A deformation monitoring data processing method and a deformation monitoring device

Abstract

The application discloses a deformation monitoring data processing method and a deformation monitoring device, wherein the deformation monitoring data processing method comprises the following steps: acquiring continuous GNSS observation values of multiple satellites of a reference station and a monitoring station; performing inter-station difference between the reference station and the monitoring station according to the GNSS observation values, and obtaining a single-difference observation model based on pseudo-range and carrier phase; performing inter-satellite difference on the single-difference observation model between different satellites, and constructing a double-difference observation model; establishing an error equation according to the double-difference observation model and the GNSS observation values; solving the error equation to obtain a float solution of ambiguity, and then using a LAMBDA algorithm to obtain a fixed solution of wide-lane ambiguity and a fixed solution of narrow-lane ambiguity of each satellite; and solving the double-difference observation model to obtain position coordinate information of a deformation monitoring point. The application can effectively solve high-precision monitoring and real-time solving and analyzing of deformation monitoring data in a geological disaster emergency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of geological monitoring, in particular to a base shape deformation monitoring data processing method and a deformation monitoring device. BACKGROUND

[0002] Geological disaster monitoring is a work of measuring and monitoring geological disaster activities and dynamic changes of various inducing factors by using various technologies and methods. Through real-time and accurate monitoring of geological disasters, the disaster evolution process of the deformation area can be timely mastered, and the deformation characteristics of the area can be captured, thereby providing reliable data and scientific basis for correct analysis, evaluation, prediction and treatment of disaster bodies. The traditional landslide monitoring method mainly uses instruments such as total station to monitor geological disasters, but it is greatly affected by the terrain, needs long-term manual measurement, has low automation degree, low efficiency, high cost and large error. At present, the "space-ground-integrated" landslide monitoring is often used for landslide in complex environment, which can obtain multi-dimensional and multi-space information of landslide, and provide reliable data support for landslide analysis, evaluation and treatment. "Space" refers to the use of space positioning and remote sensing satellite technology to monitor landslides all-weather; "sky" refers to the use of low-altitude aircraft carrying photography, remote sensing, three-dimensional laser scanning and other technologies to monitor landslides periodically; "ground" refers to the use of wireless sensor technology to monitor the surface of landslides in real time; "internal" refers to the use of wireless sensor technology to monitor the internal deformation of landslides. At present, InSAR technology can continuously monitor the entire area of the landslide all-weather, but this technology is very sensitive to atmospheric parameter changes, satellite orbit parameter errors and surface coverage changes, and there are still problems to be solved in the use of InSAR technology for landslide monitoring. At the same time, although the InSAR landslide monitoring technology has wide coverage, the accuracy of monitoring specific points cannot meet the requirements. The unmanned aerial vehicle remote sensing image technology can quickly obtain spatial image information of the landslide body, and analyze and process the information to quickly and accurately obtain the dynamic deformation information of the landslide, but it has poor endurance, cannot monitor in real time, and is easily affected by bad weather. With the development of Beidou-3, GNSS deformation monitoring is applied more and more widely, but there are many existing GNSS data processing methods, most of which use conventional RTK technology for terminal positioning solution. When using this technology for GNSS data processing, the influence of large height difference on tropospheric delay and the surrounding environment cannot be well considered, and the monitoring range and data processing timeliness are limited, so it is difficult to realize accurate and real-time monitoring of geological disasters.

[0003] In addition, due to the problems of poor processing timeliness of emergency monitoring data, small monitoring range, high monitoring cost, poor signal quality, unstable reference station and low precision in deformation monitoring in complex mountainous environment, high-precision long-baseline monitoring algorithm needs to be improved based on these problems. SUMMARY

[0004] The application aims to provide a deformation monitoring data processing method and a deformation monitoring device, which can improve monitoring accuracy while ensuring emergency monitoring efficiency, solve problems such as intelligent monitoring accurate deployment of high-risk landslides, and realize real-time solving and output of deformation data of landslide points by fusing Beidou and multi-source sensor deformation monitoring information, thereby improving the accuracy of landslide prediction and early warning.

[0005] The application provides a deformation monitoring data processing method, which comprises the following steps:

[0006] Obtaining continuous GNSS observation values of multiple satellites by a reference station and a monitoring station;

[0007] According to the GNSS observation values, inter-station difference is made between the reference station and the monitoring station to obtain a single-difference observation model based on pseudo-range and carrier phase;

[0008] The single-difference observation model is made inter-satellite difference to construct a double-difference observation model;

[0009] According to the double-difference observation model and the GNSS observation values, an error equation is established;

[0010] The error equation is solved to obtain a float solution of ambiguity, and then a LAMBDA algorithm is used to obtain a fixed solution of wide-lane ambiguity and a fixed solution of narrow-lane ambiguity of each satellite;

[0011] The double-difference observation model is solved according to the fixed solution of wide-lane ambiguity and the fixed solution of narrow-lane ambiguity of each satellite to obtain position coordinate information of the deformation monitoring point.

