A real-time GNSS landslide monitoring system based on trackRT

Abstract

The invention relates to a real-time GNSS landslide monitoring system based on trackRT, belonging to the technical field of environmental monitoring. The system comprises a real-time data acquisition module, a data stream management module and a data solution module; the real-time data acquisition module comprises a GNSS receiver, which receives signals transmitted by a GNSS satellite in real time; the data stream management module obtains observation value information of each landslide monitoring point by receiving and identifying the GNSS data stream sent by the real-time data acquisition module in real time; the data solution module comprises TrackRT software and GAMIT / GLOBK software; the GAMIT / GLOBK software is used to determine the deformation amount of a reference station; the TrackRT software receives the GNSS data stream of the data stream management module in real time, and solves the deformation amount of each landslide monitoring point relative to the reference station in real-time single epoch according to the deformation amount of the reference station and the GNSS data stream, thereby improving the accuracy of landslide monitoring.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental monitoring, and in particular to a real-time GNSS landslide monitoring system based on trackRT. Background Art

[0002] There are two main GNSS landslide monitoring methods currently used: one is the quasi-real-time or periodic static baseline solution mode, which can achieve mm-level monitoring, but it cannot meet the real-time monitoring and early warning needs of landslides; the other is the real-time RTK dynamic positioning mode for monitoring, and its three-dimensional accuracy is generally cm-level. Although this mode meets the timeliness requirements, its monitoring results are easily affected by the station environment, and it cannot effectively monitor the slow deformation stage of the landslide. In addition, the above two methods cannot effectively monitor the stability of the base station. When the base station is abnormal, it will directly affect the reliability of the monitoring results. Summary of the invention

[0003] The purpose of the present invention is to provide a real-time GNSS landslide monitoring system based on trackRT, thereby improving the monitoring accuracy.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A real-time GNSS landslide monitoring system based on trackRT, including a real-time data acquisition module, a data stream management module and a data solution module;

[0006] The real-time data acquisition module includes a GNSS receiver, which is used to receive the carrier signal transmitted by the GNSS satellite in real time; the data stream management module is connected to the real-time data acquisition module, and the data stream management module is used to obtain the observation value information of each landslide monitoring point by receiving and identifying the GNSS data stream formed by the carrier signal sent by the real-time data acquisition module in real time, and send the GNSS data stream and the observation value information of each landslide monitoring point to the data solution module; the data solution module includes TrackRT software and GAMIT / GLOBK software; the GAMIT / GLOBK software is used to determine the deformation of the reference station according to the observation value information of each landslide monitoring point; the TrackRT software is used to receive the GNSS data stream of the data stream management module in real time, and solve the deformation of each landslide monitoring point relative to the reference station in real time single epoch according to the deformation of the reference station and the GNSS data stream.

[0007] Optionally, the data flow management module is deployed on a cloud server.

[0008] Optionally, the observation value information is an observation value file in Rinex format.

[0009] Optionally, the real-time GNSS monitoring system for landslides is a real-time GNSS monitoring system for landslides based on the Ntrip protocol, each GNSS receiver as NtripSource defines a unique mounting point, NtripServer is embedded in the GNSS receiver, NtripServer is used to remotely transmit the GNSS data stream to the cloud server in real time through a 4G or 5G communication module, NtripCaster is deployed on the cloud server, and NtripClient is the data solution module; the NtripCaster input end identifies the GNSS data stream transmitted by NtripServer according to the mounting point, and converts the GNSS data stream in RTCM format into an observation value file in Rinex format in real time and stores it in the cloud server, the NtripCaster output end identifies the data solution module according to the mounting point, user name and password, and after successful identification, broadcasts the GNSS data stream in RTCM format to the data solution module in real time.

[0010] Optionally, the data solution module further includes BNC software, and the BNC software is used to receive and decode the GNSS data stream in RTCM format broadcast in real time by the data stream management module, and broadcast the decoded data to the TrackRT software in real time.

[0011] Optionally, the data solution module is also used to perform GAMIT baseline solution on the Rinex data of the reference station and each IGS station, obtain the baseline information between each station, and then perform network adjustment calculation on the baseline information between each station, obtain the absolute coordinates of the reference station in the ITRF reference frame, and determine the true deformation of the reference station according to the absolute coordinates of the reference station in the ITRF reference frame. If the true deformation of the reference station exceeds a set threshold, the deformation of each landslide monitoring point relative to the reference station calculated by the TrackRT software is compensated for the base station change.

