Geological disaster monitoring method, device, terminal and medium based on Beidou PPP-RTK virtual observation value

Abstract

The present invention discloses a method, device, terminal and medium for monitoring geological disasters based on Beidou PPP-RTK virtual observation values. By receiving the real-time data stream of Beidou CORS station, the CORS station and common-view star online at the kth epoch are detected. According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized, the biased parameters of the satellite end, the space atmosphere end and the receiver end are obtained, the biased parameters are calculated, the parameters of the satellite end, the space atmosphere end and the receiver end are obtained, the satellite clock difference, phase deviation and atmospheric delay are broadcast unidirectionally, the atmospheric delay of the common-view star is interpolated in the monitoring area and the CORS station, and the virtual observation value of the center of the monitoring area is constructed, and the unidirectional broadcast is sent to the monitoring station for short baseline double difference positioning, and the relative coordinates of the monitoring station relative to the virtual base station are obtained in real time. Therefore, the embodiment of the present invention can overcome the problems that the prior art is affected by the observation noise of the CORS master station or the master station is switched, the real-time monitoring result jumps, and the geological disaster misjudgment is caused.

Description

Technical Field

[0001] The present invention relates to the technical field of power equipment monitoring, and in particular to a method, device, terminal and medium for monitoring geological disasters based on Beidou PPP-RTK virtual observation values. Background Art

[0002] In the process of monitoring and early warning of geological disasters such as landslides, collapses, and ground subsidence, the three-dimensional deformation of the surface of the disaster is an important parameter that can be monitored before the disaster. The Global Navigation Satellite System (GNSS) has become a dominant monitoring method for geological disaster monitoring due to its all-weather, high-precision, and low-cost technical advantages. In particular, the completion of the BeiDou-3 network in my country has provided more abundant available satellites and available signal resources for urban geological disaster monitoring. Among them, the real-time calculation of high-precision three-dimensional displacement using BeiDou satellite signals is the core link of BeiDou / GNSS monitoring of surface deformation.

[0003] With the continuous development of Beidou real-time monitoring methods, existing technical methods can be roughly divided into three categories: (1) Real-time monitoring methods based on single / dual base station RTK (Real Time Kinematic) real-time dynamic measurement; since Beidou receivers at close distances are subject to the same or similar errors, they can be eliminated by subtracting the observed values, so that a relatively accurate relative position between Beidou receivers can be obtained through the short baseline estimation method; therefore, one or two Beidou receivers are deployed as reference stations in a stable area near the monitoring area, and monitoring stations are deployed in the monitoring area, so that real-time three-dimensional deformation monitoring of the monitoring area can be achieved; (2) Real-time monitoring methods based on precise single point positioning technology (PPP); PPP is to estimate error terms by classifying observations from global reference stations, and then broadcast various parameters to the user end to solve the precise absolute position coordinates; therefore, monitoring stations are directly deployed in the monitoring area, so that real-time three-dimensional deformation monitoring of the monitoring area can be achieved; (3) Using the existing Beidou satellite continuously operating reference station (CORS) in the city The CORS master reference station system estimates the regional atmospheric delay, interpolates the relative regional atmospheric delay of a known location relative to the CORS master reference station, and fuses the original observations of the master station to form virtual observations of the above-mentioned known locations; therefore, physical monitoring stations are directly deployed in the monitoring area, and virtual reference station observations are made around the monitoring area, and then method (1) is used for real-time solution.

[0004] The existing technology has the following disadvantages: 1. The generation of virtual observation values ​​directly depends on the main reference station, has weak anti-noise ability, and is easily affected by the observation environment of the CORS main station; if the main station is switched, the real-time monitoring results will jump, causing misjudgment of geological disasters; 2. Network RTK needs to transmit the approximate location of the monitoring station back to the server as the virtual reference station coordinates, and then generate virtual observation values ​​and send them to the monitoring station. Each monitoring requires two-way communication. Under the condition of high-frequency concurrency of many monitoring points, the server response burden is heavy, and there is a greater risk of computing system crash, resulting in failure of real-time monitoring of geological disasters. Summary of the invention

[0005] The present invention provides a method for monitoring geological disasters based on Beidou PPP-RTK virtual observation values, so as to solve the technical problems in the prior art that the virtual observation values ​​of a monitoring station are easily affected by the observation environment of a CORS master station and that network RTK monitoring requires two-way communication. The method adopts a combination of "station-satellite distance + satellite-end deviation + single-difference space atmospheric delay" to generate virtual observation values, thereby overcoming the problems of being affected by the observation noise of the CORS master station or switching the master station, causing jumps in real-time monitoring results, and causing misjudgment of geological disasters. In addition, the parameter types for generating virtual observation values ​​are different, and only one-way broadcasting is required.

[0006] In order to achieve the above-mentioned object, in a first aspect, an embodiment of the present invention provides a method for monitoring geological disasters based on Beidou PPP-RTK virtual observation values, comprising:

[0007] Receive the real-time data stream of Beidou CORS station; detect the CORS station and common-view satellite online at the kth epoch, and select the reference satellite and the reference station; wherein the real-time data stream includes: satellite clock error, satellite code deviation, phase deviation, and atmospheric delay; the atmospheric delay includes tropospheric delay and ionospheric delay;

[0008] According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized to obtain biased parameters of the satellite end, the space atmosphere end and the receiver end;

[0009] Calculating the biased parameters to obtain parameters of the satellite end, the space atmosphere end and the receiver end;

[0010] Unidirectionally broadcast the satellite clock error, phase deviation and atmospheric delay in the parameters, interpolate the atmospheric delay of the common-view satellite by combining the central coordinates of the monitoring area and the coordinates of the CORS station, and obtain a virtual observation value of the center of the monitoring area;

[0011] The virtual observation value is unidirectionally broadcast to the monitoring station in the monitoring area for short baseline double difference positioning, and the relative coordinates of the monitoring station relative to the virtual base station are obtained in real time to realize real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring geological disasters.

