Pre-settlement method and device for dam deformation monitoring data based on single Beidou

Abstract

The present invention relates to a method and device for pre-solving deformation monitoring data of a dam based on a single Beidou. The method includes: receiving first original observation data sent by the single Beidou for the current monitoring point in the reservoir dam; receiving second original observation data sent by a reference station receiver based on a wireless networking module; performing error elimination processing on the first original observation data based on the second original observation data to obtain intermediate observation data after error elimination; and performing calculation on the intermediate observation data based on a front-end calculation engine to obtain calculation result information corresponding to the intermediate observation data. In this application, the monitoring station receiver performs front-end distributed calculation on the single Beidou signal, and judges the deformation condition of the reservoir dam according to the calculation result information, reducing the monitoring error caused by environmental factors and improving the accuracy of the monitoring data.

Description

Technical Field

[0001] The present invention relates to the technical field of reservoir dam monitoring, and in particular to a method and device for pre-solving dam deformation monitoring data based on single Beidou. Background Technique

[0002] Dams play a crucial role in the development and utilization of water resources and hydropower resources. The total number of reservoir dams built in various periods in China is as high as more than 98,000, making China the country with the largest number of reservoir dams in the world. Since more than 80% of the reservoirs were built in the 1950s - 1970s, affected by the limitations of dam construction and management technologies and specific historical reasons, they generally have "innate defects" such as many and complex disease hazards. Diseased and dangerous reservoir dams are prone to dam-break disasters under extreme natural disasters such as floods exceeding the design flood level and earthquakes, bringing great harm to the lives and property safety of people downstream, and are major public safety issues that attract social attention. Since 1999, China has started large-scale construction of reinforcement projects for diseased and dangerous reservoirs. As of 2020, the total number of diseased and dangerous reservoirs included in the special plan has exceeded 73,000, and the safety level of the dams has been significantly improved through reinforcement.

[0003] Diseased and dangerous reservoir dams are in an over-limit service state, with aging characteristics such as dam body leakage, dam deformation, and harmful cracks. The further development of these aging characteristics with deformation, cracks, etc. will endanger the safety of the dam, and even cause dam breaks under extreme climate conditions. Dam breaks are sudden events, but the reasons for dam breaks are often regular. The vast majority of dam break events are the result of the accumulation from quantitative change to qualitative change caused by certain unsafe factors. Therefore, timely and effective monitoring and early warning of them are the key to preventing disasters. Practice has proved that dam deformation monitoring is not only an important measure to ensure the safe operation of the dam, but also an important means to improve the design level, improve the construction method, and accelerate the construction speed of water conservancy and hydropower projects.

[0004] Currently, the deformation of reservoir dams, etc. is monitored in real time through MEMS sensors built into the receiver. The receiver sends the monitoring data to the terminal device through the 4G public network, and the monitoring personnel view the monitoring data through the terminal device. However, MEMS sensors have monitoring errors, which seriously affect the reliability of the deformation monitoring data. Summary of the Invention

[0005] In order to improve the accuracy of the monitoring data, the present application provides a method and device for pre-solving dam deformation monitoring data based on single Beidou.

[0006] In a first aspect, the present application provides a method for pre-solving dam deformation monitoring data based on single Beidou, which is applied to a monitoring station receiver. The method includes:

[0007] Receive the first original observation data sent by the single Beidou for the current monitoring point in the reservoir dam, where the current monitoring point is the point corresponding to the monitoring station receiver;

[0008] Based on the wireless networking module, receive the second original observation data sent by at least one reference station receiver. For each reference station receiver, the second original observation data is a parameter characterizing the position of the reference station receiver obtained based on the single Beidou;

[0009] Based on at least one of the second original observation data, perform error elimination processing on the first original observation data to obtain intermediate observation data after error elimination;

[0010] Based on the front-end calculation engine, perform calculation on the intermediate observation data to obtain the calculation result information corresponding to the intermediate observation data, and the calculation result information includes parameters characterizing the deformation condition of the current monitoring point.

[0011] The beneficial effects of the present invention are as follows: Through the front-end distributed calculation of the single Beidou signal by the monitoring station receiver, the calculation result information is obtained by calculating the first original observation data and the second original observation data, effectively reducing the operation burden of the monitoring server corresponding to the back-end monitoring data center and expanding the access volume of the monitoring stations of the monitoring server. According to the calculation result information, the deformation condition of the reservoir dam is judged, reducing the monitoring error caused by environmental factors and improving the accuracy of the monitoring data.

[0012] Further, the wireless networking module is a LoRa communication module using a half-duplex communication method, and the second original observation data is data that has been compressed through data compression processing based on the LoRa communication module.

[0013] The beneficial effect of adopting the above further solution is: By performing data compression processing on the second original observation data, the transmission cost can be reduced and the transmission efficiency can be improved.

[0014] Further, after obtaining the calculation result information corresponding to the intermediate observation data, it further includes:

[0015] Judge whether the cellular network communication with the monitoring data center is disconnected;

[0016] If it is not disconnected, then based on the cellular network communication, send the calculation result information to the monitoring data center;

[0017] If it is disconnected, then based on the built-in Beidou short message module, send the calculation result information to the Beidou satellite, so that the Beidou satellite forwards the calculation result information to the monitoring data center.

[0018] The beneficial effects of adopting the above further solution are as follows: In the case of the disconnection of the cellular network communication, by combining the front-end distributed calculation with the Beidou short message module, the problem that the automatic monitoring of the deformation of the monitoring points on the surface of the reservoir dam cannot be realized through the first original observation data is solved.

[0019] Further, after obtaining the calculation result information corresponding to the intermediate observation data, it further includes:

[0020] Judging whether the cellular network communication with the monitoring data center is disconnected;

[0021] If it is not disconnected, based on the cellular network communication, send the calculation result information to the monitoring data center;

[0022] If it is disconnected, based on the wireless networking module, send the calculation result information to the reference station receiver, so that the reference station receiver performs aggregation processing on the received calculation result information and the calculation result information corresponding to other monitoring station receivers. The reference station receiver, based on the built-in Beidou short message module, sends the aggregated calculation result information to the Beidou satellite, so that the Beidou satellite forwards the aggregated calculation result information to the monitoring data center.

[0023] The beneficial effects of adopting the above further solution are as follows: By the reference station receiver performing aggregation processing on the calculation result information of each monitoring station receiver, it can not only improve the data processing efficiency and data quality, but also help reduce the communication cost and maintenance cost, and realize a more efficient and economical operation of the monitoring network.

