A deformation monitoring method and system for mountainous canyon areas

Abstract

The present invention provides a deformation monitoring method and system for mountainous canyon areas, belonging to the field of deformation monitoring, and the method comprises: determining multiple candidate points in a target area and establishing a terrain mask model for each candidate point; determining the position and observation value of a visible satellite according to position information and ephemeris data; calculating the azimuth and horizontal angle formed by the candidate point and each visible satellite according to the position information of the candidate point and the position of each visible satellite; determining the horizontal angle of the satellite with the maximum obstruction of the terrain according to the azimuth and the terrain mask model; determining the position accuracy strength according to the observation value of each visible satellite, the horizontal angle of the satellite with the maximum obstruction of the terrain and the horizontal angle formed by the candidate point and each visible satellite; determining whether the candidate point is available according to the size relationship between the horizontal angle and the horizontal angle of the satellite with the maximum obstruction of the terrain and the position accuracy strength, and establishing a deformation monitoring station at the available candidate point. The station establishment efficiency of deformation monitoring stations in mountainous canyons and the deformation monitoring efficiency of mountainous canyons are improved.

Description

Technical Field

[0001] The present invention relates to the field of deformation monitoring, and in particular to a deformation monitoring method and system in mountainous canyon areas. Background Art

[0002] GNSS (Global Navigation Satellite System) positioning technology has become one of the important technical means for geological disaster prevention and mitigation. However, GNSS high-precision deformation measurement depends on good satellite geometry and a large number of visible satellites. The quality of the site when building a GNSS station is an important prerequisite for determining the efficiency of GNSS deformation monitoring. According to surveying and mapping standards, the selection of monitoring station sites generally has the following requirements: ① There are no obstructions above an altitude angle of 10°; ② The distance between the site and the objects that are prone to multipath effects (trees, water bodies, beaches and waterlogged areas, metal objects) is not less than 200m; ③ The site should avoid areas with unstable geological structures, etc.

[0003] However, geological disasters are more common in mountain valleys, and GNSS monitoring terminals are inevitably installed in mountain valleys. The terrain can easily block satellite signals with an altitude angle of more than 10°, and the surrounding environment can easily cause complex multipath effects on satellite signals. Although surveying and mapping staff have conducted surveys and site selection, there are still cases where deformation monitoring stations are found to be unavailable for too long after they are built, which is insufficient to support disaster prevention and mitigation work. This has caused huge cost waste in disaster prevention and mitigation work and reduced the efficiency of GNSS monitoring station construction.

[0004] At present, the site selection is generally carried out by professional technicians with excellent survey experience, which requires additional personnel costs. Another method is to implement it after the monitoring pier has been cast. If the site is not suitable, it is necessary to abandon the station or rearrange relevant personnel to rebuild the station. This will greatly increase the cost of site construction, greatly reducing the efficiency of disaster prevention and mitigation site construction, and will also consume a lot of site construction time.

[0005] Based on the above problems, a new site selection method is urgently needed to improve the efficiency of building deformation monitoring stations in mountainous canyons and the efficiency of deformation monitoring in mountainous canyons. Summary of the invention

[0006] The purpose of the present invention is to provide a deformation monitoring method and system in a mountain canyon area, which can improve the efficiency of building a deformation monitoring station in a mountain canyon and the efficiency of deformation monitoring in a mountain canyon.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] A deformation monitoring method for a mountainous canyon area, comprising:

[0009] Determine a plurality of candidate points in the target area, and determine the position information of each candidate point;

[0010] For any candidate point, collect the horizontal angle of the highest point of the terrain corresponding to each 1° in the azimuth range of 0° to 360° at the candidate point, and determine the terrain mask model of the candidate point according to each azimuth angle and the horizontal angle corresponding to each azimuth angle;

[0011] Determine the visible satellites at the candidate point and the position and observation value of each visible satellite according to the position information of the candidate point and the broadcast ephemeris data of the previous day;

[0012] Calculate the azimuth and horizontal angle between the candidate point and each visible satellite according to the position information of the candidate point and the position of each visible satellite;

[0013] Determine the maximum satellite obstruction horizontal angle of the candidate point by the terrain according to the azimuth formed by the candidate point and each visible satellite and the terrain mask angle model of the candidate point;

[0014] Determine the position accuracy of the candidate point based on the observation value of each visible satellite, the maximum satellite horizontal angle blocked by the terrain of the candidate point, and the horizontal angle between the candidate point and each visible satellite;

[0015] Determine whether the candidate point is available based on the relationship between the horizontal angle between the candidate point and each visible satellite and the horizontal angle of the satellite that is most blocked by the terrain and the position accuracy of the candidate point;

[0016] Deformation monitoring stations are established at available candidate points to monitor deformation of the target area.

