A deformation monitoring method, system and device of an indoor monitoring point
By simulating BeiDou signals using pseudo-satellites and employing a double-difference observation model, the problem of high-precision deformation monitoring indoors was solved, achieving millimeter-level precision monitoring in indoor or shaded environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-06-04
- Publication Date
- 2026-07-03
Smart Images
Figure CN122330944A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of communication technology, and in particular to a method, system and equipment for deformation monitoring of indoor monitoring points. Background Technology
[0002] The BeiDou Navigation Satellite System is a global satellite navigation system that provides high-precision positioning, navigation, and timing services. Precision deformation monitoring technology based on BeiDou satellites has been widely applied in surface displacement monitoring fields such as dams, bridges, and landslides, achieving millimeter-level accuracy. However, BeiDou satellite signals are microwave signals and cannot penetrate building walls. Therefore, in indoor, underground, tunnel, and mine environments, receivers cannot receive BeiDou satellite signals, rendering traditional BeiDou deformation monitoring methods unusable. Furthermore, traditional indoor positioning technologies (such as Bluetooth and WiFi) have limited accuracy, making it difficult to meet millimeter-level deformation monitoring requirements. Therefore, there is an urgent need for a method capable of deformation monitoring at indoor monitoring points to address the problem that existing monitoring methods cannot achieve high-precision deformation monitoring at indoor or obstructed environments. Summary of the Invention
[0003] The technical problem to be solved by the present invention is to provide a method, system and equipment for indoor monitoring point deformation monitoring, which solves the problem that the existing Beidou satellite monitoring method cannot perform high-precision deformation monitoring of monitoring points in indoor or shaded environments.
[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:
[0005] This invention provides a deformation monitoring method for indoor monitoring points, applied to the data processing center of a deformation monitoring system. The deformation monitoring system further includes: a monitoring station located at the target monitoring point, a reference station located within a preset distance of the monitoring station, and multiple pseudo-satellites located around the monitoring station. The method includes:
[0006] The monitoring station receives and processes the preset BeiDou signals emitted by each pseudosatellite to obtain and transmit multiple first target analysis parameters.
[0007] The base station receives and processes the preset BeiDou signals emitted by each pseudosatellite to obtain and transmit multiple second target analysis parameters.
[0008] Based on the analytical parameters of the first target and the second target among multiple pseudo-satellites, the approximate coordinates of the monitoring station and the calibration coordinates of the reference station, the double-difference observation equation is determined. The double-difference observation equation is the double-difference observation equation of each epoch of the other pseudo-satellites (excluding the reference pseudo-satellite) at the approximate coordinates of the monitoring station.
[0009] The double-difference integer ambiguity of the double-difference observation equation for each epoch is fixed to obtain the target integer ambiguity corresponding to the double-difference observation equation for each epoch.
[0010] Based on the target double-difference ambiguity corresponding to each epoch, the double-difference observation equation corresponding to each epoch is solved to obtain the target monitoring coordinates corresponding to the monitoring station within a preset time period;
[0011] The displacement of the target monitoring point is determined based on the target monitoring coordinates corresponding to the monitoring stations in any two time periods.
[0012] Embodiments of the present invention also propose a deformation monitoring system, comprising:
[0013] The system includes a monitoring station located at the target monitoring point, a reference station located within a preset distance of the monitoring station, and multiple pseudo-satellites located around the monitoring station. The monitoring station and the reference station are each communicatively connected to each pseudo-satellite. A data processing center communicates with the monitoring station and the reference station. The data processing center receives preset BeiDou signals emitted by each pseudo-satellite from the monitoring station, processes them, and obtains and sends multiple first target analysis parameters.
[0014] The base station receives and processes the preset BeiDou signals emitted by each pseudosatellite to obtain and transmit multiple second target analysis parameters.
[0015] Based on the analytical parameters of the first target and the second target among multiple pseudo-satellites, the approximate coordinates of the monitoring station and the calibration coordinates of the reference station, the double-difference observation equation is determined. The double-difference observation equation is the double-difference observation equation of each epoch of the other pseudo-satellites (excluding the reference pseudo-satellite) at the approximate coordinates of the monitoring station.
[0016] The double-difference integer ambiguity of the double-difference observation equation for each epoch is fixed to obtain the target integer ambiguity corresponding to the double-difference observation equation for each epoch.
[0017] Based on the target double-difference ambiguity corresponding to each epoch, the double-difference observation equation corresponding to each epoch is solved to obtain the target monitoring coordinates corresponding to the monitoring station within a preset time period;
[0018] The displacement of the target monitoring point is determined based on the target monitoring coordinates corresponding to the monitoring stations in any two time periods.
[0019] Embodiments of the present invention also provide a computing device, including: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method described above.
[0020] Embodiments of the present invention also provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described above.