[0024] Further, after obtaining the calculation result information corresponding to the intermediate observation data, it further includes:

[0025] Obtaining auxiliary monitoring data collected by auxiliary equipment, where the auxiliary monitoring data is a parameter characterizing the deformation data corresponding to the current monitoring point;

[0026] Based on the auxiliary monitoring data, judging whether to filter the calculation result information;

[0027] If so, remove the calculation result information;

[0028] If not, execute the step of judging whether the cellular network communication with the monitoring data center is disconnected.

[0029] The beneficial effects of adopting the above further solution are as follows: Filtering the calculation result information with poor calculation quality, thereby improving the accuracy of the calculation result information.

[0030] Further, after obtaining the auxiliary monitoring data collected by the auxiliary equipment, it further includes:

[0031] Based on the auxiliary monitoring data, determine whether deformation anomalies occur at the current monitoring point;

[0032] If so, increase the acquisition frequency of the auxiliary equipment for the auxiliary monitoring data.

[0033] The beneficial effect of adopting the above further solution is that by dynamically adjusting the acquisition frequency of the auxiliary equipment, abnormal situations can be detected in a timely manner, and the project safety and personnel safety can be better guaranteed.

[0034] In a second aspect, the present application provides a pre-settlement device for dam deformation monitoring data based on a single Beidou, including:

[0035] A first receiving module, configured to receive first original observation data sent by a single Beidou for a current monitoring point in a reservoir dam, where the current monitoring point is the point corresponding to the monitoring station receiver;

[0036] A second receiving module, configured to receive second original observation data sent by at least one reference station receiver based on a wireless networking module. For each of the reference station receivers, the second original observation data is a parameter representing the position of the reference station receiver obtained based on the single Beidou;

[0037] An elimination processing module, configured to perform error elimination processing on the first original observation data based on at least one of the second original observation data to obtain intermediate observation data after error elimination;

[0038] A module for obtaining a settlement result information, configured to perform settlement on the intermediate observation data based on a front-end settlement engine to obtain settlement result information corresponding to the intermediate observation data, where the settlement result information includes a parameter representing the deformation condition of the current monitoring point.

[0039] In a third aspect, the present application provides an electronic device, including a processor and a memory, and the processor is coupled to the memory;

[0040] The processor is configured to execute a computer program stored in the memory, so that the electronic device executes the method according to any one of the first aspect.

[0041] In a fourth aspect, the present application provides a computer-readable storage medium, including a computer program or instruction, and when the computer program or instruction runs on a computer, the computer is caused to execute the method according to any one of the first aspect.

[0042] Fifth aspect, the present application provides a single Beidou receiver, including a monitoring station receiver, the monitoring station receiver includes a single Beidou antenna and a board, and the boards all include a radio frequency chip, a baseband chip and a Beidou signal processing module;

[0043] The single Beidou antenna is used to receive the single Beidou signal sent by the Beidou satellite and transmit the single Beidou signal to the radio frequency chip; the radio frequency chip is used to generate an intermediate frequency signal suitable for analog conversion corresponding to the single Beidou signal, digitize the intermediate frequency signal to generate a digital signal, and output the digital signal to the baseband chip; the baseband chip is used to obtain first original observation data corresponding to the digital signal and output the first original observation data to the Beidou signal processing module;

[0044] The monitoring station receiver further includes a wireless networking module for establishing a networking relationship with the reference station receiver. Based on the wireless networking module, it receives second original observation data sent by the reference station receiver, and the second original observation data is a parameter representing the position of the reference station receiver obtained based on the single Beidou;

[0045] The Beidou signal processing module is used to perform error elimination processing on the first original observation data based on at least one of the second original observation data to obtain intermediate observation data after error elimination;

[0046] The Beidou signal processing module is built-in with a front-end solution engine, and the front-end solution engine is used to solve the intermediate observation data to obtain the solution result information corresponding to the intermediate observation data. Description of the Drawings

[0047] Figure 1 It is a schematic flowchart of the pre-solution method for dam deformation monitoring data based on a single Beidou in an embodiment of the present application;

[0048] Figure 2 It is a schematic diagram showing the front-end solution process of the monitoring station receiver in an embodiment of the present application;

[0049] Figure 3 It is a schematic diagram showing the communication process between the monitoring station receiver and the reference station receiver in an embodiment of the present application;

[0050] Figure 4 It is a schematic diagram showing the communication process with the monitoring data center in a non-public network scenario in an embodiment of the present application;

[0051] Figure 5 It is a structural block diagram of the pre-solution device for dam deformation monitoring data based on a single Beidou in an embodiment of the present application;

[0052] Figure 6 It is a structural block diagram of an electronic device in an embodiment of the present application;

[0053] Figure 7 Schematic diagram showing the receiver of the monitoring station in the embodiments of the present application. Detailed implementation manners

[0054] The present application will be further described in detail below with reference to the accompanying drawings.

[0055] Embodiments of the present application provide a method for pre-solving dam deformation monitoring data based on single Beidou. This method can be executed by a device, which can be a server or a terminal device. The server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a desktop computer, etc., but is not limited thereto.

[0056] As Figure 1 shown, a method for pre-solving dam deformation monitoring data based on single Beidou takes the receiver of the monitoring station as the execution subject, and the main processes of the method are described as follows (Steps S101 - S104):

[0057] Step S101: Receive the first original observation data sent by single Beidou for the current monitoring point in the reservoir dam, where the current monitoring point is the point corresponding to the receiver of the monitoring station.

[0058] The first original observation data is data representing the ephemeris, pseudorange, and carrier phase received by the receiver of the monitoring station from single Beidou, and the data of ephemeris, pseudorange, and carrier phase are used as the basis for characterizing the position and state of the receiver of the monitoring station.

[0059] The reservoir dam includes multiple points, and the receiver of the monitoring station is set at the point in the reservoir dam that needs to be monitored for real-time deformation, and this point is the current monitoring point. In this embodiment, the receiver of the monitoring station can be a single Beidou receiver for deformation monitoring.

[0060] The receiver of the monitoring station is built with a single Beidou communication system. It is easy to understand that the single Beidou communication system is a global positioning system that only uses the Beidou single Beidou navigation system for positioning and navigation, and does not rely on other systems such as GPS or Galileo. The receiver of the monitoring station that does not rely on other positioning systems and supports the single Beidou communication system has high autonomy and reliability, reduces the dependence on other positioning systems, and improves the independence of deformation monitoring.