[0012] As an improvement of the above scheme, the original observation equation of the CORS station is reorganized according to the PPP-RTK technology to obtain biased parameters of the satellite end, the space atmosphere end and the receiver end, specifically including:

[0013] According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized to eliminate the rank deficiency caused by the linear correlation of the parameters, obtain the full rank observation equation, and obtain the biased parameters of the satellite end, the space atmosphere end and the receiver end;

[0014] Among them, the original observation equation is

[0015]

[0016] In the formula, s represents the satellite identifier; r represents the receiver identifier; j represents the frequency identifier; represents the pseudorange observation value from receiver r to satellite s at the jth frequency; represents the carrier phase observation value from the receiver r to the satellite s at the jth frequency; represents the geometric distance between the receiver r and the satellite s; dt r represents the receiver r clock error; dt s represents the satellite s clock error; d r,j represents the code deviation of the receiver r at the jth frequency; represents the code deviation of the satellite s at the jth frequency; δ r,j represents the phase deviation of the receiver r at the jth frequency; represents the phase deviation of the satellite s at the jth frequency; represents the tropospheric delay from the receiver r to the satellite s; represents the ionospheric delay from the receiver r to the satellite s at the jth frequency; represents the fuzziness parameter; j represents the wavelength of the jth frequency; ε p represents the observation noise of the pseudorange observation value; ε φ represents the observation noise of the carrier phase observation;

[0017] The full-rank observation equation is

[0018]

[0019] In the formula, represents the pseudorange observation value from the receiver r to the satellite s at the jth frequency after eliminating the rank deficiency; represents the carrier phase observation value from the receiver r to the satellite s at the j-th frequency after eliminating the rank deficiency; represents the tropospheric mapping function on the receiver r; Δτ r represents the increment of the wet component of the zenith tropospheric delay at said receiver r; Indicates that the receiver r has a clock bias; Indicates that the satellite s has a clock error; μ j =(λ j / λ1) 2 represents the ionospheric coefficient; represents the biased tropospheric delay from the receiver r to the satellite s; Indicates that the receiver r has a code deviation at the jth frequency; represents the code deviation of the satellite s at the jth frequency; represents the biased phase deviation of the receiver r at the jth frequency; represents the biased phase deviation of the satellite s at the jth frequency; Represents the biased ambiguity parameter.

[0020] As an improvement of the above scheme, the satellite clock error, phase deviation and atmospheric delay in the parameters are broadcasted unidirectionally, and the atmospheric delay of the common-view star is interpolated in combination with the central coordinates of the monitoring area and the coordinates of the CORS station to obtain the virtual observation value of the center of the monitoring area, specifically including:

[0021] The satellite clock error, phase deviation and atmospheric delay in the parameters are unidirectionally broadcasted, the atmospheric delay of the common-view satellite is interpolated by combining the central coordinates of the monitoring area with the coordinates of the CORS station, the parameters of the satellite end, the space atmospheric end and the receiver end are reorganized, and the virtual observation value expression of the center of the monitoring area is constructed to obtain the virtual observation value of the center of the monitoring area;

[0022] Among them, the virtual observation value expression is

[0023]

[0024] In the formula, is the virtual observation value of the distance from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the spatial geometric distance between the coordinates of the center position v of the monitoring area at the jth frequency and the satellite s, that is, the station-satellite distance; The tropospheric mapping function representing the coordinates of the center position v of the monitoring area; Δτ v represents the increment of the delayed wet component of the zenith tropospheric layer at the coordinate of the center position v of the monitoring area; Represents the biased tropospheric delay from the coordinates of the center position v of the monitoring area to the satellite s.

[0025] As an improvement of the above scheme, the one-way broadcasting of the virtual observation value to the monitoring station in the monitoring area performs short baseline double difference positioning, and obtains the relative coordinates of the monitoring station relative to the virtual base station in real time, so as to realize the real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring geological disasters, specifically including:

[0026] Unidirectionally broadcast the virtual observation value to the monitoring station in the monitoring area for short baseline double difference positioning, obtain the double difference observation value expression between the monitoring station and the virtual reference station, so as to obtain the relative coordinates of the monitoring station relative to the virtual base station in real time, so as to realize the real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring geological disasters;

[0027] Among them, the double difference observation expression is

[0028]

[0029] In the formula, represents the virtual double difference observation value of the coordinates of the center position v of the monitoring area on the jth frequency relative to the virtual reference station m and the satellites p and q; represents the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite P; represents the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite q; represents a virtual observation value of the carrier phase from the virtual reference station m to the satellite p on the j-th frequency; represents the virtual observation value of the carrier phase from the virtual reference station m to the satellite q on the j-th frequency; represents the virtual double difference observation value of the coordinates of the center position v of the monitoring area on the jth frequency relative to the distances of the virtual reference station m and the satellites p and q; represents the double difference ambiguity parameter.

[0030] As an improvement of the above solution, the biased parameters are calculated to obtain the parameters of the satellite end, the space atmosphere end and the receiver end, specifically:

[0031] If the k-th epoch is the first epoch, the biased parameters are estimated by using the classical least squares indirect adjustment method; if the k-th epoch is not the first epoch, the phase deviation and ambiguity of the common star between the k-th epoch and the k+1 epoch are used as predicted values, and the biased parameters are estimated by using Kalman filtering.

