Deformation monitoring resolving method based on combination of Beidou and INS

Abstract

In the Beidou monitoring process, INS equipment is added to carry out deep combination (ambiguity fixation) and loose combination (adaptive Kalman filtering) on data, deformation judgment of a monitored object is carried out by utilizing INS monitoring quantity, and ambiguity verification is carried out by directly adopting an ambiguity fixation result of a previous epoch under the condition thatdeformation does not occur; therefore, the ambiguity is kept, the ambiguity resolving process in a conventional algorithm is reduced, and system resources are saved. For the condition that the INS equipment judges that deformation occurs, initial calculation of Beidou ambiguity is performed by using the monitoring result of the INS equipment, the algorithm is simple, an ambiguity equation and a search space do not need to be constructed, and ambiguity fixation is performed again on the ambiguity which does not pass the verification by using the LAMBDA algorithm so as to ensure that the calculation result is correct; and the finally output Beidou result and the INS result are subjected to adaptive Kalman filtering algorithm fusion, so that the monitoring result is more stable and reliable.

Description

technical field [0001] The invention relates to the technical fields of geological disaster monitoring, geodetic surveying and engineering construction, and in particular relates to a deformation monitoring method based on Beidou positioning. Background technique [0002] With the establishment of the Beidou system, the application of the Beidou system has become more and more extensive. One of the more important applications is deformation monitoring, which provides data support for disaster reduction and disaster prevention. Geological disasters frequently occur in mountainous areas, and the power supply is usually solar power. In rainy weather, power shortages usually occur. Therefore, some areas need to use low-power receivers for long-term stable monitoring. Although the low-power receiver has low power consumption, this kind of receiver has the disadvantages of less frequency band support, incomplete individual satellite data, and more cycle slips, which brings difficu...

AI Technical Summary

Problems solved by technology

Although the low-power receiver has low power consumption, this kind of receiver has the disadvantages of less frequency band support, incomplete individual satellite data, and more cycle slips, which brings difficulties to the ambiguity fixation in the data resolution process.

[0003] At present, in the process of Beidou and INS tight combination, the conventional combination method is relatively advanced, but the combination algorithm is complicated, and because the Beidou pseudorange and carrier estimated by the INS equipment do not match the accuracy of the Beidou equipment observations, in the case of inaccurate modeling, even Will reduce the success rate of ambiguity resolution

In addition, in the field of deformation monitoring, the monitored object is usually stationary, and the ambiguity of the carrier observation value will remain unchanged in the absence of cycle slips and satellite loss of lock. Observation data is fixed with ambiguity. On the one hand, it causes waste of server resources. On the other hand, failure to fix ambiguity will cause unstable results.

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