Reservoir area water level monitoring method and device based on Beidou signals and water level change characteristics

Abstract

The invention provides a reservoir area water level monitoring method and device based on Beidou signals and water level change characteristics, belongs to the technical field of water level monitoring, and can improve the monitoring precision of the reservoir area water level and the reliability of a monitoring result. The method comprises the steps of constructing a state transition equation by adopting water level change characteristics of a reservoir area; an inversion observation equation is constructed through the elevation angle of the signal receiver in the reservoir area and the observation signal received by the signal receiver; and solving to obtain the water level of the reservoir area at the current moment through a Kalman filtering method in combination with the state transition equation and the inversion observation equation.

Description

Technical Field

[0001] This invention relates to the field of water level monitoring technology, and in particular to a method and device for monitoring reservoir water levels based on BeiDou signals and water level change characteristics. Background Technology

[0002] As an important infrastructure for regulating water resources, preventing floods and droughts, and providing hydropower, the dynamic monitoring of water levels in reservoir areas is crucial for water resource management and safe operation.

[0003] In reservoir environments, water level changes differ significantly from those in other water bodies such as the sea and lakes. Existing reservoir water level monitoring methods rely on the water level change characteristics of these other water bodies, resulting in low monitoring accuracy and reliability of the results. Summary of the Invention

[0004] This invention proposes a method and device for monitoring reservoir water levels based on BeiDou signals and water level change characteristics, which can improve the monitoring accuracy and reliability of reservoir water levels.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: Firstly, this invention provides a reservoir water level monitoring method based on BeiDou signals and water level change characteristics, comprising: firstly, determining a state transition equation for the water level in the reservoir area based on the water level change characteristics; wherein, the water level change characteristics of the reservoir area are obtained by analyzing the water level of the reservoir area over a historical time period; the state transition equation is used to solve for the predicted value of the reflection height of the reservoir area at the current time based on the predicted value of the reflection height of the reservoir area at the previous time; the reflection height of the reservoir area is the height difference between the antenna phase center of the signal receiver in the reservoir area and the water level of the reservoir area. Next, determining an inversion observation equation for the water level in the reservoir area based on the elevation angle of the signal receiver in the reservoir area and the multiple satellite signals received by the signal receiver; the elevation angle of the signal receiver includes the elevation angle of each satellite signal among the multiple satellite signals received by the signal receiver; the inversion observation equation is used to solve for the observed value of the reflection height of the reservoir area at the current time based on the predicted value of the reflection height of the reservoir area at the current time. Finally, the state transition equation, the inversion observation equation, and the Kalman filtering method are used to determine the water level of the reservoir area at the current time.

[0006] The reservoir water level monitoring method provided by this invention constructs a state transition equation based on the water level change characteristics of the reservoir area; it then constructs an inversion observation equation using the elevation angle of the signal receiver within the reservoir area and the observation signal received by the signal receiver; finally, it uses a Kalman filter method to combine the aforementioned state transition equation and the aforementioned inversion observation equation to solve for the current water level in the reservoir area. As can be seen from the above, this method monitors the reservoir water level based on the water level change characteristics of the reservoir area, improving the monitoring accuracy. Furthermore, the combination of Kalman filtering further enhances the reliability of the reservoir water level monitoring results.

[0007] In one implementation of the first aspect, the inversion observation equation for the water level within the reservoir area satisfies the following formula: in, Indicates the current moment. This represents the observed value of the reflection height of the reservoir area within the current time window, and , The index of the observed height of reflection, and , This indicates the length of the time window in which the current moment occurs. This represents the observed reflection height of the reservoir area at the first moment within the current time window. This represents the observed reflection height of the reservoir area at the i-th time point within the current time window. This represents the observed value of the reflection height of the reservoir area at time a within the current time window; Represents the observation matrix at the current time, and ,and , This indicates the elevation angle of the signal receiver at the first moment within the current time window. express The derivative with time, This represents the time value corresponding to the first moment within the current time window. This represents the time value corresponding to the current moment. This represents the elevation angle of the signal receiver at the i-th moment within the current time window. express The derivative with time, This represents the time value corresponding to the k-th moment within the current time window; This represents the elevation angle of the signal receiver at the a-th time within the current time window. express The derivative with time, This represents the time value corresponding to the a-th time point within the current time window; the observation matrix for the current time point. It is determined by the elevation angle of each monitoring point among multiple monitoring points in the reservoir area over a historical period; This represents the predicted value of the reflection height in the reservoir area at the current moment, and , This represents the predicted value of the reflection height in the reservoir area at the current moment. express The derivative over time; This represents the observation noise at the current moment, and , This represents the observation noise at the first moment within the current time window. This represents the observation noise at the i-th time point within the current time window. This represents the observation noise at time a within the current time window; the observation noise at the current time. Determined by the observed signal received by the signal receiver.

