Single-station real-time deformation monitoring method and monitoring system based on beidou short message

Abstract

The application discloses a single-station real-time deformation monitoring method and system based on a Beidou short message, and the method comprises the following steps: networking by taking each monitoring station as a slave node and a data center as a master node, and distributing the precise satellite clock and orbit product obtained by the master node through the Beidou short message to each monitoring point, so as to reduce the communication cost among the monitoring points and the monitoring cost, and to realize a real-time GNSS high-precision deformation monitoring solution in the application scenario of the offshore and nearshore civil facility monitoring under the condition of no network coverage; and the receiver performs PPP solving on the basis of the received high-frequency satellite clock, so as to realize the centimeter-level, even better-than-centimeter deformation monitoring demand of a single receiver, and solve the problem that the traditional GNSS double-difference monitoring method depends on the high-bandwidth communication means for the data synchronization of a large number of monitoring stations and reference stations, thereby providing a reliable, stable, economical and feasible high-precision deformation monitoring solution for marine infrastructure.

Description

Technical Field

[0001] This invention relates to a single-station real-time deformation monitoring method and system based on BeiDou short message service, belonging to the field of analysis and measurement control technology. Background Technology

[0002] Global Navigation Satellite System (GNSS) technology is widely used in high-precision location change detection scenarios, such as high-precision deformation monitoring of buildings, dam landslide monitoring, and bridge deformation monitoring. GNSS achieves millimeter-level positioning accuracy primarily due to the effective elimination and mitigation of numerous errors. For scenarios where buildings, dams, landslides, and bridges are mainly located on land, the massive amounts of observation data from monitoring stations can be transmitted to a data center via communication infrastructure such as 4G, 5G, and broadband. This data is then used for dual-difference positioning with a reference station, enabling high-precision extraction of deformation information from the monitoring station.

[0003] As human activities extend from land to sea, more marine infrastructure requires high-precision deformation monitoring. 4G, 5G, and broadband communication networks struggle to cover users in offshore and near-shore areas, making the traditional double-difference method, which relies on 4G, 5G, and broadband communication, difficult to apply effectively in these scenarios. Furthermore, due to the lack of effective communication methods, the monitoring results of marine infrastructure cannot be transmitted to ground control centers in real time.

[0004] PPP technology enables high-precision extraction of deformation information from monitored objects using a single receiver, avoiding the need for transmitting massive amounts of data from monitoring stations using 4G, 5G, or broadband methods. However, PPP technology, which allows a single receiver to acquire high-precision deformation information, relies on high-precision orbital and satellite clock information, which also requires a specific method for transmission. The BeiDou Navigation Satellite System can provide users with certain communication capabilities, distributing high-precision orbital and satellite clock information to various monitoring stations. However, the communication capacity between BeiDou short message receivers is limited. For BeiDou-2, only 78.5 bytes can be sent per message, and depending on the type of SIM card, the communication frequency between BeiDou receivers is generally once every 30 seconds, 1 minute, or 5 minutes. BeiDou-3 can send 2000 bytes per message, and the communication frequency between BeiDou receivers is generally once every 30 seconds or 1 minute. This communication capacity cannot guarantee the large-scale data communication needs between monitoring stations and reference stations in conventional dual-difference GNSS monitoring.

[0005] Using precise single-point positioning that does not rely on reference stations can avoid a large amount of data communication between monitoring stations and reference stations, but it is still necessary to provide each monitoring station with precise single-point orbit and satellite clock data. However, equipping each monitoring station with BeiDou short message service will greatly increase monitoring costs. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies. Addressing the limitations of conventional 4G, 5G, and broadband communication networks in marine infrastructure deformation monitoring, which cannot achieve communication between offshore monitoring targets and inland areas, and the inability to effectively transmit massive amounts of raw data from GNSS monitoring targets to inland areas, thus hindering the formation of high-precision double-difference deformation calculations, this invention provides a single-station real-time deformation monitoring method and system based on BeiDou short message service. By networking each monitoring station as a slave node and a data center as the master node, the precision satellite clock and orbital products obtained by the master node via BeiDou short message service are distributed to each monitoring point. This reduces communication costs between monitoring points, thereby reducing monitoring costs and enabling real-time GNSS monitoring in offshore and near-shore civil engineering facility monitoring applications without network coverage. This high-precision deformation monitoring solution utilizes stable ground-based GNSS station data to precisely estimate satellite clocks from GPS, BeiDou, and other satellite navigation and positioning systems. Based on the deformation characteristics of marine infrastructure, it uses BeiDou short message communication to send correction information from satellite clocks at different sampling rates, tailored to the deformation characteristics of marine infrastructure, to the GNSS receiver at the monitoring station. The receiver performs PPP calculations based on the received high-frequency satellite clock data, thus achieving centimeter-level or even better deformation monitoring with a single receiver. This solves the problem of reliance on high-bandwidth communication methods for data synchronization between numerous monitoring and reference stations in traditional GNSS double-difference monitoring methods, providing a reliable, stable, and cost-effective high-precision deformation monitoring solution for marine infrastructure.

