Water level measurement method, system, device and storage medium

Abstract

The present invention discloses a water level measurement method, system, device and storage medium, and relates to the field of engineering measurement technology. The present application obtains the location of the observation station and the solution data of the satellite through positioning solution, and then selects the solution data of the appropriate satellite by calculating the first Fresnel band, and uses the residual sequence in the corresponding solution data to invert and obtain the water level. The present application uses the residual sequence after positioning solution to remove the influence of errors such as ionospheric and tropospheric delays and tides related to the positioning position information. After verification, there is a reflection signal from the water surface remaining in the residual sequence, which can achieve water level measurement more accurately.

Description

Technical Field

[0001] The present invention relates to the field of engineering measurement technology, and in particular to a water level measurement method, system, device and storage medium. Background Art

[0002] At present, in the application of reservoir water level inversion based on GNSS-R technology (GNSS Reflectometry, Global Navigation Satellite System Remote Sensing Technology), the main observations used are GNSS signal-to-noise ratio observations (SNR), dual-frequency carrier phase combination observations and multi-frequency carrier phase combination observations. Although the water level inversion technology based on SNR observations has been proven to be applicable to reservoir water level inversion, not all RINEX format original observation files output SNR as an observation value. Many historical data cannot be used for reservoir water level inversion, and the water level measurement accuracy is poor. The inversion effect of the dual-frequency carrier phase combination observation method is poor due to the influence of ionospheric errors. The water level inversion method based on multi-frequency carrier phase combination observations requires multiple frequency support, which is not suitable for the processing of historical data, and thus it is difficult to achieve water level measurement. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a water level measurement method, system, device and storage medium, which can improve the accuracy of GNSS-based water level measurement.

[0004] On the one hand, an embodiment of the present invention provides a method for measuring water level, comprising the following steps:

[0005] Acquire multiple satellite observation data of the Global Navigation Satellite System through the observation system;

[0006] Determine the position of the observation station in the observation system and the solution data of the plurality of satellites using a positioning algorithm according to the plurality of satellite observation data, wherein the solution data includes satellite positions and residual sequences;

[0007] Obtain the positional relationship between the observation station and the measured water surface;

[0008] Selecting the solution data of the satellite whose first Fresnel zone is located on the water surface according to the observation station position, the position relationship and the plurality of satellite positions;

[0009] Determine a power spectrum sequence according to the selected residual sequence in the solution data;

[0010] The water level height is determined according to the peak frequency of the power spectrum sequence.

[0011] According to some embodiments of the present invention, the satellite positions include an altitude angle sequence and an azimuth angle sequence, and selecting the solution data of the satellite whose first Fresnel band is located on the water surface according to the position relationship and the plurality of satellite positions includes the following steps:

[0012] For each satellite, selecting an azimuth angle corresponding to an altitude angle in a preset interval in the altitude angle sequence as first data to be processed, determining an azimuth angle average value according to the azimuth angles of a plurality of the first data to be processed, and determining a first Fresnel zone of the satellite according to the azimuth angle average value and the preset altitude angle;

[0013] The solution data of the satellite whose first Fresnel zone is located on the water surface is selected according to the observation station position and the position relationship.

[0014] According to some embodiments of the present invention, the first Fresnel zone is expressed as:

[0015]

[0016] in, represents the average azimuth angle, Parameter a, parameter b, and parameter R are calculated in the following way:

[0017]

[0018] Among them, λ is the wavelength of the satellite observation data, H is the preset first vertical distance between the observation station receiver antenna and the water surface, and e is the preset altitude angle.

[0019] According to some embodiments of the present invention, determining the power spectrum sequence according to the selected residual sequence in the solution data comprises the following steps:

[0020] intercepting the residual item corresponding to the altitude angle in the preset interval in the altitude angle sequence as the second data to be processed;

[0021] Arrange the intercepted second data to be processed in ascending order according to the corresponding altitude angles;

[0022] Eliminate the second to-be-processed data corresponding to the repeated elevation angles to obtain a new residual sequence;

[0023] The power spectrum sequence is determined based on the new residual sequence.

