GNSS Deformation Monitoring Methods and Related Devices
By acquiring data from satellites and monitoring stations and combining it with environmental monitoring data to select an appropriate solution mode, the applicability of the GNSS deformation monitoring scheme in different scenarios has been solved, resulting in more efficient and accurate monitoring results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- QIANXUN SPATIAL INTELLIGENCE INC
- Filing Date
- 2022-11-14
- Publication Date
- 2026-08-04
AI Technical Summary
Existing GNSS deformation monitoring schemes have poor applicability in different monitoring scenarios and are difficult to meet diverse monitoring needs.
By acquiring raw satellite observation data and environmental monitoring data from monitoring stations, appropriate solution modes are determined based on the environmental monitoring data, such as real-time carrier phase difference solution mode, quasi-real-time filtering solution mode, or post-processing static baseline solution mode, to perform GNSS data solution. The solution mode can be flexibly selected and adjusted to adapt to different monitoring scenarios.
The GNSS deformation monitoring solution has been improved to not only meet its own deformation monitoring needs, but also enhance its applicability, enabling it to respond promptly to the needs of different environments and specific human-made monitoring scenarios, thereby improving monitoring efficiency and accuracy.
Smart Images
Figure CN115752217B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of satellite positioning technology, and in particular relates to a GNSS deformation monitoring method, system, device and computer storage medium. Background Technology
[0002] In order to achieve timely early warning of dangers, it is necessary to monitor objects in various industries such as construction, water conservancy, and power grids. Among them, GNSS deformation monitoring technology based on the Global Navigation Satellite System (GNSS) plays an important role. Summary of the Invention
[0003] This application provides a GNSS deformation monitoring method, system, device, and computer storage medium, which can improve the poor applicability of current GNSS deformation monitoring schemes.
[0004] Firstly, a GNSS deformation monitoring method is provided, which may include:
[0005] Acquire raw satellite observation data and environmental monitoring data from monitoring stations. The raw satellite observation data may include first raw observation data from the base station and second raw observation data from the monitoring station.
[0006] Based on environmental monitoring data, determine the first target solution mode corresponding to the original satellite observation data. The first target solution mode may include real-time carrier phase difference solution mode, quasi-real-time filtering solution mode or post-processing static baseline solution mode.
[0007] The first displacement calculation result of the monitoring station is obtained by performing GNSS data calculation on the first and second original observation data using the first target calculation mode.
[0008] In these embodiments, the environmental changes of the monitoring station are taken into account, and the GNSS data processing mode is flexibly selected and determined accordingly, thereby improving the problem that the current GNSS deformation monitoring scheme has poor applicability while meeting its own deformation monitoring needs.
[0009] Optionally, after acquiring the raw satellite observation data and the environmental monitoring data from the monitoring station, the data may also include:
[0010] According to the accuracy standard of the monitoring station, the second target calculation mode is determined. The first target calculation mode and the second target calculation mode can include up to two of the following: real-time carrier phase difference calculation mode, quasi-real-time filtering calculation mode and post-processing static baseline calculation mode.
[0011] The second displacement calculation result of the monitoring station is obtained by performing GNSS data calculation on the first and second original observation data using the second objective calculation mode.
[0012] These embodiments take into account the environmental data and accuracy standards of the monitoring station, combining timeliness and accuracy to meet the needs of monitoring frequency and accuracy in different monitoring scenarios.
[0013] Optionally, the first target solution mode corresponding to the raw satellite observation data can be determined based on environmental monitoring data, and may include:
[0014] When the environmental monitoring data meets the first-level timeliness condition, the first target calculation mode is the real-time carrier phase difference calculation mode;
[0015] When environmental monitoring data meets the conditions for Level II timeliness, the first objective solution mode is the quasi-real-time filtered solution mode, and the Level II timeliness is lower than the Level I timeliness.
[0016] When environmental monitoring data meets the Level 3 timeliness condition, the first objective solution mode is the post-processing static baseline solution mode, and the Level 3 timeliness is lower than the Level 2 timeliness.
[0017] In these examples, three timeliness conditions were set based on the timeliness of different solution modes. The environmental monitoring data was compared with the timeliness conditions to determine the first target solution mode that meets the timeliness requirements. Thus, the different monitoring scenarios corresponding to the environmental monitoring data were considered in combination with the timeliness conditions, which improved the applicability while meeting the requirements of GNSS deformation monitoring.