[0008] In one implementation of the first aspect, the state transition equation for the water level within the reservoir area satisfies the following formula: in, Indicates the current moment. Indicates the previous moment, This indicates the current water level status of the reservoir area, and , This represents the predicted value of the reflection height in the reservoir area at the current moment. express The derivative over time; Let represent the state transition matrix from the previous time step to the current time step, and , It represents the time interval from the previous moment to the current moment; This indicates the water level status of the reservoir at the previous moment, and , This represents the predicted value of the reflection height in the reservoir area at the previous moment. express The derivative over time; This represents the state transition noise at the current moment. It is determined by the characteristics of water level changes in the reservoir area.

[0009] In one implementation of the first aspect, determining the water level in the reservoir at the current moment includes: The state transition equation and inverse observation equation are solved using the Kalman filter method to obtain the current reflection height of the reservoir area. The difference between the height of the signal receiver and the current reflection height of the reservoir area is taken as the current water level of the reservoir area.

[0010] In one implementation of the first aspect, the water level change characteristics include the periodicity of the water level, the maximum rate of change of the water level, the highest water level, and the lowest water level.

[0011] Secondly, the present invention provides a reservoir water level monitoring device based on BeiDou signals and water level change characteristics, including a state transition equation determination module, an inversion observation equation determination module, and a water level determination module; The state transition equation determination module is used to determine the state transition equation of the water level in the reservoir area based on the water level change characteristics of the reservoir area. The water level change characteristics of the reservoir area are obtained by analyzing the water level of the reservoir area over a historical time period. The state transition equation is used to solve for the predicted value of the reflection height of the reservoir area at the current time based on the predicted value of the reflection height of the reservoir area at the previous time. The reflection height of the reservoir area is the height difference between the antenna phase center of the signal receiver in the reservoir area and the water level of the reservoir area. The inversion observation equation determination module is used to determine the inversion observation equation of the water level in the reservoir area based on the elevation angle of the signal receiver in the reservoir area and the multiple satellite signals received by the signal receiver; the elevation angle of the signal receiver includes the elevation angle of each of the multiple satellite signals received by the signal receiver; the inversion observation equation is used to solve for the observed value of the reflection height of the reservoir area at the current time based on the predicted value of the reflection height of the reservoir area at the current time. The water level determination module is used to determine the water level of the reservoir at the current moment by employing state transition equations, inversion observation equations, and Kalman filtering methods.

[0012] In one implementation of the second aspect, the water level determination module is specifically used to solve the state transition equation and the inversion observation equation using the Kalman filter method to obtain the reflection height of the reservoir area at the current moment. The difference between the height of the signal receiver and the reflection height of the reservoir area at the current moment is taken as the water level of the reservoir area at the current moment.

[0013] Thirdly, the present invention provides an electronic device including a processor and a memory coupled to the processor; the memory is used to store computer instructions, and when the electronic device is running, the processor executes the computer instructions stored in the memory to cause the electronic device to perform the method as described in the first aspect above or any implementation thereof.

[0014] Fourthly, the present invention provides a computer-readable storage medium including computer program instructions that, when executed by a computer, cause the computer to perform the method as described in the first aspect above or any implementation thereof.

[0015] Fifthly, the present invention provides a computer program product, including computer program instructions, which, when executed on a computer, cause the computer to perform the method described in the first aspect above or any implementation thereof.