[0024] According to some embodiments of the present invention, the power spectrum sequence is determined by the following formula:

[0025]

[0026] Among them, P N(ω) represents the power spectrum sequence, t is the time, T is the period, τ is the time offset, and the new residual sequence is at time point t i The value at (i=1,...,N) is h(t)=h i , represents the average value corresponding to each angular frequency ω and time offset τ, σ 2 Represents the variance corresponding to each angular frequency ω and time offset τ.

[0027] According to some embodiments of the present invention, determining the water level according to the peak frequency of the power spectrum sequence comprises the following steps:

[0028] Determine the power spectrum value corresponding to the peak frequency in the power spectrum sequence;

[0029] Selecting the power spectrum value in a preset power interval as third candidate data, and determining a power spectrum average value according to a plurality of the third candidate data;

[0030] Determine a power threshold according to the power spectrum average value;

[0031] Determine that the third candidate data with the largest value is greater than the power threshold;

[0032] The water level height is determined according to the peak frequency corresponding to the third candidate data with the largest value.

[0033] According to some embodiments of the present invention, determining the water level according to the peak frequency corresponding to the third candidate data with the largest value comprises the following steps:

[0034] Determine the actual second vertical distance between the observation station receiver antenna and the water surface according to the peak frequency corresponding to the third candidate data with the largest value;

[0035] The water level is determined based on the second vertical distance and the elevation of the observation station.

[0036] On the other hand, an embodiment of the present invention further provides a water level measurement system, comprising:

[0037] The first module is used to obtain multiple satellite observation data of the global navigation satellite system through an observation system;

[0038] A second module is used to determine the position of the observation station in the observation system and the solution data of multiple satellites using a positioning algorithm according to the multiple satellite observation data, wherein the solution data includes satellite positions and residual sequences;

[0039] The third module is used to obtain the positional relationship between the observation station and the measured water surface;

[0040] A fourth module is used to select the solution data of the satellite whose first Fresnel zone is located on the water surface according to the observation station position, the position relationship and the plurality of satellite positions;

[0041] A fifth module is used to determine a power spectrum sequence according to the selected residual sequence in the solution data;

[0042] The sixth module is used to determine the water level according to the peak frequency of the power spectrum sequence.

[0043] On the other hand, an embodiment of the present invention further provides a water level measurement device, comprising:

[0044] at least one processor;

[0045] at least one memory for storing at least one program;

[0046] When the at least one program is executed by the at least one processor, the at least one processor implements the water level measurement method as described above.

[0047] On the other hand, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the water level measurement method as described above.

[0048] The above technical solution of the present invention has at least one of the following advantages or beneficial effects: the present application obtains the location of the observation station and the solution data of the satellite through positioning solution, and then selects the solution data of the appropriate satellite by calculating the first Fresnel band, and uses the residual sequence in the corresponding solution data to invert and obtain the water level. The present application uses the residual sequence after positioning solution to remove the influence of errors such as ionospheric and tropospheric delays and tides related to the positioning position information. After verification, there is a reflection signal from the water surface remaining in the residual sequence, which can achieve more accurate water level measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a flow chart of a water level measurement method provided by an embodiment of the present invention;

[0050] Figure 2 is a schematic diagram of a water level measurement system provided by an embodiment of the present invention;

[0051] Figure 3 Schematic diagram of a water level measurement device provided by an embodiment of the present invention;

[0052] Figure 4 It is a schematic diagram of the distribution of reservoir observation stations and monitoring stations provided by an embodiment of the present invention;

[0053] Figure 5is a schematic diagram of the first Fresnel zone between the S191 observation station and multiple satellites provided in an embodiment of the present invention;

[0054] Figure 6 is a schematic diagram of the first Fresnel zone between the S171 observation station and multiple satellites provided in an embodiment of the present invention;

[0055] Figure 7 is a schematic diagram of the first Fresnel zone between the S071 observation station and multiple satellites provided in an embodiment of the present invention;

[0056] Figure 8 is a schematic diagram of residual sequences of satellites in two frequency bands respectively provided in an embodiment of the present invention;