[0018] Optionally, environmental monitoring data may include N types of environmental monitoring sub-data, where N is a positive integer;
[0019] Level 1 timeliness conditions may include N1 types of environmental monitoring sub-data that are greater than or equal to the first data threshold of the corresponding type, where N≥N1>0;
[0020] The secondary timeliness condition may include N2 types of environmental monitoring sub-data that are less than the first data threshold of the corresponding type and greater than or equal to the second data threshold of the corresponding type, wherein the first data threshold of any type is greater than the second data threshold of the corresponding type, and N≥N2>0;
[0021] Level 3 timeliness conditions can include N3 types of environmental monitoring sub-data that are less than the second data threshold of the corresponding type, where N≥N3>0.
[0022] In these examples, environmental monitoring data is divided into N types of environmental monitoring sub-data intervals, and three intervals are formed for each type by using the first and second data thresholds. The timeliness conditions of the environmental monitoring sub-data are determined according to the number of environmental monitoring sub-data falling into different intervals. The impact of various types of environmental monitoring sub-data on the environmental monitoring scenario is considered. The first target calculation model determined in this way can greatly improve the monitoring efficiency and meet the monitoring and early warning requirements.
[0023] Optionally, environmental monitoring data may include at least one of the following:
[0024] The monitoring station monitors the stress, strain, seepage, seepage pressure, uplift pressure, air pressure, rainfall, water level, tilt angle, and acceleration of the objects being monitored.
[0025] Optionally, the method may also include:
[0026] Upon receiving a mode switching command, the current solution mode is switched to the third target solution mode indicated by the mode switching command.
[0027] In this example, in addition to automatically selecting the first target calculation mode based on environmental monitoring data from monitoring points, the calculation mode can also be manually switched through user-triggered mode switching commands. This mainly takes into account the specific calculation needs that arise temporarily, thereby meeting the calculation requirements under different environments or specific human-caused monitoring scenarios, making the calculation mode of the GNSS deformation monitoring scheme more applicable.
[0028] Optionally, after determining the first target solution mode corresponding to the raw satellite observation data based on environmental monitoring data, it may also include:
[0029] Data quality analysis was performed on the second set of raw observation data;
[0030] If the data quality analysis is successful, the following steps are performed: GNSS data processing is conducted on the first and second raw observation data using the first target calculation mode. Data quality analysis ensures the smooth completion of subsequent GNSS calculation processes.
[0031] Secondly, a GNSS deformation monitoring system is provided, which may include:
[0032] The acquisition module is used to acquire raw satellite observation data and environmental monitoring data from monitoring stations. The raw satellite observation data may include first raw observation data from the base station and second raw observation data from the monitoring station.
[0033] The determination module is used to determine the first target solution mode corresponding to the original satellite observation data based on the environmental monitoring data. The first target solution mode may include a real-time carrier phase difference solution mode, a quasi-real-time filtering solution mode, or a post-processing static baseline solution mode.
[0034] The calculation module is used to perform GNSS data calculation on the first and second original observation data through the first target calculation mode to obtain the first displacement calculation result of the monitoring station.
[0035] Thirdly, a GNSS deformation monitoring device is provided, which includes a memory, a processor, and a GNSS deformation monitoring program stored in the memory and running on the processor. The GNSS deformation monitoring program implements the steps of the GNSS deformation monitoring method of the first aspect.
[0036] Fourthly, a computer storage medium is provided, which, when executed by a processor, implements the steps of the GNSS deformation monitoring method of the first aspect.
[0037] Fifthly, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the steps of the GNSS deformation monitoring method of the first aspect.
[0038] Compared with existing technologies, the GNSS deformation monitoring method and related apparatus provided in this application acquire raw satellite observation data and environmental monitoring data from a monitoring station. The raw satellite observation data includes first raw observation data from a reference station and second raw observation data from a monitoring station. Based on the environmental monitoring data, a first target calculation mode corresponding to the raw satellite observation data is determined. Finally, GNSS data calculation is performed on the first and second raw observation data using the first target calculation mode to obtain the first displacement calculation result of the monitoring station. Since the first displacement calculation result of the monitoring station is obtained by GNSS data calculation according to the first target calculation mode, which is determined based on the environmental monitoring data of the monitoring station (including real-time carrier phase difference calculation mode, quasi-real-time filtering calculation mode, or post-processing static baseline calculation mode), the environmental changes of the monitoring station are considered. This allows for flexible selection and determination of the GNSS data calculation mode, thereby improving the current GNSS deformation monitoring scheme's poor applicability while meeting its own deformation monitoring requirements. Attached Figure Description
[0039] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0040] Figure 1 This is a schematic flowchart of a GNSS deformation monitoring method according to an embodiment of this application.
[0041] Figure 2 This is another schematic flowchart of a GNSS deformation monitoring method according to an embodiment of this application.
[0042] Figure 3 This is a schematic block diagram of a GNSS deformation monitoring system according to another embodiment of this application.