[0007] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0008] In a first aspect, the present invention provides a single-station real-time deformation monitoring method based on BeiDou short message service, comprising several infrastructure monitoring stations, with each monitoring station as a slave node and a data center as the master node in a network.

[0009] The method is executed by the data center and includes:

[0010] The satellite clock and orbit information transmitted from the shore base are obtained through BeiDou short message service.

[0011] The acquired satellite clock and orbit information are sent to each monitoring station, and the infrastructure monitoring data collected by each monitoring station based on the satellite clock and orbit information are received.

[0012] Receive infrastructure monitoring data collected by each monitoring station based on satellite clock and orbit information;

[0013] The high-frequency satellite clock offset transmitted from the shore base is obtained through BeiDou short message service and used for high-frequency deformation information calculation.

[0014] Furthermore, the data center communicates with the shore-based receiver via a single BeiDou short message receiver.

[0015] Furthermore, the infrastructure monitoring data collected by each monitoring station based on satellite clock information and orbital information is transmitted to the data center via wireless bridge, 4G, 5G or broadband.

[0016] Furthermore, the wireless bridge is connected to the GNSS equipment of each monitoring station via an RS232 serial port server.

[0017] Furthermore, the satellite clock information transmitted from the shore-based system is satellite clock correction information estimated in real time using shore-based GNSS observation data, and its formula is as follows:

[0018]

[0019] In the formula, τ represents the linear combined carrier phase observation value without GNSS and ionosphere; i and j represent the i-th GNSS monitoring station and the j-th tracked satellite, respectively; j With τ i These represent the correction values ​​for the satellite clock and the receiver clock, respectively; ρ is the geometric distance between the satellite and the receiver clock. To map the total zenith delay in the troposphere to the line-of-sight between satellite j and receiver i; I trop This represents the total zenith delay in the troposphere; The ambiguity of the combined observations of satellite j and i shore-based GNSS monitoring stations without ionospheric carrier phase;

[0020] Where, τ j This is for satellite clock information that needs to be sent to each monitoring station.

[0021] Furthermore, the high-frequency satellite clock offset transmitted from the shore is obtained through the following method:

[0022] The data collected by the GNSS satellite tracking array is preprocessed, and the pseudorange observations are used to perform standard single-point positioning to calculate the coordinates and estimate the receiver clock error;

[0023] Static single-point positioning is performed using low-frequency satellite clock information, Earth rotation parameters, and precise orbit information provided by IGS to obtain estimated receiver clock error, receiver coordinates, tropospheric delay, and floating-point ambiguity of ionospheric linear combination observations.

[0024] The precise station-satellite geometric distance is calculated using the estimated receiver coordinates and precise orbit information;

[0025] Carrier phase observations with fixed ambiguity are obtained by utilizing the floating-point ambiguity of ionospherically non-linear combination observations;

[0026] The observation equation for the satellite clock is established based on the predicted satellite clock offset, the station-satellite geometric distance, and the carrier phase observation.

[0027] The extended Kalman filter method was used to accurately estimate the high-frequency clock bias corrections of all satellites observed by the GNSS tracking array.