[0057] Fig. 9 yes Figure 8 Schematic diagram of the power spectrum sequence corresponding to the residual sequence in and the height of the antenna from the water surface;

[0058] Fig.10 It is a schematic diagram of comparing the water level measurement result and the actual water level using the method of the embodiment of the present invention provided by the embodiment of the present invention;

[0059] Fig.11 It is a schematic diagram for comparing power spectrum values ​​using the method of the embodiment of the present invention, the SNR method, and the carrier phase method provided by the embodiment of the present invention. DETAILED DESCRIPTION

[0060] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar originals or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0061] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, left, right, etc., the orientations or positional relationships indicated are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0062] In the description of the present invention, except for the first Fresnel zone, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0063] The present invention provides a method for measuring water level. Figure 1A water level measurement method according to an embodiment of the present invention includes but is not limited to step S110, step S120, step S130, step S140, step S150 and step S160.

[0064] Step S110, acquiring multiple satellite observation data of the global navigation satellite system through an observation system;

[0065] Step S120, using a positioning algorithm to determine the position of an observation station in the observation system and the solution data of multiple satellites according to the multiple satellite observation data, wherein the satellite solution data includes satellite positions and residual sequences;

[0066] Step S130, obtaining the positional relationship between the observation station and the measured water surface;

[0067] Step S140, selecting the solution data of the satellite whose first Fresnel zone is located on the water surface according to the observation station position, the position relationship and the positions of multiple satellites;

[0068] Step S150, determining a power spectrum sequence according to the residual sequence in the selected solution data;

[0069] Step S160, determining the water level according to the peak frequency of the power spectrum sequence.

[0070] In some embodiments, the global navigation satellite system may be a global positioning system (GPS), a GLONASS satellite navigation system (GLONASS), a Galileo satellite navigation system (GALILEO), or China's BeiDou satellite navigation system (BDS), etc.

[0071] In some embodiments, the satellite observation data may include GNSS raw observation files, broadcast ephemeris files, precise ephemeris files, clock error files, and required table files, etc.

[0072] In some embodiments, the positioning algorithm may adopt a precision algorithm such as a non-difference non-combined precise single point positioning algorithm, a double-difference positioning algorithm, or the like.

[0073] In some embodiments, each observation station can determine the position of the observation station according to the acquired multiple satellite observation data through a precise positioning algorithm, and the observation station position can include the observation station coordinates and the observation station elevation. The satellite solution data can include the residual term, azimuth angle and altitude angle of each epoch of the satellite, and the residual term, azimuth angle and altitude angle of multiple epochs are respectively represented as a residual sequence, an azimuth angle sequence and an altitude angle sequence.

[0074] In this embodiment, an observation system formed by multiple observation stations arranged around the reservoir obtains multiple satellite observation data of the global navigation satellite system, and a positioning algorithm is used to determine the position of the observation station in the observation system and the solution data of multiple satellites based on the multiple satellite observation data, and then the position relationship between the observation station and the measured water surface is obtained, and the solution data of the satellite located on the water surface in the first Fresnel band is selected based on the observation station position, the position relationship and the multiple satellite positions to solve the water level height using the geometric relationship between the satellite, the current observation station and the water surface. By determining the power spectrum sequence based on the residual sequence in the selected solution data, and then determining the water level height based on the peak frequency of the power spectrum sequence, the residual sequence after positioning solution is used to remove the error influence of ionospheric and tropospheric delays, tides and the like related to the positioning position information, and the residual sequence after verification has a reflection signal through the water surface remaining, the water level height measurement can be achieved more accurately.

[0075] According to some specific embodiments of the present invention, the satellite positions include an altitude angle sequence and an azimuth angle sequence, and step S140 includes the following steps:

[0076] Step 210, for each satellite, select an azimuth angle corresponding to an altitude angle in a preset interval in an altitude angle sequence as first data to be processed, determine an azimuth angle average value according to the azimuth angles of a plurality of first data to be processed, and determine a first Fresnel zone of the satellite according to the azimuth angle average value and the preset altitude angle;

[0077] Step 220, selecting the solution data of the satellite whose first Fresnel zone is located on the water surface according to the observation station position and position relationship.