[0043] Figure 4 This is a schematic block diagram of a GNSS deformation monitoring device according to another embodiment of this application. Detailed Implementation
[0044] The features and exemplary embodiments of various aspects of this application will now be described in detail. Numerous specific details are set forth in the following detailed description in order to provide a comprehensive understanding of this application. However, it will be apparent to those skilled in the art that this application can be implemented without some of these specific details. The following description of embodiments is merely intended to provide a better understanding of this application by illustrating examples thereof.
[0045] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The embodiments will now be described in detail with reference to the accompanying drawings.
[0046] In recent years, global geological disasters have become increasingly frequent, such as landslides, collapses, and debris flows caused by climate and geological factors, as well as the instability of soil and rock masses. The economic losses and casualties resulting from these disasters are incalculable each year. To achieve timely early warning of potential hazards, monitoring of objects in various industries, including construction, water conservancy, and power grids, is necessary. GNSS deformation monitoring technology, based on the Global Navigation Satellite System (GNSS), plays a crucial role in this process, enabling a gradual transition from traditional monitoring to online monitoring.
[0047] During the research and development process in this field, the inventors of this application discovered that the actual deformation monitoring needs of users in different monitoring scenarios are also different, but the current GNSS deformation monitoring solutions can only meet the deformation monitoring needs and have poor applicability to different monitoring scenarios.
[0048] Therefore, this application proposes a GNSS deformation monitoring method, system, device, and computer storage medium to solve the above problems.
[0049] The GNSS deformation monitoring method of this application is first introduced below. (See attached image) Figure 1 In one embodiment of the GNSS deformation monitoring method of this application, the method includes:
[0050] S110, acquire raw satellite observation data and environmental monitoring data from monitoring stations. The raw satellite observation data includes the first raw observation data from the base station and the second raw observation data from the monitoring station.
[0051] S120, based on environmental monitoring data, determine the first target solution mode corresponding to the original satellite observation data. The first target solution mode includes real-time carrier phase difference solution mode, quasi-real-time filtering solution mode or post-processing static baseline solution mode.
[0052] S130, GNSS data calculation is performed on the first and second original observation data through the first target calculation mode to obtain the first displacement calculation result of the monitoring station.
[0053] This application embodiment acquires raw satellite observation data and environmental monitoring data from a monitoring station. The raw satellite observation data includes first raw observation data from a reference station and second raw observation data from a monitoring station. Based on the environmental monitoring data, a first target calculation mode corresponding to the raw satellite observation data is determined. Finally, GNSS data calculation is performed on the first and second raw observation data using the first target calculation mode to obtain the first displacement calculation result of the monitoring station. Since the first displacement calculation result of the monitoring station is obtained by GNSS data calculation according to the first target calculation mode, which is determined based on the environmental monitoring data of the monitoring station, including real-time carrier phase difference calculation mode, quasi-real-time filtering calculation mode, or post-processing static baseline calculation mode, the environmental changes of the monitoring station are considered. This allows for flexible selection and determination of the GNSS data calculation mode, thereby improving the current GNSS deformation monitoring scheme's poor applicability while meeting its own deformation monitoring requirements.
[0054] The device executing the above-described GNSS deformation monitoring method can be a device with GNSS data processing capabilities. For example, this device can be a server, such as a cloud server. It should be noted that the following examples will use a GNSS deformation monitoring device as the server.
[0055] In some optional examples of S110, after the GNSS equipment of the base station and monitoring station is turned on, it can continuously observe the sky and thus continuously collect raw satellite observation data.
[0056] The data receiving module in the server can communicate with the GNSS equipment at the base station and monitoring station. During the continuous acquisition of raw satellite observation data by the GNSS equipment at the monitoring station and base station, the GNSS equipment can upload the acquired raw observation data to the server's data receiving module via a wireless network according to the data sampling frequency.
[0057] The data receiving module can parse the raw observation data sent by the monitoring and base stations, and then generate standard RINEX (Receiver Independent Exchange Format) observation data. The subsequent data storage module in the server can then classify and store the standard RINEX observation data according to the base station and monitoring station.
[0058] Among them, the original observation data corresponding to the base station is the first original observation data, and the original observation data corresponding to the monitoring station is the second original observation data.
[0059] In addition, the GNSS equipment at the monitoring station can also observe and collect environmental monitoring data from the monitoring points / objects. Simultaneously, according to the equipment's collection frequency, the collected environmental monitoring data is uploaded to the server via a wireless network. The server's data receiving and data storage modules then parse and store this environmental monitoring data accordingly.