[0028] Furthermore, the observation equation for the satellite clock is as follows:

[0029]

[0030] In the formula, γ i For the i-th station m i The observation coefficient matrix for GNSS satellite clock bias estimation; for four GNSS systems: GPS, GLONASS, BeiDou, and Galileo, γ i For m i ×(m GPS +m GLO +m BDS +m Gali A 3D matrix; the j-th element in each row of the matrix is ​​1, and all other elements are 0; m GPS m GLO m BDS and m Gali τ represents the number of satellites in the GPS, GLONASS, BeiDou, and Galileo satellite navigation and positioning system constellations, respectively; j The estimated parameters for the clock offset of j GNSS satellites observed from n stations; For the i-th station m i Vector of ionospheric carrier phase observations from a GNSS satellite.

[0031] Furthermore, the satellite clock offset predictions are derived from broadcast ephemeris.

[0032] Secondly, this invention provides a single-station real-time deformation monitoring system based on BeiDou short message service, comprising a data transmission network consisting of several infrastructure monitoring stations as slave nodes and a data center as the master node, wherein the data center includes:

[0033] The communication module is used to obtain satellite clock and orbit information transmitted from the shore base via BeiDou short message service, as well as high-frequency satellite clock offset.

[0034] The data transmission module is used to send the acquired satellite clock information and orbit information to each monitoring station, and to receive the infrastructure monitoring data collected by each monitoring station based on the satellite clock information and orbit information;

[0035] The calculation module is used to calculate high-frequency deformation information based on the high-frequency satellite clock offset transmitted from the shore.

[0036] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0037] This invention achieves a real-time, high-precision GNSS deformation monitoring solution for offshore and near-shore civil engineering facility monitoring applications without network coverage by networking each monitoring station as a slave node and a data center as the master node. The master node distributes the precision satellite clock and orbit products obtained by the master node through BeiDou short message to each monitoring point, thereby reducing the communication cost between each monitoring point and thus reducing the monitoring cost.

[0038] The data center described in this invention utilizes a single BeiDou receiver to receive high-frequency satellite clock correction data. This avoids the need for a separate BeiDou receiver at each monitoring point to receive satellite correction data, thereby reducing monitoring costs and preventing the need for multiple 5-minute intervals between communication nodes, which would affect the real-time performance of the monitoring.

[0039] This invention addresses the sampling rate requirements of monitoring targets by using ground CORS station data to estimate satellite clocks at different sampling rates, thus solving the problem of PPP dependence on high-frequency satellite clocks for high-sampling deformation monitoring. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the implementation process of the single-station real-time deformation monitoring method based on BeiDou short messages as described in the embodiment;

[0041] Figure 2 This is a data transmission diagram illustrating single-station real-time positioning using satellite clock offset as described in the embodiment.

[0042] Figure 3 This is a schematic diagram illustrating satellite clock offset calculation using a shore-based high-frequency receiver as described in the embodiment.

[0043] Figure 4 This is a flowchart illustrating the high-precision deformation information calculation using real-time observation data as described in the embodiment;

[0044] Figure 5 This is the high-frequency clock offset estimation time series of GPS satellite No. 16 described in the embodiment;

[0045] Figure 6 This is a comparison of the high-precision deformation time series extracted using the calculated satellite clock and the satellite clock provided by IGS, as described in the embodiment. Detailed Implementation

[0046] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0047] Example 1

[0048] Figure 1 This is a schematic flowchart illustrating the implementation process of a single-station real-time deformation monitoring method based on BeiDou short message service, according to an embodiment of the present invention. This flowchart merely shows the logical sequence of the method described in this embodiment; however, in other possible embodiments of the present invention, different sequences may be used, provided they do not conflict. Figure 1 Complete the steps shown or described in the order indicated.

[0049] See Figure 1 The specific methods implemented in this way include:

[0050] A wireless bridge is used to network all monitoring points of offshore infrastructure, with each monitoring station as a slave node and a data center as the master node. The method is executed by the data center and includes:

[0051] The satellite clock and orbit information transmitted from the shore base are obtained through BeiDou short message service.

[0052] The acquired satellite clock and orbit information are sent to each monitoring station, and the infrastructure monitoring data collected by each monitoring station based on the satellite clock and orbit information are received.

[0053] Receive infrastructure monitoring data collected by each monitoring station based on satellite clock and orbit information;

[0054] The high-frequency satellite clock offset transmitted from the shore base is obtained through BeiDou short message service and used for high-frequency deformation information calculation.