[0016] The technical effects corresponding to the second to fifth aspects and their possible implementations can be referred to the above description of the technical effects of the first aspect and its possible implementations, and will not be repeated here. Attached Figure Description

[0017] Figure 1 This is one of the schematic diagrams of a reservoir water level monitoring method based on BeiDou signals and water level change characteristics provided in the embodiments of this application; Figure 2 This is the second schematic diagram of the reservoir water level monitoring method based on Beidou signals and water level change characteristics provided in the embodiments of this application; Figure 3 This is a schematic diagram of the path difference between the direct signal and the reflected signal provided in the embodiments of this application; Figure 4 This is a schematic diagram of the reservoir water level monitoring device based on BeiDou signals and water level change characteristics provided in the embodiments of this application. Detailed Implementation

[0018] In the specification and claims of this invention, the terms "first" and "second," etc., are used to distinguish different objects, rather than to describe a specific order of objects.

[0019] In the embodiments of this application, "and / or" indicates a relationship between objects. For example, A and / or B can represent the following three situations: A exists alone, B exists alone, and A and B exist simultaneously.

[0020] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0021] In the description of this invention, unless otherwise stated, "a plurality of" means two or more. For example, a plurality of navigation signals means two or more navigation signals.

[0022] The method and apparatus provided in this application relate to water level monitoring and can be used for reservoir water level monitoring.

[0023] Understandably, as the core area for comprehensive water resource management, the reservoir area includes functional zones such as water storage areas, dams and flood discharge facilities, and ecological buffer zones. The water storage area, as the core area of ​​the reservoir, contains the main water body, whose water level dynamically changes according to seasons and scheduling needs. The reservoir water level monitored in this application embodiment is the water level of the aforementioned main water body.

[0024] To address the problem that existing reservoir water level monitoring methods rely on the water level change characteristics of other water bodies, resulting in low monitoring accuracy and reliability, this application provides a reservoir water level monitoring method and apparatus based on BeiDou signals and water level change characteristics. By leveraging the water level change characteristics of the reservoir, the monitoring accuracy and reliability of the monitoring results can be improved.

[0025] For example, the reservoir water level monitoring method based on BeiDou signals and water level change characteristics provided in this embodiment of the invention can be executed by an electronic device with processing capabilities, such as a computer or server. Taking a computer as an example, the hardware components of the computer may include: a processor, memory, network interface, user interface, communication bus, etc.

[0026] The processor controls the electronic equipment to perform related processing and computational tasks, such as determining state transition equations, determining inversion observation equations, and determining the water level in the reservoir area. The processor may include a central processing unit (CPU) or other processors, and may be single-core or multi-core; for example, the processor may include multiple CPUs.

[0027] The memory is used to store computer instructions and related data, such as the water level in the storage area, state transition equations, inversion observation equations, predicted values ​​of reflection height, and observed values ​​of reflection height. The memory can be random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical storage, disk storage media, or other magnetic storage devices, or any other medium capable of storing program code or data accessible by a computer. Optionally, the memory can be integrated into the processor, or it can be independent of the processor.

[0028] A network interface is used for communication between a computer and other devices or communication networks. A network interface can be a transceiver with transmit and receive capabilities. Optionally, a network interface may include standard wired interfaces or wireless interfaces (such as Wi-Fi interfaces, Bluetooth interfaces, and 5G interfaces).

[0029] The communication bus is used to enable communication between different components. For example, the processor, memory, network interface and user interface mentioned above can be interconnected through the communication bus.

[0030] The user interface may include a display screen and an input unit (such as a keyboard). Optionally, the user interface may also include a standard wired interface or a wireless interface.

[0031] Those skilled in the art will understand that the computer described above may include more or fewer components, or combine certain components, or have different component arrangements; the embodiments of this application do not limit this.

[0032] like Figure 1 As shown, the reservoir water level monitoring method based on Beidou signals and water level change characteristics provided in this application includes S101-S103.

[0033] S101. Based on the water level change characteristics of the reservoir area, determine the state transition equation of the water level in the reservoir area.

[0034] The water level change characteristics of the reservoir area are obtained through historical time period analysis. These characteristics include the periodicity of the water level, the maximum rate of change, the highest water level, and the lowest water level. For example, the water level of the reservoir area during the aforementioned historical time period can be obtained through direct monitoring or by consulting historical data of the reservoir area. This application embodiment does not limit the method of obtaining the water level of the reservoir area during historical time periods.