[0060] In some optional examples, after the server obtains the raw satellite observation data and the environmental monitoring data from the monitoring station, the data status of the raw satellite observation data and the environmental monitoring data can be updated. For example, different data statuses can be distinguished using different identifiers. This facilitates the timely initiation of subsequent operations for GNSS deformation monitoring based on the reference data status.
[0061] In some optional examples of S120, environmental monitoring data from the monitoring station can be obtained from the data storage module, and the rule engine can be used to perform rule judgment on the environmental monitoring data to determine the first target solution mode suitable for the current environmental monitoring data.
[0062] It should be noted that the aforementioned environmental monitoring data may include at least one of the following: stress, strain, seepage, seepage pressure, uplift pressure, air pressure, rainfall, water level, tilt angle, and acceleration of the monitored object at the monitoring station. For example, the monitored object may be a dam or a bridge.
[0063] Various environmental monitoring data can be obtained through the various acquisition units set in GNSS equipment and the various sensors connected to the GNSS equipment. Environmental monitoring data may differ for different monitoring objects and / or different monitoring stations.
[0064] The primary target calculation mode can be one of the following: real-time carrier phase difference calculation mode, near-real-time filtering calculation mode, and post-processing static baseline calculation mode. Initially, the server's GNSS data calculation module can default to the post-processing static baseline calculation mode.
[0065] Among them, the real-time carrier phase differential calculation mode adopts RTK (Real-time kinematic) carrier phase differential technology, which specifically acquires the original observation data of the base station and the monitoring station in real time, and calculates the coordinates of the monitoring station (i.e., the displacement calculation result) by difference.
[0066] The near real-time filtering solution mode is based on the real-time carrier phase difference solution technology, and adds filtering and adjustment methods, which can obtain monitoring station coordinates with higher accuracy than the real-time carrier phase difference solution.
[0067] The post-processing static baseline solution mode uses raw GNSS satellite observation data from the monitoring station and the reference station over a period of time to perform baseline solution and adjustment, obtaining millimeter-level coordinates of the monitoring station.
[0068] Among the different GNSS data processing modes mentioned above, the real-time carrier phase difference processing mode has the highest timeliness, followed by the quasi-real-time filtering processing mode, while the post-processing static baseline processing mode has the worst timeliness, but the highest accuracy of the processing results.
[0069] Compared to the single calculation method of related technologies, the embodiments of this application design a calculation engine (i.e., GNSS data calculation module) in the GNSS deformation monitoring equipment that is compatible with different calculation modes. By considering the environmental monitoring data of the monitoring station and determining the first target calculation mode corresponding to the original satellite observation data accordingly, the calculation mode can be flexibly adjusted, and then GNSS data calculation is performed on the original satellite observation data according to the first target calculation mode. Therefore, the obtained first displacement calculation result takes into account the different monitoring scenarios corresponding to the environmental monitoring data, which improves the applicability of the current GNSS deformation monitoring scheme while meeting the requirements of GNSS deformation monitoring.
[0070] It should also be emphasized that while related technologies may have arc length adjustment solution schemes within the same solution mode, these arc length adjustment-based solution schemes are performed within the same solution mode and are mainly used to ensure the smoothness of the solution results. However, in the embodiments of this application, when determining the first target solution mode and then performing GNSS data solution according to the first target solution mode, the ability to select and switch between three different solution modes allows the obtained solution results to reflect the changes caused by instantaneous deformation, resulting in greater applicability.
[0071] In some optional examples of S130, the GNSS data processing module in the server can obtain the first raw observation data of the reference station and the second raw observation data of the monitoring station required by the current first target processing mode from the data storage module. Then, it performs GNSS data processing according to the first target processing mode, generates the first displacement calculation result of the monitoring station, and stores the first displacement calculation result in the data storage module for subsequent extraction by the server or GNSS deformation monitoring platform, and realizes GNSS deformation early warning based on it.
[0072] After storing the first displacement calculation result in the data storage module, the data storage status of the calculation result can be updated so that subsequent GNSS deformation early warning can be promoted in a timely manner.
[0073] Optionally, after obtaining the second set of raw observation data from the monitoring station but before performing GNSS data processing, a data quality analysis can be performed on the second set of raw observation data. Only if the data quality analysis passes can GNSS data processing be performed on the first and second set of raw observation data using the first target processing mode. By performing data quality analysis, the smooth completion of the subsequent GNSS processing process can be guaranteed.
[0074] See Figure 2 In some optional examples, after S110, the method may also include:
[0075] S210, according to the accuracy standard of the monitoring station, determine the second target solution mode. The first target solution mode and the second target solution mode include at most two of the following: real-time carrier phase difference solution mode, quasi-real-time filtering solution mode and post-processing static baseline solution mode.