[0055] like Figure 2 As shown, the communication capability between BeiDou short message receivers A and B is limited. For BeiDou-2, only 78.5 bytes can be sent per message. Depending on the type of card, the communication frequency between BeiDou receivers is generally once every 30 seconds, 1 minute, or 5 minutes. BeiDou-3 can send 2000 bytes per message, and the communication frequency between BeiDou receivers is generally once every 30 seconds or 1 minute. This communication capability cannot guarantee the large amount of data communication required between the monitoring station and the reference station in conventional dual-difference GNSS monitoring. Utilizing precise single-point positioning that does not rely on a reference station can avoid the large amount of data communication between the monitoring station and the reference station, but it is still necessary to provide each monitoring station with precise single-point orbit and satellite clock data. The current short message communication capabilities of BeiDou-2 and BeiDou-3 are sufficient, but equipping each monitoring station with BeiDou short message service would significantly increase monitoring costs. Figure 2As shown, this embodiment utilizes a wireless bridge to enable communication between each monitoring station and the data center (master node). The wireless bridge is connected to the GNSS equipment of each monitoring station via an RS232 serial server, distributing the satellite clock information and orbit information obtained by the master node through BeiDou short message service to each monitoring point. The data center communicates with the shore-based receiver through a single BeiDou short message receiver to receive the satellite clock information and orbit information. This avoids the need for a separate BeiDou receiver at each monitoring point to receive the satellite clock information and orbit information, thereby reducing monitoring costs and preventing the need for multiple 5-minute intervals between communication nodes, which would affect the real-time performance of the monitoring.

[0056] Monitoring offshore infrastructure using a single receiver relies heavily on high-precision satellite clock correction information, especially for highly dynamic monitoring targets, which depend even more heavily on high-frequency satellite clock correction information. However, some international analysis centers typically only provide satellite clock products with 15-minute intervals, which is far from meeting the high-precision deformation monitoring requirements of PPP technology for highly dynamic monitoring targets.

[0057] Precise point positioning (PPP) for high-precision deformation monitoring relies on high-precision satellite orbit and clock information. Satellite position information is typically obtained through interpolation of precision orbit products. Since satellites operate on smooth orbits, their positions can be accurately determined using orbit information sampled every half hour or even 15 minutes. However, unlike satellite orbit information, satellite clocks change frequently over short periods. Using satellite clock information sampled every half hour or 15 minutes is insufficient to accurately describe the actual changes in the satellite clock over a one-second time interval. Therefore, PPP technology using this method struggles to extract high-frequency, minute deformation information from the monitored object. To address this issue, this invention utilizes shore-based GNSS observation data to estimate satellite clock correction information in real time, thereby improving the accuracy of GNSS PPP for high-frequency vibration monitoring and deformation monitoring.

[0058] Specifically, the satellite clock information transmitted from the shore-based system in this embodiment is satellite clock correction information estimated in real time using shore-based GNSS observation data. For example... Figure 3 As shown, using observation data from n shore-based receivers, the following equation can be established:

[0059]

[0060] In the formula, τ represents the linear combined carrier phase observation value without GNSS and ionosphere; i and j represent the i-th GNSS monitoring station and the j-th tracked satellite, respectively; j With τ i These represent the correction values ​​for the satellite clock and the receiver clock, respectively; ρ is the geometric distance between the satellite and the receiver clock. To map the total zenith delay in the troposphere to the line-of-sight between satellite j and receiver i; I trop This represents the total zenith delay in the troposphere; Let τ be the ambiguity of the combined observations of satellite j and i shore-based GNSS monitoring stations without ionospheric carrier phase; where τ j This is for satellite clock information that needs to be sent to each monitoring station.