[0012] Further, the continuous GNSS observation values of multiple satellites by the reference station and the monitoring station comprise the following steps:

[0013] The GNSS raw observation information of multiple satellites by the reference station and the monitoring station is obtained by using a receiver on a throw-type GNSS monitoring device, and broadcast ephemeris data and error correction data in RTCM format are obtained by using a wireless communication network;

[0014] The GNSS raw observation information is analyzed to obtain GNSS observation values, and the observation values comprise pseudo-range, carrier phase, Doppler and signal-to-noise ratio;

[0015] The broadcast ephemeris data in RTCM format is decoded to obtain broadcast ephemeris parameter information;

[0016] After rough error detection, the GNSS observation values are processed, and the observation values containing noise in the GNSS observation values are removed or processed by weight reduction;

[0017] The Kalman filtering method is used to detect cycle slip of carrier phase of a satellite in a certain epoch in the GNSS observation value.

[0018] Further, the single-difference observation model based on pseudorange and carrier phase is obtained by making inter-station difference between the reference station and the monitoring station according to the GNSS observation value, and includes the following steps:

[0019] Supposing that the satellite No. j is observed by the reference station b and the monitoring station r at the same time, the pseudorange observation equations of the reference station and the monitoring station are respectively:

[0020]

[0021] The carrier phase observation equations of the reference station and the monitoring station are:

[0022]

[0023] wherein is the pseudorange observation value of the monitoring station r; is the pseudorange observation value of the reference station b;

[0024] is the geometric distance from the satellite No. j to the monitoring station r; is the geometric distance from the satellite No. j to the reference station b;

[0025] c represents the speed of light;

[0026] δ r is the clock error of the receiver on the monitoring station r; b is the clock error of the receiver on the reference station b;

[0027] δ j represents the satellite clock error; are respectively the ionospheric delay error and the tropospheric delay error of the satellite No. j;

[0028] represents the double-difference observation noise error;

[0029] φ j r is the carrier phase observation value of the monitoring station r; j b is the carrier phase observation value of the reference station b;

[0030] λ j is the carrier wavelength of the satellite No. j; N j is the integer ambiguity of the satellite No. j;

[0031] The inter-station difference is made between the reference station and the monitoring station, and supposing that the satellite No. i is the reference satellite, the pseudorange single-difference observation equation of the reference station and the monitoring station is:

[0032]

[0033] The single-difference observation equation of the carrier phase on the reference station and the monitoring station is:

[0034]

[0035] Wherein is the inter-station differential pseudo-range difference value of the reference station b and the monitoring station r relative to the i-th satellite;

[0036] is the inter-station differential pseudo-range difference value of the reference station b and the monitoring station r relative to the j-th satellite;

[0037] φ i rb is the inter-station differential carrier phase difference value of the reference station b and the monitoring station r relative to the i-th satellite;

[0038] φ j rb is the inter-station differential carrier phase difference value of the reference station b and the monitoring station r relative to the j-th satellite;

[0039] N j rb , N i rb are the single-difference integer ambiguities of the j-th satellite and the i-th satellite, respectively;

[0040] The single-difference observation model is inter-satellite differentiated to construct a double-difference observation model, and the calculation formulae are respectively:

[0041]

[0042]

[0043] Wherein is the inter-satellite differential pseudo-range measurement value of the reference station b and the monitoring station r relative to the i-th satellite and the j-th satellite; is the inter-satellite differential carrier phase measurement value of the reference station b and the monitoring station r relative to the i-th satellite and the j-th satellite; is the double-difference integer ambiguity;

[0044] Further, the error equation is established according to the double-difference observation model and the GNSS observation value, including:

[0045] If there are n+1 satellites, the expression of the error equation is:

[0046]

[0047] wherein is a combined vector of pseudo-range residual and carrier phase residual; a ij , b ij , c ij , a ik , b ik , cik is a pseudo-range residual and carrier phase residual; a rb is a first-order Taylor expansion of the monitoring station coordinates ; is the monitoring station coordinates, is the integer ambiguity.

[0048] Further, the method for solving the error equation to obtain the ambiguity float solution comprises a least square method or a Kalman filter method;

[0049] The double-difference observation model is solved according to the wide-lane ambiguity fixed solution and the narrow-lane ambiguity fixed solution of each satellite, and the position coordinate information of the deformation monitoring point is obtained, and the specific solving equation is as follows:

[0050]

[0051] In the above formula, is the ambiguity float solution obtained in the current calculation; is the updated float solution after the narrow-lane ambiguity is fixed; is the ambiguity fixed solution; is the covariance matrix of the ambiguity fixed solution coordinate parameter ; is the inverse matrix of the ambiguity covariance; is the covariance matrix of the ambiguity fixed solution coordinate parameter ; is the cross-covariance matrix of the ambiguity fixed solution parameter ; is the transpose matrix of the ambiguity fixed solution matrix; is the covariance matrix of the narrow-lane ambiguity float solution.

[0052] The present application provides a deformation monitoring device, comprising:

[0053] A monitoring data acquisition module is configured to acquire continuous GNSS observation values of a plurality of satellites from a reference station and a monitoring station;

[0054] A double-difference observation model establishment module is configured to perform inter-station difference between the reference station and the monitoring station based on the GNSS observation values, to obtain a single-difference observation model based on pseudo-range and carrier phase, and to perform inter-satellite difference between different satellites, to construct a double-difference observation model;

[0055] An error equation establishment module is configured to establish an error equation based on the double-difference observation model and the GNSS observation values;

[0056] The monitoring information solving module is configured to solve the error equation to obtain a float solution of ambiguity, and then use the LAMBDA algorithm to obtain a fixed solution of wide-lane ambiguity and a fixed solution of narrow-lane ambiguity of each satellite, and solve a double-difference observation model according to the fixed solution of wide-lane ambiguity and the fixed solution of narrow-lane ambiguity of each satellite to obtain position coordinate information of the deformation monitoring point.