[0076] S220, the second target solution mode is used to perform GNSS data solution on the first and second original observation data to obtain the second displacement solution result of the monitoring station.
[0077] The aforementioned accuracy standard can be a pre-set accuracy requirement for the solution results of different monitoring stations. For example, if monitoring station A requires a solution accuracy at the millimeter level, then the second target solution mode for monitoring station A is the post-processing static baseline solution mode.
[0078] In this example, in addition to considering the timeliness requirements of the environmental monitoring data from the monitoring stations for the solution results, the accuracy requirements of the location coordinates of different monitoring stations are also considered. For example, the solution mode for the second objective can typically be fixed for different monitoring stations.
[0079] In actual GNSS deformation monitoring, the server can use one solution mode (i.e., the first target solution mode and the second target solution mode are the same) or two solution modes (i.e., the first target solution mode and the second target solution mode are different) to solve the raw satellite observation data. This takes into account the environmental data and accuracy standards of the monitoring station, and combines timeliness and accuracy to meet the needs of monitoring frequency and accuracy in different monitoring scenarios.
[0080] In some optional examples, the process of determining the first target solution mode corresponding to the raw satellite observation data based on environmental monitoring data in S120 above may include:
[0081] When the environmental monitoring data meets the first-level timeliness condition, the first objective solution mode can be the real-time carrier phase difference solution mode.
[0082] When environmental monitoring data meets the conditions for Level II timeliness, the first objective solution mode can be a near-real-time filtered solution mode, and Level II timeliness is lower than Level I timeliness.
[0083] When environmental monitoring data meets the Level 3 timeliness requirement, the first objective solution mode is the post-processing static baseline solution mode, and the Level 3 timeliness can be lower than the Level 2 timeliness.
[0084] In this example, considering different monitoring efficiency requirements, first-level, second-level, and third-level timeliness conditions were set, and environmental monitoring data were compared with different timeliness conditions. When the environmental monitoring data meets one of the timeliness conditions, the first objective solution mode corresponding to that timeliness condition can be adopted.
[0085] Among them, the timeliness requirement of the first-level timeliness condition is the highest. Therefore, the first target solution mode corresponding to this condition can adopt the real-time carrier phase difference solution mode with the highest timeliness. The timeliness requirement of the second-level timeliness condition is the second lowest. Therefore, the quasi-real-time filtering solution mode with medium timeliness can be adopted. The timeliness requirement of the third-level timeliness condition is the lowest. Therefore, the post-processing static baseline solution mode with relatively poor timeliness can be adopted.
[0086] In these examples, three timeliness conditions were set based on the timeliness of different solution modes. The environmental monitoring data was compared with the timeliness conditions to determine the first target solution mode that meets the timeliness requirements. Thus, the different monitoring scenarios corresponding to the environmental monitoring data were considered in combination with the timeliness conditions, which improved the applicability while meeting the requirements of GNSS deformation monitoring.
[0087] Optionally, the aforementioned environmental monitoring data may include N types of environmental monitoring sub-data, where N is a positive integer. For example, the environmental monitoring sub-data may be data such as stress, strain, seepage, seepage pressure, uplift pressure, air pressure, rainfall, water level, tilt angle, and acceleration monitored by the aforementioned GNSS equipment.
[0088] For different types of environmental monitoring sub-data, corresponding monitoring conditions and corresponding first and second data thresholds can be set. The first data threshold is the critical value between Level 1 and Level 2 timeliness, and the second data threshold is the critical value between Level 2 and Level 3 timeliness.
[0089] When a certain type of environmental monitoring sub-data falls within a range exceeding the first data threshold, it indicates that there are relatively critical factors affecting that type of environmental observation in the environmental monitoring scenario, and it is necessary to consider improving the timeliness of the solution. When a certain type of environmental monitoring sub-data falls within a range below the second data threshold, it indicates that that type of environmental observation in the environmental monitoring scenario is in normal operating condition, and it is not necessary to improve the timeliness of the solution for that observation at this time.
[0090] When the GNSS data processing module is running, it can initialize the operating environment and read environmental monitoring data from the monitoring station from the data storage module. Then, it compares the environmental monitoring sub-data of different types with the corresponding first and second data thresholds. Finally, it counts the number of environmental monitoring sub-data of each type within the corresponding intervals. By determining the number of sub-data falling into different intervals, it identifies the timeliness conditions that the monitoring station's environmental monitoring data ultimately meets.
[0091] It should also be noted that when environmental monitoring data meets multiple timeliness conditions, the highest timeliness condition should be used to ensure the required solution timeliness for the monitoring scenario as much as possible.
[0092] Among them, the first-level timeliness condition can include N1 types of environmental monitoring sub-data that are greater than or equal to the first data threshold of the corresponding type, where N≥N1>0.