[0061] The calculation process for the high-frequency satellite clock offset transmitted from the shore-based system described in this embodiment is as follows: Figure 4 As shown, the specific steps include:

[0062] The data center first preprocesses the data collected by the GNSS satellite tracking array and uses pseudorange observations for standard single-point positioning to calculate coordinates and estimate receiver clock bias. Because this process uses pseudorange observations, the accuracy of estimating receiver clock bias and position coordinates is very limited. Simultaneously, static single-point positioning is performed using product information such as low-frequency satellite clocks, Earth rotation parameters, and precise orbits provided by the IGS, thereby accurately obtaining the estimated receiver clock bias, receiver coordinates, tropospheric delay, and floating-point ambiguity of the ionospheric-free linear combination observations. Based on this, the precise station-satellite geometric distance can be calculated using the estimated receiver coordinates and precise orbit information. The carrier phase observation with "fixed" ambiguity can be obtained using the floating-point ambiguity of the ionospheric-free combination observations. The satellite clock bias prediction is derived from the broadcast ephemeris. Based on the station-satellite geometric distance and carrier phase observations, the observation equation in Formula 2 can be established.

[0063]

[0064] In the formula, γ i For the i-th station m i The observation coefficient matrix for GNSS satellite clock bias estimation; for four GNSS systems: GPS, GLONASS, BeiDou, and Galileo, γ i For m i ×(m GPS +m GLO +m BDS +m Gali A 3D matrix; the j-th element in each row of the matrix is ​​1, and all other elements are 0; m GPS m GLO m BDS and m Gali τ represents the number of satellites in the GPS, GLONASS, BeiDou, and Galileo satellite navigation and positioning system constellations, respectively; j The estimated parameters for the clock offset of j GNSS satellites observed from n stations; For the i-th station m iVector of ionospheric carrier phase observations from a GNSS satellite.

[0065] Then, the extended Kalman filter method can be used to accurately estimate the high-frequency clock bias corrections of all satellites observed by the GNSS tracking array.

[0066] Appendix Figure 5 To estimate high-precision, high-frequency satellite clock offset using real-time data from GNSS satellite tracking array observations, this figure uses a satellite with a GPS pseudo-random noise code of 16 as an example. It can be seen that the satellite clock offset is within ±0.03 ns within this time period. The high-frequency satellite clock offset estimated in this invention is sent to each receiver user via the short message service of the BeiDou satellite positioning system. Each individual receiver can use this information to perform high-precision deformation calculation.

[0067] Double-difference (DD) methods are commonly used for high-precision deformation monitoring due to their high base-difference positioning accuracy and reliable results. However, DD methods are not suitable for the specific application scenario mentioned in this invention patent. Figure 6 The results of deformation monitoring using a single receiver are presented. It can be seen that the deformation time series proposed using conventional IGS products and PPP methods (see appendix) Figure 6 The bottommost one) and the deformation time series extracted by DD method (attached) Figure 6 The significant difference between the topmost point and the current one indicates that conventional IGS products combined with PPP for single-receiver deformation monitoring cannot meet the high-precision requirements of the monitored object. This invention utilizes the design method described in the patent to estimate high-precision, high-frequency satellite clock offset information. Based on this, a single receiver can extract high-precision time series data (see appendix). Figure 6 (The middle one), and compare this result with the double difference result, it can be seen that the method designed in this patented invention can use a single receiver to achieve high-precision and reliable deformation information extraction of the monitored object.

[0068] Example 2

[0069] This embodiment provides a single-station real-time deformation monitoring system based on BeiDou short message service, including a data transmission network consisting of several infrastructure monitoring stations as slave nodes and a data center as the master node. The data center includes:

[0070] The communication module is used to obtain satellite clock and orbit information transmitted from the shore base via BeiDou short message service, as well as high-frequency satellite clock offset.

[0071] The data transmission module is used to send the acquired satellite clock information and orbit information to each monitoring station, and to receive the infrastructure monitoring data collected by each monitoring station based on the satellite clock information and orbit information;

[0072] The calculation module is used to calculate high-frequency deformation information based on the high-frequency satellite clock offset transmitted from the shore.

[0073] In this embodiment, each data center communicates with the shore-based receiver via a single BeiDou short message receiver.

[0074] The single-station real-time deformation monitoring system based on BeiDou short messages provided in this embodiment can execute the single-station real-time deformation monitoring method based on BeiDou short messages provided in this embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0075] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0076] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0077] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0078] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1The steps of the function specified in one or more boxes.