[0035] The aforementioned state transition equation is used to solve for the predicted reflection height of the reservoir area at the current moment, based on the predicted reflection height of the reservoir area at the previous moment. The reflection height of the reservoir area is the height difference between the antenna phase center of the signal receiver in the reservoir area and the water level in the reservoir area.

[0036] In this embodiment, the signal receiver is a GNSS (Global Navigation Satellite System) receiver, used to receive satellite signals emitted by multiple navigation satellites included in navigation systems such as GPS and BeiDou. Optionally, the signal receiver in the reservoir area can be set up on the main body of the reservoir area or on the shore of the main body of the reservoir area. This embodiment does not limit the location of the receiver in the reservoir area.

[0037] In one implementation, the state transition equation for the water level in the aforementioned reservoir area satisfies the following formula: in, Indicates the current moment. Indicates the previous moment, This indicates the current water level status of the reservoir area, and , This represents the predicted value of the reflection height in the reservoir area at the current moment. express The derivative over time; Let represent the state transition matrix from the previous time step to the current time step, and , It represents the time interval from the previous moment to the current moment; This indicates the water level status of the reservoir at the previous moment, and , This represents the predicted value of the reflection height in the reservoir area at the previous moment. express The derivative over time; This represents the state transition noise at the current moment. It is determined by the characteristics of water level changes in the reservoir area.

[0038] S102. Based on the elevation angle of the signal receiver in the reservoir area and the multiple satellite signals received by the signal receiver, determine the inversion observation equation for the water level in the reservoir area.

[0039] Understandably, the signal receiver receives multiple satellite signals from various navigation satellites via an antenna mounted on its top. Each satellite signal includes both navigation and observation signals. The navigation signals provide relevant information about the navigation satellites, including navigation messages and signal modulation information. The navigation messages contain ephemeris data, while the signal modulation information includes carrier frequency, pseudo-random noise code, and data code. The observation signals are used to calculate the signal receiver's position, including pseudorange observations, carrier phase observations, Doppler observations, and signal quality metrics (such as signal-to-noise ratio and multipath error). The elevation angle of the signal receiver includes the elevation angle of each of the multiple satellite signals received by the receiver.

[0040] As is generally known in the art, the elevation angle of a satellite signal refers to the angle between the line connecting the observation point (i.e., the aforementioned signal receiver) and the navigation satellite and the plane containing the observation point. It describes the relative position between the navigation satellite emitting the satellite signal and the signal receiver receiving the satellite signal. The elevation angle of a satellite signal is calculated from the observation signal and the navigation signal within the satellite signal. Since the method for calculating the elevation angle is a commonly used technique in this art, the calculation process will not be elaborated upon in this embodiment.

[0041] In this embodiment of the application, the above-mentioned inversion observation equation is used to solve for the observed value of the reflection height of the reservoir area at the current time based on the predicted value of the reflection height of the reservoir area at the current time.

[0042] In one implementation, the inversion observation equation for the water level within the reservoir area satisfies the following formula: in, Indicates the current moment. This represents the observed value of the reflection height of the reservoir area within the current time window, and , The index of the observed height of reflection, and , This indicates the length of the time window in which the current moment occurs. This represents the observed reflection height of the reservoir area at the first moment within the current time window. This represents the observed reflection height of the reservoir area at the i-th time point within the current time window. This represents the observed value of the reflection height of the reservoir area at time a within the current time window; Represents the observation matrix at the current time, and ,and , This indicates the elevation angle of the signal receiver at the first moment within the current time window. express The derivative with time is the rate of change of the elevation angle of the signal receiver at the first moment within the current time window. This represents the time value corresponding to the first moment within the current time window. This represents the time value corresponding to the current moment. This represents the elevation angle of the signal receiver at the i-th moment within the current time window. express The derivative with time is the rate of change of the elevation angle of the signal receiver at the i-th time point within the current time window. This represents the time value corresponding to the k-th moment within the current time window; This represents the elevation angle of the signal receiver at the a-th time within the current time window. express The derivative with time, i.e., the rate of change of the elevation angle of the signal receiver at time a-th time within the current time window. This represents the time value corresponding to the a-th time point within the current time window; the observation matrix for the current time point. It is determined by the elevation angle of each monitoring point among multiple monitoring points in the reservoir area over a historical period; This represents the predicted value of the reflection height in the reservoir area at the current moment, and , This represents the predicted value of the reflection height in the reservoir area at the current moment. express The derivative over time; This represents the observation noise at the current moment, and , This represents the observation noise at the first moment within the current time window. This represents the observation noise at the i-th time point within the current time window. This represents the observation noise at time a within the current time window; the observation noise at the current time. Determined by the observed signal received by the signal receiver.

