Displacement monitoring method, device, system and electronic equipment

Abstract

The present disclosure provides a displacement monitoring method, device, system and electronic equipment, which relate to the field of satellite positioning technology. The method includes: obtaining the observation data of the reference station and the observation data of the monitoring point; solving the observation data of the reference station through precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station; comparing the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station; according to the initial coordinates of the reference station, solving the observation data of the monitoring point through differential positioning to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point; comparing the millimeter-level or centimeter-level precision coordinates of the monitoring point with the initial coordinates of the monitoring point to obtain the relative displacement of the monitoring point; correcting the relative displacement of the monitoring point according to the relative displacement of the reference station to determine the deformation displacement of the monitoring point. The method can improve the accuracy of displacement monitoring and avoid the problems of false alarms and missed alarms.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite positioning technology, and in particular to a displacement monitoring method, device, system and electronic equipment. Background Art

[0002] In actual deformation monitoring, it is generally assumed that the base station is stable and the position of the base station is unchanged. The displacement of the monitoring point is calculated based on the position of the base station. However, in actual situations, the base station is generally set in the area near the monitoring point. The base station may be set in the deformation area and displacement may occur, such as displacement caused by settlement or geological activities. As a result, the displacement of the base station is transferred to the monitoring point, resulting in false alarms and missed alarms.

[0003] If a base station is not established, the displacement of the monitoring point can be determined directly based on the observation data of the monitoring point through precise single-point positioning. Since the location of the monitoring point cannot be selected arbitrarily, the observation conditions of the monitoring point may be poor. There may be satellite obstruction, strong multipath, low cycle slip ratio, etc., and the precise single-point positioning filter solution requires a long time to converge, which makes the displacement monitoring accuracy of the monitoring point very low.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of the present disclosure is to provide a displacement monitoring method, device, system and electronic equipment, which can improve the displacement monitoring accuracy and avoid the problems of false alarm and missed alarm.

[0006] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0007] The embodiment of the present disclosure provides a displacement monitoring method, comprising: acquiring observation data of a reference station and observation data of a monitoring point; solving the observation data of the reference station by precise single-point positioning post-processing to obtain millimeter-level precision coordinates of the reference station; comparing the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station; solving the observation data of the monitoring point by differential positioning based on the initial coordinates of the reference station to obtain millimeter-level or centimeter-level precision coordinates of the monitoring point; comparing the millimeter-level or centimeter-level precision coordinates of the monitoring point with the initial coordinates of the monitoring point to obtain the relative displacement of the monitoring point; and correcting the relative displacement of the monitoring point based on the relative displacement of the reference station to determine the deformation displacement of the monitoring point.

[0008] In one embodiment of the present disclosure, the step of solving the observation data of the reference station through precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station further includes: solving the observation data of multiple sub-time periods within a first cycle of the reference station through precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the multiple sub-time periods of the reference station, wherein the first cycle is greater than or equal to 15 days; the step of comparing the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station further includes: smoothing the millimeter-level precision coordinates of multiple sub-time periods of the first cycle; comparing the smoothed millimeter-level precision coordinates with the initial coordinates of the reference station to obtain the relative displacement of the reference station.

[0009] In one embodiment of the present disclosure, the step of obtaining the millimeter-level or centimeter-level precision coordinates of the monitoring point by differential positioning based on the initial coordinates of the reference station, further includes: obtaining the millimeter-level or centimeter-level precision coordinates of the monitoring point by differential positioning based on the initial coordinates of the reference station and the observation data of the second period of the monitoring point; wherein the second period is less than or equal to 3 days.

[0010] In one embodiment of the present disclosure, the step of comparing the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station further includes: calculating the plate displacement based on the velocity field of the earth's plate where the reference station is located; comparing the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station, and subtracting the plate displacement to obtain the relative displacement of the reference station.

[0011] In one embodiment of the present disclosure, the differential positioning is real-time dynamic positioning or post-processing differential positioning.

[0012] In one embodiment of the present disclosure, the method further includes: generating an alarm message when the deformation displacement of the monitoring point is greater than a preset threshold.

[0013] In one embodiment of the present disclosure, the reference station includes a physical reference station and a virtual reference station.