[0061] The single Beidou communication system includes a single Beidou antenna. Through the single Beidou antenna, the single Beidou signal sent for the reservoir dam can be received. After the electronic device processes the single Beidou signal, the first original observation data corresponding to the monitoring station receiver is obtained. In this embodiment, the first original observation data may also include the single Beidou positioning coordinates, timestamp, and other information such as the signal propagation speed corresponding to the monitoring station receiver. The first original observation data can be directly obtained from the single Beidou orbit data and can be used for the positioning calculation of the monitoring station receiver.

[0062] Step S102: Based on the wireless networking module, receive the second original observation data sent by at least one reference station receiver. For each of the reference station receivers, the second original observation data is a parameter characterizing the position of the reference station receiver obtained based on the single Beidou.

[0063] Step S103: Based on at least one of the second original observation data, perform error elimination processing on the first original observation data to obtain the intermediate observation data after error elimination.

[0064] The wireless networking module can establish a networking relationship between the monitoring station receiver and the reference station receiver. The wireless networking module can be at least one of a LoRa communication module and a WiFi communication module that adopts a half-duplex communication method. Exemplarily, the wireless networking module includes a LoRa communication module and a WiFi communication module.

[0065] In this embodiment, a networking relationship between the monitoring station receiver and the reference station receiver can also be established through a wired networking module. The wired networking module can be an RS485 bus and / or a communication optical cable.

[0066] Specifically, the LoRa communication module includes a first LoRa antenna corresponding to the monitoring station receiver, a first LoRa module, a second LoRa antenna corresponding to the reference station receiver, and a second LoRa module. The WiFi communication module includes a first WiFi antenna corresponding to the monitoring station receiver, a first WiFi module, a second WiFi antenna corresponding to the reference station receiver, and a second WiFi module.

[0067] In this embodiment, LoRa is a low-power long-distance wireless transmission technology based on spread spectrum technology and is one of the LPWAN communication technologies. The LoRa communication module is a long-distance wireless transmission solution based on spread spectrum technology. The LoRa communication module can operate in globally free frequency bands, including free frequency bands such as 314, 868, and 915 MHz.

[0068] The reference station receiver can be set at a point with a known stable position. The reference station receiver also includes a single Beidou antenna. The reference station receiver can receive the single Beidou signal transmitted by the single Beidou corresponding to the monitoring station receiver through its own single Beidou antenna. Therefore, the errors of the corresponding original observation data of the two are the same, and part of the errors in the first original observation data can be eliminated by using the second original observation data.

[0069] In this embodiment, due to the influence related to the single Beidou and the influence of the atmosphere, ionosphere and other factors, the first original observation data may have errors. In order to further improve the accuracy of the monitoring data, it is necessary to perform error elimination processing on the first original observation data.

[0070] Step S104: Based on the front-end solution engine, solve the intermediate observation data to obtain the solution result information corresponding to the intermediate observation data. The solution result information includes parameters characterizing the deformation condition of the current monitoring point.

[0071] In this embodiment, the monitoring station receiver supports the front-end local distributed solution mode. By integrating a front-end solution engine based on the embedded Linux system into the monitoring station receiver, the solution algorithm is embedded into the monitoring station receiver. The embedded solution algorithm can be one or more of the differential positioning algorithm, least squares solution algorithm, Kalman filter algorithm, extended Kalman filter algorithm, and unscented Kalman filter algorithm. In this embodiment, the embedded solution algorithms include the differential positioning algorithm and the least squares solution algorithm, and these algorithms have high accuracy and reliability in dealing with complex dynamic systems and optimizing position estimation.

[0072] By using the front-end solution engine to solve the intermediate observation data, the solution result information is obtained. In this embodiment, the solution result information includes the position of the phase center of the single Beidou antenna and the moving speed of the monitoring station receiver. The phase center of the single Beidou antenna is the phase center corresponding to the single Beidou antenna of the monitoring station receiver.

[0073] It is easy to understand that the position of the phase center of the single Beidou antenna refers to the actual position coordinates of the monitoring station receiver. The displacement of the monitoring station receiver can be calculated through the change of the position of the phase center of the single Beidou antenna, and then the displacement of the reservoir dam can be obtained. The position of the phase center of the single Beidou antenna plays a crucial role in the displacement deformation monitoring of geological disasters, reservoir dams, earth-rock dams, etc., and is a key factor affecting the high-precision positioning measurement of the monitoring station receiver. The moving speed of the monitoring station receiver can help the monitoring personnel understand the speed and direction corresponding to the displacement deformation of the monitoring station receiver at the current monitoring point, so as to better evaluate the deformation trend and potential risks of the reservoir dam and improve the accuracy of the monitoring data.

[0074] The displacement amounts corresponding to the deformation monitoring of the reservoir dam body include horizontal displacement amounts and vertical displacement amounts. In this embodiment, the coordinates of all monitoring points can be converted into local coordinates. The status of the monitoring station receiver can be viewed through the WebUI web page and the Android App, and remote management functions such as remote monitoring, upgrade, self-check and self-diagnosis can also be realized through the remote control mechanism.

[0075] In this embodiment, the solution result information may further include the speed and direction of the displacement deformation corresponding to the monitoring station receiver. For example Figure 2 As shown, through the front-end distributed solution of the single Beidou signal by the monitoring station receiver, the solution result information is obtained by solving the first original observation data and the second original observation data, effectively reducing the operation burden of the monitoring server corresponding to the backend monitoring data center and expanding the access amount of the monitoring server to the monitoring stations. Judging the deformation condition of the reservoir dam according to the solution result information reduces the monitoring error caused by environmental factors and improves the accuracy of the monitoring data.

[0076] In this embodiment, the LoRa communication module uses a new generation of LoRa spread spectrum technology, making the communication more stable. After spreading spectrum, the transmission distance and anti-interference ability of the communication are more than doubled compared with traditional single-frequency communication. The measured maximum transmission distance of the LoRa communication module is 10KM, the equivalent power consumption during wireless wake-up is 15μA, and the highest transmission speed is 62.5kbps. The half-duplex communication mode means that only one communication action occurs in a communication frequency band within a time period, ensuring that the second original observation data of the reference station receiver can be sent to the monitoring station receiver, and the monitoring station receiver can also communicate with the reference station receiver based on the LoRa communication module in the half-duplex communication mode.

[0077] Based on the LoRa communication module, establishing communication between the reference station receiver and the monitoring station receiver has the following advantages: for the deformation monitoring project of the reservoir dam, it can be used in an environment without public network, saving the 4G IoT card traffic, enabling the front-end distributed solution to be carried out in an environment without public network; wide transmission distance, 164dB link budget, and the wireless communication distance is greater than 3 kilometers (in the city) and 15 kilometers (in the suburbs).