[0032] In a second aspect, an embodiment of the present invention provides a geological disaster monitoring device based on Beidou PPP-RTK virtual observation values, including:

[0033] The data receiving module is used to receive the real-time data stream of Beidou CORS station; detect the CORS station and common-view satellite online at the kth epoch, and select the reference satellite and the reference station; wherein the real-time data stream includes: satellite clock error, satellite code deviation, phase deviation, and atmospheric delay; the atmospheric delay includes tropospheric delay and ionospheric delay;

[0034] A parameter reorganization module is used to reorganize the parameters of the original observation equation of the CORS station according to the PPP-RTK technology to obtain biased parameters of the satellite end, the space atmosphere end and the receiver end;

[0035] A parameter estimation module, used to calculate the biased parameters to obtain the parameters of the satellite end, the space atmosphere end and the receiver end;

[0036] A parameter broadcasting module is used to unidirectionally broadcast the satellite clock error, phase deviation and atmospheric delay in the parameters, interpolate the atmospheric delay of the common-view satellite by combining the central coordinates of the monitoring area and the coordinates of the CORS station, and obtain a virtual observation value of the center of the monitoring area;

[0037] The coordinate acquisition module is used to unidirectionally broadcast the virtual observation value to the monitoring station in the monitoring area for short baseline double difference positioning, and obtain the relative coordinates of the monitoring station relative to the virtual base station in real time to realize real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring geological disasters.

[0038] As an improvement of the above solution, the parameter reorganization module is specifically used for:

[0039] According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized to eliminate the rank deficiency caused by the linear correlation of the parameters, obtain the full rank observation equation, and obtain the biased parameters of the satellite end, the space atmosphere end and the receiver end;

[0040] Among them, the original observation equation is

[0041]

[0042] In the formula, s represents the satellite identifier; r represents the receiver identifier; j represents the frequency identifier; represents the pseudorange observation value from receiver r to satellite s at the jth frequency; represents the carrier phase observation value from the receiver r to the satellite s at the jth frequency; represents the geometric distance between the receiver r and the satellite s; dt r represents the receiver r clock error; dt s represents the satellite s clock error; d r,j represents the code deviation of the receiver r at the jth frequency; represents the code deviation of the satellite s at the jth frequency; δ r,j represents the phase deviation of the receiver r at the jth frequency; represents the phase deviation of the satellite s at the jth frequency; represents the tropospheric delay from the receiver r to the satellite s; represents the ionospheric delay from the receiver r to the satellite s at the jth frequency; represents the fuzziness parameter; j represents the wavelength of the jth frequency; ε p represents the observation noise of the pseudorange observation value; ε φ represents the observation noise of the carrier phase observation;

[0043] The full-rank observation equation is

[0044]

[0045] In the formula, represents the pseudorange observation value from the receiver r to the satellite s at the jth frequency after eliminating the rank deficiency; represents the carrier phase observation value from the receiver r to the satellite s at the j-th frequency after eliminating the rank deficiency; represents the tropospheric mapping function on the receiver r; Δτ r represents the increment of the wet component of the zenith tropospheric delay at said receiver r; Indicates that the receiver r has a clock bias; Indicates that the satellite s has a clock error; μ j =(λ j / λ1) 2 represents the ionospheric coefficient; represents the biased tropospheric delay from the receiver r to the satellite s; Indicates that the receiver r has a code deviation at the jth frequency; represents the code deviation of the satellite s at the jth frequency; represents the biased phase deviation of the receiver r at the jth frequency; represents the biased phase deviation of the satellite s at the jth frequency; Represents the biased ambiguity parameter.

[0046] As an improvement of the above solution, the parameter broadcasting module is specifically used for:

[0047] The satellite clock error, phase deviation and atmospheric delay in the parameters are unidirectionally broadcasted, the atmospheric delay of the common-view satellite is interpolated by combining the central coordinates of the monitoring area with the coordinates of the CORS station, the parameters of the satellite end, the space atmospheric end and the receiver end are reorganized, and the virtual observation value expression of the center of the monitoring area is constructed to obtain the virtual observation value of the center of the monitoring area;

[0048] Among them, the virtual observation value expression is

[0049]

[0050] In the formula, is the virtual observation value of the distance from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the spatial geometric distance between the coordinates of the center position v of the monitoring area at the jth frequency and the satellite s, that is, the station-satellite distance; The tropospheric mapping function representing the coordinates of the center position v of the monitoring area; Δτ v represents the increment of the delayed wet component of the zenith tropospheric layer at the coordinate of the center position v of the monitoring area; Represents the biased tropospheric delay from the coordinates of the center position v of the monitoring area to the satellite s.

[0051] In the third aspect, an embodiment of the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the above-mentioned geological disaster monitoring method based on Beidou PPP-RTK virtual observation values ​​is implemented.

[0052] In addition, an embodiment of the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned geological disaster monitoring method based on Beidou PPP-RTK virtual observation values.

[0053] Compared with the prior art, the embodiment of the present invention discloses a method, device, terminal and medium for monitoring geological disasters based on Beidou PPP-RTK virtual observation values. By receiving the real-time data stream of the Beidou CORS station, the CORS station and the common view star that are online at the kth epoch are detected. According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized, and the biased parameters of the satellite end, the space atmosphere end and the receiver end are obtained. The biased parameters are calculated to obtain the parameters of the satellite end, the space atmosphere end and the receiver end. The satellite clock error, phase deviation and atmospheric delay in the parameters are unidirectionally broadcasted, and the atmospheric delay of the common view star is interpolated by combining the coordinates of the center of the monitoring area with the coordinates of the CORS station to obtain the virtual observation value of the center of the monitoring area. The virtual observation value is unidirectionally broadcasted to the monitoring station for short baseline double difference positioning, and the relative coordinates of the monitoring station relative to the virtual base station are obtained in real time. Therefore, the embodiment of the present invention utilizes various error parameters estimated by the CORS network and adopts a combination of "station-satellite distance + satellite-side deviation + single-difference spatial atmospheric delay" to generate virtual observation values; it overcomes the problems of the prior art being affected by the observation noise of the CORS master station or switching the master station, causing jumps in real-time monitoring results, and causing misjudgment of geological disasters; in terms of the broadcasting of virtual observation values: due to the different types of generated parameters, only one-way broadcasting is required; therefore, under the condition of constant computing power on the server side, massive monitoring point services can be realized; in addition to being compatible with existing RTK technology, it can also provide enhanced services for real-time monitoring terminals based on precise single-point positioning technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a flow chart of a method for monitoring geological disasters based on Beidou PPP-RTK virtual observation values ​​provided by an embodiment of the present invention;