[0017] Optionally, determining a plurality of candidate points in the target area and determining position information of each candidate point specifically includes:

[0018] Determine multiple candidate points with equal intervals of a row and b column in the target area according to the set distance interval;

[0019] Get the location information of each candidate point.

[0020] Optionally, the position of each visible satellite includes the longitude and latitude of the visible satellite; the position information of the candidate point includes the longitude and latitude of the candidate point;

[0021] The azimuth between candidate point i and visible satellite j is calculated using the following formula:

[0022]

[0023] Among them, Az ij is the azimuth between candidate point i and visible satellite j, is the longitude of visible satellite j, is the longitude of candidate point i, β i is the latitude of candidate point i;

[0024] The horizontal angle between candidate point i and visible satellite j is calculated using the following formula:

[0025]

[0026] Among them, El ij is the horizontal angle between candidate point i and visible satellite j, is the longitude of visible satellite j, is the longitude of candidate point i, β i is the latitude of candidate point i.

[0027] Optionally, determining the maximum satellite obstruction horizontal angle of the candidate point by the terrain according to the azimuth formed by the candidate point and each visible satellite and the terrain mask angle model of the candidate point specifically includes:

[0028] For any visible satellite, the azimuth formed by the candidate point and the visible satellite is rounded up to obtain a rounded azimuth;

[0029] Rounding down the azimuth formed by the candidate point and the visible satellite to obtain a rounded-down azimuth;

[0030] In the terrain mask angle model, determining the horizontal angle corresponding to the upper rounded azimuth angle and the horizontal angle corresponding to the lower rounded azimuth angle;

[0031] Determine the obstruction horizontal angle of the candidate point relative to the visible satellite according to the azimuth formed by the candidate point and the visible satellite, the lower rounded azimuth, the horizontal angle corresponding to the upper rounded azimuth, and the horizontal angle corresponding to the lower rounded azimuth;

[0032] According to the obstruction horizontal angle of the candidate point relative to each visible satellite, the maximum obstruction horizontal angle of the satellite by the terrain of the candidate point is determined.

[0033] Optionally, determining the position accuracy of the candidate point according to the observation values ​​of each visible satellite, the maximum satellite horizontal angle blocked by the terrain of the candidate point, and the horizontal angle between the candidate point and each visible satellite specifically includes:

[0034] According to the observation values ​​of each visible satellite, determine the coefficient matrix;

[0035] Determine a pseudorange weight matrix according to the maximum satellite horizontal angle blocked by the terrain of the candidate point and the horizontal angle between the candidate point and each visible satellite;

[0036] The strength of the position accuracy of the candidate point is determined according to the coefficient matrix and the pseudorange weight matrix.

[0037] Optionally, the observation values ​​of the visible satellite include the altitude and azimuth of the visible satellite;

[0038] The coefficient matrix is:

[0039]

[0040] Among them, H is the coefficient matrix, n is the number of visible satellites, El n is the height of the nth visible satellite, Al n is the azimuth of the nth visible satellite.

[0041] Optionally, the following formula is used to determine the pseudorange weight matrix:

[0042]

[0043] Among them, P is the pseudo-range weight matrix, n is the number of visible satellites, El ij is the horizontal angle between candidate point i and visible satellite j, El azi_max is the maximum satellite horizontal angle blocked by the terrain at candidate point i.

[0044] Optionally, the following formula is used to determine the position accuracy of candidate point i:

[0045] Q=H T *P*H;

[0046]

[0047] Among them, Q is the precision factor matrix, Q 11 is the element in the first row and first column of the precision factor matrix Q. 22 is the element in the 2nd row and 2nd column of the precision factor matrix Q. 33 is the element in the 3rd row and 3rd column of the precision factor matrix Q, H is the coefficient matrix, H T is the transpose operation of the coefficient matrix H, P is the pseudo-range weight matrix, and PDOP is the position accuracy strength of candidate point i.

[0048] Optionally, determining whether the candidate point is available according to the relationship between the horizontal angle between the candidate point and each visible satellite and the horizontal angle of the satellite that is most blocked by the terrain and the position accuracy of the candidate point specifically includes:

[0049] When the horizontal angle between the candidate point and each visible satellite is greater than or equal to the horizontal angle of the satellite that is maximum obstructed by the terrain, and the position accuracy of the candidate point is less than a set accuracy threshold, and the number of visible satellites is greater than a set number threshold, the candidate point is available; otherwise, the candidate point is unavailable.