[0043] The derivation process of the inversion observation equation for the water level in the above reservoir area is explained below.

[0044] Step 1: Preprocess the observation signal received by the signal receiver to obtain the processed observation signal.

[0045] The preprocessing described above includes signal-to-noise ratio (SNR) data extraction, water area elevation angle and azimuth angle truncation, and a detrending term. The water area elevation angle and azimuth angle are used to determine whether the observation signal received by the signal receiver was obtained through reflection from the water surface within the reservoir area. The SNR data is used to assess the reliability of the observation signal received by the signal receiver, selecting highly reliable observation signals to construct the inversion observation equation. The detrending term is used to eliminate systematic biases in the observation signal, improve its stability, distinguishability, and positioning and navigation accuracy.

[0046] Step 2: Calculate the reflection height of the reservoir area under the assumed conditions using the elevation angle of the signal receiver.

[0047] For a satellite signal received by a signal receiver, such as Figure 2 As shown, under ideal conditions, the satellite signal undergoes only one multipath reflection (i.e., after the navigation satellite emits a signal, it is reflected once on the water surface (also known as a reflective surface) within the reservoir area before being received by the signal receiver). The path difference between the direct and reflected signals of the satellite signal is... It satisfies the following formula.

[0048] in, This refers to the ideal reflection height of the reservoir area (i.e., the vertical distance between the water surface and the phase center of the signal receiver antenna in the ideal reservoir area). This represents the elevation angle of the satellite signal. It is understandable that the elevation angle of the satellite signal must meet the criteria for the elevation angle of a water body. When the elevation angle of the satellite signal meets these criteria, it indicates that the reflected surface of the satellite signal is the water surface within the reservoir area, and not a plane (such as the ground) in other areas within the reservoir area.

[0049] The phase difference between the direct signal and the reflected signal satisfy: ,in, The wavelength of the satellite signal. This represents the actual reflection height of the reservoir area.

[0050] The above phase difference It also implies the frequency of the observed signal. The angular frequency of the satellite signal It satisfies the following formula (1).

[0051] Formula (1) Assuming the water surface remains stationary during the reflection of the satellite signal, then the angular frequency of the satellite signal is... It satisfies the following formula (2).

[0052] Formula (2) in, The reflection height of the reservoir area is given under the assumed conditions.

[0053] By combining and solving the above formulas (1) and (2), we can obtain the following formula (3).

[0054] Formula (3) Specifically, under the assumed calculation conditions, the reflection height of the reservoir area During the process, the Lomb-Scargle Periodogram (LSP) method was used to perform spectral analysis on the observed signals in the satellite signals to obtain the frequencies of the observed signals. and wavelength Substituting into formula (3) above, we can obtain the reflection height of the reservoir area under the assumed conditions. .

[0055] Step 3: Assuming the reflection height of the reservoir area Construct an inversion observation equation for the water level within the reservoir area.

[0056] Since the water surface is constantly changing in reality, the assumption in step 2 above (the water surface is stationary) introduces a certain error into the calculated reflection height. To address this error, a rate of change of reflection height is introduced. ( Based on this, by redifferentiating the above formula (1) in step 2, we can obtain the following formula (4).

[0057] Formula (4) in, The derivative of the elevation angle with time ( ), which is the rate of change of altitude angle.

[0058] Combining the above formula (2) with the above formula (4), we can obtain the following formula (5).

[0059] Formula (5) After transforming the above formula (5), we can obtain This indicates the reflection height of the reservoir area under the assumed conditions. There is an error term. Through the error term This can correct for errors caused by changes in the water surface under actual conditions, and obtain the actual reflection height of the reservoir area. .