[0057] Further, the monitoring device integration device further comprises:

[0058] The device fixing cylinder has an open top and a hollow mesh side wall, and the monitoring data acquisition module is fixed in the device fixing cylinder by the fixing fastener;

[0059] The fluid buffer layer is arranged at the bottom of the device fixing cylinder and is fixedly connected to the bottom of the device fixing cylinder;

[0060] The outer cylinder is sleeved on the device fixing cylinder and is fixedly connected to the fluid buffer layer at the bottom.

[0061] Further, the upper part of the integration device is provided with an upper buffer device, and the upper buffer device comprises:

[0062] The four shock-absorbing springs are evenly distributed along the circumferential direction of the top of the device fixing cylinder and are fixedly connected to the top of the device fixing cylinder at the bottom;

[0063] The upper packaging plate is arranged above the four shock-absorbing springs and is fixedly connected to the four shock-absorbing springs at the bottom;

[0064] The buffer protection piece is arranged above the monitoring data acquisition module in the device fixing cylinder and is composed of a low-density buffer material.

[0065] Further, the lower part of the integration device is provided with a throwing and stabilizing device, and the throwing and stabilizing device comprises:

[0066] The four spring supports are evenly distributed along the circumferential direction of the bottom of the fluid buffer layer and are fixedly connected to the bottom of the fluid buffer layer at the top, and the bottom of the spring support is provided with a supporting foot needle;

[0067] The four spring pressure support rods are obliquely distributed along the circumferential direction of the bottom of the fluid buffer layer, one end of the spring pressure support rod is fixedly connected to the center of the bottom of the fluid buffer layer, and the other end is fixedly connected to the spring support.

[0068] Further, the integration device further comprises a power supply module, an electric energy conversion module and a communication module;

[0069] The power supply module comprises:

[0070] The lithium battery is fixed in the device fixing cylinder by the fixing fastener;

[0071] The flexible solar panel is arranged on the upper surface of the upper packaging plate and the outer wall of the outer cylinder, and is electrically connected with the lithium battery;

[0072] The electric energy conversion module comprises:

[0073] The solar charging and discharging controller is fixed in the equipment fixing cylinder by the fixing fastener, and is electrically connected with the lithium battery and the flexible solar panel respectively;

[0074] The communication module comprises a Bluetooth / 4G antenna integrated module and a LoRa wireless communication device.

[0075] The LoRa wireless communication device is fixed in the equipment fixing cylinder by a bolt.

[0076] The power supply module, the electric energy conversion module and the communication module are all externally sleeved with a sealed filling bag.

[0077] The surfaces of the monitoring data acquisition module, the power supply module, the electric energy conversion module and the communication module are all provided with a three-proofing paint.

[0078] Compared with the prior art, the present application has the following advantages:

[0079] The present application adopts a high-precision long-baseline monitoring algorithm to ensure positioning accuracy, improve monitoring range, and solve the problem of difficult site selection of small-area reference stations, and realizes real-time calculation and output of the accurate position of disaster points. By fully utilizing existing monitoring resources and improving the high-precision long-baseline monitoring algorithm, the monitoring accuracy can reach millimeter level, and the method has the advantages of wide monitoring range, low cost, high stability, etc.

[0080] The present application integrates and fixes the monitoring device body for obtaining deformation monitoring information of the deformation body by using the integrated device, increases the integration degree and intelligent degree of the monitoring device, and improves the accuracy of field monitoring and early warning. In addition, by arranging the upper buffer device on the top of the integrated device and the throwing and stabilizing device at the bottom of the integrated device, the impact resistance requirement of the whole monitoring device after being thrown in the field is met, the whole device after being thrown is prevented from being damaged, and the long-term stable monitoring operation requirement of the device body in the field environment is met.

[0081] The present application combines the unmanned aerial vehicle throwing device with the GNSS deformation monitoring data processing method, realizes efficient processing of emergency monitoring data in complex mountainous environments, and effectively solves the problems of high-precision monitoring and real-time calculation and analysis of deformation monitoring data in the case of sudden geological disasters. BRIEF DESCRIPTION OF DRAWINGS

[0082] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0083] Figure 1 This is a flowchart of a deformation monitoring data processing method proposed in this invention;

[0084] Figure 2 This is a schematic diagram of the composition structure of each functional module in the deformation monitoring data processing method proposed in this invention;

[0085] Figure 3 This is a schematic diagram of the overall structure of a deformation monitoring device proposed in this invention;

[0086] Figure 4 This is a schematic diagram of the internal structure of the cylindrical device of the deformation monitoring device proposed in this invention;

[0087] Figure 5 This is a schematic diagram of the internal module structure of a deformation monitoring device proposed in this invention.

[0088] Explanation of icon numbers:

[0089] 1-Equipment fixing cylinder, 2-Shock-absorbing spring, 3-Upper encapsulation plate, 4-Buffer protection component, 5-Fluid buffer layer, 6-Spring bracket, 7-Support pin, 8-Spring pressure support rod, 9-Lithium battery, 10-Flexible solar panel, 11-Solar charge and discharge controller, 12-Bluetooth / 4G antenna integrated module, 13-LoRa wireless communication device, 14-Fixing fastener, 15-External cylinder, 16-UAV suspension ring, 17-Monitoring data acquisition module. Detailed Implementation

[0090] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. However, it should be understood that the scope of protection of the present invention is not limited to the specific implementation.