[0078] In some embodiments, the residual sequence within the low altitude angle range can effectively reflect the water level height change signal. Therefore, the embodiment of the invention intercepts the altitude angle sequence within the preset interval by setting the preset interval of the altitude angle, as well as the corresponding azimuth angle sequence and residual sequence. Exemplarily, satellite positioning usually sets the altitude angle to be above 10 degrees, so the preset interval of the embodiment of the present invention can be set between 10 degrees and 20 degrees of altitude angle.

[0079] In some embodiments, after intercepting the azimuth angle sequence, the average value of the azimuth angle sequence is calculated, and then the first Fresnel zone of each satellite at a preset altitude angle is calculated based on the average value of the azimuth angle of each satellite to determine whether the point trajectory of the satellite at the preset altitude angle falls within the water body, wherein the preset altitude angle can take two endpoint values ​​of a preset interval, such as 10 degrees and 20 degrees, so as to comprehensively determine whether the point trajectory of the satellite at the minimum altitude angle and the maximum altitude angle falls within the water body.

[0080] Specifically, the elliptical trajectory parameters of the first Fresnel zone are determined as follows:

[0081]

[0082] Among them, λ is the wavelength of satellite observation data. In practical applications, the wavelength can be determined according to the satellite system and frequency used. For example, the wavelengths corresponding to the L1 and L2 frequencies of the GPS system are λ1=19.03cm and λ2=24.42cm, respectively, and the wavelengths corresponding to the B1 and B2 frequencies of the Beidou system are λ1=19.20cm and λ2=24.83cm, respectively; H is the preset first vertical distance between the observation station receiver antenna and the water surface, and e is the preset altitude angle. For example, the first vertical distance can be 10m or 15m, etc., and the preset altitude angle is taken according to a preset interval, such as 10 degrees, 15 degrees and 20 degrees.

[0083] In the range of interior angle θ∈[0,2π], the elliptical trajectory is expressed as:

[0084]

[0085] The above elliptical trajectory is transformed into the first Fresnel zone of the satellite relative to the observation station:

[0086]

[0087] in, Indicates the azimuth average.

[0088] In some embodiments, after obtaining the first Fresnel zone of each satellite at a preset altitude angle, combined with the position relationship between the observation station, the water surface and the observation station, the solution data corresponding to multiple satellites whose first Fresnel zones are located on the water surface are selected.

[0089] According to some specific embodiments of the present invention, step S150 includes but is not limited to the following steps:

[0090] Step S310, intercepting the residual term corresponding to the altitude angle in the altitude angle sequence in the preset interval as the second data to be processed;

[0091] Step S320, arranging the intercepted second data to be processed in ascending order according to the corresponding altitude angles;

[0092] Step S330, eliminating the corresponding second to-be-processed data with repeated elevation angles to obtain a new residual sequence;

[0093] Step S340: determine a power spectrum sequence according to the new residual sequence.

[0094] In some embodiments, the power spectrum sequence is determined by the following formula:

[0095]

[0096] Among them, P N(ω) represents the power spectrum sequence, t is the time, T is the period, τ is the time offset, and the new residual sequence is at time point t i The value at (i=1,...,N) is h(t)=h i , represents the average value corresponding to each angular frequency ω and time offset τ, σ 2 Represents the variance corresponding to each angular frequency ω and time offset τ.

[0097] Where t = sin(e x ), e x Represents the altitude angle corresponding to the residual term.

[0098] Among them, the average and variance σ 2 Calculated by the following formula:

[0099]

[0100]

[0101]

[0102] According to some specific embodiments of the present invention, step S160 includes but is not limited to the following steps:

[0103] Step S410, determining the power spectrum value corresponding to the peak frequency in the power spectrum sequence;

[0104] Step S420, selecting a power spectrum value in a preset power interval as third candidate data, and determining a power spectrum average value according to the plurality of third candidate data;

[0105] Step S430, determining a power threshold according to the power spectrum average value;

[0106] Step S440, determining that the third candidate data with the largest value is greater than the power threshold;

[0107] Step S450, determining the water level height according to the peak frequency corresponding to the third candidate data with the largest value.