[0014] The embodiment of the present disclosure provides a displacement monitoring device, including: a data acquisition module, used to acquire observation data of a reference station and observation data of a monitoring point; a first solution module, used to solve the observation data of the reference station through precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station; a first comparison module, used to compare the precise coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station; a second solution module, used to solve the observation data of the monitoring point through differential positioning according to the initial coordinates of the reference station to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point; a second comparison module, used to compare the millimeter-level or centimeter-level precision coordinates of the monitoring point with the initial coordinates of the monitoring point to obtain the relative displacement of the monitoring point; and a displacement determination module, used to correct the relative displacement of the monitoring point according to the relative displacement of the reference station to determine the deformation displacement of the monitoring point.

[0015] In one embodiment of the present disclosure, the first comparison module is further used to: calculate the plate displacement according to the velocity field of the earth plate where the reference station is located; compare the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station, and subtract the plate displacement to obtain the relative displacement of the reference station.

[0016] The embodiment of the present disclosure provides a displacement monitoring system, comprising: a reference station, a monitoring point and a data center; wherein the reference station is used to receive GNSS satellite observation data and send the observation data of the reference station to the data center; the monitoring point is used to receive GNSS satellite observation data and send the observation data of the monitoring point to the data center; the data center solves the observation data of the reference station through precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station; the millimeter-level precision coordinates of the reference station are compared with the initial coordinates of the reference station to obtain the relative displacement of the reference station; according to the initial coordinates of the reference station, the observation data of the monitoring point are solved through differential positioning to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point; the millimeter-level or centimeter-level precision coordinates of the monitoring point are compared with the initial coordinates of the monitoring point to obtain the relative displacement of the monitoring point; the relative displacement of the monitoring point is corrected according to the relative displacement of the reference station to determine the deformation displacement of the monitoring point.

[0017] In one embodiment of the present disclosure, the data center is further used to: calculate the plate displacement based on the velocity field of the earth's plate where the reference station is located; compare the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station, and subtract the plate displacement to obtain the relative displacement of the reference station.

[0018] An embodiment of the present disclosure provides an electronic device, including: at least one processor; and a storage device for storing at least one program, when the at least one program is executed by the at least one processor, the at least one processor implements any one of the above methods.

[0019] The displacement monitoring method provided by some embodiments of the present disclosure obtains the relative displacement of the reference station through precise single-point positioning post-processing; obtains the relative displacement of the monitoring point through differential positioning; and corrects the relative displacement of the monitoring point according to the relative displacement of the reference station, so as to obtain a more accurate deformation displacement of the monitoring point. The method takes into account the displacement of the reference station, improves the displacement monitoring accuracy of the monitoring point, and avoids the problem of false alarm and missed alarm caused by ignoring the displacement of the reference station.

[0020] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0022] Figure 1 is a schematic diagram of a displacement monitoring system according to an exemplary embodiment.

[0023] Figure 2 is a flow chart showing a displacement monitoring method according to an exemplary embodiment.

[0024] Figure 3 is a flow chart showing another displacement monitoring method according to an exemplary embodiment.

[0025] Figure 4 is a flow chart showing another displacement monitoring method according to an exemplary embodiment.

[0026] Figure 5 is a block diagram of a displacement monitoring device according to an exemplary embodiment.

[0027] Figure 6 is a schematic structural diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0028] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0029] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0030] Figure 1 is a schematic diagram of a displacement monitoring system according to an exemplary embodiment.

[0031] like Figure 1 As shown, the displacement monitoring system includes a reference station 101 , a monitoring point 102 and a data center 103 .

[0032] The reference station 101 may be a physical reference station or a virtual reference station. The monitoring point 102 may have one or more ( Figure 1 The three shown are only for illustration and are not limited to this).

[0033] Taking the displacement monitoring of the dam as an example, the base station 101 can be set up in a place with good observation conditions. The base station 101 is equipped with a GNSS (Global Navigation Satellite System) receiver, which can be used to receive GNSS satellite observation data and send the observation data of the base station 101 to the data center 103 through the communication network. The communication network can be, for example, a dedicated optical fiber line, 4G (the 4th Generation Mobile Communication Technology), a wireless bridge, etc.