[0055] Figure 2 It is a structural schematic diagram of a geological disaster monitoring device based on Beidou PPP-RTK virtual observation values ​​provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] It should be noted that the terms "comprises" and "specifically" and any variations of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0058] It should be noted that the specific process of the geological disaster monitoring method based on the network RTK virtual reference station is as follows:

[0059] The double-difference observations between baselines are formed through the original observation equation of the CORS station, and the double-difference wide-lane ambiguity is estimated by rounding the double-difference pseudorange wide-term combination value:

[0060]

[0061] Among them, a and b are monitoring station numbers, p and q are satellite numbers, and λ w =c / (f1-f2) is the wide lane wavelength. Further, the double difference narrow term ambiguity can be obtained:

[0062]

[0063] where λ n =c / (f1+f2) is the narrow lane wavelength, is the combined value of atmospheric and other spatial correlation errors. An integer solution can be obtained according to the LAMBDA algorithm, then Now, let b be the main reference station. If there is a virtual base station v (with known coordinates), then its spatial correlation error relative to the main reference station can be interpolated based on the coordinates or distance. The virtual double difference observations of the main reference station b relative to the virtual base station v and satellites p, q can be constructed as:

[0064]

[0065] Taking satellite q as the reference satellite, the non-difference virtual observation value of satellite p can be expressed as:

[0066]

[0067] in, It can be calculated based on the coordinates of the satellite and the virtual reference station. The integer ambiguity is further written as a non-difference form, and the non-difference virtual observation value can be expressed as:

[0068]

[0069] From the above formula, we can see that is the actual observation value of the CORS master station, Calculate the value for the model, the last three terms As the reference satellite benchmark, the benchmark can be eliminated by single difference between satellites at the user end. Therefore, the generation of non-difference virtual observation values ​​based on the network RTK model can be expressed as:

[0070]

[0071] At this moment, in order to have continuously better data quality, two-way communication is required between the monitoring station and the CORS system, and the number of users of the CORS system needs to be limited.

[0072] Assume that the monitoring station is denoted as m, then the double difference observation value between it and the virtual reference station can be expressed as:

[0073]

[0074] In the formula, since the distance between the virtual base station and the monitoring station is relatively close and the spatial atmospheric delay is similar, its positioning equation becomes a short baseline RTK model, and the double difference ambiguity is After fixing, according to The real-time position change of the monitoring station relative to the reference station can be calculated.

[0075] See also Figure 1 , Figure 1 1 is a flow chart of a method for monitoring geological disasters based on Beidou PPP-RTK virtual observation values ​​provided by an embodiment of the present invention. The method for monitoring geological disasters based on Beidou PPP-RTK virtual observation values ​​comprises steps S11 to S15:

[0076] S11: receiving the real-time data stream of Beidou CORS station; detecting the CORS station and common-view satellite online at the kth epoch, and selecting the reference satellite and the reference station; wherein the real-time data stream includes: satellite clock error, satellite code deviation, phase deviation, and atmospheric delay; the atmospheric delay includes tropospheric delay and ionospheric delay;

[0077] S12: According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized to obtain biased parameters of the satellite end, the space atmosphere end and the receiver end;

[0078] S13: Calculate the biased parameters to obtain parameters of the satellite end, the space atmosphere end and the receiver end;

[0079] S14: unidirectionally broadcast the satellite clock error, phase deviation and atmospheric delay in the parameters, interpolate the atmospheric delay of the common-view satellite by combining the central coordinates of the monitoring area and the coordinates of the CORS station, and obtain a virtual observation value of the center of the monitoring area;

[0080] S15: Unidirectionally broadcast the virtual observation value to the monitoring station in the monitoring area for short baseline double difference positioning, and obtain the relative coordinates of the monitoring station relative to the virtual base station in real time to achieve real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring geological disasters.

[0081] As a preferred embodiment, step S12 specifically includes:

[0082] According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized to eliminate the rank deficiency caused by the linear correlation of the parameters, obtain the full rank observation equation, and obtain the biased parameters of the satellite end, the space atmosphere end and the receiver end;

[0083] Among them, the original observation equation is

[0084]

[0085] In the formula, s represents the satellite identifier; r represents the receiver identifier; j represents the frequency identifier; represents the pseudorange observation value from receiver r to satellite s at the jth frequency; represents the carrier phase observation value from the receiver r to the satellite s at the jth frequency; represents the geometric distance between the receiver r and the satellite s; dt r represents the receiver r clock error; dt s represents the satellite s clock error; d r,j represents the code deviation of the receiver r at the jth frequency; represents the code deviation of the satellite s at the jth frequency; δ r,j represents the phase deviation of the receiver r at the jth frequency; represents the phase deviation of the satellite s at the jth frequency; represents the tropospheric delay from the receiver r to the satellite s; represents the ionospheric delay from the receiver r to the satellite s at the jth frequency; represents the fuzziness parameter; j represents the wavelength of the jth frequency; ε p represents the observation noise of the pseudorange observation value; ε φ represents the observation noise of the carrier phase observation;

[0086] The full-rank observation equation is

[0087]

[0088] In the formula, represents the pseudorange observation value from the receiver r to the satellite s at the jth frequency after eliminating the rank deficiency; represents the carrier phase observation value from the receiver r to the satellite s at the j-th frequency after eliminating the rank deficiency; represents the tropospheric mapping function on the receiver r; Δτ r represents the increment of the wet component of the zenith tropospheric delay at said receiver r; Indicates that the receiver r has a clock bias; Indicates that the satellite s has a clock error; μ j =(λ j / λ1) 2 represents the ionospheric coefficient; represents the biased tropospheric delay from the receiver r to the satellite s; Indicates that the receiver r has a code deviation at the jth frequency; represents the code deviation of the satellite s at the jth frequency; represents the biased phase deviation of the receiver r at the jth frequency; represents the biased phase deviation of the satellite s at the jth frequency; Represents the biased ambiguity parameter.