[0078] For example Figure 3 As shown, when the reference station receiver sends the second original observation data to the monitoring station receiver based on the LoRa communication module, the second original observation data can be compressed through data compression technology. The compression ratios of different boards corresponding to the reference station receiver are different, and the average compression ratio of the second original observation data is about 60%, and the compression ratio of the professional board can reach 60%-70%. Taking the second original observation data collected for 1 hour as an example, the data volume with a sampling frequency of 30S is 300% lower than that with a sampling frequency of 10S.

[0079] By performing data compression on the second original observation data, the transmission cost can be reduced and the transmission efficiency can be improved. During the process of the LoRa communication module transmitting the second original observation data, the compressed data requires a narrower bandwidth, which can reduce the transmission time and cost. Especially in the case of long-distance communication or limited network bandwidth, the role of data compression is more obvious. In addition, data compression can also alleviate network congestion problems and improve the real-time performance and reliability of data transmission. When a large amount of data is transmitted, data compression can reduce the network load and the possibility of network congestion, ensuring that the data is transmitted to the monitoring station receiver in a timely and accurate manner.

[0080] To facilitate the remote monitoring of the deformation conditions corresponding to each monitoring point in the reservoir dam by the backend monitoring data center, the monitoring station receiver and the reference station receiver are respectively communicatively connected to the monitoring data center, and data interaction can be carried out with the monitoring data center. In this embodiment, the monitoring station receiver and the reference station receiver can communicate with the monitoring data center based on the corresponding 4G communication module.

[0081] As a first alternative implementation manner of this embodiment, after step S104, the following processing is further included: determining whether the cellular network communication with the monitoring data center is disconnected; if not disconnected, sending the solution result information to the monitoring data center based on the cellular network communication; if disconnected, sending the solution result information to the Beidou satellite based on the built-in Beidou short message module, so that the Beidou satellite forwards the solution result information to the monitoring data center.

[0082] The cellular network refers to the communication network corresponding to the 4G communication module. If the cellular network is not disconnected, it means that the monitoring station receiver can communicate with the monitoring data center based on the corresponding 4G communication module. If the cellular network is disconnected, it means that the monitoring station receiver cannot communicate with the monitoring data center based on the corresponding 4G communication module.

[0083] With the internationalization and large-scale development of the Beidou-3 Global Navigation Satellite System, the Beidou-3 short message communication service has also been refined and optimized in terms of service type and operation mode design. In terms of system architecture, the Beidou-3 short message communication service innovatively adopts the generalized RDSS system and the RNSS+ short message communication system on the basis of being compatible with the RDSS system, which also further improves the system performance and user experience of the Beidou-3 short message communication service compared with the Beidou-2 short message communication service. Therefore, in this embodiment, the Beidou short message module is a communication module that can support the Beidou-3 short message communication technology.

[0084] In the case of suburbs with poor network environment, remote mountainous areas without public network coverage, or disconnection of cellular network communication due to extreme weather conditions, etc., the method of combining front-end distributed calculation with Beidou short message module can be adopted to solve the problem that the deformation of the monitoring points on the surface of the reservoir dam cannot be automatically monitored through the first original observation data.

[0085] Specifically, the monitoring station receiver transmits the calculation result information to the Beidou satellite through the built-in Beidou short message module, the Beidou satellite relays the calculation result information to the Beidou ground station, and the Beidou ground station then transmits the calculation result information to the monitoring data center.

[0086] As the second optional implementation manner of this embodiment, as Figure 4 shown, after step S104, the following processing is further included:

[0087] Judge whether the cellular network communication with the monitoring data center is disconnected;

[0088] If not disconnected, based on the cellular network communication, send the calculation result information to the monitoring data center;

[0089] If disconnected, based on the wireless networking module and / or the wired networking module, send the calculation result information to the reference station receiver, so that the reference station receiver performs aggregation processing on the received calculation result information and the corresponding calculation result information of other monitoring station receivers. The reference station receiver, based on the built-in Beidou short message module, sends the aggregated calculation result information to the Beidou satellite, so that the Beidou satellite forwards the aggregated calculation result information to the monitoring data center.

[0090] In this embodiment, there is a preset corresponding relationship between the monitoring station receiver and the reference station receiver for data aggregation, and each reference station receiver for data aggregation can correspond to multiple monitoring station receivers.

[0091] It is easy to understand that Figure 4 the Beidou short message user machine of the reference station receiver in

[0092] By aggregating and processing the solution result information of the receivers at each monitoring station, not only can the data processing efficiency and data quality be improved, but also the communication cost and maintenance cost can be reduced, realizing a more efficient and economical operation of the monitoring network.

[0093] As the third alternative implementation mode of this embodiment, after step S104, the following processing is further included:

[0094] Obtain the reference station receiver corresponding to the monitoring station receiver for data aggregation, and determine whether the cellular network communication between the reference station receiver and the monitoring data center is disconnected;

[0095] If it is not disconnected, the solution result information is sent to the reference station receiver based on the wireless networking module and / or the wired networking module, so that the reference station receiver aggregates and processes the received solution result information and the solution result information corresponding to other monitoring station receivers, and the reference station receiver sends the aggregated and processed solution result information to the monitoring data center based on the corresponding 4G communication module;

[0096] If it is disconnected, the solution result information is sent to the reference station receiver based on the wireless networking module and / or the wired networking module, so that the reference station receiver aggregates and processes the received solution result information and the solution result information corresponding to other monitoring station receivers, and the reference station receiver sends the aggregated and processed solution result information to the Beidou satellite based on the built-in Beidou short message module, so that the Beidou satellite forwards the aggregated and processed solution result information to the monitoring data center.

[0097] In this embodiment, the deformation monitoring of the reservoir dam can support the front-end and back-end dual solution modes. The front-end solution mode is to implement the solution process of the first original observation data at the device end through the front-end solution engine built in the front-end monitoring station receiver, and the back-end solution mode is to solve the first original observation data by the back-end monitoring data center.