[0108] In some embodiments, the peak frequencies f in the power spectrum sequence are extracted. i (i=1,2,...,n), n is the number of peaks and the power spectrum value p corresponding to each peak frequency i Then, by setting a preset power interval, the power spectrum values ​​that are obviously not in the correct water level range are eliminated from all the power spectrum values ​​to obtain multiple third candidate data. Further, the average value of all the third candidate data obtained by screening is calculated to obtain the power spectrum average value p, and then the third candidate data with the largest value is determined, that is, the maximum power spectrum value max(pi ) is greater than n times the average power spectrum value p. If so, the peak frequency corresponding to the maximum power spectrum value is output and recorded as f p Otherwise, the peak frequency f that meets the requirements is determined based on the calculated data of the next satellite whose first Fresnel band is located on the water surface. p In this embodiment, data quality control is performed on the power spectrum values ​​corresponding to each crest frequency to determine the crest frequency corresponding to the effective maximum power spectrum value for water surface height measurement.

[0109] According to some specific embodiments of the present invention, step S450 includes but is not limited to the following steps:

[0110] Step S510, determining the actual second vertical distance between the observation station receiver antenna and the water surface according to the peak frequency corresponding to the third candidate data with the largest value;

[0111] Step S520, determining the water level according to the second vertical distance and the elevation of the observation station.

[0112] In this embodiment, the actual second vertical distance between the observation station receiver antenna and the water surface is calculated by the following formula:

[0113]

[0114] Where h is the second vertical distance and λ is the wavelength of the satellite observation data.

[0115] The water surface height is calculated using the following formula:

[0116] H w =H s -h;

[0117] Among them, H w is the water surface height, H s is the elevation of the observation station.

[0118] The following describes the embodiments of the present invention in combination with actual application scenarios:

[0119] Reference Figure 4 The surface GPS deformation monitoring network of a reservoir is mainly composed of two base stations (TN01, TN02) and five continuous observation stations (L022, L132, S171, S191, S071). S191, S171 and S071 are built around the reservoir on the side of the section close to the water body. The GPS receiver antenna of each observation station is installed and fixed on the forced centering base on the top of the observation pier. The sampling frequency of the GPS receiver is set to 5s, and a 24-hour all-weather uninterrupted observation mode is adopted. The three monitoring stations S191, S171 and S071 in the system are close to the water surface and are suitable for water surface height measurement.

[0120] The real water level data of the embodiment of the present invention is composed of the actual measured value of the reservoir water level height at 8 o'clock local time every day, and the accuracy is known to be in the centimeter level. Figure 5 to Figure 7 These are the first Fresnel zones of the satellites at 10°, 15° and 20° of the three observation stations S191, S171 and S071, respectively. Gx represents the GPS satellite, x represents the satellite number, and the preset receiver antenna height of the observation station is 15m. Figure 8 and Fig. 9 Shown are the G10, G11 and G24 satellites that are determined to be useful for water level inversion by comparing the relative positions of observation stations and water bodies. Figure 8 This is the residual sequence of dual-frequency pseudorange obtained after the non-difference non-combined precise single-point positioning solution (C1 represents the pseudorange signal of the first frequency band of GPS, and P2 represents the pseudorange signal of the second frequency band of GPS). It can be seen from the residual sequence that there is an obvious oscillation signal. Fig. 9 Yes Figure 8 The relationship between the power spectrum sequence obtained by LSP spectrum estimation of the residual sequence and the water level height is as follows: Fig. 9 It can be seen that the frequencies of the two observation values ​​of the receiver are both significant at the height difference of 11.42m, indicating that the vertical distance between the GPS antenna and the water surface is 11.42m at this time. Fig.10 In order to compare the reservoir water level obtained by GPS pseudorange residual inversion with the actual water level, Fig.10 It can be seen that the water level obtained by inversion is consistent with the actual measured water level, and the correlation reaches 0.96. Fig.11 The power spectrum values ​​corresponding to the peak frequencies obtained by using the pseudorange residual method (shown by the P1 line in the figure), the SNR method (shown by the S1 line in the figure) and the carrier phase method (shown by the L1 line in the figure) in the water level inversion from day 79 to day 99 are compared. Fig.11 It can be seen that the power spectrum value corresponding to the peak frequency of the pseudorange residual method using the embodiment of the present invention is significantly greater than that of the SNR method and the carrier phase method. Therefore, in the inversion process of the water level height, the embodiment of the present invention can obtain a more accurate water level measurement result.