[0021] The above-described solution of the present invention has at least the following beneficial effects:
[0022] The deformation monitoring method for indoor monitoring points described in this invention is applied to the data processing center of a deformation monitoring system. The deformation monitoring system further includes: a monitoring station located at the target monitoring point, a reference station located within a preset distance of the monitoring station, and multiple pseudo-satellites surrounding the monitoring station. The method includes: receiving preset BeiDou signals emitted by each pseudo-satellite from the monitoring station, processing them to obtain and transmit multiple first target analysis parameters; receiving preset BeiDou signals emitted by each pseudo-satellite from the reference station, processing them to obtain and transmit multiple second target analysis parameters; and processing the first and second target analysis parameters from the multiple pseudo-satellites. The invention employs a method that combines the approximate coordinates of the monitoring station and the calibration coordinates of the reference station to determine a double-difference observation equation. This double-difference equation represents the double-difference observation equations for each epoch of multiple pseudo-satellites (excluding the reference pseudo-satellite) at the approximate coordinates of the monitoring station. The double-difference integer ambiguity of the double-difference observation equation for each epoch is fixed to obtain the target integer ambiguity corresponding to that epoch. Based on the target double-difference ambiguity for each epoch, the double-difference observation equation for each epoch is solved to obtain the target monitoring coordinates of the monitoring station within a preset time period. Finally, based on the target monitoring coordinates of the monitoring station in any two time periods, the displacement of the target monitoring point is determined. This invention achieves millimeter-level precision deformation monitoring of monitoring points in indoor or shaded environments. Attached Figure Description
[0023] Figure 1 This is a flowchart illustrating the deformation monitoring method for indoor monitoring points according to the present invention;
[0024] Figure 2 This is a schematic diagram of the deformation monitoring system of the present invention. Detailed Implementation
[0025] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
[0026] like Figure 1As shown, an embodiment of the present invention proposes a deformation monitoring method for indoor monitoring points, applied to the data processing center of a deformation monitoring system. The deformation monitoring system further includes: a monitoring station set at the location of the target monitoring point, a reference station set within a preset distance of the monitoring station, and multiple pseudo-satellites located around the monitoring station. The method includes:
[0027] Step 11: Receive the monitoring station's analysis and processing of the preset BeiDou signals emitted by each pseudosatellite, and obtain and send multiple first target analysis parameters; wherein, the first target analysis parameters include: non-differential pseudorange, non-differential carrier phase observation data, and broadcast ephemeris obtained by the monitoring station's analysis and processing of the preset BeiDou signals emitted by the current pseudosatellite;
[0028] Step 12: Receive the preset BeiDou signals emitted by each pseudosatellite from the base station and process them to obtain and transmit multiple second target analysis parameters; the second target analysis parameters include: non-differential pseudorange, non-differential carrier phase observation data, and broadcast ephemeris obtained by the base station processing the preset BeiDou signals emitted by the current pseudosatellite.
[0029] Step 13: Determine the double-difference observation equation based on the analytical parameters of the first target and the second target among the multiple pseudo-satellites, the approximate coordinates of the monitoring station and the calibration coordinates of the reference station. The double-difference observation equation is the double-difference observation equation of each epoch of the other pseudo-satellites (excluding the reference pseudo-satellite) at the approximate coordinates of the monitoring station.
[0030] Step 14: Fix the double-difference integer ambiguity of the double-difference observation equation for each epoch to obtain the target integer ambiguity corresponding to the double-difference observation equation for each epoch.
[0031] Step 15: Based on the target double-difference ambiguity corresponding to each epoch, solve the double-difference observation equation corresponding to each epoch to obtain the target monitoring coordinates corresponding to the monitoring station within a preset time period.
[0032] Step 16: Determine the displacement of the target monitoring point based on the target monitoring coordinates corresponding to the monitoring stations in any two time periods.
[0033] In this embodiment, the preset distance is 500 meters; the pseudo-satellite is a pseudo-satellite base station, which is set indoors or in a sheltered space. The number of pseudo-satellites can be set according to the size and shape of the indoor area where the monitoring point is located, with a minimum of four. The spacing between base stations can be determined according to the monitoring range, and the spacing range can be from 50 meters to 200 meters. The pseudo-satellites are synchronized through wired or wireless networks to ensure that the time synchronization accuracy is better than 10 nanoseconds.
[0034] The pseudo-satellite broadcasts preset BeiDou signals in real time, which can be BeiDou B1I, B2I, B3I, B1C, B2a, B2b, and other frequency signals. The reference station is constructed in a geologically stable location, far from vibration sources and free from signal obstruction, and is equipped with a BeiDou measurement receiver. The calibration coordinates of the reference station can be accurately determined in advance using high-precision measurement methods, serving as a reference benchmark for deformation monitoring. The monitoring station is installed at the monitoring point where displacement needs to be monitored and is equipped with a BeiDou measurement receiver of the same model as the reference station to ensure the consistency of the observation data.
[0035] The deformation monitoring method for indoor monitoring points, by deploying pseudo-satellites to simulate BeiDou satellite signals in indoor or shaded environments, breaks through the environmental limitations of traditional BeiDou deformation monitoring. At the same time, by adopting a carrier phase double-difference observation model and ambiguity fixing technology, it can achieve millimeter-level precision deformation monitoring of monitoring points in indoor or shaded environments, and can also achieve 24-hour continuous monitoring to detect deformation anomalies in a timely manner.
[0036] In an optional embodiment of the present invention, step 11, receiving multiple first target parsing parameters obtained and sent by the monitoring station after parsing the preset BeiDou signals emitted by each pseudo-satellite, may include:
[0037] Step 111: Control the monitoring station to analyze and process the preset BeiDou signal emitted by each pseudo-satellite to obtain the navigation message of each pseudo-satellite;
[0038] Step 112: Determine the signal transmission time of each pseudosatellite and the signal reception time of the monitoring station receiver based on the navigation message of each pseudosatellite;
[0039] Step 113: Based on the pseudo-satellite signal transmission time and the monitoring station receiver signal reception time, through... Determine the non-difference pseudorange in the analytical parameters of each monitoring station group; among which, This refers to the time when the pseudo-satellite signal was transmitted. This refers to the signal reception time of the monitoring station receiver; The non-difference pseudorange is the preset BeiDou signal parsing result of the monitoring station for the j-th pseudosatellite.
[0040] Step 114, based on the navigation message of each pseudosatellite, through... Determine the differential carrier phase observation data in the analytical parameters of each monitoring station group; among which, This is the phase accumulation value of the carrier digitally controlled oscillator inside the monitoring station receiver; The initial phase of the carrier wave at the time of signal transmission; For integer ambiguity; This refers to the non-differential carrier phase observation data corresponding to the preset BeiDou signal analysis of the j-th pseudo-satellite by the monitoring station.