[0012] Optionally, a result display module is further included, and the result display module is used to display the deformation amount of each landslide monitoring point relative to the reference station in real time.

[0013] Optionally, the GNSS receiver is a ubiquitous GNSS receiver.

[0014] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0015] The present invention discloses a real-time GNSS monitoring system for landslides based on trackRT. The deformation amount of a reference station is determined according to the observation value information of each landslide monitoring point through GAMIT / GLOBK software, thereby realizing near real-time monitoring of the stability of the reference station and improving the reliability of the monitoring result. In addition, the deformation amount of each landslide monitoring point relative to the reference station is obtained through real-time single epoch solution of the deformation amount of the reference station and GNSS data stream through TrackRT software, thereby improving the accuracy of the monitoring result. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 This is a structural schematic diagram of a real-time GNSS landslide monitoring system based on trackRT of the present invention;

[0018] Figure 2 A brief technical schematic diagram of a real-time GNSS landslide monitoring system based on trackRT of the present invention;

[0019] Figure 3 This is a flow chart of landslide real-time monitoring data processing of a landslide real-time GNSS monitoring system based on trackRT of the present invention;

[0020] Figure 4 This is a schematic diagram of the Linxia loess landslide monitoring area of ​​the present invention;

[0021] Figure 5 The cumulative deformation diagram of the GAMIT baseline solution in the stable stage of the present invention;

[0022] Figure 6 This is a comparison chart of TrackRT / Track residual time series in the stable stage of the present invention;

[0023] Figure 7 The cumulative deformation map of the GAMIT baseline solution in the sliding stage of the present invention;

[0024] Figure 8 It is a comparison diagram of TrackRT / Track residual time series in the sliding stage of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The purpose of the present invention is to provide a real-time GNSS landslide monitoring system based on trackRT, thereby improving the monitoring accuracy.

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Figure 1 FIG. 1 is a schematic diagram of a real-time GNSS landslide monitoring system based on trackRT according to the present invention. Figure 1 As shown, a real-time GNSS landslide monitoring system based on trackRT includes a real-time data acquisition module, a data stream management module and a data solution module.

[0029] The real-time data acquisition module includes a GNSS receiver, which is used to receive the carrier signal transmitted by the GNSS satellite in real time; the data stream management module is connected to the real-time data acquisition module, and the data stream management module is used to obtain the observation value information of each landslide monitoring point by receiving and identifying the GNSS data stream formed by the carrier signal sent by the real-time data acquisition module in real time, and send the GNSS data stream and the observation value information of each landslide monitoring point to the data solution module; the data solution module includes TrackRT software and GAMIT / GLOBK software; GAMIT / GLOBK software is used to determine the deformation of the reference station in the landslide monitoring point according to the GNSS observation values ​​of each tracking station provided by the International GNSS Service (IGS) and various products of IGS; TrackRT software is used to receive the GNSS data stream of the data stream management module in real time, and solve the deformation of each landslide monitoring point relative to the reference station in real-time single epoch according to the deformation of the reference station and the GNSS data stream.

[0030] The stability of the landslide at each landslide monitoring point is judged based on the deformation of each landslide monitoring point relative to the benchmark station.

[0031] The base station is located in a stable area away from the landslide.

[0032] The GNSS receiver is a universal GNSS receiver. The universal GNSS receiver receives the carrier signal transmitted by the GNSS satellite in real time, and then uses the GNSS carrier signal for real-time positioning and calculation, and calculates the deformation information of the landslide monitoring point for landslide monitoring and early warning. Compared with traditional receivers, the universal GNSS receiver meets the needs of landslide monitoring in terms of cost, function and size. The universal GNSS receiver supports the Ntrip transmission protocol to transmit real-time data streams in RTCM format, and uses 4G / 5G communication means to transmit monitoring data to the cloud in real time, and realize cloud storage and cloud computing on the cloud server. The brief technical route of the universal GNSS monitoring system is as follows: Figure 2 shown.

[0033] The data flow management module is deployed on the cloud server.

[0034] The observation information is an observation file in Rinex format.

[0035] With the development of communication technology, the GNSS data stream of the monitoring station is transmitted to the cloud data management center in real time using 4G / 5G technology, which can realize the real-time processing of GNSS data. The GNSS data stream transmission format of the present invention is based on the RTCM format of Ntrip.

