time, and the ordinate represents the distance in the sky direction. Each cell of the ordinate is 1mm. According to the analysis of the positioning results uploaded by real-time settlement, we know:
(1)测试开始时高程位置有1mm左右的波动。(1) At the beginning of the test, there is a fluctuation of about 1 mm in the elevation position.
(2)检测到下午16:15高程移动了5mm,一个小时后趋于稳定,变化值在1mm左右。(2) It was detected that the elevation moved by 5mm at 16:15 in the afternoon, and it stabilized after an hour, with a change value of about 1mm.
(3)下午15:15至16:15高程有未知跳点,变化值约3mm。(3) There is an unknown jump point at the elevation of 15:15 to 16:15 in the afternoon, and the change value is about 3mm.
(4)19:18高程出现2mm跳点,可能是移动水平距离时对高程造成了细微影响,不影响测量结果。(4) At 19:18, a 2mm jump point appears at the elevation. It may be that the horizontal distance has a slight impact on the elevation, and does not affect the measurement result.
由以上分析可知:东向位置稳定,位移在1mm内波动;北向(水平方向)检测到4.5mm和4mm变动各一次;高程(高程方向)有3mm和2mm的波动各一次。测试结果误差在真值2mm的波动范围(RMS),测试结果符合要求。From the above analysis, we can see that the eastward position is stable and the displacement fluctuates within 1mm; the northward (horizontal direction) detects 4.5mm and 4mm fluctuations each time; the elevation (elevation direction) has 3mm and 2mm fluctuations each time. The test result error is within the true value 2mm fluctuation range (RMS), and the test result meets the requirements.
以上所述仅为本发明的优选实施例而已,并不用于限制本发明,对于本领域的技术人员来说,本发明可以有各种更改和变化。凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The above is only the preferred embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (5)

  1. 一种集成电子陀螺仪高精度北斗监测桩,其特征在于,包括监测桩体(1)、安装在监测桩体内部的DTU(2)和GNSS接收机(3)、固定在监测桩体顶部的GNSS测量天线(4)以及固定在监测桩体上的光伏供电系统(5);A high-precision Beidou monitoring pile with integrated electronic gyroscope, characterized in that it includes a monitoring pile body (1), a DTU (2) installed inside the monitoring pile body and a GNSS receiver (3), and is fixed on the top of the monitoring pile body GNSS measuring antenna (4) and photovoltaic power supply system (5) fixed on the monitoring pile;
    DTU(2)通过串口线(3.3)与GNSS接收机(3)的COM接口连接;GNSS测量天线(4)通过天线连接线(4.1)与GNSS接收机(3)的ANT接口连接;光伏供电系统(5)通过电源线(5.4)分别与DTU(2)和GNSS接收机(3)连接,为设备提供电源;The DTU (2) is connected to the COM interface of the GNSS receiver (3) through a serial cable (3.3); the GNSS measurement antenna (4) is connected to the ANT interface of the GNSS receiver (3) through an antenna cable (4.1); the photovoltaic power supply system (5) Connect to the DTU (2) and GNSS receiver (3) through the power cord (5.4) to provide power for the equipment;
    GNSS接收机(3)的PCB主板上集成了电子陀螺仪(3.1)、GNSS板卡以及MCU,用以提高北斗监测桩的定位精度和实效性。The GNSS receiver (3) integrates the electronic gyroscope (3.1), GNSS board and MCU on the PCB main board to improve the positioning accuracy and effectiveness of the Beidou monitoring pile.
  2. 根据权利要求1所述的一种集成电子陀螺仪高精度北斗监测桩,其特征在于,所述DTU(2)上连接有4G天线(2.1),用以通讯。The high-precision Beidou monitoring pile with integrated electronic gyroscope according to claim 1, characterized in that a 4G antenna (2.1) is connected to the DTU (2) for communication.
  3. 根据权利要求2所述的一种集成电子陀螺仪高精度北斗监测桩,其特征在于,所述GNSS板卡为OEM板卡(3.2),OEM板卡(3.2)为一种GNSS高精度定位定向板卡。The high-precision Beidou monitoring pile with integrated electronic gyroscope according to claim 2, wherein the GNSS board is an OEM board (3.2), and the OEM board (3.2) is a GNSS high-precision positioning orientation Board.
  4. 根据权利要求3所述的一种集成电子陀螺仪高精度北斗监测桩,其特征在于,所述光伏供电系统(5)包括光伏板(5.1)、光伏控制器(5.2)和电池(5.3);光伏板通过三角支架固定在监测桩体(1)上,光伏控制器(5.2)通过电源线(5.4)分别与光伏板(5.1)、电池(5.3)连接。The high-precision Beidou monitoring pile with integrated electronic gyroscope according to claim 3, characterized in that the photovoltaic power supply system (5) includes a photovoltaic panel (5.1), a photovoltaic controller (5.2) and a battery (5.3); The photovoltaic panel is fixed on the monitoring pile (1) by a triangular bracket, and the photovoltaic controller (5.2) is respectively connected to the photovoltaic panel (5.1) and the battery (5.3) through a power cord (5.4).
  5. 根据权利要求1~4任意一项所述的一种集成电子陀螺仪高精度北斗监测桩,其特征在于,所述GNSS测量天线(4)外部设置有天线罩,用以保护GNSS测量天线。The high-precision Beidou monitoring pile with integrated electronic gyroscope according to any one of claims 1 to 4, wherein a radome is provided outside the GNSS measuring antenna (4) to protect the GNSS measuring antenna.
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