[0050] To achieve the above object, the present invention also provides the following solution:

[0051] A deformation monitoring system for mountainous canyon areas, comprising:

[0052] A candidate point determination unit, used to determine a plurality of candidate points in the target area and determine the position information of each candidate point;

[0053] a mask angle model determination unit connected to the candidate point determination unit, for collecting, at any candidate point, the horizontal angle of the highest point of the terrain corresponding to each 1° in the azimuth range of 0° to 360°, and determining the terrain mask angle model of the candidate point according to each azimuth angle and the horizontal angle corresponding to each azimuth angle;

[0054] A visible satellite determination unit, connected to the candidate point determination unit, is used to determine the visible satellites at the candidate point and the position and observation value of each visible satellite according to the position information of the candidate point and the broadcast ephemeris data of the previous day;

[0055] an azimuth and horizontal angle determination unit, connected to the candidate point determination unit and the visible satellite determination unit, and configured to calculate the azimuth and horizontal angle between the candidate point and each visible satellite according to the position information of the candidate point and the position of each visible satellite;

[0056] A blocking horizontal angle determination unit, connected to the mask angle model determination unit and the azimuth horizontal angle determination unit, for determining the maximum satellite blocking horizontal angle of the candidate point according to the azimuth angle between the candidate point and each visible satellite and the terrain mask angle model of the candidate point;

[0057] a position accuracy strength determination unit, connected to the visible satellite determination unit, the obstruction horizontal angle determination unit and the azimuth horizontal angle determination unit, for determining the position accuracy strength of the candidate point according to the observation values ​​of each visible satellite, the maximum obstruction satellite horizontal angle of the terrain of the candidate point and the horizontal angle between the candidate point and each visible satellite;

[0058] an availability determination unit connected to the azimuth horizontal angle determination unit, the obstruction horizontal angle determination unit and the position accuracy strength determination unit, and configured to determine whether the candidate point is available according to the relationship between the horizontal angle between the candidate point and each visible satellite and the horizontal angle of the satellite that is the maximum obstruction of the terrain and the position accuracy strength of the candidate point;

[0059] A monitoring unit is connected to the availability determination unit and is used to establish a deformation monitoring station at an available candidate point to perform deformation monitoring on the target area.

[0060] According to the specific embodiment provided by the present invention, the present invention discloses the following technical effects: first, multiple candidate points are determined in the target area, and the horizontal angle of the highest point of the terrain corresponding to each 1° in the azimuth range of 0° to 360° is collected at each candidate point, and the terrain mask angle model of the candidate point is determined according to each azimuth angle and the horizontal angle corresponding to each azimuth angle, and the maximum satellite horizontal angle of the terrain at the candidate point is determined according to the azimuth angle formed by the candidate point and the visible satellite and the terrain mask angle model, and the maximum satellite horizontal angle of the terrain at the candidate point is determined according to the observation value of each visible satellite, the maximum satellite horizontal angle of the terrain and the horizontal angle formed by the candidate point and each visible satellite. The strength of the position accuracy of the candidate point is determined; whether the candidate point is available is determined based on the relationship between the horizontal angle between the candidate point and each visible satellite and the horizontal angle of the satellite that is maximum blocked by the terrain, as well as the strength of the position accuracy of the candidate point; finally, a deformation monitoring station is established at the available candidate point to monitor the deformation of the target area, thereby avoiding the need for technical personnel to select a site based on survey experience, improving the accuracy of deformation monitoring, and reducing labor costs. In addition, in the process of site selection, there is no need to cast monitoring piers, which reduces the cost of station construction, thereby improving the efficiency of building deformation monitoring stations in mountainous canyons and the efficiency of deformation monitoring in mountainous canyons. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] 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.

[0062] Figure 1 A flow chart of a deformation monitoring method for mountainous canyon areas of the present invention;

[0063] Figure 2 is a schematic diagram of candidate points;

[0064] Figure 3 It is a schematic diagram of the module structure of the deformation monitoring system in mountainous canyon areas of the present invention.

[0065] Explanation of symbols:

[0066] Candidate point determination unit-1, mask angle model determination unit-2, visible satellite determination unit-3, azimuth horizontal angle determination unit-4, obstruction horizontal angle determination unit-5, position accuracy strength determination unit-6, availability determination unit-7, monitoring unit-8. DETAILED DESCRIPTION

[0067] 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.