[0060] Based on the above, a step size of [missing information] is adopted. Window width is The sliding window captures the reflection height. It should be understood that the choice of the above step size depends on the time interval of the intended output water level data, and the window width depends on the number of available signals and the time lag of the water level output. For the state... k (Also known as the current moment), with Within the window centered on the current time value, taking into account altitude variation errors, the status... k inversion estimate The relationship between the reflection height of the reservoir area at the current moment and each value satisfies the following formula (6).

[0061] Formula (6) After rearranging the above formula (6), the inversion observation equation of the water level in the reservoir area can be obtained.

[0062] S103. The water level in the reservoir at the current moment is determined by using the state transition equation, the inversion observation equation, and the Kalman filter method.

[0063] In one application scenario, combined with Figure 1 ,like Figure 3 As shown, S103 includes S1031-S1032.

[0064] S1031. The state transition equation and the inversion observation equation are solved using the Kalman filter method to obtain the reflection height of the reservoir area at the current time.

[0065] The solution process of the Kalman filtering method described above is described in detail below.

[0066] Step 1: Predict the reflection height of the reservoir area at the current moment and calculate the variance-covariance matrix.

[0067] The reflection height of the reservoir area at the previous moment is used to predict the reflection height of the reservoir area at the current moment. The predicted reflection height of the reservoir area at the current moment satisfies the following formula.

[0068] in, Indicates the current moment. Indicates the previous moment, The current reflection height of the reservoir area is based on the prediction made at the previous moment. The reflection height of the reservoir area at the previous moment. The estimated value, variance-covariance matrix It satisfies the following formula.

[0069] in, for The variance-covariance matrix, The process noise covariance matrix can be calculated from the second derivative of the height variation.

[0070] Step 2: Calculate the Kalman gain matrix and update the variance-covariance matrix.

[0071] The above Kalman gain matrix The calculation formula is as follows.

[0072] in, The observation noise covariance matrix can be represented by... The analysis yielded the following results.

[0073] The state transition equation and the inversion observation equation are then solved using the Kalman filter method, and the obtained Kalman filter solution satisfies the following formula.

[0074] Update variance-covariance matrix , variance-covariance matrix It satisfies the following formula.

[0075] Understandably, the above Kalman filtering strategy starts from the first state (i.e., the reflection height of the reservoir at the first time step). The iteration begins. This can be estimated based on historical water level characteristics. Steps 1 and 2 are repeated iteratively until the state is reached. k This will give you the current reflection height of the reservoir area. .

[0076] S1032. The difference between the height of the signal receiver and the reflection height of the reservoir area at the current moment shall be taken as the water level of the reservoir area at the current moment.

[0077] The altitude of the aforementioned signal receiver is calculated by interpreting the satellite signals received by the signal receiver. Since the above-mentioned interpretation process is a common technical means in this field, it will not be described in detail in this application embodiment.

[0078] In summary, the reservoir water level monitoring method based on BeiDou signals and water level change characteristics provided in this application constructs a state transition equation using the water level change characteristics of the reservoir area; it then constructs an inversion observation equation using the elevation angle of the signal receiver within the reservoir area and the observation signal received by the signal receiver; finally, it uses a Kalman filter method to combine the above state transition equation and the above inversion observation equation to solve for the water level of the reservoir at the current moment. As can be seen from the above, the above method monitors the reservoir water level based on the water level change characteristics of the reservoir area, improving the monitoring accuracy of the reservoir water level. Furthermore, combining this with Kalman filtering improves the reliability of the solution results for reservoir water level monitoring.

[0079] Accordingly, embodiments of this application provide a reservoir water level monitoring device based on BeiDou signals and water level change characteristics, such as... Figure 4 As shown, it includes a state transition equation determination module 501, an inversion observation equation determination module 502, and a water level determination module 503.