[0034] Monitoring point 102 can be set at different positions of the dam. A GNSS receiver is installed on the monitoring point 102, which can be used to receive GNSS satellite observation data and send the observation data of the monitoring point 102 to the data center 103 through the communication network. The communication network can be, for example, a dedicated optical fiber line, 4G, a wireless bridge, etc.

[0035] GNSS receivers can continuously track GNSS satellites and record observation data.

[0036] The data center 103 can be a physical server or a cloud server, a single server or a server cluster composed of multiple servers. The data center 103 can process the observation data of the reference station 101 and the observation data of the monitoring point 102 through the solving software to obtain the deformation displacement of the monitoring point 102. Among them, the solving software can perform the following operations: solve the observation data of the reference station 101 through precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station 101; compare the millimeter-level precision coordinates of the reference station 101 with the initial coordinates of the reference station 101 to obtain the relative displacement of the reference station 101; according to the initial coordinates of the reference station 101, solve the observation data of the monitoring point 102 through differential positioning to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point 102; compare the millimeter-level or centimeter-level precision coordinates of the monitoring point 102 with the initial coordinates of the monitoring point 102 to obtain the relative displacement of the monitoring point 102; correct the relative displacement of the monitoring point 102 according to the relative displacement of the reference station 101, and determine the deformation displacement of the monitoring point 102.

[0037] The displacement monitoring method provided by the embodiments of the present disclosure includes, but is not limited to, application in deformation monitoring scenarios of dams, and can also be applied in deformation and displacement monitoring scenarios of dangerous buildings, hydropower dams, bridges, landslides, tailings ponds, electric towers, etc.

[0038] Below, each step of the displacement monitoring method in the exemplary embodiment of the present disclosure will be described in more detail with reference to the accompanying drawings and embodiments.

[0039] Figure 2 is a flow chart of a displacement monitoring method according to an exemplary embodiment. The method provided by the embodiment of the present disclosure can be performed as follows Figure 1 The data center shown is executed, but the present disclosure is not limited to this.

[0040] like Figure 2 As shown, the displacement monitoring method 20 provided in the embodiment of the present disclosure may include the following steps.

[0041] In step S201, the observation data of the reference station and the observation data of the monitoring point are obtained.

[0042] For example, the observation data of the reference station and the observation data of the monitoring point can be obtained by using GNSS receivers installed at the reference station and the monitoring point respectively.

[0043] The observation data may include, for example, pseudorange observation values, carrier phase observation values, Doppler frequency shift observation values, carrier-to-noise ratio, ephemeris, etc.

[0044] In some embodiments, the reference station may be a physical reference station or a virtual reference station. The reference station may be built near the monitoring point, for example, generally within 5 km of the monitoring point.

[0045] In step S202, the observation data of the reference station is solved by precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station.

[0046] Among them, Precise Point Positioning (PPP) refers to a technology that uses carrier phase observations and high-precision satellite orbits, clock errors, Code Bias, Phase Bias, ionosphere and other satellite-based SSR (State Space Representation) corrections provided by organizations such as IGS (International GNSS Service) to perform high-precision point positioning.

[0047] In the disclosed embodiment, a GNSS receiver installed at a base station can be used to directly receive satellite-based SSR corrections to monitor the displacement of the base station; or satellite-based SSR corrections can be received at a data center, and the displacement of the base station can be monitored using the observation data of the base station.

[0048] Among them, precise point positioning post-processing refers to precise point positioning with a longer solution cycle.

[0049] For example, the solution period of precise single-point positioning post-processing can be 24 hours, 7 days, 15 days, 30 days, 2 months, 3 months, 6 months, 1 year, etc., and the accuracy can reach millimeter level. The longer the solution period, the higher the accuracy.

[0050] In the disclosed embodiment, the reference station can be built at a location with good observation conditions, which can give full play to the advantages of precise point positioning. The location with good observation conditions can be an outdoor location with a wide field of view, open space, and no obstructions.

[0051] In the disclosed embodiment, the observation equation of the reference station can be determined based on the pseudorange observation values ​​and carrier phase observation values ​​in the observation data of the reference station, and the Kalman filtering method can be used to perform precise single-point positioning solution on the observation function of the reference station, so as to obtain the millimeter-level precision coordinates of the reference station.