[0068] The purpose of the present invention is to provide a deformation monitoring method and system for mountainous canyon areas. By establishing a terrain mask angle model for each candidate point, and determining the position accuracy of the candidate point based on the observation data of the visible satellite and the horizontal angle between the candidate point and the visible satellite, and then determining whether the candidate point is available based on the relationship between the horizontal angle between the candidate point and each visible satellite and the horizontal angle of the satellite that is maximum blocked by the terrain and the position accuracy, a deformation monitoring station is established at the location of the available candidate point, thereby improving the efficiency of building deformation monitoring stations in mountainous canyons and the efficiency of deformation monitoring in mountainous canyons.

[0069] 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.

[0070] like Figure 1 As shown, the deformation monitoring method for mountainous canyon areas of the present invention includes:

[0071] S1: Determine multiple candidate points in the target area, and determine the position information of each candidate point. The position information of the candidate point includes the longitude and latitude of the candidate point.

[0072] Specifically, multiple candidate points with equal spacing of a rows and b columns are determined in the target area according to the set distance interval. The position information of each candidate point is obtained. In this embodiment, Figure 2 As shown, multiple candidate points with equal intervals of three rows and three columns are established with an interval of 10 meters, that is, a = b = 3. The approximate coordinates of the positions of the 9 candidate points are obtained respectively by using the RTK function of the GNSS terminal.

[0073] S2: For any candidate point, collect the horizontal angle of the highest point of the terrain corresponding to every 1° in the azimuth range of 0° to 360° at the candidate point, and determine the terrain mask model of the candidate point based on each azimuth and the horizontal angle corresponding to each azimuth. In this embodiment, the terrain mask model is a data set of azimuth and horizontal angle. It is also possible to perform curve fitting on each azimuth in the range of 0° to 360° and the horizontal angle corresponding to each azimuth to establish a model with azimuth as the horizontal coordinate and horizontal angle as the vertical coordinate.

[0074] Specifically, a gyrotheodolite is used at a candidate point, with the highest point of the terrain observable by sight in a vertical plane as the measuring point, to sequentially measure the horizontal angles of 0° to 360° at intervals of 1°.

[0075] S3: Determine the visible satellites at the candidate point and the position and observation value of each visible satellite according to the position information of the candidate point and the broadcast ephemeris data of the previous day.

[0076] Specifically, the position of each visible satellite includes the longitude and latitude of the visible satellite. The observation value of the visible satellite includes the altitude and azimuth of the visible satellite.

[0077] S4: Calculate the azimuth and horizontal angle between the candidate point and each visible satellite according to the position information of the candidate point and the position of each visible satellite.

[0078] Specifically, the broadcast ephemeris data of the previous 24 hours is obtained through the reference base station. According to the location information of the candidate point and the position of each visible satellite, the spatial azimuth and horizontal angle between the candidate point and each visible satellite at any time within 24 hours are simulated and calculated. The reference base station is set in an open area in the target area.

[0079] S5: Determine the maximum satellite horizontal angle blocked by the terrain of the candidate point according to the azimuth formed by the candidate point and each visible satellite and the terrain masking angle model of the candidate point.

[0080] S6: Determine the strength of the position accuracy of the candidate point based on the observation values ​​of each visible satellite, the maximum satellite horizontal angle blocked by the terrain of the candidate point, and the horizontal angle between the candidate point and each visible satellite.

[0081] S7: Determine whether the candidate point is available based on the relationship between the horizontal angle between the candidate point and each visible satellite and the horizontal angle of the satellite that is most blocked by the terrain, as well as the position accuracy of the candidate point.

[0082] S8: Establish a deformation monitoring station at an available candidate point to monitor deformation of the target area. Specifically, when the horizontal angle between the candidate point and each visible satellite is greater than or equal to the horizontal angle of the maximum satellite obstructed by the terrain, and the position accuracy of the candidate point is less than a set accuracy threshold, and the number of visible satellites is greater than a set number threshold, the candidate point is available, otherwise the candidate point is unavailable.

[0083] In this embodiment, the quantity threshold is set to 5, and the accuracy threshold is set to 6. Based on the availability judgment basis of more than 5 visible satellites and the position accuracy strength less than 6, the percentage of the above 9 candidate points that meet the conditions in the 24-hour epoch is counted, and the point with the highest percentage is the most preferred point.

[0084] Furthermore, in step S4, the azimuth formed by the candidate point i and the visible satellite j is calculated using the following formula:

[0085]

[0086] Among them, Az ij is the azimuth between candidate point i and visible satellite j, is the longitude of visible satellite j, is the longitude of candidate point i, β i is the latitude of candidate point i.

[0087] The horizontal angle between candidate point i and visible satellite j is calculated using the following formula:

[0088]

[0089] Among them, El ij is the horizontal angle between candidate point i and visible satellite j, is the longitude of visible satellite j, is the longitude of candidate point i, β i is the latitude of candidate point i.

