WO2020143228A1 - Pile de surveillance beidou de haute précision intégrée à un gyroscope électronique - Google Patents

Pile de surveillance beidou de haute précision intégrée à un gyroscope électronique Download PDF

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Publication number
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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WIPO (PCT)
Prior art keywords
gnss
monitoring pile
gnss receiver
electronic gyroscope
dtu
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PCT/CN2019/101556
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English (en)
Chinese (zh)
Inventor
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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Publication of WO2020143228A1 publication Critical patent/WO2020143228A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Definitions

  • the invention relates to the technical field of foundation pit monitoring, in particular to an integrated electronic gyroscope high-precision Beidou monitoring pile.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a 4G antenna is connected to the DTU for communication.
  • the GNSS board is an OEM board, and the OEM board is a GNSS high-precision positioning and orientation board.
  • 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.
  • a radome is provided outside the GNSS measurement antenna to protect the GNSS measurement antenna.
  • 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.
  • 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.
  • 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.
  • Figure 1 is a schematic diagram of Beidou monitoring pile structure
  • Figure 2 is a schematic diagram of the internal wiring of the Beidou monitoring pile
  • Figure 3 is a schematic diagram of a GNSS receiver
  • FIG. 4 is a schematic diagram of the structure of the GNSS receiver motherboard
  • Figure 5 is a schematic diagram of the function control of the GNSS receiver motherboard
  • Figure 6 is the positioning result of 1s output (2mm one grid);
  • Figure 7 is the 1min output positioning results (0.5mm one grid).
  • Figure 8 is the 15min output positioning results (0.5mm one grid).
  • Figure 9 is 1h output positioning results (north to 0.02mm a grid).
  • Figure 10 is the 12h output positioning results (north to 0.02mm a grid);
  • Figure 11 is the 24h output positioning results
  • Figure 12 is the eastward 1h filter positioning results
  • Figure 13 is the northbound 1h filter positioning results
  • Figure 14 is the result of the 1h filtering positioning in the sky
  • 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 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.
  • 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.
  • 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 .
  • the physical indicators of the GNSS receiver are shown in the following table:
  • 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.
  • the MCU (micro control unit) on the GNSS receiver reads the attitude data on the electronic gyroscope and decodes it. data.
  • 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.
  • 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.
  • This embodiment is used to detect the timeliness of the positioning solution of the Beidou monitoring pile.
  • 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.)
  • 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.
  • 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.
  • 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:
  • 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;
  • the eastward standard deviation of the 24h output is 0.05mm
  • the northward standard deviation is 0.04mm
  • the skyward standard deviation is 0.05mm.
  • This embodiment is used to detect the monitoring accuracy of the Beidou monitoring pile.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the abscissa represents the time
  • the ordinate represents the northward distance
  • each cell of the ordinate is 1mm, according to the positioning results uploaded by real-time settlement:
  • the abscissa represents time
  • the ordinate represents the distance in the sky direction.
  • Each cell of the ordinate is 1mm.
  • 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.

Abstract

L'invention concerne une pile de surveillance Beidou de haute précision intégrée à un gyroscope électronique, comprenant un corps de pile de surveillance (1), une unité de transfert de données, DTU, (2) et un récepteur de système mondial de navigation par satellite, GNSS, (3) monté à l'intérieur du corps de pile de surveillance (1), une antenne de mesure GNSS (4) fixée au sommet du corps de pile de surveillance (1), et un système d'alimentation électrique photovoltaïque (5) fixé sur le corps de pile de surveillance (1). La DTU (2) est connectée à une interface de communication, COM, du récepteur GNSS (3) au moyen d'une ligne de port série (3,3) ; l'antenne de mesure GNSS (4) est connectée à une interface d'antenne, ANT, du récepteur GNSS (3) au moyen d'une ligne de connexion d'antenne (4.1) ; le système d'alimentation électrique photovoltaïque (5) est connecté séparément à la DTU (2) et au récepteur GNSS (3) au moyen d'une ligne d'alimentation (5.4) pour alimenter en électricité un équipement. Un gyroscope électronique (3.1), une carte GNSS et une unité de micro-contrôleur, MCU, sont intégrés sur une carte mère à carte de circuit imprime, PCB, du récepteur GNSS (3) pour améliorer la précision de positionnement et la rapidité de la pile de surveillance BeiDou. L'antenne de mesure GNSS (4) reçoit des signaux de satellite de navigation BeiDou, et transmet les signaux à la carte mère du récepteur GNSS (3) pour un décodage ; le récepteur GNSS (3) envoie des données de satellite reçues par la DTU (2) et des informations de données en temps réel du gyroscope électronique (3.1) simultanément à un serveur, ce qui permet de mettre en oeuvre une correction auxiliaire en temps réel d'un résultat de solution GNSS pour obtenir une surveillance de haute précision.
PCT/CN2019/101556 2019-01-11 2019-08-20 Pile de surveillance beidou de haute précision intégrée à un gyroscope électronique WO2020143228A1 (fr)

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CN201910027411.2A CN109581420A (zh) 2019-01-11 2019-01-11 一种集成电子陀螺仪高精度北斗监测桩
CN201910027411.2 2019-01-11

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CN109581420A (zh) * 2019-01-11 2019-04-05 湖南联智桥隧技术有限公司 一种集成电子陀螺仪高精度北斗监测桩
CN110161546B (zh) * 2019-05-23 2021-04-16 杭州中科微电子有限公司 一种利用迭代加权模糊度函数法的卫星定向装置及方法
CN110133686A (zh) * 2019-06-06 2019-08-16 上海华测导航技术股份有限公司 高集成度的北斗卫星地灾专业监测站
CN111538057A (zh) * 2019-12-27 2020-08-14 广东电网有限责任公司电力科学研究院 一种北斗定位装置及其定位方法

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