[0052] The millimeter-level precision coordinates of the reference station can be obtained by vector express, X b , Y b , Z b They respectively represent the millimeter-level precision three-dimensional coordinates of the base station.

[0053] In step S203, the millimeter-level precision coordinates of the reference station are compared with the initial coordinates of the reference station to obtain the relative displacement of the reference station.

[0054] In the disclosed embodiment, the initial coordinates of the reference station can be obtained by solving the observation data of the reference station at the initial moment through precise single point positioning.

[0055] The initial coordinates of the reference station can be expressed as vector express, X a , Y a , Z a They represent the initial three-dimensional coordinates of the base station respectively.

[0056] In the disclosed embodiment, the relative displacement of the reference station can be obtained by subtracting the initial coordinates of the reference station from the millimeter-level precision coordinates of the reference station.

[0057] In step S204, based on the initial coordinates of the reference station, the observation data of the monitoring point is solved by differential positioning to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point.

[0058] Among them, differential positioning refers to installing a GNSS receiver on a base station for observation. The coordinates of the base station are known, and another GNSS receiver is installed at the monitoring point. The two can eliminate most errors through differential processing, thereby obtaining the millimeter or centimeter-level accuracy coordinates of the monitoring point.

[0059] According to different solution cycles, differential positioning can be divided into post-processing differential positioning and real-time kinematic differential positioning (RTK). In the embodiments of the present disclosure, either post-processing differential positioning or real-time kinematic differential positioning can be used.

[0060] The solution cycle of post-processing differential positioning can be, for example, 2h (hours), 4h, 6h, 8h, 12h, 24h, 48h, 72h, etc. The displacement response time of post-processing differential positioning is slower than that of real-time dynamic differential positioning, but the positioning accuracy can reach the millimeter level, and the longer the solution cycle, the higher the accuracy. Post-processing differential positioning is suitable for monitoring objects with slow displacement and low response time requirements, such as hydropower dams and dangerous buildings.

[0061] The calculation period of real-time dynamic differential positioning can be, for example, 0.2s (seconds), 0.5s, 1s, 5s, 10s, etc. The displacement response time of real-time dynamic differential positioning is faster than that of post-processing differential positioning, and the positioning accuracy is at the centimeter level, for example, the positioning accuracy can be 1 to 3cm (centimeter). Real-time dynamic differential positioning is suitable for monitoring objects with fast displacement and high response time requirements, such as cable-stayed bridges and suspension bridges.

[0062] In some embodiments, the initial coordinates of the reference station can be fixed, and the observation data of the monitoring point can be solved by post-processing differential positioning to obtain the millimeter-level precision coordinates of the monitoring point.

[0063] In some embodiments, the initial coordinates of the reference station can be fixed, and the observation data of the monitoring point can be solved by real-time dynamic differential positioning to obtain the centimeter-level precision coordinates of the monitoring point.

[0064] In some embodiments, based on the initial coordinates of the reference station, the observation data of the second period of the monitoring point is solved by differential positioning to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point, wherein the second period is less than or equal to 3 days.

[0065] In the disclosed embodiment, by setting the second period to be less than or equal to 3 days, the response time of the displacement monitoring of the monitoring point can be shortened and the response speed of the displacement monitoring of the monitoring point can be improved.

[0066] The millimeter or centimeter level precision coordinates of the monitoring points can be represented by vector express, X m , Y m , Z m Respectively represent the three-dimensional coordinates of the monitoring points with millimeter or centimeter level accuracy.

[0067] In step S205, the millimeter-level or centimeter-level precision coordinates of the monitoring point are compared with the initial coordinates of the monitoring point to obtain the relative displacement of the monitoring point.

[0068] In the disclosed embodiment, the initial coordinates of the reference station may be fixed, and the observation data of the monitoring point at the initial moment may be solved by differential positioning to obtain the initial coordinates of the monitoring point.

[0069] The initial coordinates of the monitoring points can be represented by vector express, X n , Y n , Z n They respectively represent the initial three-dimensional coordinates of the monitoring points.

[0070] In the embodiment of the present disclosure, the relative displacement of the monitoring point can be obtained by subtracting the initial coordinates of the monitoring point from the millimeter-level or centimeter-level precision coordinates of the monitoring point.