[0090] Furthermore, step S5 specifically includes:

[0091] S51: For any visible satellite, the azimuth formed by the candidate point and the visible satellite is rounded up to obtain a rounded azimuth.

[0092] S52: rounding down the azimuth formed by the candidate point and the visible satellite to obtain a rounded-down azimuth.

[0093] S53: In the terrain mask angle model, determine the horizontal angle corresponding to the upper-rounded azimuth angle and the horizontal angle corresponding to the lower-rounded azimuth angle.

[0094] S54: Determine the obstruction horizontal angle of the candidate point relative to the visible satellite based on the azimuth formed by the candidate point and the visible satellite, the lower rounded azimuth, the horizontal angle corresponding to the upper rounded azimuth, and the horizontal angle corresponding to the lower rounded azimuth.

[0095] Specifically, the following formula is used to determine the occlusion horizontal angle of candidate point i relative to visible satellite j:

[0096] El aij =El low +(El up -El low )×(Az ij -Az low )+5°;

[0097] Among them, El aij is the occlusion horizontal angle of candidate point i relative to visible satellite j, El low is the horizontal angle corresponding to the rounded-down azimuth, El up is the horizontal angle corresponding to the upper rounded azimuth, Az ij is the azimuth between candidate point i and visible satellite j, Az low The azimuth is rounded down.

[0098] S55: Determine the maximum satellite obstruction horizontal angle of the candidate point according to the obstruction horizontal angle of the candidate point relative to each visible satellite. In this embodiment, the maximum obstruction horizontal angle of the candidate point relative to each visible satellite is used as the maximum satellite obstruction horizontal angle of the candidate point.

[0099] Furthermore, step S6 specifically includes:

[0100] S61: Determine the coefficient matrix based on the observation values ​​of each visible satellite.

[0101] Specifically, the coefficient matrix is:

[0102]

[0103] Among them, H is the coefficient matrix, n is the number of visible satellites, El n is the height of the nth visible satellite, Al n is the azimuth of the nth visible satellite.

[0104] S62: Determine a pseudorange weight matrix according to the maximum horizontal angle of satellite obstruction by the terrain of the candidate point and the horizontal angle between the candidate point and each visible satellite.

[0105] Specifically, the following formula is used to determine the pseudorange weight matrix:

[0106]

[0107] Among them, P is the pseudo-range weight matrix, n is the number of visible satellites, El ij is the horizontal angle between candidate point i and visible satellite j, El azi_max is the maximum satellite horizontal angle blocked by the terrain at candidate point i.

[0108] S63: Determine the position accuracy of the candidate point according to the coefficient matrix and the pseudo-range weight matrix.

[0109] Specifically, the following formula is used to determine the position accuracy of candidate point i:

[0110] Q=H T *P*H;

[0111]

[0112] Among them, Q is the precision factor matrix, Q 11 is the element in the first row and first column of the precision factor matrix Q. 22 is the element in the 2nd row and 2nd column of the precision factor matrix Q. 33 is the element in the 3rd row and 3rd column of the precision factor matrix Q, H is the coefficient matrix, H T is the transpose operation of the coefficient matrix H, P is the pseudo-range weight matrix, and PDOP is the position accuracy strength of candidate point i.

[0113] H is a matrix with n rows and 4 columns, P is a matrix with n rows and n columns, H T It is a matrix with 4 rows and n columns. After multiplying the three matrices, the resulting Q is a matrix with 4 rows and 4 columns. Each element in the precision factor matrix is ​​the precision factor.

[0114] The present invention establishes candidate points at the beginning of the construction of a mountain valley station, based on a terrain mask angle model and a PDOP value, and uses the terrain mask angle model to analyze and evaluate the satellite availability of the candidate points, so as to achieve the optimal selection of the site of the mountain valley GNSS deformation monitoring station taking into account terrain factors. Through the approximate coordinates of the proposed site, the number of observable satellites, satellite geometric configuration, positioning accuracy and other indicators of the 24-hour monitoring station near the site selection can be quickly estimated, thereby achieving a rapid evaluation of the availability of the monitoring station near the site selection without building a station. A reliable evaluation of the GNSS station site in advance avoids the waste of resources caused by the long-term unavailability of the terminal after the station is built, improves the efficiency of the station construction, and provides a reliable basis for the optimal site selection of the GNSS deformation monitoring terminal.