[0036] Ntrip protocol can divide the various links of data stream generation, transmission, management and use into an independent but effectively connected whole. It mainly consists of four parts: NtripSource, NtripServer, NtripCaster and NtripClient. NtripSource provides continuous GNSS data stream in RTCM format; NtripServer receives the data stream from NtripSource and transmits it to NtripCaster; NtripCaster, as a data transfer station, is the core part of the entire protocol and can realize functions such as data stream management, user identity authentication and recording; NtripClient, as the terminal user of the entire system, obtains the required GNSS data stream through NtripCaster and uses it for real-time positioning solution, etc.

[0037] The landslide real-time GNSS monitoring system is a landslide real-time GNSS monitoring system based on the Ntrip protocol:

[0038] NtripSource is a ubiquitous GNSS receiver deployed at landslide monitoring points. Each GNSS receiver, as an NtripSource, has a unique mount point defined.

[0039] NtripServer is embedded in the GNSS receiver. NtripServer is used to remotely transmit GNSS data streams to the cloud server in real time through a 4G or 5G communication module.

[0040] NtripCaster is deployed on the cloud server and can receive up to 150 GNSS data streams from NtripServer at the same time. The input end of NtripCaster identifies the GNSS data stream transmitted by NtripServer according to the mounting point, and converts the GNSS data stream in RTCM format into Rinex format observation value files in real time and stores them in the cloud server. The output end of NtripCaster identifies the data solution module (NtripClient) according to the defined port, user name and password. After successful identification, the GNSS data stream in RTCM format is broadcast to the data solution module in real time, and its access is monitored and recorded.

[0041] NtripClient is composed of a data solution module. NtripClient first receives and decodes the real-time data stream output by NtripCaster through the BNC (BKGNtrip Client) software developed by the German Federal Office of Cartography and Geodesy (BKG), and broadcasts it to the TrackRT software in real time for data solution. That is, the data solution module also includes the BNC software. The BNC software is used to receive and decode the GNSS data stream in the RTCM format broadcast by the data stream management module in real time, and broadcast the decoded data to the TrackRT software in real time.

[0042] BNC is an open source toolkit for retrieving, decoding, converting and processing real-time GNSS data streams. It can receive GNSS data streams based on the Ntrip protocol in real time and perform functions such as decoding, conversion and broadcasting. TrackRT only needs to enter the IP address and corresponding port number of the server where the BNC software is located to complete the reception and decoding of the data stream.

[0043] The data solution module is also used to perform GAMIT baseline solution on the Rinex data of the base station and each IGS station, obtain the baseline information between each station, and then perform network adjustment calculation on the baseline information between each station, obtain the absolute coordinates of the base station in the ITRF reference frame, and determine the true deformation of the base station based on the absolute coordinates of the base station in the ITRF reference frame. If the true deformation of the base station exceeds the set threshold, the deformation of each landslide monitoring point relative to the base station calculated by the TrackRT software is compensated for the base station change.

[0044] A trackRT-based real-time GNSS landslide monitoring system further comprises a result display module, which is used to display in real time the deformation of each landslide monitoring point relative to a reference station.

[0045] The result display module is located at the user display terminal.

[0046] Based on the high-precision baseline processing software GAMIT / GLOBK and TrackRT, the present invention uses ubiquitous GNSS monitoring equipment to achieve two solution modes: near-real-time baseline solution and real-time single-epoch solution. The near-real-time baseline solution is based on the GAMIT / GLOBK software, and the real-time single-epoch solution is based on TrackRT. The main ideas are as follows:

[0047] (1) Network file download

[0048] The data stream management module deployed on the cloud server can receive data streams (GNSS data streams) from each monitoring station in real time, and decode and store them at the same time, generating a series of Rinex observation files for the near-real-time baseline solution module. In addition, by writing programs, the server can automatically download ultra-fast precise ephemeris, broadcast ephemeris, table files required for GAMIT solution, IGS station observation files and other data, and perform file matching checks based on file names and sizes, and record and store missing file information in log files.