[0071] In step S206, the relative displacement of the monitoring point is corrected according to the relative displacement of the reference station to determine the deformation displacement of the monitoring point.

[0072] For example, the relative displacement of the reference station can be The relative displacement of the monitoring point Add them together to obtain the deformation displacement of the monitoring point.

[0073] Among them, the relative displacement of the monitoring point obtained by differential positioning is obtained under the condition of fixing the initial coordinates of the reference station, that is, the reference station is assumed to remain unchanged, and the deformation displacement of the reference station is not considered. The relative displacement of the monitoring point obtained by precise single-point positioning is used to correct the relative displacement of the monitoring point, which fully considers the deformation displacement of the reference station, making the deformation displacement of the monitoring point obtained more accurate, and avoiding the problem of inaccurate displacement of the monitoring point obtained due to displacement of the reference station.

[0074] In some embodiments, the displacement monitoring method may further include: generating an alarm message when the deformation displacement of the monitoring point is greater than a preset threshold.

[0075] Among them, the preset threshold can be set according to the actual application scenario.

[0076] In the disclosed embodiment, when the deformation displacement of the monitoring point is greater than a preset threshold, an alarm message can be automatically generated and sent to the user to facilitate the user to take subsequent measures.

[0077] The displacement monitoring method provided by the embodiment of the present disclosure obtains the relative displacement of the reference station through precise single-point positioning post-processing; obtains the relative displacement of the monitoring point through differential positioning; and corrects the relative displacement of the monitoring point according to the relative displacement of the reference station, so as to obtain a more accurate deformation displacement of the monitoring point. The method takes into account the displacement of the reference station, improves the displacement monitoring accuracy of the monitoring point, and avoids the problem of false alarm and missed alarm caused by ignoring the displacement of the reference station.

[0078] Figure 3 is a flow chart showing another displacement monitoring method according to an exemplary embodiment.

[0079] like Figure 3 As shown, in the embodiment of the present disclosure, the displacement monitoring method 30 includes the following steps.

[0080] In step S201, the observation data of the reference station and the observation data of the monitoring point are obtained.

[0081] In step S2021, the observation data of multiple sub-time periods within the first cycle of the reference station are solved by precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the multiple sub-time periods of the reference station.

[0082] Among them, the first cycle is greater than or equal to 15 days.

[0083] In the embodiment of the present disclosure, the first period can be, for example, the 15 days or 30 days that have passed and are closest to the current time, and can be set according to actual needs, and the present disclosure does not limit this. The multiple sub-time periods within the first period can be the same or different, and can be set according to actual needs, and the present disclosure does not limit this. In the following examples, the first period is the 30 days that have passed and are closest to the current time, and the multiple sub-time periods are all 1 day.

[0084] For example, the observation data of the base station in the past 30 days closest to the current time can be obtained, and the observation data of each day in the 30 days can be solved through precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the base station for each day.

[0085] The millimeter-level coordinates of the base station every day can be expressed as vector Indicates, where i is a positive integer greater than or equal to 1 and less than or equal to 30, and i represents the serial number of each day.

[0086] In step S2031, the millimeter-level precision coordinates of multiple sub-time periods of the first cycle are smoothed.

[0087] For example, the millimeter-level precision coordinates of each day within the 30 days can be smoothed using the following formula:

[0088]

[0089] Smoothing the millimeter-level precision coordinates of multiple sub-time periods of the first cycle can avoid the impact of fluctuating displacements caused by wind resistance, sunshine, etc. on displacement monitoring at the base station.

[0090] In step S2032, the smoothed millimeter-level precision coordinates are compared with the initial coordinates of the reference station to obtain the relative displacement of the reference station.

[0091] For example, the relative displacement of the base station can be obtained by subtracting the initial coordinates of the base station from the millimeter-level precision coordinates of the smoothed base station.

[0092] In step S204, based on the initial coordinates of the reference station, the observation data of the monitoring point is solved by differential positioning to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point.

[0093] In step S205, the millimeter-level or centimeter-level precision coordinates of the monitoring point are compared with the initial coordinates of the monitoring point to obtain the relative displacement of the monitoring point.