[0115] like Figure 3 As shown, the deformation monitoring system for mountainous canyon areas of the present invention includes: a candidate point determination unit 1, a mask angle model determination unit 2, a visible satellite determination unit 3, an azimuth horizontal angle determination unit 4, an obstruction horizontal angle determination unit 5, a position accuracy strength determination unit 6, an availability determination unit 7 and a monitoring unit 8.

[0116] The candidate point determination unit 1 is used to determine a plurality of candidate points in the target area and determine the position information of each candidate point.

[0117] The mask angle model determination unit 2 is connected to the candidate point determination unit 1, and the mask angle model determination unit 2 is used to collect the horizontal angle of the highest point of the terrain corresponding to every 1° in the azimuth range of 0° to 360° at any candidate point, and determine the terrain mask angle model of the candidate point based on each azimuth angle and the horizontal angle corresponding to each azimuth angle.

[0118] The visible satellite determination unit 3 is connected to the candidate point determination unit 1, and is used to determine the visible satellites at the candidate point and the position and observation values ​​of each visible satellite according to the position information of the candidate point and the previous broadcast ephemeris data.

[0119] The azimuth horizontal angle determination unit 4 is connected to the candidate point determination unit 1 and the visible satellite determination unit 3, and the azimuth horizontal angle determination unit 4 is used to calculate the azimuth and horizontal angle between the candidate point and each visible satellite according to the position information of the candidate point and the position of each visible satellite.

[0120] The obstruction horizontal angle determination unit 5 is connected to the mask angle model determination unit 2 and the azimuth horizontal angle determination unit 4. The obstruction horizontal angle determination unit 5 is used to determine the maximum satellite obstruction horizontal angle of the candidate point based on the azimuth angle between the candidate point and each visible satellite and the terrain mask angle model of the candidate point.

[0121] Specifically, the obstruction horizontal angle determination unit 5 includes: an upper rounding azimuth angle determination module, a lower rounding azimuth angle determination module, a horizontal angle determination module, an obstruction horizontal angle determination module and a maximum obstruction determination module.

[0122] The upper-rounded azimuth angle determination module is connected to the azimuth horizontal angle determination unit 4, and is used for rounding up the azimuth angle between the candidate point and the visible satellite for any visible satellite to obtain the upper-rounded azimuth angle.

[0123] The rounded-down azimuth angle determination module is connected to the azimuth horizontal angle determination unit 4, and the rounded-down azimuth angle determination module is used to round down the azimuth angle between the candidate point and the visible satellite to obtain the rounded-down azimuth angle;

[0124] The horizontal angle determination module is connected to the upper-rounded azimuth determination module, the lower-rounded azimuth determination module and the mask angle model determination unit 2, and the horizontal angle determination module is used to determine the horizontal angle corresponding to the upper-rounded azimuth and the horizontal angle corresponding to the upper-rounded azimuth in the terrain mask angle model;

[0125] The obstruction horizontal angle determination module and the azimuth horizontal angle determination unit 4, the down-rounded azimuth angle determination module and the horizontal angle determination module, the obstruction horizontal angle determination module is used to determine the obstruction horizontal angle of the candidate point relative to the visible satellite according to the azimuth formed by the candidate point and the visible satellite, the down-rounded azimuth angle, the horizontal angle corresponding to the up-rounded azimuth angle and the horizontal angle corresponding to the down-rounded azimuth angle;

[0126] The maximum occlusion determination module is connected to the occlusion horizontal angle determination module, and the maximum occlusion determination module is used to determine the maximum satellite occlusion horizontal angle of the terrain of the candidate point according to the occlusion horizontal angle of the candidate point relative to each visible satellite.

[0127] The position accuracy strength determination unit 6 is connected to the visible satellite determination unit 3, the obstruction horizontal angle determination unit 5 and the azimuth horizontal angle determination unit 4, and the position accuracy strength determination unit 6 is used to determine the position accuracy strength of the candidate point based on the coefficient matrix and the pseudorange weight matrix.

[0128] Specifically, the position accuracy strength determination unit 6 includes: a coefficient matrix determination module, a pseudo-range weight matrix determination module and an accuracy determination module.

[0129] The coefficient matrix determination module is connected to the visible satellite determination unit 3, and the coefficient matrix determination module is used to determine the coefficient matrix according to the observation values ​​of each visible satellite.

[0130] The pseudo-range weight matrix determination module is connected to the obstruction horizontal angle determination unit 5, and the pseudo-range weight matrix determination module is used to determine the pseudo-range weight matrix according to the maximum satellite horizontal angle obstructed by the terrain of the candidate point and the horizontal angle between the candidate point and each visible satellite.