[0080] The state transition equation determination module 501 is used to determine the state transition equation of the water level in the reservoir area based on the water level change characteristics of the reservoir area. The water level change characteristics of the reservoir area are obtained through historical time-period water level analysis. The state transition equation is used to solve for the predicted value of the reflection height of the reservoir area at the current moment based on the predicted value of the reflection height of the reservoir area at the previous moment. The reflection height of the reservoir area is the height difference between the antenna phase center of the signal receiver in the reservoir area and the water level of the reservoir area. For example, the state transition equation determination module 501 is used to implement S101 of the above-mentioned reservoir water level monitoring method.

[0081] The inversion observation equation determination module 502 is used to determine the inversion observation equation for the water level in the reservoir area based on the elevation angle of the signal receiver in the reservoir area and the multiple satellite signals received by the signal receiver. The elevation angle of the signal receiver includes the elevation angle of each of the multiple satellite signals received by the signal receiver. The inversion observation equation is used to solve for the observed value of the reflection height of the reservoir area at the current time based on the predicted value of the reflection height of the reservoir area at the current time. For example, the inversion observation equation determination module 502 is used to implement S102 of the above-mentioned reservoir water level monitoring method.

[0082] The water level determination module 503 is used to determine the water level of the reservoir at the current moment by employing state transition equations, inversion observation equations, and Kalman filtering methods. For example, the water level determination module 503 is used to implement S103 of the above-mentioned reservoir water level monitoring method.

[0083] Optionally, the water level determination module 503 is specifically used to: solve the state transition equation and the inversion observation equation using the Kalman filter method to obtain the reflection height of the reservoir area at the current moment. The difference between the height of the signal receiver and the reflection height of the reservoir area at the current moment is taken as the water level of the reservoir area at the current moment. For example, the water level determination module 503 is specifically used to implement S1031-S1032 of the above-mentioned reservoir water level monitoring method.

[0084] Each module of the above-mentioned reservoir water level monitoring device can also be used to perform other steps in the above method embodiments. All relevant contents involved in the above method embodiments can be referred to in the functional description of the corresponding functional module, and will not be repeated here.

[0085] This application also provides an electronic device, including: a processor and a memory coupled to the processor; the memory is used to store computer instructions, and when the electronic device is running, the processor executes the computer instructions stored in the memory to cause the electronic device to perform the methods in the above embodiments. The processor can implement the state transition equation determination module 501, the inversion observation equation determination module 502, and the water level determination module 503; the memory can also be used to store state transition equations, inversion observation equations, Kalman filtering methods, and reservoir water levels, etc.

[0086] This application also provides a computer-readable storage medium including a computer program that, when run on a computer, performs the methods described in the above embodiments.

[0087] This application also provides a computer program product, which includes computer program instructions that, when run on a computer, execute the methods described in the above embodiments.

[0088] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A reservoir water level monitoring method based on Beidou signal and water level change characteristics, characterized in that, The method comprises: determining a state transition equation of the water level in the reservoir area based on water level change characteristics of the reservoir area; wherein the water level change characteristics of the reservoir area are obtained by analyzing the water level of the reservoir area in a historical time period; the state transition equation is used to obtain a predicted value of the reflection height of the reservoir area at a current time according to a predicted value of the reflection height of the reservoir area at a previous time; the reflection height of the reservoir area is a height difference between an antenna phase center of a signal receiver in the reservoir area and the water level of the reservoir area; determining an inversion observation equation of the water level in the reservoir area according to an elevation angle of the signal receiver in the reservoir area and a plurality of satellite signals received by the signal receiver; the elevation angle of the signal receiver comprises an elevation angle of each satellite signal in the plurality of satellite signals received by the signal receiver; the inversion observation equation is used to obtain an observed value of the reflection height of the reservoir area at the current time according to the predicted value of the reflection height of the reservoir area at the current time; determining the water level of the reservoir area at the current time by using the state transition equation, the inversion observation equation and a Kalman filtering method.