[0091] Example 1

[0092] like Figure 1 As shown, the present invention provides a deformation monitoring data processing method, comprising the following steps:

[0093] Step 1: Obtain continuous GNSS observations from the base station and monitoring station for multiple satellites, including the following steps:

[0094] Step 1.1: Obtain GNSS raw observation information of multiple satellites by the receiver on the throw GNSS monitoring device, and obtain broadcast ephemeris data and error correction data in RTCM format from the Caster server according to the NTRIP protocol through the wireless communication network.

[0095] Step 1.2: Analyze the GNSS raw observation information to obtain GNSS observation values, including pseudorange, carrier phase, Doppler, and signal-to-noise ratio. Decode the broadcast ephemeris data in RTCM format to obtain broadcast ephemeris parameter information.

[0096] Step 1.3: Preprocess the GNSS observation values, including:

[0097] After detecting the GNSS observation values, the observation values containing noise are removed or weighted, specifically, the pseudorange residual of each satellite obtained by pseudorange single point positioning is used as the chi-square test statistical sample for gross error detection, and the deviation between the actual observation value and the theoretical value is calculated. The observation values exceeding the chi-square test threshold are removed or weighted according to the actual situation.

[0098] The carrier phase in the GNSS observation values is detected and processed by Kalman filtering method, specifically, the Kalman filtering method is used for cycle slip detection, the position and size of the cycle slip occurrence are detected from the monitoring sequence and repaired, and finally the data sequence corrected by the cycle slip is used for solving.

[0099] By preprocessing the GNSS observation values, some poor data are removed, which is beneficial to improve the accuracy of deformation monitoring. The reasons for poor data are: when observing low-elevation satellites, sometimes the signal will lose lock due to weak signal strength and low signal-to-noise ratio, and the whole-week ambiguity search will fail due to the influence of atmospheric refraction on the transmission path.

[0100] Step 2: According to the GNSS observation values, do inter-station difference between the reference station and the monitoring station to obtain single-difference observation model based on pseudorange and carrier phase, including the following steps:

[0101] Let the reference station and the monitoring station observe satellite j at the same time, then the pseudorange observation equations of the reference station and the monitoring station are respectively:

[0102]

[0103] The carrier phase observation equations of the reference station and the monitoring station are:

[0104]

[0105] where the pseudo-range observation value of the monitoring station r; the pseudo-range observation value of the reference station b;

[0106] the geometric distance from the jth satellite to the monitoring station r; the geometric distance from the jth satellite to the reference station b; c is the speed of light;

[0107] δ r the clock error of the receiver at the monitoring station r; δ b the clock error of the receiver at the reference station b;

[0108] δ j denotes the satellite clock error; denote the ionospheric delay error and the tropospheric delay error of the jth satellite, respectively; denotes the double-difference observation noise error;

[0109] φ j r the carrier phase observation value of the monitoring station r; φ j b the carrier phase observation value of the reference station b;

[0110] λ j the carrier wavelength of the jth satellite; N j the integer ambiguity of the jth satellite;

[0111] The inter-station difference is made between the reference station and the receiver station, and the ith satellite is taken as the reference satellite, so the pseudo-range observation equations at the reference station and the monitoring station are respectively:

[0112]

[0113] The single-difference carrier phase observation equations at the reference station and the monitoring station are:

[0114]

[0115] wherein is the inter-station difference pseudo-range difference value of the reference station b and the monitoring station r relative to the ith satellite;

[0116] is the inter-station difference pseudo-range difference value of the reference station b and the monitoring station r relative to the jth satellite;

[0117] φ i rb is the inter-station difference carrier phase difference value of the reference station b and the monitoring station r relative to the ith satellite;

[0118] φ j rbis the inter-station differential carrier phase difference between the reference station b and the monitoring station r with respect to the satellite j;

[0119] N j rb , N i rb is the single-difference integer ambiguity of the satellite j and the satellite i, respectively;

[0120] Step 3: The single-difference observation model is made inter-satellite difference between different satellites to construct a double-difference observation model, including the following steps:

[0121] The inter-satellite difference between the satellite j and the reference satellite i is made to obtain a double-difference observation model, and the formula is:

[0122]

[0123]

[0124] wherein, is the inter-satellite differential pseudo-range measurement value of the reference station b and the monitoring station r with respect to the satellite i and the satellite j;

[0125] is the inter-satellite differential carrier phase measurement value of the reference station b and the monitoring station r with respect to the satellite i and the satellite j;

[0126] is the double-difference integer ambiguity.

[0127] Step 4: According to the double-difference observation model and the obtained GNSS observation values of the reference station and the monitoring station to multiple satellites, there are n+1 satellites, an error equation is established, which is as follows:

[0128]

[0129] wherein is the combined vector of the pseudo-range residual and the carrier phase residual;

[0130] a ij , b ij , c ij , a ik , b ik , cik is the first-order Taylor expansion of ρ rb , respectively, with respect to the monitoring station coordinate ; is the monitoring station coordinate; is the integer ambiguity.

[0131] Step 5: Solve the error equation to obtain the floating-point solution of ambiguity, and then use the LAMBDA algorithm to obtain the fixed solution of wide-lane ambiguity and the fixed solution of narrow-lane ambiguity for each satellite.

[0132] Methods for solving the error equation to obtain the ambiguity floating-point solution include the least squares method or the Kalman filter method.