[0041] In this embodiment, the pseudo-satellite signal transmission time can be obtained by adding the subframe offset corresponding to the code phase to the TOW (signal transmission time) extracted from the demodulated navigation message; the receiver signal reception time can be recorded by the receiver's local clock (sampling counter); the carrier initial phase at the time of signal transmission can be obtained from the navigation message; the integer ambiguity is a constant and does not change under continuous tracking; the broadcast ephemeris of each set of monitoring station resolution parameters can be directly obtained by parsing the navigation message, and the broadcast ephemeris includes parameters such as the pseudo-satellite's spatial coordinates, pseudo-satellite clock error parameters, and time stamp;
[0042] In an optional embodiment of the present invention, step 12, receiving multiple second target parsing parameters obtained and sent by the base station after parsing the preset BeiDou signals emitted by each pseudo-satellite, may include:
[0043] Step 121: Control the base station to analyze and process the preset BeiDou signal emitted by each pseudo-satellite to obtain the navigation message of each pseudo-satellite;
[0044] Step 122: Determine the pseudo-satellite signal transmission time and the base station receiver signal reception time based on the second navigation message of each pseudo-satellite;
[0045] Step 123, based on the pseudo-satellite signal transmission time and the base station receiver signal reception time, through... Determine the non-difference pseudorange in the analytical parameters of each set of reference stations; among which, This refers to the time when the pseudo-satellite signal was transmitted. The reference receiver signal reception time; The non-difference pseudorange is the preset BeiDou signal parsing result of the base station for the j-th pseudosatellite.
[0046] Step 124, based on the navigation message of each pseudosatellite, through... Determine the differential carrier phase observation data in the analytical parameters of each set of reference stations; among which, This is the phase accumulation value of the carrier digitally controlled oscillator inside the base station receiver; The initial phase of the carrier wave at the time of signal transmission; For integer ambiguity; This refers to the non-differential carrier phase observation data corresponding to the preset BeiDou signal analysis of the j-th pseudo-satellite by the base station.
[0047] In this embodiment, the pseudo-satellite signal transmission time can be obtained by adding the subframe offset corresponding to the code phase to the TOW (signal transmission time) extracted from the demodulated navigation message; the receiver signal reception time can be obtained by recording the receiver's local clock (sampling counter); the carrier initial phase at the time of signal transmission can be obtained from the navigation message; the integer ambiguity is a constant and does not jump under continuous tracking; the broadcast ephemeris of each set of reference station resolution parameters can be directly obtained by parsing the navigation message, and the broadcast ephemeris includes parameters such as the pseudo-satellite's spatial coordinates, pseudo-satellite clock error parameters, and time stamp.
[0048] In an optional embodiment of the present invention, step 13, determining the double-difference observation equation based on the first target analytical parameters, the second target analytical parameters, the approximate coordinates of the monitoring station, and the calibration coordinates of the reference station among multiple pseudo-satellites, may include:
[0049] Step 131: Determine the reference pseudosatellite from among multiple pseudosatellites; specifically, select a pseudosatellite with a high elevation angle and stable signal quality as the reference satellite. Then, along with other pseudo-satellites... Construct double-difference observation equations respectively;
[0050] Step 132: Based on the non-differential pseudorange and non-differential carrier phase observation data in the first target analytical parameters of the reference pseudosatellite and the non-differential pseudorange and non-differential carrier phase observation data in the second target analytical parameters, determine the double-differential pseudorange and double-differential carrier phase observation values of the double-differential observation equation.
[0051] Step 133: Based on the three-dimensional coordinate parameters of the reference pseudo-satellite, the calibration coordinates of the reference station, and the approximate coordinates of the monitoring station, determine the reference station satellite-to-ground distance and the approximate satellite-to-ground distance of the monitoring station in the double-difference observation equation.
[0052] Step 134: Determine the double-difference satellite-to-ground distance of the double-difference observation equation based on the base station satellite-to-ground distance and the approximate satellite-to-ground distance of the monitoring station.
[0053] Step 135: Based on the double-difference satellite-to-ground distance, double-difference pseudorange, and double-difference carrier phase observation values of the double-difference observation equation, determine the double-difference observation equation at the approximate coordinates of each pseudo-satellite other than the reference satellite.
[0054] In this embodiment, when there are a total of 4 pseudo-satellites, after selecting one primary satellite, there are 3 pseudo-satellites remaining. For the 3 pseudo-satellites, corresponding double-difference observation equations are constructed at the approximate coordinates of the monitoring station to obtain three sets of double-difference observation equations. By constructing multiple sets of double-difference observation equations, receiver clock error and pseudo-satellite clock error can be effectively eliminated, thereby further ensuring the accuracy of the data.
[0055] In an optional embodiment of the present invention, step 132, determining the double-difference pseudorange and double-difference carrier phase observation values of the double-difference observation equation based on the non-difference pseudorange and non-difference carrier phase observation data in the first target analytical parameters of the reference pseudosatellite and the non-difference pseudorange and non-difference carrier phase observation data in the second target analytical parameters, may include:
[0056] Based on the differential pseudorange and differential carrier phase observation data in the first target analytical parameters of the reference pseudosatellite, and the differential pseudorange and differential carrier phase observation data in the second target analytical parameters, through and Determine the double-difference pseudorange for each set of double-difference observation equations. and double-difference carrier phase observations ;
[0057] Where i represents the reference satellite number, j represents the number of the remaining pseudo-satellites; U represents the monitoring station; and R represents the base station. Indicates monitoring station For reference satellite The non-difference pseudo-range; This represents the non-difference pseudorange of monitoring station U to the j-th pseudosatellite; Indicates monitoring station Undifferentiated carrier phase observations for the j-th pseudosatellite; The non-differential carrier phase observations of monitoring station U on reference satellite i; Indicates the base station The non-difference pseudorange for the j-th pseudosatellite; This represents the non-difference pseudorange of the base station R relative to the reference satellite i; This represents the non-differential carrier phase observation value of the reference station R for the j-th pseudo-satellite; This represents the unequal carrier phase observation value of reference station R for reference satellite i.