[0098] The second original observation data also includes the single BeiDou positioning coordinates corresponding to the reference station receiver, the timestamp, and other information such as the signal propagation speed. Since the reference station receiver provides accurate known position coordinates, step S103 specifically includes the following processing: According to the propagation speed and timestamp of the single BeiDou signal in the second original observation data, calculate the first measured distance between the single BeiDou and the reference station receiver; Calculate the first calculated distance between the single BeiDou and the reference station receiver through the known position coordinates; Compare the first calculated distance with the first measured distance to calculate the difference, and this difference is the distance correction number; Calculate the second measured distance between the single BeiDou and the monitoring station receiver according to the propagation speed and timestamp of the single BeiDou signal in the first original observation data; Correct the error in the second measured distance based on the distance correction number. Thus, the positioning accuracy of the monitoring station receiver is improved, and the influence of the error in the first original observation data on positioning is reduced.

[0099] In the application of reservoir dam deformation monitoring, the principle of carrier phase relative positioning can be adopted, and millimeter-level positioning can be achieved through error elimination means. The single BeiDou receiver includes a reference station receiver and a monitoring station receiver. In relative positioning, when two or more single BeiDou receivers synchronously observe the same group of single BeiDou satellites, errors such as the orbit error of the single BeiDou satellite, satellite clock error, receiver clock error, ionospheric delay, and tropospheric delay have a certain correlation in the influence on the first original observation data. Utilizing this correlation, different linear combinations of the first original observation data are performed, and differential processing is carried out according to three elements: the monitoring station receiver, the single BeiDou, and the epoch, which can greatly weaken the influence of relevant errors, thereby improving the relative positioning accuracy to the millimeter level.

[0100] It is easy to understand that the main error sources affecting the observation accuracy of reservoir dam deformation monitoring are: receiver internal noise, receiver antenna phase center error, multipath effect, and residual ionospheric delay and tropospheric delay. In reservoir dam deformation monitoring, the distance between the reference station receiver and the monitoring station receiver can be set to not exceed 1 km. Most of the observation errors can be eliminated through differential means, reducing the error influence, and high-precision deformation monitoring results can be obtained.

[0101] In this embodiment, based on the front-end solution engine, the intermediate observation data is solved, which specifically includes the following processing: First, establish the reference coordinate system of the monitoring system. The reference coordinate system is the reference framework of the entire monitoring system, and the initial coordinates of the monitoring station receiver can be determined through the reference coordinate system; After determining the initial coordinates of the monitoring station receiver, the displacement can be calculated by continuously observing the change in the position coordinates of the monitoring station receiver. The displacement is usually determined by comparing the coordinate positions at different time points. For example, the change in the position coordinates of the monitoring station receiver between two adjacent observation time points can be calculated to obtain the displacement amount corresponding to the monitoring station receiver.

[0102] Select stable points with known coordinates as reference points. The single BeiDou receiver at the reference point is the reference station receiver. Based on the reference points, establish a reference coordinate system and measure the baseline vector between two single BeiDou receivers. Using the baseline vector and the reference coordinate system, the coordinates of each single BeiDou receiver in the reference coordinate system can be determined.

[0103] After calculating the initial baseline vector (X1, Y1, Z1) between the high-precision reference station receiver and the monitoring station receiver, given the coordinates of the reference station receiver itself, by adding the initial baseline vector (X1, Y1, Z1) to the coordinates of the reference station receiver itself, the initial coordinates of the monitoring station receiver can be obtained.

[0104] After determining the initial coordinates of the monitoring station receiver, the displacement can be calculated by continuously observing the position change of the monitoring station receiver. Among them, the displacement is usually determined by comparing the coordinate positions at different time points. For example, the baseline vector of the monitoring station receiver between two adjacent observation time points can be calculated, and then the position coordinates can be calculated again based on the coordinates of the reference station receiver itself and the baseline vector to obtain the change in position coordinates, thereby obtaining the displacement.

[0105] In this embodiment, the single BeiDou communication system supports multi-frequency communication. The frequencies corresponding to different frequency points are different and the corresponding single BeiDou satellites are different. Exemplarily, the single BeiDou communication system can support multiple BeiDou proprietary frequency points such as BD-2 and BDS-3. Among them, BD-2 includes BeiDou proprietary frequency points such as B1 I, B2I, B3I, etc., and BDS-3 includes BeiDou proprietary frequency points such as B1 I, B3I, B1C, B2a, etc.

[0106] After receiving the multi-frequency observation data corresponding to multiple frequency points, the collected multi-frequency observation data can be preprocessed. The preprocessing includes operations such as data cleaning, filtering, and denoising to improve the signal-to-noise ratio and accuracy of the data. After preprocessing the multi-frequency observation data, using the mutual verification relationship between the observation data of different frequencies, error sources such as single BeiDou orbit error and signal propagation error are eliminated. Exemplarily, the elimination of error sources can be achieved by methods such as differential technology and filtering algorithms. Then, the multi-frequency observation data after eliminating the error sources are fused together using its own fusion algorithm. The fusion algorithm can include weighted average method, Kalman filter, etc., so as to further improve the accuracy and reliability of the data. After the processing of the multi-frequency observation data is completed, the above-mentioned intermediate observation data can be solved.

[0107] In this embodiment, since the first raw observation data may have errors when a single Beidou satellite is blocked, in order to further improve the accuracy of the monitoring data, after step S102, the following processing is also included: obtaining auxiliary monitoring data collected by an auxiliary device, where the auxiliary monitoring data is a parameter characterizing the deformation data corresponding to the current monitoring point; based on the auxiliary monitoring data, determining whether to filter the solution result information; if not, then performing the step of determining whether the cellular network communication with the monitoring data center is disconnected; if so, then removing the solution result information.

[0108] The auxiliary device is used to collect auxiliary monitoring data in real time. The auxiliary device can be a MEMS sensor built into the monitoring station receiver. In this embodiment, the MEMS sensor is an inclination sensor, which can collect the inclination data and acceleration data corresponding to the monitoring station receiver and is used for monitoring the displacement and deformation of the monitoring station receiver, that is, the auxiliary monitoring data includes inclination data and acceleration data. The MEMS sensor can be an integrated 0.1° MEMS acceleration sensor.

[0109] The monitoring station receiver stores the correspondence between the auxiliary monitoring data and the preset result information. If the current solution result information is inconsistent with the preset result information corresponding to the auxiliary monitoring data, the solution quality corresponding to the solution result information is poor, and the solution result information needs to be filtered, thereby reducing the influence of the solution result information with poor solution quality and improving the accuracy of the monitoring data.

[0110] It is easy to understand that the monitoring station receiver can also send the auxiliary monitoring data to the monitoring data center for the monitoring data center to view the auxiliary monitoring data.