2. The method of claim 1, wherein, The inversion observation equation of the water level in the reservoir area satisfies the following formula: wherein, represents the current time, represents the observation value of the reflection height of the stockyard in the time window in which the current time is located, and , represents the serial number of the observation value of the reflection height, and , represents the length of the time window in which the current time is located, represents the observation value of the reflection height of the stockyard at the first time in the time window in which the current time is located, represents the observation value of the reflection height of the stockyard at the i-th time in the time window in which the current time is located, represents the observation value of the reflection height of the stockyard at the a-th time in the time window in which the current time is located; represents the observation matrix of the current time, and , and , represents the elevation angle of the signal receiver at the first time in the time window in which the current time is located, represents derivative with respect to time, represents the time value corresponding to the first time in the time window in which the current time is located, represents the time value corresponding to the current time; represents the elevation angle of the signal receiver at the i-th time in the time window in which the current time is located, represents derivative with respect to time, represents the time value corresponding to the k-th time in the time window in which the current time is located; represents the elevation angle of the signal receiver at the a-th time in the time window in which the current time is located, represents derivative with respect to time, represents the time value corresponding to the a-th time in the time window in which the current time is located; the observation matrix of the current time is determined by the elevation angle of each monitoring point in the stockyard in the historical time period; represents the predicted value of the reflection height of the stockyard at the current time, and , represents the predicted value of the reflection height of the stockyard at the current time, represents derivative with respect to time; represents the observation noise of the current time, and , represents the observation noise of the first time in the time window in which the current time is located, represents the observation noise at the i-th time instant within the time window in which the current time instant is located, represents the observation noise at the a-th time instant within the time window in which the current time instant is located; the observation noise at the current time instant determined from a plurality of observation signals contained in a plurality of satellite signals received by the signal receiver.

3. The method of claim 1 or 2, wherein, The state transition equation of the water level in the reservoir area satisfies the following formula: wherein, represents the current time, represents the previous time, represents the water level state of the reservoir area at the current time, and , represents the predicted value of the reflection height of the reservoir area at the current time, represents the derivative over time; represents the state transition matrix from the previous time to the current time, and , represents the time interval from the previous time to the current time; represents the water level state of the reservoir area at the previous time, and , represents the predicted value of the reflection height of the reservoir area at the previous time, represents the derivative over time; represents the state transition noise at the current time, determined by the water level change characteristics of the reservoir area.

4. The method of claim 1, wherein, The determination of the water level of the reservoir area at the current time comprises: solving the state transition equation and the inversion observation equation by using the Kalman filtering method to obtain the reflection height of the reservoir area at the current time; taking a difference between the height of the signal receiver and the reflection height of the reservoir area at the current time as the water level of the reservoir area at the current time.

5. The method of claim 1, wherein the water level change characteristics comprise periodicity of the water level, maximum change rate of the water level, highest water level and lowest water level.

6. The reservoir water level monitoring device based on the characteristics of water level change and Beidou signal, characterized in that, The method comprises a state transition equation determination module, an inversion observation equation determination module and a water level determination module; The state transition equation determination module is configured to determine a state transition equation of the water level in the reservoir area based on water level change characteristics of the reservoir area; wherein the water level change characteristics of the reservoir area are obtained by analyzing the water level of the reservoir area in a historical time period; the state transition equation is used to obtain a predicted value of the reflection height of the reservoir area at a current time according to a predicted value of the reflection height of the reservoir area at a previous time; the reflection height of the reservoir area is a height difference between an antenna phase center of a signal receiver in the reservoir area and the water level of the reservoir area; The inversion observation equation determination module is configured to determine an inversion observation equation of the water level in the reservoir area according to an elevation angle of the signal receiver in the reservoir area and a plurality of satellite signals received by the signal receiver; the elevation angle of the signal receiver comprises an elevation angle of each satellite signal in the plurality of satellite signals received by the signal receiver; the inversion observation equation is used to obtain an observed value of the reflection height of the reservoir area at the current time according to the predicted value of the reflection height of the reservoir area at the current time; The water level determination module is configured to determine the water level of the reservoir area at the current time by using the state transition equation, the inversion observation equation and a Kalman filtering method.

7. An electronic device, comprising: An electronic device comprising a processor and a memory coupled to the processor; the memory is configured to store computer instructions, when the electronic device is running, the processor executes the computer instructions stored in the memory to make the electronic device execute the method of any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, A computer program product comprising computer program instructions, when the computer program instructions are executed by a computer, make the computer execute the method of any one of claims 1 to 5.

9. A computer program product, characterised in that, A computer program product comprising computer program instructions, when the computer program instructions are executed by a computer, make the computer execute the method of any one of claims 1 to 5.

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