[0089] It should be noted that

[0090]

[0091]

[0092] Wherein, dt1 represents the clock difference of the receiver 1; d r,1 represents the code deviation of the receiver r at the first frequency; d r,2 represents the code deviation of the receiver r at the second frequency; d 1,1 represents the code deviation of the receiver 1 at the first frequency; d 1,2 represents the code deviation of the receiver 1 at the second frequency; dt s represents the satellite s clock error; represents the code deviation of the satellite s at the first frequency; represents the code deviation of the satellite s at the second frequency.

[0093] As a preferred embodiment, step S14 specifically includes:

[0094] The satellite clock error, phase deviation and atmospheric delay in the parameters are unidirectionally broadcasted, the atmospheric delay of the common-view satellite is interpolated by combining the central coordinates of the monitoring area with the coordinates of the CORS station, the parameters of the satellite end, the space atmospheric end and the receiver end are reorganized, and the virtual observation value expression of the center of the monitoring area is constructed to obtain the virtual observation value of the center of the monitoring area;

[0095] Among them, the virtual observation value expression is

[0096]

[0097] In the formula, is the virtual observation value of the distance from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the spatial geometric distance between the coordinates of the center position v of the monitoring area at the jth frequency and the satellite s, that is, the station-satellite distance; The tropospheric mapping function representing the coordinates of the center position v of the monitoring area; Δτ v represents the increment of the delayed wet component of the zenith tropospheric layer at the coordinate of the center position v of the monitoring area; Represents the biased tropospheric delay from the coordinates of the center position v of the monitoring area to the satellite s.

[0098] As a preferred embodiment, step S15 specifically includes:

[0099] Unidirectionally broadcast the virtual observation value to the monitoring station in the monitoring area for short baseline double difference positioning, obtain the double difference observation value expression between the monitoring station and the virtual reference station, so as to obtain the relative coordinates of the monitoring station relative to the virtual base station in real time, so as to realize the real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring geological disasters;

[0100] Among them, the double difference observation value can be expressed as

[0101]

[0102] In the formula, represents the virtual double difference observation value of the coordinates of the center position v of the monitoring area on the jth frequency relative to the virtual reference station m and the satellites p and q; represents the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite P; represents the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite q; represents a virtual observation value of the carrier phase from the virtual reference station m to the satellite p on the j-th frequency; represents the virtual observation value of the carrier phase from the virtual reference station m to the satellite q on the j-th frequency; represents the virtual double difference observation value of the coordinates of the center position v of the monitoring area on the jth frequency relative to the distances of the virtual reference station m and the satellites p and q; represents the double difference ambiguity parameter.

[0103] As a preferred embodiment, the biased parameters are calculated to obtain the parameters of the satellite end, the space atmosphere end and the receiver end, specifically:

[0104] If the k-th epoch is the first epoch, the biased parameters are estimated by using the classical least squares indirect adjustment method; if the k-th epoch is not the first epoch, the phase deviation and ambiguity of the common star between the k-th epoch and the k+1 epoch are used as predicted values, and the biased parameters are estimated by using Kalman filtering.

[0105] Figure 2 1 is a schematic diagram of a structure of a geological disaster monitoring device based on Beidou PPP-RTK virtual observation values ​​provided by an embodiment of the present invention, the geological disaster monitoring device based on Beidou PPP-RTK virtual observation values ​​comprises:

[0106] The data receiving module 21 is used to receive the real-time data stream of Beidou CORS station; detect the CORS station and common-view satellite online at the kth epoch, and select the reference satellite and the reference station; wherein the real-time data stream includes: satellite clock error, satellite code deviation, phase deviation, atmospheric delay; the atmospheric delay includes tropospheric delay and ionospheric delay;

[0107] A parameter reorganization module 22 is used to reorganize the parameters of the original observation equation of the CORS station according to the PPP-RTK technology to obtain biased parameters of the satellite end, the space atmosphere end and the receiver end;

[0108] A parameter estimation module 23 is used to calculate the biased parameters to obtain the parameters of the satellite end, the space atmosphere end and the receiver end;

[0109] The parameter broadcasting module 24 is used to unidirectionally broadcast the satellite clock error, phase deviation and atmospheric delay in the parameters, interpolate the atmospheric delay of the common-view satellite by combining the central coordinates of the monitoring area and the coordinates of the CORS station, and obtain a virtual observation value of the center of the monitoring area;

[0110] The coordinate acquisition module 25 is used to unidirectionally broadcast the virtual observation value to the monitoring station in the monitoring area for short baseline double difference positioning, and obtain the relative coordinates of the monitoring station relative to the virtual base station in real time to realize real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring geological disasters.