[0058] In an optional embodiment of the present invention, step 133, determining the reference station satellite-to-ground distance and the approximate satellite-to-ground distance of the double-difference observation equation based on the three-dimensional coordinate parameters of the reference pseudo-satellite, the calibration coordinates of the reference station, and the approximate coordinates of the monitoring station, may include:
[0059] Step 1331: Based on the three-dimensional coordinate parameters of the reference pseudosatellite, the calibration coordinates of the base station, and the approximate coordinates of the monitoring station, through... Determine the satellite-to-ground distance between the base station and the reference satellite for each set of double-difference observation equations. ;
[0060] Step 1332: Based on the three-dimensional coordinate parameters of the reference pseudo-satellite, the calibration coordinates of the base station, and the approximate coordinates of the monitoring station, through... Determine the satellite-to-ground distance between the base station and the j-th pseudosatellite for each set of double-difference observation equations. ;
[0061] Step 1333: Based on the three-dimensional coordinate parameters of the reference pseudo-satellite, the calibration coordinates of the base station, and the approximate coordinates of the monitoring station, through... Determine the satellite-to-ground distance between the monitoring station and the reference satellite for each set of double-difference observation equations. ;
[0062] Step 1334: Based on the three-dimensional coordinate parameters of the reference pseudosatellite, the calibration coordinates of the base station, and the approximate coordinates of the monitoring station, through... Determine the satellite-to-ground distance between the monitoring station and the j-th pseudosatellite for each set of double-difference observation equations. ;
[0063] in, The three-dimensional coordinates of the base station; The approximate coordinates of the monitoring station can be obtained using a total station or design drawings; The three-dimensional coordinates of the reference satellite can be obtained from the broadcast ephemeris of the reference satellite; The three-dimensional coordinates of the j-th pseudosatellite can be obtained from the broadcast ephemeris corresponding to the pseudosatellite.
[0064] In an optional embodiment of the present invention, step 134, determining the double-difference satellite-to-ground distance for each set of double-difference observation equations based on the reference station satellite-to-ground distance and the approximate satellite-to-ground distance of the monitoring station, may include:
[0065] Based on the baseline satellite-to-Ground distance and the approximate satellite-to-Ground distance of the monitoring station according to the double-difference observation equation, through... Determine the double-difference satellite-to-Earth distance of the double-difference observation equation ;
[0066] in, The distance between the base station and the reference satellite; The distance between the base station and the j-th pseudo-satellite is the satellite-to-ground distance. The distance between the monitoring station and the reference satellite; Let be the satellite-to-ground distance between the monitoring station and the j-th pseudo-satellite.
[0067] In an optional embodiment of the present invention, step 135, determining the double-difference observation equation based on the double-difference satellite-to-ground distance, double-difference pseudorange, and double-difference carrier phase observation values, may include:
[0068] Based on the double-difference satellite-to-ground distance, double-difference pseudorange, and double-difference carrier phase observations from the double-difference observation equation, through... and Determine the double-difference observation equation, that is, the double-difference observation equation at the approximate coordinates of each pseudo-satellite other than the reference satellite at the monitoring station;
[0069] in, This is the double-difference pseudorange of the double-difference observation equation; These are the double-difference carrier phase observations for the double-difference observation equation; The double-difference satellite-to-ground distance is the double-difference observation equation; This refers to the coordinate correction values for the monitoring station. λ represents the double-difference integer ambiguity; λ is the carrier wavelength. Double difference Direction cosine coefficient, ; Double difference Direction cosine coefficient, ; Double difference Direction cosine coefficient, .
[0070] In an optional embodiment of the present invention, step 14, fixing the double-difference integer ambiguity of the double-difference observation equation for each epoch to obtain the target integer ambiguity corresponding to the double-difference observation equation for each epoch, may include:
[0071] Step 141: Construct the observation equation matrix based on the double-difference observation equation;
[0072] Step 142: Solve the observation equation matrix to determine the least squares solution of the parameters to be estimated;
[0073] Step 143: Determine the floating-point solution vector of the double-difference ambiguity and its covariance matrix based on the least square solution of the parameters to be estimated in the observation equation matrix.
[0074] Step 144: Determine the target integer ambiguity of the double-difference observation equation for each epoch based on the floating-point solution vector of the double-difference ambiguity and its covariance matrix.
[0075] In this embodiment, the observation equation matrix mentioned in step 141 can be specifically constructed as follows: ,in, This is an observation matrix containing double-difference pseudorange and double-difference carrier phase observation data for all pseudosatellite pairs (excluding the reference satellite), with a length of [length missing]. ( (Number of non-reference satellites) B is the design matrix, with a size of The first three columns correspond to coordinate corrections, and the following columns... The columns correspond to the ambiguity parameters of each pseudosatellite pair, and the carrier phase rows correspond to... False distance behavior 0;
[0076] ; The observation weight matrix has diagonal elements as follows: and , The prior variance of the double-difference pseudorange observations. The prior variance of the double-difference carrier phase observations is calculated from the prior variance of the non-difference pseudorange and carrier phase observations and the elevation angle. ; Let be the parameter matrix to be estimated. ,in This represents the double-difference integer ambiguity of the first pseudosatellite; Let be the double-difference integer ambiguity of the nth pseudosatellite.