[0131] The accuracy determination module is connected to the coefficient matrix determination module and the pseudo-range weight matrix determination module, and the accuracy determination module is used to determine the position accuracy strength of the candidate point according to the coefficient matrix and the pseudo-range weight matrix.

[0132] The availability determination unit 7 is connected to the azimuth horizontal angle determination unit 4, the obstruction horizontal angle determination unit 5 and the position accuracy strength determination unit 6. The availability determination unit 7 is used to determine whether the candidate point is available based on the relationship between the horizontal angle between the candidate point and each visible satellite and the horizontal angle of the maximum satellite obstruction by the terrain, as well as the position accuracy strength of the candidate point.

[0133] The monitoring unit 8 is connected to the availability determination unit 7 , and is used to establish a deformation monitoring station at an available candidate point to perform deformation monitoring on the target area.

[0134] Compared with the prior art, the deformation monitoring system for mountainous canyon areas of the present invention has the same beneficial effects as the deformation monitoring method for mountainous canyon areas mentioned above, which will not be described in detail here.

[0135] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0136] 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 deformation monitoring method in mountainous canyon areas, characterized in that: The deformation monitoring method in mountainous canyon areas comprises: Determine a plurality of candidate points in the target area, and determine the position information of each candidate point; For any candidate point, collect the horizontal angle of the highest point of the terrain corresponding to each 1° in the azimuth range of 0° to 360° at the candidate point, and determine the terrain mask model of the candidate point according to each azimuth angle and the horizontal angle corresponding to each azimuth angle; Determine the visible satellites at the candidate point and the position and observation value of each visible satellite according to the position information of the candidate point and the broadcast ephemeris data of the previous day; Calculate the azimuth and horizontal angle between the candidate point and each visible satellite according to the position information of the candidate point and the position of each visible satellite; Determine the maximum satellite obstruction horizontal angle of the candidate point by the terrain according to the azimuth formed by the candidate point and each visible satellite and the terrain mask angle model of the candidate point; Determine the position accuracy of the candidate point based on the observation value of each visible satellite, the maximum satellite horizontal angle blocked by the terrain of the candidate point, and the horizontal angle between the candidate point and each visible satellite; Determine whether the candidate point is available based on the relationship between the horizontal angle between the candidate point and each visible satellite and the horizontal angle of the satellite that is most blocked by the terrain and the position accuracy of the candidate point; Deformation monitoring stations are established at available candidate points to monitor deformation of the target area.

2. The deformation monitoring method in mountainous canyon areas according to claim 1, characterized in that: The step of determining a plurality of candidate points in the target area and determining the position information of each candidate point specifically includes: Determine multiple candidate points with equal intervals of a row and b column in the target area according to the set distance interval; Get the location information of each candidate point.

3. The deformation monitoring method in mountainous canyon areas according to claim 1, characterized in that: The position of each visible satellite includes the longitude and latitude of the visible satellite; the position information of the candidate point includes the longitude and latitude of the candidate point; The azimuth between candidate point i and visible satellite j is calculated using the following formula: Among them, Az ij is the azimuth between candidate point i and visible satellite j, is the longitude of visible satellite j, is the longitude of candidate point i, β i is the latitude of candidate point i; The horizontal angle between candidate point i and visible satellite j is calculated using the following formula: Among them, El ij is the horizontal angle between candidate point i and visible satellite j, is the longitude of visible satellite j, is the longitude of candidate point i, β i is the latitude of candidate point i.

4. The deformation monitoring method in mountainous canyon areas according to claim 1, characterized in that: Determining the maximum satellite obstruction horizontal angle of the candidate point by the terrain according to the azimuth formed by the candidate point and each visible satellite and the terrain mask angle model of the candidate point specifically includes: For any visible satellite, the azimuth formed by the candidate point and the visible satellite is rounded up to obtain a rounded azimuth; Rounding down the azimuth formed by the candidate point and the visible satellite to obtain a rounded-down azimuth; In the terrain mask angle model, determining the horizontal angle corresponding to the upper rounded azimuth angle and the horizontal angle corresponding to the lower rounded azimuth angle; Determine the obstruction horizontal angle of the candidate point relative to the visible satellite according to the azimuth formed by the candidate point and the visible satellite, the lower rounded azimuth, the horizontal angle corresponding to the upper rounded azimuth, and the horizontal angle corresponding to the lower rounded azimuth; According to the obstruction horizontal angle of the candidate point relative to each visible satellite, the maximum obstruction horizontal angle of the satellite by the terrain of the candidate point is determined.