[0111] As a preferred embodiment, the parameter reorganization module 22 is specifically used for:

[0112] According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized to eliminate the rank deficiency caused by the linear correlation of the parameters, obtain the full rank observation equation, and obtain the biased parameters of the satellite end, the space atmosphere end and the receiver end;

[0113] Among them, the original observation equation is

[0114]

[0115] In the formula, s represents the satellite identifier; r represents the receiver identifier; j represents the frequency identifier; represents the pseudorange observation value from receiver r to satellite s at the jth frequency; represents the carrier phase observation value from the receiver r to the satellite s at the jth frequency; represents the geometric distance between the receiver r and the satellite s; dt r represents the receiver r clock error; dt s represents the satellite s clock error; d r,j represents the code deviation of the receiver r at the jth frequency; represents the code deviation of the satellite s at the jth frequency; δ r,j represents the phase deviation of the receiver r at the jth frequency; represents the phase deviation of the satellite s at the jth frequency; represents the tropospheric delay from the receiver r to the satellite s; represents the ionospheric delay from the receiver r to the satellite s at the jth frequency; represents the fuzziness parameter; j represents the wavelength of the jth frequency; ε p represents the observation noise of the pseudorange observation value; ε φ represents the observation noise of the carrier phase observation;

[0116] The full-rank observation equation is

[0117]

[0118] In the formula, represents the pseudorange observation value from the receiver r to the satellite s at the jth frequency after eliminating the rank deficiency; represents the carrier phase observation value from the receiver r to the satellite s at the j-th frequency after eliminating the rank deficiency; represents the tropospheric mapping function on the receiver r; Δτ r represents the increment of the wet component of the zenith tropospheric delay at said receiver r; Indicates that the receiver r has a clock bias; Indicates that the satellite s has a clock error; μ j =(λ j / λ1) 2 represents the ionospheric coefficient; represents the biased tropospheric delay from the receiver r to the satellite s; Indicates that the receiver r has a code deviation at the jth frequency; represents the code deviation of the satellite s at the jth frequency; represents the biased phase deviation of the receiver r at the jth frequency; represents the biased phase deviation of the satellite s at the jth frequency; Represents the biased ambiguity parameter.

[0119] As a preferred embodiment, the parameter broadcasting module 24 is specifically used for:

[0120] The satellite clock error, phase deviation and atmospheric delay in the parameters are unidirectionally broadcasted, the atmospheric delay of the common-view satellite is interpolated by combining the central coordinates of the monitoring area with the coordinates of the CORS station, the parameters of the satellite end, the space atmospheric end and the receiver end are reorganized, and the virtual observation value expression of the center of the monitoring area is constructed to obtain the virtual observation value of the center of the monitoring area;

[0121] Among them, the virtual observation value expression is

[0122]

[0123] In the formula, is the virtual observation value of the distance from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the spatial geometric distance between the coordinates of the center position v of the monitoring area at the jth frequency and the satellite s, that is, the station-satellite distance; The tropospheric mapping function representing the coordinates of the center position v of the monitoring area; Δτ v represents the increment of the delayed wet component of the zenith tropospheric layer at the coordinate of the center position v of the monitoring area; Represents the biased tropospheric delay from the coordinates of the center position v of the monitoring area to the satellite s.

[0124] A geological disaster monitoring device based on Beidou PPP-RTK virtual observation values ​​provided by an embodiment of the present invention can implement all the processes of the geological disaster monitoring method based on Beidou PPP-RTK virtual observation values ​​in the above-mentioned embodiment. The functions of each module in the device and the technical effects achieved are respectively the same as the functions and technical effects achieved by the geological disaster monitoring method based on Beidou PPP-RTK virtual observation values ​​in the above-mentioned embodiment, and will not be repeated here.

[0125] The embodiment of the present invention provides a terminal device, which includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned method for monitoring geological disasters based on Beidou PPP-RTK virtual observation values ​​are implemented. Alternatively, when the processor executes the computer program, the functions of each module in the above-mentioned device for monitoring geological disasters based on Beidou PPP-RTK virtual observation values ​​are implemented.

[0126] Exemplarily, the computer program may be divided into one or more modules, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the terminal device.

[0127] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown in the diagram, or may combine certain components, or different components. For example, the terminal device may also include an input / output device, a network access device, a bus, etc.

[0128] The processor may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0129] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the terminal device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card, at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0130] Wherein, if the module integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0131] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0132] An embodiment of the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the geological disaster monitoring method based on Beidou PPP-RTK virtual observation values ​​as in the above embodiment.

[0133] In summary, the embodiment of the present invention discloses a geological disaster monitoring device, terminal and medium based on Beidou PPP-RTK virtual observation value. By receiving the real-time data stream of Beidou CORS station, the CORS station and common view star online at the kth epoch are detected. According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized, and the biased parameters of the satellite end, the space atmosphere end and the receiver end are obtained. The biased parameters are calculated to obtain the parameters of the satellite end, the space atmosphere end and the receiver end. The satellite clock error, phase deviation and atmospheric delay in the parameters are broadcast unidirectionally, and the atmospheric delay of the common view star is interpolated by combining the center coordinates of the monitoring area and the coordinates of the CORS station to obtain the virtual observation value of the center of the monitoring area. The virtual observation value is broadcast unidirectionally to the monitoring station for short baseline double difference positioning, and the relative coordinates of the monitoring station relative to the virtual base station are obtained in real time. Therefore, the embodiment of the present invention utilizes various error parameters estimated by the CORS network and adopts a combination of "station-satellite distance + satellite-side deviation + single-difference spatial atmospheric delay" to generate virtual observation values; it overcomes the problems of the prior art being affected by the observation noise of the CORS master station or switching the master station, causing jumps in real-time monitoring results, and causing misjudgment of geological disasters; in terms of the broadcasting of virtual observation values: due to the different types of generated parameters, only one-way broadcasting is required; therefore, under the condition of constant computing power on the server side, massive monitoring point services can be realized; in addition to being compatible with existing RTK technology, it can also provide enhanced services for real-time monitoring terminals based on precise single-point positioning technology.