[0093] The secondary timeliness condition may include N2 types of environmental monitoring sub-data that are less than the first data threshold of the corresponding type and greater than or equal to the second data threshold of the corresponding type, wherein the first data threshold of any type is greater than the second data threshold of the corresponding type, and N≥N2>0;
[0094] Level 3 timeliness conditions can include N3 types of environmental monitoring sub-data that are less than the second data threshold of the corresponding type, where N≥N3>0.
[0095] The quantities of N1, N2, and N3 can be set according to actual needs; N1, N2, and N3 can be the same or different.
[0096] Taking N1 as 1, N3 as N, and N2 as N / 2 as an example, when any type of environmental monitoring sub-data is greater than the first data threshold of the corresponding type, the real-time carrier phase difference calculation mode is used as the first target calculation mode. For example, it can switch from the default post-processing static baseline calculation mode to the real-time carrier phase difference calculation mode.
[0097] When all types of environmental monitoring sub-data are less than the first data threshold for their respective types, the post-processing static baseline calculation mode can be used as the primary target calculation mode. For example, the default post-processing static baseline calculation mode can continue to be used.
[0098] When the environmental monitoring sub-data of N / 2 types are between the first data threshold and the second data threshold of the corresponding type, and no environmental monitoring sub-data of any type is greater than the first data threshold of the corresponding type, the quasi-real-time filtering solution mode can be used as the first target solution mode. For example, the default post-processing static baseline solution mode can be switched to the quasi-real-time filtering solution mode.
[0099] In these examples, environmental monitoring data is divided into N types of environmental monitoring sub-data intervals, and three intervals are formed for each type by using the first and second data thresholds. The timeliness conditions of the environmental monitoring sub-data are determined according to the number of environmental monitoring sub-data falling into different intervals. The impact of various types of environmental monitoring sub-data on the environmental monitoring scenario is considered. The first target calculation model determined in this way can greatly improve the monitoring efficiency and meet the monitoring and early warning requirements.
[0100] In some optional examples, if a new first target solution mode is not confirmed within a certain period of time after obtaining the first solution result, the default post-processing static baseline solution mode can be continued, or the current first target solution mode can be maintained for subsequent solution processing.
[0101] In some optional examples, the above GNSS deformation monitoring method may further include: upon receiving a mode switching command, switching the current solution mode to the third target solution mode indicated by the mode switching command.
[0102] The mode switching command can be input by the user through the server's input module or other terminals. When the server receives the mode switching command from the user, it can prioritize responding to the command and switch the current solution mode to the third target solution mode requested by the user.
[0103] It should be noted that the aforementioned third target solution mode can be a real-time carrier phase difference solution mode, a near real-time filtering solution mode, or a post-processing static baseline solution mode, or it may be other modes.
[0104] In this example, in addition to automatically selecting the first target calculation mode based on environmental monitoring data from monitoring points, the calculation mode can also be manually switched through user-triggered mode switching commands. This mainly takes into account the specific calculation needs that arise temporarily, thereby meeting the calculation requirements under different environments or specific human-caused monitoring scenarios, making the calculation mode of the GNSS deformation monitoring scheme more applicable.
[0105] The GNSS deformation monitoring method of this application embodiment has been described in detail above. The following will combine... Figure 3 This application describes in detail the GNSS deformation monitoring system according to embodiments of the present application.
[0106] The acquisition module 310 can be used to acquire raw satellite observation data and environmental monitoring data from monitoring stations. The raw satellite observation data includes the first raw observation data from the base station and the second raw observation data from the monitoring station.
[0107] The determination module 320 can be used to determine the first target solution mode corresponding to the original satellite observation data based on environmental monitoring data. The first target solution mode includes real-time carrier phase difference solution mode, quasi-real-time filtering solution mode or post-processing static baseline solution mode.
[0108] The calculation module 330 can be used to perform GNSS data calculation on the first and second original observation data through the first target calculation mode to obtain the first displacement calculation result of the monitoring station.
[0109] Optionally, the determining module 320 can also be used to determine a second target calculation mode according to the accuracy standard of the monitoring station after the acquisition module 310 acquires the original satellite observation data and the environmental monitoring data of the monitoring station. The first target calculation mode and the second target calculation mode include up to two of the following: real-time carrier phase difference calculation mode, quasi-real-time filtering calculation mode and post-processing static baseline calculation mode.
[0110] The calculation module 330 can also be used to perform GNSS data calculation on the first and second original observation data through the second target calculation mode to obtain the second displacement calculation result of the monitoring station.