[0049] (2) Near real-time baseline solution

[0050] GAMIT / GLOBK software can realize baseline solution and adjustment of Rinex files as high-precision baseline solution software. The present invention realizes the functions of automatic solution, result extraction and the like of GAMIT / GLOBK on a server by writing GAMIT / GLOBK automatic solution scripts and timing running commands: the script first links the Rinex observation value files of each monitoring point provided by a data stream management module, the table files required for GAMIT solution downloaded by the server in a timing manner, the ultra-fast precise ephemeris, the broadcast ephemeris and the like to the engineering files of the corresponding year and day; and then the GAMIT solution can be realized by the GAMIT distributed solution script, and a series of solution results are generated. The GAMIT baseline solution results contain the deformation magnitude (NEU coordinate) of each landslide monitoring station relative to a reference station, and the deformation information of the monitoring station can be obtained by the NEU coordinate.

[0051] Since the reliability of the real-time single-epoch solution results depends on the stability of the landslide monitoring reference station, the present invention obtains the real deformation information of the reference station by combining the reference station with each IGS station and performing GLOBK network adjustment. First, the GAMIT baseline solution is performed on the Rinex data of the reference station and each IGS station to obtain the baseline information between the stations, and then the network adjustment calculation is performed on the baseline solution results to obtain the absolute coordinates of the reference station in the ITRF reference frame. Then, the stability of the reference station is analyzed. If the real deformation of the reference station exceeds the specified threshold, the monitoring results in the real-time single-epoch solution part are compensated for the change of the reference station.

[0052] (3) Real-time single epoch solution

[0053] The core issue of TrackRT real-time single epoch positioning is the determination of the integer ambiguity of the carrier phase. TrackRT uses a combination of MW-WL (Melbourne-Wubbenawidelane, wide lane combined observations), EX-WL (extrawidelane, ultra-wide lane combined observations) and LC (ionospheric elimination combined observations) floating point estimates to determine the integer ambiguity. GPS satellites transmit two frequencies of carrier signals, namely, the L1 carrier with a frequency of 1575.42MHz and the L2 carrier with a frequency of 1227.60HMz. If N1 and N2 are used to represent the integer ambiguity at L1 and L2, then MW-WL is an estimate of N1-N2 based on phase and pseudorange, expressed as:

[0054]

[0055]

[0056] LC=2.546N1-1.984N2⑶

[0057] In the formula, f i For L i The carrier frequency of the band, is the corresponding phase observation, P i is the corresponding pseudorange observation, i=1,2, c is the speed of light.

[0058] For the linear combination of observations, TrackRT can choose single-frequency L1 or LC. In the case of short baselines, the single-frequency L1 mode is generally selected. At this time, after differential, the satellite ephemeris error and atmospheric delay error will be greatly weakened. The multipath effect and observation noise amplified after differential are the main error sources. For medium and long baselines (baseline length>20km), the LC form is often used. At this time, the double difference residual error is the main error source affecting the positioning accuracy, and LC can effectively eliminate the influence of ionospheric delay, but compared with the single-frequency L1 observation value, the observation noise of the LC combination is amplified by 3 times.

[0059] In addition to ambiguity fixation and observation quantity selection, the real-time positioning accuracy of TrackRT is also closely related to the satellite ephemeris file, model correction file and data processing strategy. The error correction model and data processing strategy used by the system of the present invention are shown in Table 1.

[0060] Table 1 TrackRT data processing strategy

[0061]

[0062] The real-time single-epoch solution part first uses BNC to receive and decode the RTCM data stream transmitted by the data stream management module, and then performs real-time solution based on the TrackRT module. TrackRT can calculate the deformation of each landslide monitoring point relative to the reference station (the reference station is located in a stable area far away from the landslide) in real time, and then judge the stability of the landslide based on the displacement and deformation rate of the monitoring point.

[0063] Because the relative positioning monitoring mode is very dependent on the stability of the reference station, and the stability of the reference station cannot be directly obtained through single epoch positioning, the system of the present invention can conduct joint measurement of the reference station with the stable IGS station released by the international GNSS service organization, and then determine the stability of the reference station, and calibrate the deformation size of the reference station in near real time. If the three-dimensional deformation of the reference station exceeds the specified threshold (the system sets the threshold: NEU direction <20mm), the deformation size (N1, E1, U1) of the reference station is calibrated, and the single epoch positioning result at the corresponding moment is compensated for the change. The compensation method is: the system first determines whether the three-dimensional deformation of the reference station in the baseline solution result exceeds the specified threshold. If it exceeds the specified threshold, the deformation size (N1, E1, U1) of the reference station on that day relative to the initial coordinates of the reference station is calculated, and then the single epoch result at the corresponding moment is subtracted from (N1, E1, U1) to obtain the single epoch positioning result after the reference station change compensation. If the reference station exceeds the specified threshold for many consecutive days, the staff is required to check the stability of the reference station on site and re-fix the reference station. The system can store the real-time single-epoch monitoring results (the deformation of each landslide monitoring point relative to the reference station) in the database and publish it to the web-based monitoring platform in real time. Figure 3 shown.