[0133] Step 6: Solve the double-difference observation model based on the fixed solutions for wide-lane and narrow-lane ambiguities of each satellite to obtain the position coordinates of the deformation monitoring points, including:

[0134] To obtain the fixed solution of the double-difference observation model, the specific equations are as follows:

[0135]

[0136] In the above formula, This is the currently calculated floating-point solution for ambiguity; The updated floating-point solution after the narrow alley ambiguity is fixed; For a fixed ambiguity solution; Fixed coordinate parameters for ambiguity The covariance matrix; It is the inverse matrix of the ambiguity covariance; Fixed coordinate parameters for ambiguity The covariance matrix; It is a fixed solution parameter for ambiguity. The cross-covariance matrix; It is the transpose of the solution matrix with fixed ambiguity; Let be the covariance matrix of the floating-point solution for narrow alley ambiguity.

[0137] Step 7: Acquire data from deformation monitoring points using various monitoring sensors, and fuse GNSS deformation monitoring results with information from various monitoring sensors through data-level, feature-level, or decision-level fusion methods. This enables comprehensive processing of surface and underground deformation data of various disaster bodies, ultimately yielding more accurate forecast and early warning results.

[0138] Example 2

[0139] like Figure 1 As shown, a deformation monitoring device includes:

[0140] The monitoring data acquisition module is used to acquire continuous GNSS observations of multiple satellites from the base station and the monitoring station;

[0141] The double-difference observation model establishing module is configured to perform inter-station difference between the reference station and the monitoring station according to GNSS observation values, to obtain a single-difference observation model based on pseudo-range and carrier phase, and to perform inter-satellite difference on the single-difference observation model to construct a double-difference observation model;

[0142] The error equation establishing module is configured to establish an error equation according to the double-difference observation model and the GNSS observation values;

[0143] The monitoring information solving module is configured to solve the error equation to obtain a float solution of ambiguity, to obtain a fixed solution of wide-lane ambiguity and a fixed solution of narrow-lane ambiguity of each satellite by using a LAMBDA algorithm, and to solve the double-difference observation model according to the fixed solution of wide-lane ambiguity and the fixed solution of narrow-lane ambiguity of each satellite to obtain position coordinate information of the deformation monitoring point.

[0144] Embodiment 3

[0145] As shown in Figures 2-4 The monitoring device integration device comprises:

[0146] The device fixing cylinder 1 has an open top and a hollow mesh side wall, and the monitoring data acquisition module 17 is fixed inside the device fixing cylinder 1 by the fixing fastener 14;

[0147] The fluid buffer layer 5 is arranged at the bottom of the device fixing cylinder 1 and is fixedly connected with the bottom of the device fixing cylinder 1.

[0148] The outer cylinder 15 is sleeved on the device fixing cylinder 1, and the bottom of the outer cylinder 15 is fixedly connected with the fluid buffer layer 5.

[0149] The deformation monitoring device in the present application is a monitoring device based on a throw-type GNSS, and the monitoring data acquisition module is installed and fixed by using the monitoring device integration device. The monitoring data acquisition module 17 specifically comprises a GNSS / MEMS monitoring module, a multi-sensor integration module and a wireless communication module, which are all fixed inside the device fixing cylinder 1 by the fixing fastener 14. The GNSS monitoring result is fused with the monitoring results of the air pressure sensor, the temperature and humidity sensor, the rainfall sensor and the soil humidity sensor, so as to judge and analyze the deformation characteristics of the disaster monitoring point.

[0150] The multi-sensor integration module is a multi-sensor integration module integrating air pressure, temperature and humidity, rainfall and soil humidity. When the deformation monitoring information of the deformation body is acquired, the GNSS / MEMS monitoring module and the multi-sensor integration module are used to acquire monitoring information, and the wireless communication module is used to transmit the acquired monitoring information to the monitoring terminal, so as to facilitate the monitoring terminal to process the acquired monitoring data and realize deformation monitoring and analysis of the deformation body.

[0151] The wireless communication module in the embodiment includes a 4G and Bluetooth two-in-one antenna and a LoRa wireless communication module, and realizes transmission of deformation monitoring data. The deformation data obtained by the monitoring equipment in the monitoring device is transmitted to a service area for data solution in a manner of transmission according to an NTRIP protocol through a 4G / 5G network, so that real-time data acquisition, real-time monitoring and display of monitoring results on a terminal are achieved.

[0152] In use, the monitoring data acquisition module 17 for collecting deformation monitoring information of the deformation body in the deformation area is installed in the integrated device, so that integrated installation of various monitoring equipment in the monitoring data acquisition module 17 is realized.

[0153] By setting the integrated device to be cylindrical, i.e., in the shape of an “iron basket”, sufficient accommodation space is provided, the installation and fixation of the monitoring device body are facilitated, and installation of other small devices is also facilitated to some extent. Since the integrated device is designed in a hollow mesh shape and is fixed by the fixing fastener 14, the installation of the monitoring device body is more secure, and the safety and stability of the monitoring device body during the throwing process are ensured. The equipment fixing cylinder 1 can solve the problems of complicated internal equipment of the monitoring device body and unfixable installation. In actual application, the connection lines between the devices in the monitoring device body are connected by the terminal, which can prevent wire entanglement and leakage. The fluid buffer layer 5 is arranged at the bottom of the equipment fixing cylinder 1 to ensure that the fixing cylinder 1 is supported and protected by the fluid buffer layer 5 after being thrown, so as to avoid damage to the equipment fixing cylinder 1.