[0121] The embodiments of the present invention have the following beneficial effects:

[0122] The embodiment of the present invention adopts GNSS precise positioning solution to eliminate errors such as ionospheric and tropospheric delays and tides. The residual information only includes multipath effects from the water surface or other reflective surfaces. The water level height inversion combined with the residual information has high accuracy.

[0123] This application applies the post-verification residual after positioning solution to water level inversion. Reservoir water level monitoring can be achieved through only one positioning solution. In addition, it is also suitable for deformation monitoring applications of hydraulic structures around water bodies.

[0124] On the other hand, an embodiment of the present invention further provides a water level measurement system, referring to Figure 2 ,include:

[0125] The first module is used to obtain multiple satellite observation data of the global navigation satellite system through an observation system;

[0126] The second module is used to determine the position of the observation station in the observation system and the solution data of multiple satellites using a positioning algorithm according to the multiple satellite observation data, wherein the solution data of the satellite includes the satellite position and the residual sequence;

[0127] The third module is used to obtain the positional relationship between the observation station and the measured water surface;

[0128] The fourth module is used to select the solution data of the satellite whose first Fresnel band is located on the water surface according to the observation station position, the position relationship and the positions of multiple satellites;

[0129] The fifth module is used to determine the power spectrum sequence according to the residual sequence in the selected solution data;

[0130] The sixth module is used to determine the water level according to the peak frequency of the power spectrum sequence.

[0131] It can be understood that the contents of the above-mentioned water level measurement method embodiment are applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above-mentioned water level measurement method embodiment, and the beneficial effects achieved are also the same as those achieved by the above-mentioned water level measurement method embodiment.

[0132] Reference Figure 3 , Figure 3 Schematic diagram of a water level measurement device provided by an embodiment of the present invention. The water level measurement device of the embodiment of the present invention includes one or more control processors and a memory. Figure 3 A control processor and a memory are taken as an example.

[0133] The control processor and the memory can be connected via a bus or other means. Figure 3 The example of connecting through bus is taken in the following.

[0134] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the control processor, and these remote memories may be connected to the water level height measuring device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0135] Those skilled in the art will understand that Figure 3 The device structure shown in the figure does not constitute a limitation on the water level height measuring device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0136] The non-transient software program and instructions required to implement the water level measurement method applied to the water level measurement device in the above embodiment are stored in the memory, and when executed by the control processor, the water level measurement method applied to the water level measurement device in the above embodiment is executed.

[0137] In addition, an embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by one or more control processors, so that the one or more control processors can execute the water level height measurement method in the above method embodiment.

[0138] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0139] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A method for measuring water level, characterized in that: The following steps are involved: Acquire multiple satellite observation data of the Global Navigation Satellite System through the observation system; Determine the position of the observation station in the observation system and the solution data of the plurality of satellites using a positioning algorithm according to the plurality of satellite observation data, wherein the solution data includes satellite positions and residual sequences; Obtain the positional relationship between the observation station and the measured water surface; Selecting the solution data of the satellite whose first Fresnel zone is located on the water surface according to the observation station position, the position relationship and the plurality of satellite positions; Determine a power spectrum sequence according to the selected residual sequence in the solution data; Determine the water level according to the peak frequency of the power spectrum sequence; The satellite positions include an altitude angle sequence and an azimuth angle sequence, and the selecting, according to the observation station position, the position relationship and the plurality of satellite positions, the solution data of the satellite whose first Fresnel band is located on the water surface includes the following steps: For each satellite, selecting an azimuth angle corresponding to an altitude angle in a preset interval in the altitude angle sequence as first data to be processed, determining an azimuth angle average value according to the azimuth angles of a plurality of the first data to be processed, and determining a first Fresnel zone of the satellite according to the azimuth angle average value and the preset altitude angle; Selecting the solution data of the satellite whose first Fresnel zone is located on the water surface according to the observation station position and the position relationship; The first Fresnel zone is expressed as: in, represents the average azimuth angle, Parameter a, parameter b, and parameter R are calculated in the following way: Among them, λ is the wavelength of the satellite observation data, H is the preset first vertical distance between the observation station receiver antenna and the water surface, and e is the preset altitude angle.