[0064] In order to analyze the accuracy and reliability of TrackRT for real-time monitoring of landslides, the present invention uses the Linxia loess landslide as an example to build a monitoring system for analysis. The landslide is located about 200 meters from the south-to-north exit of the Zangliang Tunnel on G310 National Highway in Linxia City, Gansu Province (35°35′44″N, 102°57′02″E). The high slope is about 20m high and is a rainfall-type loess landslide. Affected by rainfall and its own gravity, the slope has a tendency to slide toward the side of the highway (eastward). The specific location and point layout of the landslide are as follows: Figure 4 As shown, BZJZ is the reference point, located in the stable area above the slope, BZ01 is the monitoring point, located on the landslide body, the baseline length of the two points is 34.5 meters, and the receiver sampling rate is 1s.

[0065] In order to objectively evaluate the accuracy and reliability of TrackRT for real-time landslide monitoring, the present invention selected two monitoring environments, namely the stable stage and the rapid deformation stage of the landslide, and compared and analyzed the monitoring results with the solution results of the Track module with higher accuracy.

[0066] During the landslide stabilization stage, a total of 36,000 epochs of monitoring data from the real-time monitoring system in 2021 DOY297 days and 10 hours were selected for analysis, and the results calculated by the Track module were compared. Track adopted the short baseline mode and the final precise ephemeris. Figure 5 The figure shows the cumulative deformation diagram of the NEU direction of the GAMIT near-real-time baseline solution module in the monitoring system for a total of 21 days of monitoring results. Figure 7 The figure shows the comparison of residual sequence of NEU direction of TrackRT and Track monitoring results. Table 2 shows the statistical results of internal coincidence accuracy of three monitoring methods. Table 3 shows the mean of NEU direction monitoring results of TrackRT and Track.

[0067] from Figure 5 It can be seen that the BZ01 station is in a stable state during DOY 280-300 days, and the internal accuracy of the GAMIT near-real-time baseline solution is within 2 mm in the horizontal direction and within 5 mm in the vertical direction. Figure 6 From Table 2, we can find that the monitoring results of TrackRT and Track are well consistent in the stable stage. Figure 6 (a) represents the offset in the N direction, (b) represents the offset in the E direction, and (c) represents the offset in the U direction. Figure 6 The horizontal coordinates in (a), (b) and (c) are epochs (s×10 4 ), the real-time monitoring results of TrackRT are better than 4mm in the horizontal direction and better than 15mm in the elevation direction. If the Track result with higher monitoring results is used as a reference, it can be seen from Table 3 that the external conformity accuracy of the TrackRT monitoring results is better than 6mm in all three directions.

[0068] Table 2 Statistical results of the accuracy in the NEU direction during the stable phase (unit: mm)

[0069]

[0070] Table 3 Mean values ​​of NEU direction monitoring results during the stable phase (unit: m)

[0071]

[0072] In order to further explore the accuracy and reliability of TrackRT for monitoring the rapid deformation stage of landslides, the deformation stage data of the landslide in 2020 was used for analysis. Figure 7 This is the cumulative deformation diagram of the monitoring results of BZ01 site DOY245-335 days solved by the GAMIT near real-time baseline solution module. Affected by rainfall, the cumulative deformation of the E direction of BZ01 site reached 78.5cm in a total of 91 days, and there were also different degrees of deformation in the N and U directions. The present invention uses TrackRT to analyze the 10H data of DOY275 days from 12:00 to 22:00, the largest deformation stage of the landslide, to verify its accuracy and stability for the sliding deformation stage.

[0073] from Figure 8 It can be seen that both TrackRT and Track results detected that the E direction of the BZ01 station had a large deformation at this stage, with a cumulative deformation of about 28 mm in 10 hours. There was no obvious deformation in the elevation direction. The landslide slid rapidly toward the side of the highway (E direction) at this stage. Figure 8 The ordinates of (a), (b) and (c) represent the offsets in the N, E and U directions respectively, and the abscissa represents the epoch (s×10 4 ). It can be seen from Tables 4 and 5 that at this stage, the internal conformity accuracy of TrackRT is better than 4mm in the horizontal direction and better than 15mm in the elevation direction; if the Track results are used as a reference, the external conformity accuracy of TrackRT is better than 5mm in all three directions.