[0154] Embodiment 4

[0155] As shown in Figure 4 , the upper part of the integrated device is provided with an upper buffer device. By arranging the upper buffer device on the upper part of the integrated device, the device is protected during throwing.

[0156] The upper buffer device includes:

[0157] Four shock-absorbing springs 2 are evenly distributed along the top circumferential direction of the equipment fixing cylinder 1 and are fixedly connected to the top of the equipment fixing cylinder 1 at the bottom, respectively;

[0158] An upper packaging plate 3 is arranged above the four shock-absorbing springs 2 and is fixedly connected to the four shock-absorbing springs 2 at the bottom;

[0159] A buffer protection piece 4 is arranged above the monitoring data acquisition module 17 in the equipment fixing cylinder 1 and is composed of a low-density buffer material.

[0160] In order to prevent the whole device from being damaged due to impact force during the throwing process, the four shock-absorbing springs 2 are connected between the upper packaging plate 3 and the equipment fixing cylinder 1, so that the equipment fixing cylinder 1 can vibrate slightly up and down with the shock-absorbing springs 2 during the throwing process, thereby reducing the strong impact force on the whole device and preventing the whole device from being damaged. In actual application, the diameter of the shock-absorbing spring 2 can be selected according to actual needs. In the embodiment, four shock-absorbing springs with a diameter of 2 mm are arranged.

[0161] The buffer protection piece 4 is arranged above the monitoring device body in the equipment fixing cylinder 1, that is, the buffer protection piece 4 is arranged between the upper packaging plate 3 and the monitoring device body in the equipment fixing cylinder 1, so as to buffer and protect the monitoring device body in the equipment fixing cylinder 1, avoid damaging the monitoring device body in the equipment fixing cylinder 1 during the throwing process, further stabilize the monitoring device body in the equipment fixing cylinder 1, and buffer, prevent moisture and keep warm for the monitoring device body in the equipment fixing cylinder 1. By packaging and integrating the equipment modules in the equipment fixing cylinder, the stable installation of each module is facilitated.

[0162] The buffer protection piece 4 in the embodiment is made of polypropylene plastic or pearl wool board and wrapped around the monitoring device body in the equipment fixing cylinder 1 in the form of a U-shaped groove mold.

[0163] In actual application, the unmanned aerial vehicle suspension ring 16 is arranged on the upper packaging plate 3 to realize the connection between the whole monitoring device and the unmanned aerial vehicle.

[0164] Embodiment 5

[0165] As shown in Figure 3 The lower part of the integrated device is provided with a throwing and stabilizing device, which is beneficial to ensure the safety of the whole device after throwing and firmly stabilize the device on the monitoring point.

[0166] The throwing and stabilizing device comprises:

[0167] Four spring supports 6 are uniformly distributed along the circumferential direction of the bottom of the fluid buffer layer 5, and the top of each spring support 6 is fixedly connected with the bottom of the fluid buffer layer 5; the bottom of each spring support 6 is provided with a supporting needle 7.

[0168] Four spring pressure support rods 8 are obliquely distributed along the circumferential direction of the bottom of the fluid buffer layer 5, one end of each spring pressure support rod 8 is fixedly connected with the center of the bottom of the fluid buffer layer 5, and the other end is fixedly connected with the spring support 6.

[0169] The four spring supports 6 are uniformly arranged on the circumference of the bottom of the fixed cylinder 1, and the supporting needle 7 is arranged at the bottom of the spring support 6, so that the stable connection of the whole device for throwing and the ground is realized, and the stability of the whole device after throwing is beneficial. In addition, the four spring pressure supporting rods 8 are connected with the bottom center of the fixed cylinder 1, and the four spring pressure supporting rods 8 are fixedly connected with the four spring supports 6, so that when the whole device after throwing is in contact with the ground, the spring pressure supporting rod 8 can be stretched to slow down the gravity of the whole device when falling to the ground, so as to ensure the safety of the whole device after throwing and ensure that the whole device after throwing is firmly and stably on the monitoring point.

[0170] Example 6

[0171] As Figures 2-5 indicated, it also includes a power supply module, an electric energy conversion module and a communication module.

[0172] The power supply module includes:

[0173] The lithium battery 9 is fixed in the equipment fixed cylinder 1 by the fixed buckle 14.

[0174] The flexible solar cell panel 10 is arranged on the upper surface of the upper packaging plate 3 and the outer wall of the outer cylinder 15, and is electrically connected with the lithium battery 9.

[0175] The power supply module is arranged to realize the power supply of the monitoring device body, and ensures the long-term field work requirement of the monitoring device body. The flexible solar cell panel 10 is used to realize photovoltaic power generation and storage in the lithium battery 9, which is beneficial to the continuous power supply of the monitoring terminal integrated module.

[0176] The electric energy conversion module includes:

[0177] The solar charging and discharging controller 11 is fixed in the equipment fixed cylinder 1 by the fixed buckle 14, and is electrically connected with the lithium battery 9 and the flexible solar cell panel 10. The solar charging and discharging controller 11 is used to control the charging of the lithium battery 9 by the flexible solar cell panel 10 and the power supply of the monitoring data acquisition module 17 by the lithium battery 9.

[0178] The communication module includes a Bluetooth / 4G antenna integrated module 12 and a LoRa wireless communication device 13.

[0179] The LoRa wireless communication device 13 is fixed in the equipment fixed cylinder 1 by a bolt.