[0077] In this embodiment, step 142 specifically involves, through l and Solve the observation equations to determine the least-squares solution for the parameters to be estimated in the observation equations; where, The least squares solution for the parameters to be estimated; Let be the covariance matrix of the parameter to be estimated;
[0078] In this embodiment, step 143 may specifically involve determining the least-squares solution of the parameter to be estimated in the observation matrix, through... and Determine the floating-point solution vector for double-difference ambiguity and its covariance matrix ;in, This is the nth double-difference ambiguity floating-point solution; For the first The variance of a double-difference fuzzy floating-point solution. For the first and the second The covariance of a double-difference fuzzy floating-point solution.
[0079] In an optional embodiment of the present invention, step 144, determining the target integer ambiguity of the double-difference observation equation for each epoch based on the double-difference ambiguity floating-point solution vector and its covariance matrix, may include:
[0080] Step 1441: Perform an integer Gaussian transform on the double-difference ambiguity floating-point solution vector and its covariance matrix to obtain the transformed covariance matrix.
[0081] Step 1442: Perform transpose decomposition (LDL decomposition) on the transformed covariance matrix to obtain the lower triangular matrix and the diagonal matrix;
[0082] Step 1443: Using the sequential conditional least squares method, integer constraints are applied to each ambiguity component in turn. All candidate integer solutions are enumerated in the search space, and the optimal integer solution and the second-best integer solution are selected in order of the sum of squared residuals from smallest to largest.
[0083] Step 1444: Calculate the ratio of the sum of squared residuals of the optimal solution and the suboptimal solution to obtain the Ratio value;
[0084] Step 1445: Compare the Ratio value with a pre-set threshold. If the Ratio value is greater than or equal to the threshold, it means that the optimal solution is significantly better than the suboptimal solution, and the optimal integer solution is accepted as the fixed result; otherwise, the ambiguity is considered unreliable and the floating-point solution is retained or the epoch is discarded; the threshold can be 3.0.
[0085] Step 1446: Map the accepted optimal integer solution back to the original ambiguity space through an inverse integer Gaussian transform to obtain the target integer ambiguity of the current double-difference observation equation; that is, the target integer ambiguity corresponding to the double-difference observation equation of each epoch.
[0086] In an optional embodiment of the present invention, step 15, based on the target double-difference ambiguity corresponding to each epoch, solves the double-difference observation equation corresponding to each epoch to obtain the target monitoring coordinates corresponding to the monitoring station within a preset time period, including:
[0087] Step 151: Based on the target double-difference ambiguity corresponding to each epoch, solve the double-difference observation equation corresponding to each epoch to obtain the fixed solution of the monitoring station coordinate correction number and the corresponding covariance matrix for each epoch of a preset time period.
[0088] Step 152: Take a weighted average of the fixed solutions of the monitoring station coordinate corrections and the corresponding covariance matrices for all epochs within the preset time period to obtain the sum of the weighted sum vector and the weight matrix of the monitoring stations within a preset time period.
[0089] Step 153: Based on the sum of the weighted sum vector and the weight matrix, determine the coordinate correction number after weighted average within a preset time period;
[0090] Step 154: Determine the target monitoring coordinates of the monitoring station within a preset time period based on the weighted average coordinate correction over a preset time period and the initial approximate coordinates of the monitoring station.
[0091] In this embodiment, the preset time period can be set to 2 hours. By solving the double difference observation equation corresponding to each epoch within a preset time period and determining the coordinate correction after weighted averaging within a preset time period, the monitoring accuracy can be further improved, avoiding inaccurate data at a certain moment that would affect the monitoring results, thereby achieving deformation monitoring with millimeter-level accuracy.
[0092] In this embodiment, step 151 can specifically be: based on the target double-difference ambiguity corresponding to each epoch. ,pass and Determine a fixed solution for the coordinate correction of the monitoring station corresponding to each epoch within a preset time period. And the corresponding covariance matrix, i.e., the covariance matrix of the solution with fixed coordinate corrections. ; and Let and represent the fixed solutions for the coordinate corrections of the monitoring station at the i-th epoch, respectively, and their covariance matrices; where The coordinate correction is a floating-point solution vector; The covariance matrix of coordinate corrections and floating-point solutions to ambiguity; This is the cross-covariance matrix between ambiguity and coordinates; This is the floating-point solution vector for double-difference ambiguity; Let be the covariance matrix of the double-difference fuzzy floating-point solution; Let be the coordinate correction covariance matrix.
[0093] In this embodiment, step 152 can be, through and The fixed solution of the monitoring station coordinate correction number and the corresponding covariance matrix corresponding to all epochs within the preset time period are weighted and averaged to obtain the weighted sum vector Wn and the sum of the weight matrix Nn of the monitoring station within a preset time period.
[0094] In this embodiment, step 153 can be, through Determine the coordinate correction after weighted averaging over a preset time period. ;
[0095] Step 154 can be performed by, based on the weighted average coordinate correction over a preset time period and the initial approximate coordinates of the monitoring station, through... Determine target monitoring coordinates ;in, These are the approximate coordinates of the monitoring station.
[0096] In an optional embodiment of the present invention, step 16, determining the displacement of the target monitoring point based on the target monitoring coordinates corresponding to the monitoring stations in any two time periods, may include:
[0097] Step 161: Difference the target monitoring coordinates corresponding to the monitoring stations in any two time periods to obtain the relative displacement;
[0098] Step 162: Based on the relative displacement, extract the horizontal and vertical components respectively to obtain the horizontal and vertical displacement monitoring values at the target monitoring point.