[0094] In step S206, the relative displacement of the monitoring point is corrected according to the relative displacement of the reference station to determine the deformation displacement of the monitoring point.

[0095] Step S201 , step S204 , step S205 , and step S206 in the displacement monitoring method 30 are the same as step S201 , step S204 , step S205 , and step S206 in the displacement monitoring method 20 , and are not described in detail herein.

[0096] Figure 4 is a flow chart showing another displacement monitoring method according to an exemplary embodiment.

[0097] and Figure 2 The difference between the displacement monitoring method 20 shown is that Figure 4 The displacement monitoring method shown further provides how to compare the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station, that is, provides an embodiment of the above step S203.

[0098] refer to Figure 4 , step S203 includes:

[0099] In step S2033, the plate displacement is calculated according to the velocity field of the earth plate where the reference station is located.

[0100] The earth plate where the reference station is located may be, for example, the Eurasian plate.

[0101] For example, the velocity field and epoch of the Eurasian plate under the ITRF (International Terrestrial Reference Frame) can be obtained, and the plate displacement can be calculated based on the changes in the velocity field and epoch of the Eurasian plate.

[0102] If the epoch of the coordinate frame broadcast by the SSR service has changed, the millimeter-level precision coordinates of the base station obtained by PPP post-processing can be converted to the same epoch as the initial coordinates of the base station, and then the relative displacement of the base station can be calculated. This is because if the epochs of the previous and subsequent coordinate comparisons are different, the calculated base station displacement actually also includes the plate displacement, which can be corrected by the high-precision velocity field.

[0103] In step S2034, the millimeter-level precision coordinates of the reference station are compared with the initial coordinates of the reference station, and the plate displacement is subtracted to obtain the relative displacement of the reference station.

[0104] For example, the relative displacement of the base station can be obtained by subtracting the initial coordinates of the base station from the millimeter-level precision coordinates of the base station and subtracting the plate displacement.

[0105] It should be noted that the above figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0106] The following are embodiments of the device disclosed herein, which can be used to execute the method embodiments disclosed herein. For details not disclosed in the device embodiments disclosed herein, please refer to the method embodiments disclosed herein.

[0107] Figure 5 is a block diagram of a displacement monitoring device according to an exemplary embodiment.

[0108] like Figure 5 As shown, the displacement monitoring device 500 may include: a data acquisition module 510 , a first solution module 520 , a first comparison module 530 , a second solution module 540 and a displacement determination module 550 .

[0109] Among them, the data acquisition module 510 can be used to obtain the observation data of the reference station and the observation data of the monitoring point; the first solution module 520 can solve the observation data of the reference station through precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station; the first comparison module 530 can be used to compare the precise coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station; the second solution module 540 can be used to solve the observation data of the monitoring point through differential positioning based on the initial coordinates of the reference station to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point; the second comparison module 550 can be used to compare the millimeter-level or centimeter-level precision coordinates of the monitoring point with the initial coordinates of the monitoring point to obtain the relative displacement of the monitoring point; the displacement determination module 560 can be used to correct the relative displacement of the monitoring point according to the relative displacement of the reference station to determine the deformation displacement of the monitoring point.

[0110] In some embodiments, the first solution module 520 may include: a first solution unit, which can be used to solve the observation data of multiple sub-time periods within the first period of the base station through precise single-point positioning post-processing, and obtain the millimeter-level precision coordinates of the multiple sub-time periods of the base station, wherein the first period is greater than or equal to 15 days; the first comparison module 530 may include: a smoothing unit, which can be used to smooth the millimeter-level precision coordinates of multiple sub-time periods of the first period; the first comparison unit can be used to compare the smoothed millimeter-level precision coordinates with the initial coordinates of the base station to obtain the relative displacement of the base station.

[0111] In some embodiments, the second solution module 540 may include: a second solution unit, which can be used to solve the observation data of the second period of the monitoring point through differential positioning according to the initial coordinates of the base station to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point; wherein the second period is less than or equal to 3 days.

[0112] In some embodiments, the first comparison module 530 may include: a plate displacement calculation unit, which can be used to calculate the plate displacement based on the velocity field of the earth plate where the reference station is located; a second comparison unit, which can be used to compare the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station, and subtract the plate displacement to obtain the relative displacement of the reference station.