2. The water level measurement method according to claim 1, characterized in that: Determining the power spectrum sequence according to the selected residual sequence in the solution data comprises the following steps: intercepting the residual item corresponding to the altitude angle in the preset interval in the altitude angle sequence as the second data to be processed; Arrange the intercepted second data to be processed in ascending order according to the corresponding altitude angles; Eliminate the second to-be-processed data corresponding to the repeated elevation angles to obtain a new residual sequence; The power spectrum sequence is determined based on the new residual sequence.

3. The water level measurement method according to claim 2, characterized in that: The power spectrum sequence is determined by the following formula: Among them, P N (ω) represents the power spectrum sequence, t is the time, T is the period, τ is the time offset, and the new residual sequence is at time point t i The value at h(t)=h i , i=1,...,N, represents the average value corresponding to each angular frequency ω and time offset τ, σ 2 Represents the variance corresponding to each angular frequency ω and time offset τ.

4. The water level measurement method according to claim 1, characterized in that: Determining the water level according to the peak frequency of the power spectrum sequence comprises the following steps: Determine the power spectrum value corresponding to the peak frequency in the power spectrum sequence; Selecting the power spectrum value in a preset power interval as third candidate data, and determining a power spectrum average value according to a plurality of the third candidate data; Determine a power threshold according to the power spectrum average value; Determine that the third candidate data with the largest value is greater than the power threshold; The water level height is determined according to the peak frequency corresponding to the third candidate data with the largest value.

5. The water level measurement method according to claim 4, characterized in that: Determining the water level according to the peak frequency corresponding to the third candidate data with the largest value comprises the following steps: Determine the actual second vertical distance between the observation station receiver antenna and the water surface according to the peak frequency corresponding to the third candidate data with the largest value; The water level is determined based on the second vertical distance and the elevation of the observation station.

6. A water level measurement system, characterized in that: include: The first module is used to obtain multiple satellite observation data of the global navigation satellite system through an observation system; A second module is used to determine the position of the observation station in the observation system and the solution data of multiple satellites using a positioning algorithm according to the multiple satellite observation data, wherein the solution data includes satellite positions and residual sequences; The third module is used to obtain the positional relationship between the observation station and the measured water surface; A fourth module is used to select the solution data of the satellite whose first Fresnel band is located on the water surface according to the observation station position, the position relationship and the plurality of satellite positions; A fifth module is used to determine a power spectrum sequence according to the selected residual sequence in the solution data; A sixth module is used to determine the water level according to the peak frequency of the power spectrum sequence; The satellite positions include an altitude angle sequence and an azimuth angle sequence, and the fourth module is specifically used to perform the following steps: For each satellite, selecting an azimuth angle corresponding to an altitude angle in a preset interval in the altitude angle sequence as first data to be processed, determining an azimuth angle average value according to the azimuth angles of a plurality of the first data to be processed, and determining a first Fresnel zone of the satellite according to the azimuth angle average value and the preset altitude angle; Selecting the solution data of the satellite whose first Fresnel zone is located on the water surface according to the observation station position and the position relationship; The first Fresnel zone is expressed as: in, represents the average azimuth angle, Parameter a, parameter b, and parameter R are calculated in the following way: Among them, λ is the wavelength of the satellite observation data, H is the preset first vertical distance between the observation station receiver antenna and the water surface, and e is the preset altitude angle.

7. A water level measuring device, characterized in that: include: at least one processor; at least one memory 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 the water level measurement method as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a program executable by a processor, characterized in that: The program executable by the processor is used to implement the water level measurement method according to any one of claims 1 to 5 when executed by the processor.

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