[0134] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for monitoring geological disasters based on Beidou PPP-RTK virtual observation values, characterized in that: include: Receive real-time data stream from Beidou CORS station; Detect the CORS station and common-view satellite online at the kth epoch, and select the reference satellite and the reference station; wherein the real-time data stream includes: satellite clock error, satellite code deviation, phase deviation, and atmospheric delay; the atmospheric delay includes tropospheric delay and ionospheric delay; According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized to obtain biased parameters of the satellite end, the space atmosphere end and the receiver end; Calculating the biased parameters to obtain parameters of the satellite end, the space atmosphere end and the receiver end; Unidirectionally broadcast the satellite clock error, phase deviation and atmospheric delay in the parameters, interpolate the atmospheric delay of the common-view satellite by combining the central coordinates of the monitoring area and the coordinates of the CORS station, and obtain a virtual observation value of the center of the monitoring area; Unidirectionally broadcast the virtual observation value to the monitoring station in the monitoring area for short baseline double difference positioning, and obtain the relative coordinates of the monitoring station relative to the virtual base station in real time to achieve real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring geological disasters; The one-way broadcasting of the satellite clock error, phase deviation and atmospheric delay in the parameters, combining the central coordinates of the monitoring area with the CORS station coordinates to interpolate the atmospheric delay of the common-view star, and obtaining the virtual observation value of the center of the monitoring area specifically includes: The satellite clock error, phase deviation and atmospheric delay in the parameters are unidirectionally broadcasted, the atmospheric delay of the common-view satellite is interpolated by combining the central coordinates of the monitoring area with the coordinates of the CORS station, the parameters of the satellite end, the space atmospheric end and the receiver end are reorganized, and the virtual observation value expression of the center of the monitoring area is constructed to obtain the virtual observation value of the center of the monitoring area; Among them, the virtual observation value expression is In the formula, is the virtual observation value of the distance from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the spatial geometric distance between the coordinates of the center position v of the monitoring area at the jth frequency and the satellite s, that is, the station-satellite distance; The tropospheric mapping function representing the coordinates of the center position v of the monitoring area; Δτ v represents the increment of the delayed wet component of the zenith tropospheric layer at the coordinate of the center position v of the monitoring area; represents the biased tropospheric delay from the coordinates of the center position v of the monitoring area to the satellite s; Indicates that the satellite s has a clock error; μ j =(λ j / λ1) 2 represents the ionospheric coefficient, λ j represents the wavelength of the j-th frequency; represents the code deviation of the satellite s at the jth frequency; represents the biased phase deviation of the satellite s at the jth frequency.

2. The method for monitoring geological disasters based on Beidou PPP-RTK virtual observation values ​​as claimed in claim 1, characterized in that: According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized to obtain biased parameters of the satellite end, the space atmosphere end and the receiver end, specifically including: According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized to eliminate the rank deficiency caused by the linear correlation of the parameters, obtain the full rank observation equation, and obtain the biased parameters of the satellite end, the space atmosphere end and the receiver end; Among them, the original observation equation is In the formula, s represents the satellite identifier; r represents the receiver identifier; j represents the frequency identifier; represents the pseudorange observation value from receiver r to satellite s at the jth frequency; represents the carrier phase observation value from the receiver r to the satellite s at the jth frequency; represents the geometric distance between the receiver r and the satellite s; dt r represents the receiver r clock error; dt s represents the satellite s clock error; d r,j represents the code deviation of the receiver r at the jth frequency; represents the code deviation of the satellite s at the jth frequency; δ r,j represents the phase deviation of the receiver r at the jth frequency; represents the phase deviation of the satellite s at the jth frequency; represents the tropospheric delay from the receiver r to the satellite s; represents the ionospheric delay from the receiver r to the satellite s at the jth frequency; represents the fuzziness parameter; j represents the wavelength of the jth frequency; ε p represents the observation noise of the pseudorange observation value; ε φ represents the observation noise of the carrier phase observation; The full-rank observation equation is In the formula, represents the pseudorange observation value from the receiver r to the satellite s at the jth frequency after eliminating the rank deficiency; represents the carrier phase observation value from the receiver r to the satellite s at the j-th frequency after eliminating the rank deficiency; represents the tropospheric mapping function on the receiver r; Δτ r represents the increment of the wet component of the zenith tropospheric delay at said receiver r; Indicates that the receiver r has a clock bias; Indicates that the satellite s has a clock error; μ j =(λ j / λ1) 2 represents the ionospheric coefficient; represents the biased tropospheric delay from the receiver r to the satellite s; Indicates that the receiver r has a code deviation at the jth frequency; represents the code deviation of the satellite s at the jth frequency; represents the biased phase deviation of the receiver r at the jth frequency; represents the biased phase deviation of the satellite s at the jth frequency; Represents the biased ambiguity parameter.

3. The method for monitoring geological disasters based on Beidou PPP-RTK virtual observation values ​​as claimed in claim 1, characterized in that: The one-way broadcasting of the virtual observation value to the monitoring station in the monitoring area for short baseline double difference positioning, and real-time acquisition of the relative coordinates of the monitoring station relative to the virtual base station, so as to achieve real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring geological disasters, specifically includes: Unidirectionally broadcast the virtual observation value to the monitoring station in the monitoring area for short baseline double difference positioning, obtain the double difference observation value expression between the monitoring station and the virtual reference station, so as to obtain the relative coordinates of the monitoring station relative to the virtual base station in real time, so as to realize the real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring geological disasters; Among them, the double difference observation expression is In the formula, represents the virtual double difference observation value of the coordinates of the center position v of the monitoring area on the jth frequency relative to the virtual reference station m and the satellites p and q; represents the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite P; represents the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite q; represents a virtual observation value of the carrier phase from the virtual reference station m to the satellite p on the j-th frequency; represents the virtual observation value of the carrier phase from the virtual reference station m to the satellite q on the j-th frequency; represents the virtual double difference observation value of the coordinates of the center position v of the monitoring area on the jth frequency relative to the distances of the virtual reference station m and the satellites p and q; represents the double-difference ambiguity parameter.