[0113] In some embodiments, the differential positioning is real-time dynamic positioning or post-processing differential positioning.

[0114] In some embodiments, the displacement monitoring device 500 may further include: an alarm information generating module, which may be used to generate alarm information when the deformation displacement of the monitoring point is greater than a preset threshold.

[0115] In some embodiments, the reference station includes a physical reference station and a virtual reference station.

[0116] The displacement monitoring device provided by the embodiment of the present disclosure obtains the relative displacement of the reference station through precise single-point positioning post-processing; obtains the relative displacement of the monitoring point through differential positioning; and corrects the relative displacement of the monitoring point according to the relative displacement of the reference station, so as to obtain a more accurate deformation displacement of the monitoring point. The device takes into account the displacement of the reference station, improves the displacement monitoring accuracy of the monitoring point, and avoids the problem of false alarm and missed alarm caused by ignoring the displacement of the reference station.

[0117] It should be noted that the block diagrams shown in the above figures are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0118] Figure 6 is a schematic diagram of a structure of an electronic device according to an exemplary embodiment. It should be noted that: Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0119] like Figure 6 As shown, the electronic device 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage part 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the system 600 are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0120] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage section 608 as needed.

[0121] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 609, and / or installed from a removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, the above-mentioned functions defined in the system of the present invention are executed.

[0122] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0123] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0124] The units involved in the embodiments of the present invention may be implemented in software or hardware. The units described may also be provided in a processor. For example, they may be described as follows: a processor includes a sending unit, an acquiring unit, a determining unit, and a first processing unit. The names of these units do not, in some cases, limit the units themselves. For example, the sending unit may also be described as a "unit that sends a request for obtaining an image to a connected server."

[0125] As another aspect, the present invention further provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device includes:

[0126] Obtain observation data from base stations and monitoring points;

[0127] The observation data of the reference station is solved through precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station;

[0128] Compare the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station;

[0129] According to the initial coordinates of the base station, the observation data of the monitoring point is solved by differential positioning to obtain the millimeter or centimeter level accuracy coordinates of the monitoring point;

[0130] Compare the millimeter-level or centimeter-level precision coordinates of the monitoring point with the initial coordinates of the monitoring point to obtain the relative displacement of the monitoring point;

[0131] The relative displacement of the monitoring point is corrected according to the relative displacement of the reference station to determine the deformation displacement of the monitoring point.

[0132] The exemplary embodiments of the present invention are specifically shown and described above. It should be understood that the present invention is not limited to the detailed structure, configuration or implementation method described herein; on the contrary, the present invention is intended to cover various modifications and equivalent configurations included in the spirit and scope of the appended claims.

Claims

1. A displacement monitoring method, characterized in that: include: Obtain observation data from base stations and monitoring points; The observation data of the reference station is solved by precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station; Comparing the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station; According to the initial coordinates of the reference station, the observation data of the monitoring point is solved by differential positioning to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point; Compare the millimeter-level or centimeter-level precision coordinates of the monitoring point with the initial coordinates of the monitoring point to obtain the relative displacement of the monitoring point; Correcting the relative displacement of the monitoring point according to the relative displacement of the reference station to determine the deformation displacement of the monitoring point; The step of solving the observation data of the reference station by precise point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station further includes: Calculate the observation data of multiple sub-time periods within a first period of the reference station through precise point positioning post-processing to obtain millimeter-level precision coordinates of the multiple sub-time periods of the reference station, wherein the first period is greater than or equal to 15 days; The step of comparing the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station further comprises: Smoothing the millimeter-level precision coordinates of the multiple sub-time periods of the first cycle; The smoothed millimeter-level precision coordinates are compared with the initial coordinates of the reference station to obtain the relative displacement of the reference station.

2. The method according to claim 1, characterized in that: The step of solving the observation data of the monitoring point by differential positioning according to the initial coordinates of the reference station to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point further includes: According to the initial coordinates of the reference station, the observation data of the second period of the monitoring point is solved by differential positioning to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point; Wherein, the second period is less than or equal to 3 days.