[0111] Optionally, the determining module 320 can also be used to: when the environmental monitoring data meets the first-level timeliness condition, the first target solution mode is the real-time carrier phase difference solution mode; when the environmental monitoring data meets the second-level timeliness condition, the first target solution mode is the quasi-real-time filtering solution mode, with the second-level timeliness being lower than the first-level timeliness; when the environmental monitoring data meets the third-level timeliness condition, the first target solution mode is the post-processing static baseline solution mode, with the third-level timeliness being lower than the second-level timeliness.
[0112] Optionally, the environmental monitoring data includes N types of environmental monitoring sub-data, where N is a positive integer; the first-level timeliness condition includes N1 types of environmental monitoring sub-data that are greater than or equal to the first data threshold of the corresponding type, where N≥N1>0;
[0113] The secondary timeliness conditions include N2 types of environmental monitoring sub-data that are less than the first data threshold of the corresponding type and greater than or equal to the second data threshold of the corresponding type, and the first data threshold of any type is greater than the second data threshold of the corresponding type, and N≥N2>0;
[0114] The third-level timeliness condition includes N3 types of environmental monitoring sub-data being less than the second data threshold of the corresponding type, where N≥N3>0.
[0115] Optionally, the environmental monitoring data includes at least one of the following:
[0116] The monitoring station monitors the stress, strain, seepage, seepage pressure, uplift pressure, air pressure, rainfall, water level, tilt angle, and acceleration of the objects being monitored.
[0117] Optionally, the device further includes:
[0118] The switching module is used to switch the current solution mode to the third target solution mode indicated by the mode switching command when a mode switching command is received.
[0119] Optionally, the solution module 330 can also be used to perform data quality analysis on the second raw observation data; when the data quality analysis is passed, GNSS data solution is performed on the first raw observation data and the second raw observation data through the first target solution mode.
[0120] Figure 4 A schematic diagram of the hardware structure of a GNSS deformation monitoring device provided in an embodiment of this application is shown. The GNSS deformation monitoring device may include a processor 401 and a memory 402 storing computer program instructions.
[0121] Specifically, the processor 401 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.
[0122] Memory 402 may include a large-capacity storage device for data or instructions. For example, and not limitingly, memory 402 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where suitable, memory 402 may include removable or non-removable (or fixed) media. Where suitable, memory 402 may be internal or external to a GNSS deformation monitoring device. In a particular embodiment, memory 402 is a non-volatile solid-state memory.
[0123] Memory 402 may include read-only memory (ROM), flash memory device, random access memory (RAM), disk storage medium device, optical storage medium device, electrical, optical, or other physical / tangible memory storage device. Therefore, typically, memory 402 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software that may include computer-executable instructions and, when executed (e.g., by one or more processors), is operable to perform the operations described with reference to the methods described above according to the foregoing aspects of this disclosure.
[0124] The processor 401 reads and executes computer program instructions stored in the memory 402 to implement any of the GNSS deformation monitoring methods in the above embodiments.
[0125] In one example, the GNSS deformation monitoring device may also include a communication interface 403 and a bus 410. For example, Figure 4 As shown, the processor 401, memory 402, and communication interface 403 are connected through bus 410 and complete communication with each other.
[0126] Communication interface 403 is mainly used to realize communication between various modules, systems, devices, units and / or equipment in the embodiments of this application.
[0127] Bus 410 includes hardware, software, or both, that couples components of a GNSS deformation monitoring device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 410 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.
[0128] This GNSS deformation monitoring equipment can be based on GNSS deformation monitoring methods to achieve a combination of... Figures 1 to 3 The GNSS deformation monitoring method and system are described.
[0129] In conjunction with the GNSS deformation monitoring methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the GNSS deformation monitoring methods in the above embodiments.
[0130] Furthermore, in conjunction with the GNSS deformation monitoring methods in the above embodiments, this application embodiment can provide a computer program product for implementation. This computer program product stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the GNSS deformation monitoring methods in the above embodiments.
[0131] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.
[0132] It should be understood that in the embodiments of this application, "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.