5. The deformation monitoring method in mountainous canyon areas according to claim 1, characterized in that: Determining the position accuracy of the candidate point according to the observation values ​​of each visible satellite, the maximum satellite horizontal angle blocked by the terrain of the candidate point, and the horizontal angle between the candidate point and each visible satellite specifically includes: According to the observation values ​​of each visible satellite, determine the coefficient matrix; Determine a pseudorange weight matrix according to the maximum satellite horizontal angle blocked by the terrain of the candidate point and the horizontal angle between the candidate point and each visible satellite; The strength of the position accuracy of the candidate point is determined according to the coefficient matrix and the pseudorange weight matrix.

6. The deformation monitoring method in mountainous canyon areas according to claim 5, characterized in that: The observation values ​​of visible satellites include the altitude and azimuth of visible satellites; The coefficient matrix is: Among them, H is the coefficient matrix, n is the number of visible satellites, El n is the height of the nth visible satellite, Al n is the azimuth of the nth visible satellite.

7. The deformation monitoring method in mountainous canyon areas according to claim 5, characterized in that: Use the following formula to determine the pseudorange weight matrix: Among them, P is the pseudo-range weight matrix, n is the number of visible satellites, El ij is the horizontal angle between candidate point i and visible satellite j, El azi_max is the maximum satellite horizontal angle blocked by the terrain at candidate point i.

8. The deformation monitoring method in mountainous canyon areas according to claim 5, characterized in that: The following formula is used to determine the position accuracy of candidate point i: Q=H T *P*H; Among them, Q is the precision factor matrix, Q 11 is the element in the first row and first column of the precision factor matrix Q. 22 is the element in the 2nd row and 2nd column of the precision factor matrix Q. 33 is the element in the 3rd row and 3rd column of the precision factor matrix Q, H is the coefficient matrix, H T is the transpose operation of the coefficient matrix H, P is the pseudo-range weight matrix, and PDOP is the position accuracy strength of candidate point i.

9. The deformation monitoring method in mountainous canyon areas according to claim 1, characterized in that: The determining whether the candidate point is available according to the relationship between the horizontal angle between the candidate point and each visible satellite and the horizontal angle of the satellite that is most blocked by the terrain and the position accuracy of the candidate point specifically includes: When the horizontal angle between the candidate point and each visible satellite is greater than or equal to the horizontal angle of the satellite that is maximum obstructed by the terrain, and the position accuracy of the candidate point is less than a set accuracy threshold, and the number of visible satellites is greater than a set number threshold, the candidate point is available; otherwise, the candidate point is unavailable.

10. A deformation monitoring system for mountainous canyon areas, characterized in that: The deformation monitoring system in the mountainous canyon area includes: A candidate point determination unit, used to determine a plurality of candidate points in the target area and determine the position information of each candidate point; a mask angle model determination unit connected to the candidate point determination unit, for collecting, at any candidate point, the horizontal angle of the highest point of the terrain corresponding to each 1° in the azimuth range of 0° to 360°, and determining the terrain mask angle model of the candidate point according to each azimuth angle and the horizontal angle corresponding to each azimuth angle; A visible satellite determination unit, connected to the candidate point determination unit, is used to determine the visible satellites at the candidate point and the position and observation value of each visible satellite according to the position information of the candidate point and the broadcast ephemeris data of the previous day; an azimuth and horizontal angle determination unit, connected to the candidate point determination unit and the visible satellite determination unit, and configured to calculate the azimuth and horizontal angle between the candidate point and each visible satellite according to the position information of the candidate point and the position of each visible satellite; A blocking horizontal angle determination unit, connected to the mask angle model determination unit and the azimuth horizontal angle determination unit, for determining the maximum satellite blocking horizontal angle of the candidate point according to the azimuth angle between the candidate point and each visible satellite and the terrain mask angle model of the candidate point; a position accuracy strength determination unit, connected to the visible satellite determination unit, the obstruction horizontal angle determination unit and the azimuth horizontal angle determination unit, for determining the position accuracy strength of the candidate point according to the observation values ​​of each visible satellite, the maximum obstruction satellite horizontal angle of the terrain of the candidate point and the horizontal angle between the candidate point and each visible satellite; an availability determination unit connected to the azimuth horizontal angle determination unit, the obstruction horizontal angle determination unit and the position accuracy strength determination unit, and configured to determine whether the candidate point is available according to the relationship between the horizontal angle between the candidate point and each visible satellite and the horizontal angle of the satellite that is the maximum obstruction of the terrain and the position accuracy strength of the candidate point; A monitoring unit is connected to the availability determination unit and is used to establish a deformation monitoring station at an available candidate point to perform deformation monitoring on the target area.

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