[0099] In this embodiment, the deformation monitoring quantity at the target monitoring point can be monitored as needed. When it is necessary to monitor the cumulative displacement (i.e., the cumulative deformation monitoring quantity) of the e-th time period relative to the starting time period, it can be obtained by directly subtracting the target monitoring coordinates of the starting time period from the target monitoring coordinates of the e-th time period. When it is necessary to monitor the deformation monitoring quantity of two adjacent time periods, it can be obtained by directly subtracting the target monitoring coordinates corresponding to the monitoring stations in the two time periods. For example, when the coordinate value of the monitoring station at the starting time is... The weighted average coordinates of the monitoring stations during the e-th observation period, which are also the target monitoring coordinates, are: Then the cumulative displacement of the monitoring point in the e-th time period is: The relative displacement of the monitoring stations at any two time periods is: - ;in, Indicates the target monitoring coordinates for time period e; Indicates the period before the e-th time period The target monitoring coordinates for a given time period are determined. The horizontal and vertical components are extracted based on the cumulative and relative displacements, respectively, to obtain the horizontal and vertical displacement deformation monitoring values at the target monitoring point. The indoor monitoring point deformation monitoring method described in this invention achieves millimeter-level precision deformation monitoring of monitoring points in indoor or shaded environments by employing a carrier phase double-difference observation model and ambiguity fixing technology. By weighted averaging of coordinate results over observation periods of more than 2 hours, precise millimeter-level coordinates can be obtained. The change in the monitoring station coordinates at different time periods reflects the deformation of the displacement monitoring point.
[0100] like Figure 2 As shown, embodiments of the present invention also provide a deformation monitoring system, comprising:
[0101] The system includes a monitoring station located at the target monitoring point, a reference station located within a preset distance of the monitoring station, and multiple pseudo-satellites located around the monitoring station. The monitoring station and the reference station are each communicatively connected to each pseudo-satellite. A data processing center communicates with the monitoring station and the reference station. The data processing center receives preset BeiDou signals emitted by each pseudo-satellite from the monitoring station, processes them, and obtains and sends multiple first target analysis parameters.
[0102] The base station receives and processes the preset BeiDou signals emitted by each pseudosatellite to obtain and transmit multiple second target analysis parameters.
[0103] Based on the analytical parameters of the first target and the second target among multiple pseudo-satellites, the approximate coordinates of the monitoring station and the calibration coordinates of the reference station, the double-difference observation equation is determined. The double-difference observation equation is the double-difference observation equation of each epoch of the other pseudo-satellites (excluding the reference pseudo-satellite) at the approximate coordinates of the monitoring station.
[0104] The double-difference integer ambiguity of the double-difference observation equation for each epoch is fixed to obtain the target integer ambiguity corresponding to the double-difference observation equation for each epoch.
[0105] Based on the target double-difference ambiguity corresponding to each epoch, the double-difference observation equation corresponding to each epoch is solved to obtain the target monitoring coordinates corresponding to the monitoring station within a preset time period;
[0106] The displacement of the target monitoring point is determined based on the target monitoring coordinates corresponding to the monitoring stations in any two time periods.
[0107] Optionally, the first target parsing parameters include: non-differential pseudorange, non-differential carrier phase observation data, and broadcast ephemeris obtained by the monitoring station parsing and processing the preset BeiDou signal emitted by the current pseudosatellite;
[0108] The second target analysis parameters include: non-differential pseudorange and non-differential carrier phase observation data and broadcast ephemeris obtained by the reference station analyzing and processing the preset BeiDou signal emitted by the current pseudosatellite.
[0109] Optionally, the monitoring station receives and processes the preset BeiDou signals emitted by each pseudosatellite to obtain and transmit multiple first target parsing parameters, including:
[0110] The monitoring station is controlled to analyze and process the preset BeiDou signals emitted by each pseudo-satellite to obtain the navigation message of each pseudo-satellite;
[0111] Based on the navigation message of each pseudosatellite, determine the pseudosatellite signal transmission time and the monitoring station receiver signal reception time;
[0112] Based on the pseudo-satellite signal transmission time and the monitoring station receiver signal reception time, through Determine the non-difference pseudorange in the analytical parameters of each monitoring station group; among which, This refers to the time when the pseudo-satellite signal was transmitted. This refers to the signal reception time of the monitoring station receiver; The non-difference pseudorange is the preset BeiDou signal parsing result of the monitoring station for the j-th pseudosatellite.
[0113] Based on the navigation message of each pseudosatellite, through Determine the differential carrier phase observation data in the analytical parameters of each monitoring station group; among which, This is the phase accumulation value of the carrier digitally controlled oscillator inside the monitoring station receiver; The initial phase of the carrier wave at the time of signal transmission; For integer ambiguity; This refers to the non-differential carrier phase observation data corresponding to the preset BeiDou signal analysis of the j-th pseudo-satellite by the monitoring station.
[0114] Optionally, based on the analytical parameters of the first target and the second target among multiple pseudosatellites, the approximate coordinates of the monitoring station, and the calibration coordinates of the reference station, the double-difference observation equation is determined, including:
[0115] Identify the reference pseudosatellite from among multiple pseudosatellites;
[0116] Based on the non-differential pseudorange and non-differential carrier phase observation data in the first target analytical parameters of the reference pseudosatellite and the non-differential pseudorange and non-differential carrier phase observation data in the second target analytical parameters, determine the double-differential pseudorange and double-differential carrier phase observation values of the double-differential observation equation.
[0117] Based on the three-dimensional coordinate parameters of the reference pseudosatellite, the calibration coordinates of the base station, and the approximate coordinates of the monitoring station, the base station satellite-to-ground distance and the approximate satellite-to-ground distance of the monitoring station in the double-difference observation equation are determined.
[0118] The double-difference satellite-to-ground distance of the double-difference observation equation is determined based on the base station satellite-to-ground distance and the approximate satellite-to-ground distance of the monitoring station.
[0119] The double-difference observation equation is determined based on the double-difference satellite-to-ground distance, double-difference pseudorange, and double-difference carrier phase observations.