[0074] Table 4 Statistical results of the compliance accuracy in the NEU direction during the sliding phase (unit: mm)

[0075]

[0076]

[0077] Table 5 Mean values ​​of monitoring results in the NEU direction during the sliding phase (unit: m)

[0078]

[0079] The above monitoring results show that TrackRT can meet the real-time monitoring needs of sub-centimeter landslides under short baseline conditions. The internal conformity accuracy is better than 4mm in the plane direction and better than 15mm in the elevation direction, whether in the stable stage or the rapid deformation stage. The external conformity accuracy is better than 6mm in all three directions.

[0080] When TrackRT is used for GNSS short-baseline relative positioning, its accuracy is mainly affected by measurement noise and multipath effects. In real landslide environments, the multipath effects in the monitoring results will be more significant due to the monitoring environment, cost constraints (measurement antenna, no choke), and other issues. Since the landslide station environment will not change significantly in a short period of time, if the sidereal day filtering method is used to further process the monitoring results, it is expected that the TrackRT monitoring accuracy will reach a higher level.

[0081] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0082] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A real-time GNSS landslide monitoring system based on trackRT, characterized in that: It includes real-time data acquisition module, data flow management module and data solution module; The real-time data acquisition module includes a GNSS receiver, and the GNSS receiver is used to receive the carrier signal transmitted by the GNSS satellite in real time; the data stream management module is connected to the real-time data acquisition module, and the data stream management module is used to obtain the observation value information of each landslide monitoring point by receiving and identifying the GNSS data stream formed by the carrier signal sent by the real-time data acquisition module in real time, and send the GNSS data stream and the observation value information of each landslide monitoring point to the data solution module; the data solution module includes TrackRT software and GAMIT / GLOBK software; the GAMIT / GLOBK software is used to determine the deformation amount of the reference station according to the observation value information of each landslide monitoring point; the TrackRT software is used to receive the GNSS data stream of the data stream management module in real time, and solve the deformation amount of each landslide monitoring point relative to the reference station according to the deformation amount of the reference station and the real-time single epoch of the GNSS data stream; The data solution module is also used to perform GAMIT baseline solution on the Rinex data of the reference station and each IGS station, obtain the baseline information between each station, and then perform network adjustment calculation on the baseline information between each station, obtain the absolute coordinates of the reference station in the ITRF reference frame, and determine the true deformation of the reference station according to the absolute coordinates of the reference station in the ITRF reference frame. If the true deformation of the reference station exceeds a set threshold, the deformation of each landslide monitoring point relative to the reference station calculated by the TrackRT software is compensated for the change of the reference station; The data flow management module is deployed on a cloud server; The real-time GNSS monitoring system for landslides is a real-time GNSS monitoring system for landslides based on the Ntrip protocol. Each GNSS receiver, as NtripSource, defines a unique mounting point. NtripServer is embedded in the GNSS receiver. NtripServer is used to remotely transmit the GNSS data stream to the cloud server in real time through a 4G or 5G communication module. NtripCaster is deployed on the cloud server. NtripClient is the data solution module. The NtripCaster input end identifies the GNSS data stream transmitted by NtripServer according to the mounting point, and converts the GNSS data stream in RTCM format into an observation value file in Rinex format in real time and stores it in the cloud server. The NtripCaster output end identifies the data solution module according to the mounting point, user name and password. After the identity identification is successful, the GNSS data stream in RTCM format is broadcast to the data solution module in real time.

2. The trackRT-based real-time GNSS landslide monitoring system according to claim 1 is characterized in that: The observation value information is an observation value file in Rinex format.

3. The trackRT-based landslide real-time GNSS monitoring system according to claim 1 is characterized in that: The data solution module also includes BNC software, which is used to receive and decode the GNSS data stream in RTCM format broadcast by the data stream management module in real time, and broadcast the decoded data to the TrackRT software in real time.

4. The trackRT-based real-time GNSS landslide monitoring system according to claim 1, characterized in that: It also includes a result display module, which is used to display the deformation of each landslide monitoring point relative to the reference station in real time.

5. The trackRT-based real-time GNSS landslide monitoring system according to claim 1, characterized in that: The GNSS receiver is a ubiquitous GNSS receiver.

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