[0180] The outer part of the power supply module, the electric energy conversion module and the communication module is sleeved with a sealed filling bag.

[0181] The surfaces of the monitoring data acquisition module 17, the power supply module, the electric energy conversion module and the communication module are provided with three-proof paint. The epoxy resin and the like are used to fill the bag to fill each module, and the three-proof paint is used for surface protection, which helps to ensure that the monitoring terminal integrated module, the power supply module and the electric energy conversion module are not damaged in the harsh outdoor working environment, and the stability and safety of the work are ensured.

[0182] In use, the device can also be provided with heat insulation cotton in the space between the external cylinder 15 and the equipment fixing cylinder 1. The monitoring terminal integrated module, the power supply module and the electric energy conversion module are separated by the heat insulation cotton. In order to ensure that the whole device can withstand high and low temperatures in complex environments, the heat insulation cotton and acrylic resin paint are used between the monitoring equipment and the device box and between the battery box to avoid the monitoring device from being unable to start normally due to too low or too high temperature, so as to maintain the stable operation of the monitoring device.

[0183] The monitoring device in the present application file not only realizes the integrated installation and fixing of the monitoring device body for obtaining the deformation monitoring information of the deformation body, but also is beneficial to the safety and stability of the whole device after being thrown. The monitoring device body is fixed on the integrated device; the upper buffer device is fixed on the top of the integrated device; the throwing and stabilizing device is fixed on the bottom of the integrated device; and the integrated device is thrown from high altitude.

[0184] Finally, it should be explained that: the above disclosure is only one specific embodiment of the present application, but the embodiments of the present application are not limited to this. Any changes that can be thought of by those skilled in the art should fall within the protection scope of the present application.