[0120] Optionally, the double-difference observation equation is: and ;in,
[0121] in, This is the double-difference pseudorange of the double-difference observation equation; These are the double-difference carrier phase observations for the double-difference observation equation; The double-difference satellite-to-ground distance is the double-difference observation equation; This refers to the coordinate correction values for the monitoring station. λ represents the double-difference integer ambiguity; λ is the carrier wavelength. Double difference Direction cosine coefficient; Double difference Direction cosine coefficient; Double difference Direction cosine coefficient.
[0122] Optionally, the double-difference integer ambiguity of the double-difference observation equation at each epoch is fixed to obtain the target integer ambiguity corresponding to the double-difference observation equation at each epoch, including:
[0123] Construct the observation equation matrix based on the double-difference observation equation;
[0124] Solve the observation equation matrix to determine the least squares solution of the parameters to be estimated;
[0125] Based on the least squares solution of the parameters to be estimated in the observation equation matrix, determine the floating-point solution vector of the double-difference ambiguity and its covariance matrix;
[0126] Based on the floating-point solution vector of the double-difference ambiguity and its covariance matrix, the target integer ambiguity of the double-difference observation equation for each epoch is determined.
[0127] Optionally, based on the target double-difference ambiguity corresponding to each epoch, the double-difference observation equation corresponding to each epoch is solved to obtain the target monitoring coordinates corresponding to the monitoring station within a preset time period, including:
[0128] Based on the target double-difference ambiguity corresponding to each epoch, the double-difference observation equation corresponding to each epoch is solved to obtain the fixed solution of the monitoring station coordinate correction number and the corresponding covariance matrix for each epoch of a preset time period.
[0129] The weighted average of the fixed solutions of the monitoring station coordinate corrections and the corresponding covariance matrices for all epochs within the preset time period is obtained to obtain the sum of the weighted sum vector and the weight matrix of the monitoring stations within a preset time period.
[0130] Based on the sum of the weighted sum vector and the weight matrix, determine the coordinate correction after weighted averaging over a preset time period;
[0131] Based on the coordinate corrections after weighted averaging over a preset time period and the initial approximate coordinates of the monitoring station, the target monitoring coordinates corresponding to the monitoring station within a preset time period are determined.
[0132] Embodiments of the present invention also provide a computing device, including: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method described above. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.
[0133] Embodiments of the present invention also provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described above. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.
[0134] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.
[0135] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0136] In the embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.
[0137] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0138] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0139] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.
[0140] Furthermore, it should be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of the present invention. Moreover, the steps performing the above series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof. This is something that those skilled in the art can achieve by using their basic programming skills after reading the description of the present invention.
[0141] Therefore, the object of the present invention can also be achieved by running a program or a set of programs on any computing device. The computing device can be a known general-purpose device. Therefore, the object of the present invention can also be achieved simply by providing a program product containing program code implementing the method or apparatus. That is, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any known storage medium or any storage medium developed in the future. It should also be noted that in the apparatus and method of the present invention, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent to the present invention. Furthermore, the steps performing the above series of processes can naturally be performed in the order described, but are not necessarily required to be performed in chronological order. Some steps can be performed in parallel or independently of each other.
[0142] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.
Claims
1. A method for monitoring deformation at indoor monitoring points, characterized in that, A data processing center is applied to a deformation monitoring system, the deformation monitoring system further comprising: a monitoring station located at the target monitoring point, a reference station located within a preset distance of the monitoring station, and multiple pseudo-satellites located around the monitoring station; the method includes: The monitoring station receives and processes the preset BeiDou signals emitted by each pseudosatellite to obtain and transmit multiple first target analysis parameters. The base station receives and processes the preset BeiDou signals emitted by each pseudosatellite to obtain and transmit multiple second target analysis parameters. Based on the analytical parameters of the first target and the second target among multiple pseudo-satellites, the approximate coordinates of the monitoring station and the calibration coordinates of the reference station, the double-difference observation equation is determined. The double-difference observation equation is the double-difference observation equation of each epoch of the other pseudo-satellites (excluding the reference pseudo-satellite) at the approximate coordinates of the monitoring station. The double-difference integer ambiguity of the double-difference observation equation for each epoch is fixed to obtain the target integer ambiguity corresponding to the double-difference observation equation for each epoch. Based on the target double-difference ambiguity corresponding to each epoch, the double-difference observation equation corresponding to each epoch is solved to obtain the target monitoring coordinates corresponding to the monitoring station within a preset time period; The displacement of the target monitoring point is determined based on the target monitoring coordinates corresponding to the monitoring stations in any two time periods.
2. The deformation monitoring method for indoor monitoring points according to claim 1, characterized in that, The first target analysis parameters include: non-differential pseudorange, non-differential carrier phase observation data, and broadcast ephemeris obtained by the monitoring station analyzing and processing the preset BeiDou signal emitted by the current pseudosatellite; The second target analysis parameters include: non-differential pseudorange and non-differential carrier phase observation data and broadcast ephemeris obtained by the reference station analyzing and processing the preset BeiDou signal emitted by the current pseudosatellite.
3. The deformation monitoring method for indoor monitoring points according to claim 1, characterized in that, The monitoring station receives and processes the preset BeiDou signals emitted by each pseudosatellite, obtaining and transmitting multiple first target analysis parameters, including: The monitoring station is controlled to analyze and process the preset BeiDou signals emitted by each pseudo-satellite to obtain the navigation message of each pseudo-satellite; Based on the navigation message of each pseudosatellite, determine the pseudosatellite signal transmission time and the monitoring station receiver signal reception time; Based on the pseudo-satellite signal transmission time and the monitoring station receiver signal reception time, through Determine the non-difference pseudorange in the analytical parameters of each monitoring station group; among which, This refers to the time when the pseudo-satellite signal was transmitted. This refers to the signal reception time of the monitoring station receiver; The non-difference pseudorange is the preset BeiDou signal parsing result of the monitoring station for the j-th pseudosatellite. Based on the navigation message of each pseudosatellite, through Determine the differential carrier phase observation data in the analytical parameters of each monitoring station group; among which, This is the phase accumulation value of the carrier digitally controlled oscillator inside the monitoring station receiver; The initial phase of the carrier wave at the time of signal transmission; For integer ambiguity; This refers to the non-differential carrier phase observation data corresponding to the preset BeiDou signal analysis of the j-th pseudo-satellite by the monitoring station.