[0111] In this embodiment, a single Beidou receiver can access a variety of external sensors to achieve automatic collection and transmission of a variety of monitoring data. Both the monitoring station receiver and the reference station receiver include multiple external interfaces, and a variety of external sensors can be connected through the external interfaces. The external sensors can include piezometric sensors, seepage sensors, rain gauges, and water level sensors, and the external interface can be an RS485 interface.

[0112] The single Beidou receiver includes a main working mode and a secondary working mode. The main working mode is a mode that provides deformation monitoring results in the form of epoch solutions and is applied to the application scenario of regular deformation observation of reservoir dams in daily life; the secondary working mode is a fast static mode. When the water level in the reservoir dam area rises rapidly, etc., the monitoring frequency of the single Beidou receiver can be encrypted to perform 24-hour all-weather monitoring, so as to provide high-frequency dynamic observation values in an emergency state.

[0113] In this embodiment, in order to better monitor the deformation of the reservoir dam and better ensure the project safety and personnel safety, after obtaining the auxiliary monitoring data collected by the auxiliary device, the following processing is further included: based on the auxiliary monitoring data, determine whether there is an abnormal deformation at the current monitoring point; if so, increase the acquisition frequency of the auxiliary monitoring data by the auxiliary device; if not, continue to execute the step of determining whether to filter the solution result information based on the auxiliary monitoring data.

[0114] The current monitoring point is the point corresponding to the receiver of the monitoring station. A judgment threshold corresponding to the auxiliary monitoring data is preset in the receiver of the monitoring station. When the auxiliary monitoring data exceeds the corresponding judgment threshold, it can be determined that there is an abnormal deformation at the current monitoring point.

[0115] Exemplarily, the auxiliary device is a MEMS sensor. An acceleration threshold corresponding to the acceleration data is preset in the receiver of the monitoring station. When the acceleration data detected by the MEMS sensor exceeds the acceleration threshold, it can be determined that there is an abnormal deformation at the current monitoring point, and it is necessary to increase the acquisition frequency of the MEMS sensor. By dynamically adjusting the acquisition frequency of the MEMS sensor, abnormal situations can be detected in a timely manner, and the project safety and personnel safety can be better ensured.

[0116] In this embodiment, in order to ensure that the receiver of the monitoring station can work normally without being affected by an emergency power outage of the external commercial power or rainy days and solve the problem of being unable to continue working in the case of an emergency power outage of the external commercial power, the method further includes the following processing: determine whether the external power supply device is supplying power normally. The external power supply device is a device for supplying power to the electrical equipment corresponding to the receiver of the monitoring station; if not, switch to the internal power supply device to supply power to the electrical equipment; if so, do not switch the power supply.

[0117] The external power supply device can be a power supply device connected to the external commercial power, and the internal power supply device can be a built-in battery of the receiver of the monitoring station. When the external commercial power supply is normal, the external power supply device can supply power to the electrical equipment corresponding to the receiver of the monitoring station. When an emergency or extreme weather causes the external power supply device to lose power, the internal power supply device can supply power to the electrical equipment, so that the receiver of the monitoring station can work normally without being affected by an emergency power outage of the external commercial power or rainy days, and the problem of being unable to continue working in the case of an emergency power outage of the external commercial power is solved. In this embodiment, the battery can be a large-capacity lithium battery. In order to ensure the remaining power in the battery, when the external power supply device supplies power normally, the external power supply device can charge the battery, or the solar photovoltaic power generation system can charge the battery.

[0118] Based on the same technical concept, the present application further provides a pre-solution device for dam deformation monitoring data based on single Beidou, as Figure 5As shown, the pre - resolution device 200 for dam deformation monitoring data based on a single Beidou mainly includes:

[0119] A first receiving module 201, configured to receive first original observation data sent by the single Beidou for the current monitoring point in the reservoir dam, where the current monitoring point is the point corresponding to the monitoring station receiver;

[0120] A second receiving module 202, configured to receive second original observation data sent by at least one reference station receiver based on a wireless networking module. For each reference station receiver, the second original observation data is a parameter representing the position of the reference station receiver obtained based on the single Beidou;

[0121] An error elimination processing module 203, configured to perform error elimination processing on the first original observation data based on at least one of the second original observation data to obtain intermediate observation data after error elimination;

[0122] A result information obtaining module 204, configured to perform resolution on the intermediate observation data based on a front - end resolution engine to obtain resolution result information corresponding to the intermediate observation data, where the resolution result information includes parameters representing the deformation condition of the current monitoring point.

[0123] Optionally, the wireless networking module is a LoRa communication module using a half - duplex communication method, and the second original observation data is data that has been compressed and processed and is transmitted based on the LoRa communication module.

[0124] Optionally, after the result information obtaining module 204, it further includes:

[0125] A first judgment module, configured to judge whether the cellular network communication with the monitoring data center is disconnected; if not disconnected, then send the resolution result information to the monitoring data center based on the cellular network communication; if disconnected, then send the resolution result information to the Beidou satellite based on the built - in Beidou short message module, so that the Beidou satellite forwards the resolution result information to the monitoring data center.

[0126] Optionally, after the result information obtaining module 204, it further includes:

[0127] A second judgment module, configured to judge whether the cellular network communication with the monitoring data center is disconnected; if not, based on the cellular network communication, send the solution result information to the monitoring data center; if disconnected, based on the wireless networking module, send the solution result information to the reference station receiver, so that the reference station receiver performs aggregation processing on the received solution result information and the solution result information corresponding to other monitoring station receivers, and the reference station receiver, based on the built-in Beidou short message module, sends the aggregated solution result information to the Beidou satellite, so that the Beidou satellite forwards the aggregated solution result information to the monitoring data center.

[0128] Optionally, after the solution result information module 204, it further includes:

[0129] An acquisition module, configured to acquire auxiliary monitoring data collected by an auxiliary device, where the auxiliary monitoring data is a parameter characterizing the deformation data corresponding to the current monitoring point;

[0130] A third judgment module, configured to judge whether to filter the solution result information based on the auxiliary monitoring data; if so, remove the solution result information; if not, execute the step of judging whether the cellular network communication with the monitoring data center is disconnected.

[0131] Optionally, after the acquisition module, it further includes:

[0132] A fourth judgment module, configured to judge whether a deformation anomaly occurs at the current monitoring point based on the auxiliary monitoring data; if so, increase the acquisition frequency of the auxiliary monitoring data by the auxiliary device.