[0079] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A single-station real-time deformation monitoring method based on BeiDou short message service, characterized in that, This includes several infrastructure monitoring stations, with each monitoring station acting as a slave node and a data center as the master node in the network. The monitoring method is executed by the data center and includes: The satellite clock and orbit information transmitted from the shore base are obtained through BeiDou short message service. The acquired satellite clock and orbit information are sent to each monitoring station, and the infrastructure monitoring data collected by each monitoring station based on the satellite clock and orbit information are received. The high-frequency satellite clock offset transmitted from the shore-based system is obtained through BeiDou short message service and used for high-frequency deformation information calculation. The data center communicates with the shore-based receiver via a single BeiDou short message receiver; The infrastructure monitoring data collected by each monitoring station based on satellite clock information and orbit information is transmitted to the data center via a wireless bridge. The satellite clock information transmitted from the shore-based base is satellite clock correction information estimated in real time using shore-based GNSS observation data, and its formula is as follows: （1） In the formula, This represents the linear combined carrier phase observation value without GNSS and ionosphere; i and j represent the i-th GNSS monitoring station and the j-th tracked satellite, respectively. and These represent the correction amounts for the satellite clock and the receiver clock, respectively. The geometric distance between the satellite and the receiver clock; This is a mapping function that maps the total zenith delay of the troposphere to the line-of-sight between satellite j and receiver i; This represents the total zenith delay in the troposphere; The ambiguity of the combined observations of satellite j and i shore-based GNSS monitoring stations without ionospheric carrier phase; in, For satellite clock information that needs to be sent to each monitoring station; The high-frequency satellite clock offset transmitted from the shore base is obtained through the following method: The data collected by the GNSS satellite tracking array is preprocessed, and the pseudorange observations are used to perform standard single-point positioning to calculate the coordinates and estimate the receiver clock error; Static single-point positioning is performed using low-frequency satellite clock information, Earth rotation parameters, and precise orbit information provided by IGS to obtain estimated receiver clock error, receiver coordinates, tropospheric delay, and floating-point ambiguity of ionospheric linear combination observations. The precise station-satellite geometric distance is calculated using the estimated receiver coordinates and precise orbit information; Carrier phase observations with fixed ambiguity are obtained by utilizing the floating-point ambiguity of ionospherically non-linear combination observations; The observation equation for the satellite clock is established based on the predicted satellite clock offset, the station-satellite geometric distance, and the carrier phase observation. The extended Kalman filter method was used to accurately estimate the high-frequency clock bias corrections of all satellites observed by the GNSS tracking array.

2. The single-station real-time deformation monitoring method based on BeiDou short message service according to claim 1, characterized in that, The wireless bridge is connected to the GNSS equipment of each monitoring station via an RS232 serial port server.

3. The single-station real-time deformation monitoring method based on BeiDou short message service according to claim 1, characterized in that, The observation equation for the satellite clock is as follows: （2） In the formula, For the i-th station The observation coefficient matrix for GNSS satellite clock bias estimation; for four GNSS systems: GPS, GLONASS, BeiDou, and Galileo. for A 3D matrix; the j-th element in each row of the matrix is ​​1, and all other elements are 0. , , and These represent the number of satellites in the GPS, GLONASS, BeiDou, and Galileo satellite navigation and positioning system constellations, respectively. The estimated parameters for the clock offset of j GNSS satellites observed from n stations; For the i-th station Vector of ionospheric carrier phase observations from a GNSS satellite.

4. The single-station real-time deformation monitoring method based on BeiDou short message service according to claim 1, characterized in that, The satellite clock offset prediction is derived from the broadcast ephemeris.

5. A single-station real-time deformation monitoring system based on BeiDou short message service, used to implement the single-station real-time deformation monitoring method based on BeiDou short message service as described in any one of claims 1 to 4, characterized in that, This includes a data transmission network consisting of several infrastructure monitoring stations as slave nodes and a data center as the master node, wherein the data center includes: The communication module is used to obtain satellite clock and orbit information transmitted from the shore base via BeiDou short message service, as well as high-frequency satellite clock offset. The data transmission module is used to send the acquired satellite clock information and orbit information to each monitoring station, and to receive the infrastructure monitoring data collected by each monitoring station based on the satellite clock information and orbit information; The calculation module is used to calculate high-frequency deformation information based on the high-frequency satellite clock offset transmitted from the shore. Each data center communicates with the shore-based receiver via a single BeiDou short message receiver.

Images