4. The deformation monitoring method for indoor monitoring points according to claim 2, characterized in that, Based on the analytical parameters of the first target and the second target among multiple pseudosatellites, the approximate coordinates of the monitoring station, and the calibration coordinates of the base station, the double-difference observation equation is determined, including: Identify the reference pseudosatellite from among multiple pseudosatellites; Based on the non-differential pseudorange and non-differential carrier phase observation data in the first target analytical parameters of the reference pseudosatellite and the non-differential pseudorange and non-differential carrier phase observation data in the second target analytical parameters, determine the double-differential pseudorange and double-differential carrier phase observation values of the double-differential observation equation. Based on the three-dimensional coordinate parameters of the reference pseudosatellite, the calibration coordinates of the base station, and the approximate coordinates of the monitoring station, the base station satellite-to-ground distance and the approximate satellite-to-ground distance of the monitoring station in the double-difference observation equation are determined. The double-difference satellite-to-ground distance of the double-difference observation equation is determined based on the base station satellite-to-ground distance and the approximate satellite-to-ground distance of the monitoring station. The double-difference observation equation is determined based on the double-difference satellite-to-ground distance, double-difference pseudorange, and double-difference carrier phase observations.
5. The deformation monitoring method for indoor monitoring points according to claim 4, characterized in that, The double-difference observation equation is: and ; in, This is the double-difference pseudorange of the double-difference observation equation; These are the double-difference carrier phase observations for the double-difference observation equation; The double-difference satellite-to-ground distance is the double-difference observation equation; This refers to the coordinate correction values for the monitoring station. λ represents the double-difference integer ambiguity; λ is the carrier wavelength. Double difference Direction cosine coefficient; Double difference Direction cosine coefficient; Double difference Direction cosine coefficient.
6. The deformation monitoring method for indoor monitoring points according to claim 1, characterized in that, The double-difference integer ambiguity of the double-difference observation equation for each epoch is fixed to obtain the target integer ambiguity corresponding to the double-difference observation equation for each epoch, including: Construct the observation equation matrix based on the double-difference observation equation; Solve the observation equation matrix to determine the least squares solution of the parameters to be estimated; Based on the least squares solution of the parameters to be estimated in the observation equation matrix, determine the floating-point solution vector of the double-difference ambiguity and its covariance matrix; Based on the floating-point solution vector of the double-difference ambiguity and its covariance matrix, the target integer ambiguity of the double-difference observation equation for each epoch is determined.
7. The deformation monitoring method for indoor monitoring points according to claim 1, characterized in that, Based on the target double-difference ambiguity corresponding to each epoch, the double-difference observation equation corresponding to each epoch is solved to obtain the target monitoring coordinates corresponding to the monitoring station within a preset time period, including: Based on the target double-difference ambiguity corresponding to each epoch, the double-difference observation equation corresponding to each epoch is solved to obtain the fixed solution of the monitoring station coordinate correction number and the corresponding covariance matrix for each epoch of a preset time period. The weighted average of the fixed solutions of the monitoring station coordinate corrections and the corresponding covariance matrices for all epochs within the preset time period is obtained to obtain the sum of the weighted sum vector and the weight matrix of the monitoring stations within a preset time period. Based on the sum of the weighted sum vector and the weight matrix, determine the coordinate correction after weighted averaging over a preset time period; Based on the coordinate corrections after weighted averaging over a preset time period and the initial approximate coordinates of the monitoring station, the target monitoring coordinates corresponding to the monitoring station within a preset time period are determined.
8. A deformation monitoring system, characterized in that, include: The system includes a monitoring station located at the target monitoring point, a reference station located within a preset distance of the monitoring station, and multiple pseudo-satellites located around the monitoring station. The monitoring station and the reference station are each communicatively connected to each pseudo-satellite. A data processing center communicates with the monitoring station and the reference station. The data processing center receives preset BeiDou signals emitted by each pseudo-satellite from the monitoring station, processes them, and obtains and sends multiple first target analysis parameters. The base station receives and processes the preset BeiDou signals emitted by each pseudosatellite to obtain and transmit multiple second target analysis parameters. Based on the analytical parameters of the first target and the second target among multiple pseudo-satellites, the approximate coordinates of the monitoring station and the calibration coordinates of the reference station, the double-difference observation equation is determined. The double-difference observation equation is the double-difference observation equation of each epoch of the other pseudo-satellites (excluding the reference pseudo-satellite) at the approximate coordinates of the monitoring station. The double-difference integer ambiguity of the double-difference observation equation for each epoch is fixed to obtain the target integer ambiguity corresponding to the double-difference observation equation for each epoch. Based on the target double-difference ambiguity corresponding to each epoch, the double-difference observation equation corresponding to each epoch is solved to obtain the target monitoring coordinates corresponding to the monitoring station within a preset time period; The displacement of the target monitoring point is determined based on the target monitoring coordinates corresponding to the monitoring stations in any two time periods.
9. A computing device, characterized in that, include: A processor and a memory, wherein the memory stores a computer program that, when run on the processor, performs the method as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, A storage instruction that, when executed on a computer, causes the computer to perform the method as described in any one of claims 1 to 7.