[0133] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A GNSS deformation monitoring method, characterized in that, include: Acquire raw satellite observation data and environmental monitoring data from monitoring stations, wherein the raw satellite observation data includes first raw observation data from the base station and second raw observation data from the monitoring station; Based on the environmental monitoring data, a first target solution mode corresponding to the original satellite observation data is determined. The first target solution mode includes a real-time carrier phase difference solution mode, a quasi-real-time filtering solution mode, or a post-processing static baseline solution mode. The first displacement calculation result of the monitoring station is obtained by performing GNSS data calculation on the first original observation data and the second original observation data using the first target calculation mode. The step of determining the first target solution mode corresponding to the original satellite observation data based on the environmental monitoring data includes: When the environmental monitoring data meets the first-level timeliness condition, the first target calculation mode is the real-time carrier phase difference calculation mode; When the environmental monitoring data meets the second-level timeliness condition, the first target solution mode is a quasi-real-time filtering solution mode, and the second-level timeliness is lower than the first-level timeliness. When the environmental monitoring data meets the third-level timeliness condition, the first target solution mode is the post-processing static baseline solution mode, and the third-level timeliness is lower than the second-level timeliness. The environmental monitoring data includes N types of environmental monitoring sub-data, where N is a positive integer; The first-level timeliness condition includes N1 types of environmental monitoring sub-data that are greater than or equal to the first data threshold of the corresponding type, where N≥N1>0; The secondary timeliness conditions include N2 types of environmental monitoring sub-data that are less than the first data threshold of the corresponding type and greater than or equal to the second data threshold of the corresponding type, wherein the first data threshold of any type is greater than the second data threshold of the corresponding type, and N≥N2>0; The three-level timeliness conditions include N3 types of environmental monitoring sub-data being less than the second data threshold of the corresponding type, where N≥N3>0.
2. The method according to claim 1, characterized in that, After acquiring the raw satellite observation data and the environmental monitoring data from the monitoring station, the process also includes: According to the accuracy standard of the monitoring station, a second target solution mode is determined. The first target solution mode and the second target solution mode include at most two of the following: real-time carrier phase difference solution mode, quasi-real-time filtering solution mode, and post-processing static baseline solution mode. The second target solution mode is used to perform GNSS data solution on the first original observation data and the second original observation data to obtain the second displacement solution result of the monitoring station.
3. The method according to claim 1, characterized in that, The environmental monitoring data includes at least one of the following: The monitoring station monitors the stress, strain, seepage, seepage pressure, uplift pressure, air pressure, rainfall, water level, tilt angle, and acceleration of the objects being monitored.
4. The method according to claim 1, characterized in that, The method further includes: Upon receiving a mode switching instruction, the current solution mode is switched to the third target solution mode indicated by the mode switching instruction.
5. The method according to any one of claims 1 to 4, characterized in that, After determining the first target solution mode corresponding to the original satellite observation data based on the environmental monitoring data, the method further includes: Perform data quality analysis on the second set of raw observation data; If the data quality analysis is successful, the following steps are performed: GNSS data processing is performed on the first original observation data and the second original observation data using the first target solution mode.
6. A GNSS deformation monitoring system, characterized in that, include: The acquisition module is used to acquire raw satellite observation data and environmental monitoring data from the monitoring station. The raw satellite observation data includes first raw observation data from the base station and second raw observation data from the monitoring station. The determination module is used to determine the first target calculation mode corresponding to the original satellite observation data based on the environmental monitoring data. The first target calculation mode includes a real-time carrier phase difference calculation mode, a quasi-real-time filtering calculation mode, or a post-processing static baseline calculation mode. The calculation module is used to perform GNSS data calculation on the first original observation data and the second original observation data through the first target calculation mode to obtain the first displacement calculation result of the monitoring station; The determining module is specifically used for: When the environmental monitoring data meets the first-level timeliness condition, the first target calculation mode is the real-time carrier phase difference calculation mode; When the environmental monitoring data meets the second-level timeliness condition, the first target solution mode is a quasi-real-time filtering solution mode, and the second-level timeliness is lower than the first-level timeliness. When the environmental monitoring data meets the third-level timeliness condition, the first target solution mode is the post-processing static baseline solution mode, and the third-level timeliness is lower than the second-level timeliness. The environmental monitoring data includes N types of environmental monitoring sub-data, where N is a positive integer; The first-level timeliness condition includes N1 types of environmental monitoring sub-data that are greater than or equal to the first data threshold of the corresponding type, where N≥N1>0; The secondary timeliness conditions include N2 types of environmental monitoring sub-data that are less than the first data threshold of the corresponding type and greater than or equal to the second data threshold of the corresponding type, wherein the first data threshold of any type is greater than the second data threshold of the corresponding type, and N≥N2>0; The three-level timeliness conditions include N3 types of environmental monitoring sub-data being less than the second data threshold of the corresponding type, where N≥N3>0.
7. A GNSS deformation monitoring device, characterized in that, The GNSS deformation monitoring device includes a memory, a processor, and a GNSS deformation monitoring program stored in the memory and running on the processor, the GNSS deformation monitoring program performing the steps of the GNSS deformation monitoring method as described in any one of claims 1 to 5.
8. A computer storage medium, characterized in that, When the computer storage medium is executed by the processor, it implements the steps of the GNSS deformation monitoring method according to any one of claims 1 to 5.