Claims

1. A deformation monitoring data processing method, characterized in that, The method comprises the following steps: Obtaining continuous GNSS observation values of multiple satellites at the reference station and the monitoring station; According to the GNSS observation values, performing inter-station difference between the reference station and the monitoring station to obtain a single-difference observation model based on pseudorange and carrier phase; performing inter-satellite difference between different satellites to construct a double-difference observation model; According to the double-difference observation model and the GNSS observation values, an error equation is established; Solving the error equation to obtain a float solution of ambiguity, and then using the LAMBDA algorithm to obtain a fixed solution of wide-lane ambiguity and a fixed solution of narrow-lane ambiguity for each satellite; According to the fixed solution of wide-lane ambiguity and the fixed solution of narrow-lane ambiguity for each satellite, the double-difference observation model is solved to obtain position coordinate information of the deformation monitoring point; The method for obtaining continuous GNSS observation values of multiple satellites at the reference station and the monitoring station comprises the following steps: Using a receiver on the GNSS monitoring device to obtain GNSS original observation information of multiple satellites at the reference station and the monitoring station, and using a wireless communication network to obtain broadcast ephemeris data and error correction data in RTCM format; Analyzing the GNSS original observation information to obtain GNSS observation values, which include pseudorange, carrier phase, Doppler, and signal-to-noise ratio; Decoding the broadcast ephemeris data in RTCM format to obtain broadcast ephemeris parameter information; After rough error detection, the GNSS observation values are processed by removing or reducing the weight of the observation values containing noise; Using Kalman filtering method to detect cycle slip of carrier phase of a satellite at an epoch in the GNSS observation values; According to the GNSS observation values, performing inter-station difference between the reference station and the monitoring station to obtain a single-difference observation model based on pseudorange and carrier phase, which comprises the following steps: Reference station b and monitoring station r Simultaneous observation j If the satellite is GPS satellite No. 1, then the pseudo-range observation equations on the reference station and the monitoring station are respectively: （1） The carrier phase observation equation at the reference station and the monitoring station is: （2） wherein is a pseudo-range observation value of the monitoring station r ; is a pseudo-range observation value of the reference station b ; is j the geometric distance of the satellite number i to the monitoring station; r is the geometric distance of the satellite number i to the reference station; j is b the geometric distance of the satellite number i to the reference station; c Represents the speed of light; to monitor the clock difference of a receiver on a station r to monitor the clock difference of a receiver on a station to monitor the clock difference of a receiver on a station b to monitor the clock difference of a receiver on a station denotes the satellite clock error; , are the ionosphere delay error and the troposphere delay error of the satellite with the satellite number j , respectively. denotes the double-difference observation noise error; carrier phase observations for the reference station r carrier phase observations for the reference station carrier phase observations for the reference station b carrier phase observations for the reference station is j the carrier wavelength of the satellite with number is j the integer ambiguity of the satellite with number The inter-station difference is made between the reference station and the receiver station, and the i If the No. 1 satellite is the reference satellite, the pseudo-range single-difference observation equation on the reference station and the monitoring station is: （3） The single-difference observation equation of carrier phase at the reference station and the monitoring station is: （4） wherein is a reference station b with a monitoring station r relative to i inter-station differential pseudorange differential values for the satellite reference station b with a monitoring station r relative to j interstation differential pseudorange differential values for the GPS satellite reference station b monitoring station r relative to i inter-station differential carrier phase difference for a satellite reference station b with a monitoring station r relative to j inter-station differential carrier phase difference relative to a satellite , They are respectively j Satellite No. 1 and i Single-difference integer ambiguity of satellite No. 1; The double-difference observation model is constructed by performing inter-satellite difference between different satellites, and the calculation formulae are as follows: （5） （6） wherein is the reference station b and the monitoring station r with respect to i inter-satellite differential pseudorange measurements for the j and is the reference station b and the monitoring station r with respect to i inter-satellite differential carrier phase measurements for the j and is the double-difference integer ambiguity According to the double-difference observation model and the GNSS observation values, an error equation is established, which comprises: provided with n + 1 satellite, the expression of the error equation is: （7） wherein is a combined vector of pseudorange residuals and carrier phase residuals; , , , , , is a first order Taylor expansion of the monitoring station coordinates , , ; , , is the monitoring station coordinates , , , is the integer ambiguity; The deformation monitoring data processing method is applied to a deformation monitoring device, which comprises: A monitoring data acquisition module is configured to acquire continuous GNSS observation values of multiple satellites at the reference station and the monitoring station; the monitoring data acquisition module comprises a GNSS / MEMS monitoring module, a multi-sensor integration module, and a wireless communication module; when acquiring deformation monitoring information of a deformation body, the GNSS / MEMS monitoring module and the multi-sensor integration module are used to acquire monitoring information, and the wireless communication module is used to transmit the acquired monitoring information to a monitoring terminal; A double-difference observation model establishment module is configured to perform inter-station difference between the reference station and the monitoring station according to GNSS observation values to obtain a single-difference observation model based on pseudorange and carrier phase, and perform inter-satellite difference between different satellites to construct a double-difference observation model; An error equation establishment module is configured to establish an error equation according to the double-difference observation model and the GNSS observation values. The monitoring information solving module is configured to solve the error equation to obtain a float solution of ambiguity, and then use the LAMBDA algorithm to obtain a fixed solution of wide-lane ambiguity and a fixed solution of narrow-lane ambiguity of each satellite, and solve a double-difference observation model according to the fixed solution of wide-lane ambiguity and the fixed solution of narrow-lane ambiguity of each satellite to obtain position coordinate information of the deformation monitoring point. The monitoring device integrated device comprises: A device fixing cylinder (1) having an open top and a hollow mesh side wall, wherein the monitoring data acquisition module is fixed inside the device fixing cylinder (1) by a fixing buckle (14); A fluid buffer layer (5) arranged at the bottom of the device fixing cylinder (1) and fixedly connected with the bottom of the device fixing cylinder (1); An outer cylinder (15) sleeved on the device fixing cylinder (1) and fixedly connected with the fluid buffer layer (5) at the bottom; The upper part of the integrated device is provided with an upper buffer device, and the upper buffer device comprises: Four shock-absorbing springs (2) evenly distributed along the circumferential direction of the top of the device fixing cylinder (1) and fixedly connected with the top of the device fixing cylinder (1) at the bottom; An upper packaging plate (3) arranged above the four shock-absorbing springs (2) and fixedly connected with the four shock-absorbing springs (2) at the bottom; A buffer protection piece (4) covering the monitoring data acquisition module inside the device fixing cylinder (1) and composed of a low-density buffer material; The lower part of the integrated device is provided with a throwing and stabilizing device, which comprises: Four spring supports (6) evenly distributed along the circumferential direction of the bottom of the fluid buffer layer (5) and fixedly connected with the bottom of the fluid buffer layer (5) at the top, wherein the bottom of each spring support (6) is provided with a supporting foot needle (7); Four spring pressure support rods (8) obliquely distributed along the circumferential direction of the bottom of the fluid buffer layer (5), one end of each spring pressure support rod (8) being fixedly connected with the center of the bottom of the fluid buffer layer (5), and the other end being fixedly connected with the spring support (6); The deformation monitoring device further comprises a power supply module, an electric energy conversion module and a communication module; The power supply module comprises: A lithium battery (9) fixed inside the device fixing cylinder (1) by the fixing buckle (14); A flexible solar cell panel (10) arranged on the upper surface of the upper packaging plate (3) and the outer wall of the outer cylinder (15) and electrically connected with the lithium battery (9); The electric energy conversion module comprises: A solar charging and discharging controller (11) fixed inside the device fixing cylinder (1) by the fixing buckle (14) and electrically connected with the lithium battery (9) and the flexible solar cell panel (10); The communication module comprises a Bluetooth / 4G antenna integrated module (12) and a LoRa wireless communication device (13); The LoRa wireless communication device (13) is fixed inside the device fixing cylinder (1) by a bolt; The power supply module, the electric energy conversion module and the communication module are each sleeved with a sealed filling bag; The surfaces of the monitoring data acquisition module, the power supply module, the electric energy conversion module and the communication module are each provided with a three-proof paint.

2. The deformation monitoring data processing method according to claim 1, characterized in that: The method for solving the error equation to obtain the float solution of ambiguity comprises a least square method or a Kalman filter method. The double-difference observation model is solved according to the wide-lane ambiguity fixed solution and the narrow-lane ambiguity fixed solution of each satellite, and position coordinate information of the deformation monitoring point is obtained, and the equation is specifically solved as follows: （8） in the above formula, is the current computed ambiguity float solution; is the narrow lane ambiguity fixed post-update float solution; , is the ambiguity fixed solution; is the ambiguity fixed solution coordinate parameter is the covariance matrix of is the inverse of the ambiguity covariance; is the ambiguity fixed solution coordinate parameter is the covariance matrix of is the cross-covariance matrix of the ambiguity fixed solution parameters , is the transpose of the ambiguity fixed solution matrix; is the covariance matrix of the narrow lane ambiguity float solution.​

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