3. The method according to claim 1, characterized in that The step of comparing the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station further comprises: Calculating plate displacement according to the velocity field of the earth plate where the reference station is located; The millimeter-level precision coordinates of the reference station are compared with the initial coordinates of the reference station, and the plate displacement is subtracted to obtain the relative displacement of the reference station.

4. The method according to claim 1, characterized in that: The differential positioning is real-time dynamic positioning or post-processing differential positioning.

5. The method according to claim 1, characterized in that Also includes: When the deformation displacement of the monitoring point is greater than a preset threshold, an alarm message is generated.

6. The method according to claim 1, characterized in that The reference stations include physical reference stations and virtual reference stations.

7. A displacement monitoring device, characterized in that: include: A data acquisition module is used to acquire the observation data of the reference station and the observation data of the monitoring point; A first solution module solves the observation data of the reference station through precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station; A first comparison module, used for comparing the precise coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station; A second solution module is used to solve the observation data of the monitoring point through differential positioning according to the initial coordinates of the reference station to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point; A second comparison module is used to compare the millimeter-level or centimeter-level precision coordinates of the monitoring point with the initial coordinates of the monitoring point to obtain the relative displacement of the monitoring point; A displacement determination module, used to correct the relative displacement of the monitoring point according to the relative displacement of the reference station to determine the deformation displacement of the monitoring point; The step of solving the observation data of the reference station by precise point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station further includes: Calculate the observation data of multiple sub-time periods within a first period of the reference station through precise point positioning post-processing to obtain millimeter-level precision coordinates of the multiple sub-time periods of the reference station, wherein the first period is greater than or equal to 15 days; The step of comparing the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station further comprises: Smoothing the millimeter-level precision coordinates of the multiple sub-time periods of the first cycle; The smoothed millimeter-level precision coordinates are compared with the initial coordinates of the reference station to obtain the relative displacement of the reference station.

8. The displacement monitoring device according to claim 7, characterized in that: The first comparison module is further used for: Calculating plate displacement according to the velocity field of the earth plate where the reference station is located; The millimeter-level precision coordinates of the reference station are compared with the initial coordinates of the reference station, and the plate displacement is subtracted to obtain the relative displacement of the reference station.

9. A displacement monitoring system, characterized in that: The system includes: a reference station, a monitoring point and a data center; wherein, The reference station is used to receive GNSS satellite observation data and send the observation data of the reference station to the data center; The monitoring point is used to receive GNSS satellite observation data and send the observation data of the monitoring point to the data center; The data center solves the observation data of the reference station through precise single-point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station; compares the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station; solves the observation data of the monitoring point through differential positioning based on the initial coordinates of the reference station to obtain the millimeter-level or centimeter-level precision coordinates of the monitoring point; compares the millimeter-level or centimeter-level precision coordinates of the monitoring point with the initial coordinates of the monitoring point to obtain the relative displacement of the monitoring point; corrects the relative displacement of the monitoring point based on the relative displacement of the reference station to determine the deformation displacement of the monitoring point; Wherein, the step of solving the observation data of the reference station by precise single point positioning post-processing to obtain the millimeter-level precision coordinates of the reference station further includes: Calculate the observation data of multiple sub-time periods within a first period of the reference station through precise point positioning post-processing to obtain millimeter-level precision coordinates of the multiple sub-time periods of the reference station, wherein the first period is greater than or equal to 15 days; The step of comparing the millimeter-level precision coordinates of the reference station with the initial coordinates of the reference station to obtain the relative displacement of the reference station further comprises: Smoothing the millimeter-level precision coordinates of the multiple sub-time periods of the first cycle; The smoothed millimeter-level precision coordinates are compared with the initial coordinates of the reference station to obtain the relative displacement of the reference station.

10. The displacement monitoring system according to claim 9, characterized in that: The data center is further used for: Calculating plate displacement according to the velocity field of the earth plate where the reference station is located; The millimeter-level precision coordinates of the reference station are compared with the initial coordinates of the reference station, and the plate displacement is subtracted to obtain the relative displacement of the reference station.

11. An electronic device, characterized in that: include: at least one processor; A storage device, used to store at least one program, when the at least one program is executed by the at least one processor, enables the at least one processor to implement the method according to any one of claims 1 to 6.

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