[0133] In one example, the modules in any of the above devices may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0134] For another example, when the modules in the device can be implemented in the form of a processing element scheduler, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processors that can call programs. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0135] In the present application, various objects such as various messages / information / devices / network elements / systems / devices / actions / operations / processes / concepts, etc. may be named. It can be understood that these specific names do not constitute limitations on the relevant objects, and the assigned names may change with factors such as scenarios, contexts, or usage habits. The understanding of the technical meanings of the technical terms in the present application should be mainly determined from the functions and technical effects reflected / executed in the technical solutions.

[0136] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices, and modules described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0137] Those of ordinary skill in the art can realize that the modules and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0138] Based on the same technical concept, the present application also provides an electronic device, as Figure 6 shown, the electronic device 300 includes a processor 301 and a memory 302, and may further include one or more of an information input / output (I / O) interface 303, a communication component 304, and a communication bus 305.

[0139] Among them, the processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned pre-resolution method for dam deformation monitoring data based on a single Beidou satellite; the memory 302 is used to store various types of data to support the operation of the electronic device 300. These data may include, for example, instructions for any application or method operating on the electronic device 300, as well as application-related data. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disc, or one or more of them.

[0140] The I / O interface 303 provides an interface between the processor 301 and other interface modules. The above-mentioned other interface modules can be a keyboard, a mouse, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 304 is used to test the wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them. Therefore, the corresponding communication component 304 can include: a Wi-Fi component, a Bluetooth component, and an NFC component.

[0141] The communication bus 305 may include a path for transmitting information between the above components. The communication bus 305 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 can be divided into an address bus, a data bus, a control bus, etc.

[0142] The electronic device 300 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, and is used to execute the pre - resolution method for dam deformation monitoring data based on a single Beidou as given in the above embodiments.

[0143] The electronic device 300 can include, but is not limited to, mobile terminals such as digital broadcast receivers, PDAs (Personal Digital Assistants), PMPs (Portable Multimedia Players), etc., and fixed terminals such as digital TVs, desktop computers, etc., and can also be a server, etc.

[0144] Based on the same technical concept, the present application also provides a computer - readable storage medium. A computer program is stored on the computer - readable storage medium, and when the computer program is executed by a processor, the steps of the above - mentioned pre - resolution method for dam deformation monitoring data based on a single Beidou are implemented.

[0145] The computer - readable storage medium can include various media that can store program codes, such as USB flash drives, mobile hard disks, read - only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs, etc.

[0146] Based on the same technical concept, the present application also provides a single - Beidou receiver applied to the above - mentioned pre - resolution method for dam deformation monitoring data based on a single Beidou. The single - Beidou receiver includes a monitoring station receiver and a reference station receiver.

[0147] As Figure 7 shown, the monitoring station receiver includes a single - Beidou antenna and a board. The boards all include a radio frequency chip, a baseband chip, and a Beidou signal processing module. In this embodiment, the board is a high - precision positioning board, which can support Beidou proprietary frequency points such as BD - 2: B1I, B2I, B3I, BDS - 3: B1I, B3I, B1C, B2a, etc., and has the ability of millimeter - level single - Beidou positioning monitoring.

[0148] The single Beidou antenna is used to receive the single Beidou signal sent by Beidou satellites and transfer the single Beidou signal to the RF chip; the RF chip is used to generate an intermediate frequency signal suitable for analog conversion corresponding to the single Beidou signal, digitize the intermediate frequency signal to generate a digital signal, and output the digital signal to the baseband chip; the baseband chip is used to obtain the first original observation data corresponding to the digital signal and output the first original observation data to the Beidou signal processing module.

[0149] The monitoring station receiver further includes a wireless networking module for establishing a networking relationship with the reference station receiver. Based on the wireless networking module, it receives the second original observation data sent by the reference station receiver. The second original observation data is a parameter characterizing the position of the reference station receiver obtained based on the single Beidou.

[0150] The Beidou signal processing module is used to perform error elimination processing on the first original observation data based on at least one of the second original observation data to obtain intermediate observation data after error elimination; the Beidou signal processing module is built-in with a front-end solution engine, and the front-end solution engine is used to solve the intermediate observation data to obtain the solution result information corresponding to the intermediate observation data.

[0151] In this embodiment, the Beidou signal processing module can be an A7 high-performance processor, with 32GB of built-in storage, and the storage capacity can be expanded.

[0152] The reference station receiver also includes a single Beidou antenna and a wireless networking module for receiving the single Beidou signal sent by Beidou satellites. The wireless networking module can be at least one of a LoRa communication module and a WiFi communication module using a half-duplex communication method. Exemplarily, the wireless networking module includes a LoRa communication module and a WiFi communication module. Specifically, the LoRa communication module includes a LoRa antenna and a LoRa module corresponding to the receiver, and the WiFi communication module includes a WiFi antenna and a WiFi module corresponding to the receiver.

[0153] In this embodiment, the single Beidou receiver can communicate with the monitoring data center based on the corresponding 4G communication module. The 4G communication module includes a 4G antenna and a 4G module.

[0154] The single Beidou receiver all includes auxiliary equipment. The auxiliary equipment can be a MEMS sensor. When the acceleration data detected by the MEMS sensor exceeds a preset acceleration threshold, it can be determined that the current monitoring point has a deformation abnormality, and it is necessary to increase the acquisition frequency of the MEMS sensor.

[0155] Each single Beidou receiver includes a power supply management module. The power supply management module is used to control the external power supply device to supply power to the corresponding electrical equipment of the monitoring station when the external mains power supply is normal. When an emergency or extreme weather causes the external power supply device to lose power, it controls the internal power supply device to supply power to the electrical equipment.

[0156] Each single Beidou receiver also includes a plurality of external interfaces. A variety of external sensors can be connected through the external interfaces. The external sensors can include osmotic pressure sensors, seepage sensors, rain sensors, and water level sensors. The external interface can be an RS485 interface.