4. The method for monitoring geological disasters based on Beidou PPP-RTK virtual observation values ​​as claimed in claim 1, characterized in that: The biased parameters are calculated to obtain the parameters of the satellite end, the space atmosphere end and the receiver end, specifically: If the k-th epoch is the first epoch, the biased parameters are estimated by using the classical least squares indirect adjustment method; if the k-th epoch is not the first epoch, the phase deviation and ambiguity of the common star between the k-th epoch and the k+1 epoch are used as predicted values, and the biased parameters are estimated by using Kalman filtering.

5. A geological disaster monitoring device based on Beidou PPP-RTK virtual observation value, characterized in that: include: Data receiving module, used to receive real-time data stream from Beidou CORS station; Detect the CORS station and common-view satellite online at the kth epoch, and select the reference satellite and the reference station; wherein the real-time data stream includes: satellite clock error, satellite code deviation, phase deviation, and atmospheric delay; the atmospheric delay includes tropospheric delay and ionospheric delay; A parameter reorganization module is used to reorganize the parameters of the original observation equation of the CORS station according to the PPP-RTK technology to obtain biased parameters of the satellite end, the space atmosphere end and the receiver end; A parameter estimation module, used to calculate the biased parameters to obtain the parameters of the satellite end, the space atmosphere end and the receiver end; A parameter broadcasting module is used to unidirectionally broadcast the satellite clock error, phase deviation and atmospheric delay in the parameters, interpolate the atmospheric delay of the common-view satellite by combining the central coordinates of the monitoring area and the coordinates of the CORS station, and obtain a virtual observation value of the center of the monitoring area; A coordinate acquisition module is used to unidirectionally broadcast the virtual observation value to the monitoring station in the monitoring area for short baseline double difference positioning, and obtain the relative coordinates of the monitoring station relative to the virtual base station in real time, so as to realize real-time monitoring of the three-dimensional deformation of the surface of the monitoring area, thereby monitoring geological disasters; The parameter broadcasting module is specifically used for: The satellite clock error, phase deviation and atmospheric delay in the parameters are unidirectionally broadcasted, the atmospheric delay of the common-view satellite is interpolated by combining the central coordinates of the monitoring area with the coordinates of the CORS station, the parameters of the satellite end, the space atmospheric end and the receiver end are reorganized, and the virtual observation value expression of the center of the monitoring area is constructed to obtain the virtual observation value of the center of the monitoring area; Among them, the virtual observation value expression is In the formula, is the virtual observation value of the distance from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the virtual observation value of the carrier phase from the coordinates of the center position v of the monitoring area on the jth frequency to the satellite s; is the spatial geometric distance between the coordinates of the center position v of the monitoring area at the jth frequency and the satellite s, that is, the station-satellite distance; The tropospheric mapping function representing the coordinates of the center position v of the monitoring area; Δτ v represents the increment of the delayed wet component of the zenith tropospheric layer at the coordinate of the center position v of the monitoring area; represents the biased tropospheric delay from the coordinates of the center position v of the monitoring area to the satellite s; Indicates that the satellite s has a clock error; μ j =(λ j / λ1) 2 represents the ionospheric coefficient, λ j represents the wavelength of the j-th frequency; represents the code deviation of the satellite s at the jth frequency; represents the biased phase deviation of the satellite s at the jth frequency.

6. The geological disaster monitoring device based on Beidou PPP-RTK virtual observation value as claimed in claim 5, characterized in that: The parameter reorganization module is specifically used for: According to the PPP-RTK technology, the original observation equation of the CORS station is reorganized to eliminate the rank deficiency caused by the linear correlation of the parameters, obtain the full rank observation equation, and obtain the biased parameters of the satellite end, the space atmosphere end and the receiver end; Among them, the original observation equation is In the formula, s represents the satellite identifier; r represents the receiver identifier; j represents the frequency identifier; represents the pseudorange observation value from receiver r to satellite s at the jth frequency; represents the carrier phase observation value from the receiver r to the satellite s at the jth frequency; represents the geometric distance between the receiver r and the satellite s; dt r represents the receiver r clock error; dt s represents the satellite s clock error; d r,j represents the code deviation of the receiver r at the jth frequency; represents the code deviation of the satellite s at the jth frequency; δ r,j represents the phase deviation of the receiver r at the jth frequency; represents the phase deviation of the satellite s at the jth frequency; represents the tropospheric delay from the receiver r to the satellite s; represents the ionospheric delay from the receiver r to the satellite s at the jth frequency; represents the fuzziness parameter; j represents the wavelength of the jth frequency; ε p represents the observation noise of the pseudorange observation value; ε φ represents the observation noise of the carrier phase observation; The full-rank observation equation is In the formula, represents the pseudorange observation value from the receiver r to the satellite s at the jth frequency after eliminating the rank deficiency; represents the carrier phase observation value from the receiver r to the satellite s at the j-th frequency after eliminating the rank deficiency; represents the tropospheric mapping function on the receiver r; Δτ r represents the increment of the wet component of the zenith tropospheric delay at said receiver r; Indicates that the receiver r has a clock bias; Indicates that the satellite s has a clock error; μ j =(λ j / λ1) 2 represents the ionospheric coefficient; represents the biased tropospheric delay from the receiver r to the satellite s; Indicates that the receiver r has a code deviation at the jth frequency; represents the code deviation of the satellite s at the jth frequency; represents the biased phase deviation of the receiver r at the jth frequency; represents the biased phase deviation of the satellite s at the jth frequency; Represents the biased ambiguity parameter.

7. A terminal device, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the method for geological disaster monitoring based on Beidou PPP-RTK virtual observation values ​​as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the method for geological disaster monitoring based on Beidou PPP-RTK virtual observation values ​​as described in any one of claims 1 to 4.

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