[0157] The term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0158] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0159] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0160] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A pre - resolution method for dam deformation monitoring data based on single Beidou, characterized in that, Applied to the monitoring station receiver, the method includes: Receiving first original observation data sent by a single Beidou for the current monitoring point in the reservoir dam, where the current monitoring point is the point corresponding to the monitoring station receiver; Based on the wireless networking module, receiving second original observation data sent by at least one reference station receiver. For each reference station receiver, the second original observation data is a parameter characterizing the position of the reference station receiver obtained based on the single Beidou; Based on at least one of the second original observation data, performing error elimination processing on the first original observation data to obtain intermediate observation data after error elimination; Based on the front-end solution engine, solving the intermediate observation data to obtain solution result information corresponding to the intermediate observation data, and the solution result information includes parameters characterizing the deformation condition of the current monitoring point; The monitoring station receiver and the reference station receiver are respectively communicatively connected to the monitoring data center. After obtaining the solution result information corresponding to the intermediate observation data, it further includes: Judging whether the cellular network communication with the monitoring data center is disconnected; if not disconnected, sending the solution result information to the monitoring data center based on the cellular network communication; if disconnected, sending the solution result information to the Beidou satellite based on the built-in Beidou short message module, so that the Beidou satellite forwards the solution result information to the monitoring data center; or, Judging whether the cellular network communication with the monitoring data center is disconnected; if not disconnected, sending the solution result information to the monitoring data center based on the cellular network communication; if disconnected, sending the solution result information to the reference station receiver based on the wireless networking module, so that the reference station receiver performs aggregation processing on the received solution result information and the solution result information corresponding to other monitoring station receivers, and the reference station receiver sends the aggregated solution result information to the Beidou satellite based on the built-in Beidou short message module, so that the Beidou satellite forwards the aggregated solution result information to the monitoring data center; The monitoring station receiver and the reference station receiver respectively include a main working mode and a secondary working mode. The main working mode is a mode that provides deformation monitoring results in the form of epoch solutions, and is applied to the application scenario of regular deformation observation of the reservoir dam in daily life; the secondary working mode is the fast static mode. When the water level in the reservoir area of the reservoir dam rises rapidly, the monitoring frequencies of the monitoring station receiver and the reference station receiver are encrypted for 24-hour all-weather monitoring; The wireless networking module is a LoRa communication module using a half-duplex communication method, and the second original observation data is data that has been compressed and processed and is transmitted based on the LoRa communication module.

2. The pre - resolution method for dam deformation monitoring data based on single Beidou according to claim 1, wherein, After obtaining the solution result information corresponding to the intermediate observation data, it further includes: acquiring auxiliary monitoring data collected by an auxiliary device, where the auxiliary monitoring data is a parameter characterizing the deformation data corresponding to the current monitoring point; based on the auxiliary monitoring data, determining whether to filter the solution result information; if so, removing the solution result information; if not, performing the step of determining whether the cellular network communication with the monitoring data center is disconnected; the determining whether to filter the solution result information based on the auxiliary monitoring data specifically includes: if the current solution result information is inconsistent with the preset result information corresponding to the auxiliary monitoring data, the solution quality corresponding to this solution result information is poor, and the solution result information is filtered. After obtaining the auxiliary monitoring data collected by the auxiliary device, it further includes: based on the auxiliary monitoring data, determining whether there is an abnormal deformation situation at the current monitoring point; if so, increasing the acquisition frequency of the auxiliary monitoring data by the auxiliary device; the determining whether there is an abnormal deformation situation at the current monitoring point based on the auxiliary monitoring data specifically includes: when the auxiliary monitoring data exceeds the corresponding judgment threshold, it is determined that there is an abnormal deformation situation at the current monitoring point.

3. A pre-settlement device for dam deformation monitoring data based on a single Beidou, characterized in that, It includes: A first receiving module, configured to receive first raw observation data sent by a single Beidou for the current monitoring point in the reservoir dam, where the current monitoring point is the point corresponding to the monitoring station receiver. A second receiving module, configured to receive second raw observation data sent by at least one reference station receiver based on a wireless networking module. For each reference station receiver, the second raw observation data is a parameter characterizing the position of the reference station receiver obtained based on the single Beidou. An error elimination processing module, configured to perform error elimination processing on the first raw observation data based on at least one of the second raw observation data to obtain intermediate observation data after error elimination. A module for obtaining solution result information, configured to perform a solution on the intermediate observation data based on a front-end solution engine to obtain solution result information corresponding to the intermediate observation data, where the solution result information includes a parameter characterizing the deformation situation of the current monitoring point. The monitoring station receiver and the reference station receiver are respectively communicatively connected to the monitoring data center. After the module for obtaining solution result information, it further includes: a first judgment module, configured to judge whether the cellular network communication with the monitoring data center is disconnected; if not, sending the solution result information to the monitoring data center based on the cellular network communication; if disconnected, sending the solution result information to the Beidou satellite based on a built-in Beidou short message module, so that the Beidou satellite forwards the solution result information to the monitoring data center; or, A second judgment module, configured to judge whether the cellular network communication with the monitoring data center is disconnected; if not, based on the cellular network communication, send the solution result information to the monitoring data center; if disconnected, based on the wireless networking module, send the solution result information to the reference station receiver, so that the reference station receiver performs aggregation processing on the received solution result information and the solution result information corresponding to other monitoring station receivers, and the reference station receiver, based on the built-in Beidou short message module, sends the aggregated solution result information to the Beidou satellite, so that the Beidou satellite forwards the aggregated solution result information to the monitoring data center; The monitoring station receiver and the reference station receiver respectively include a main working mode and a secondary working mode. The main working mode is a mode that provides deformation monitoring results in the form of epoch solutions, and is applied to the application scenario of regular deformation observation of reservoir dams in daily life; the secondary working mode is a fast static mode. When the water level in the reservoir area of the reservoir dam rises rapidly, the monitoring frequencies of the monitoring station receiver and the reference station receiver are encrypted for 24-hour all-weather monitoring; The wireless networking module is a LoRa communication module using a half-duplex communication method, and the second original observation data is data that has been compressed and processed based on the LoRa communication module.

4. An electronic device, characterized in that, It includes a processor and a memory, and the processor is coupled to the memory; The processor is configured to execute the computer program stored in the memory, so that the electronic device executes the method according to claim 1 or 2.

5. A computer-readable storage medium, characterized in that, It includes a computer program or instruction. When the computer program or instruction runs on a computer, the computer is caused to execute the method according to claim 1 or 2.

6. A single Beidou receiver applied to the method according to claim 1 or 2, characterized in that, It includes a monitoring station receiver, and the monitoring station receiver includes a single Beidou antenna and a board. The boards all include a radio frequency chip, a baseband chip, and a Beidou signal processing module; The single Beidou antenna is configured to receive the single Beidou signal sent by the Beidou satellite and transmit the single Beidou signal to the radio frequency chip; the radio frequency chip is configured to generate an intermediate frequency signal suitable for analog conversion corresponding to the single Beidou signal, digitize the intermediate frequency signal to generate a digital signal, and output the digital signal to the baseband chip; the baseband chip is configured to obtain the first original observation data corresponding to the digital signal and output the first original observation data to the Beidou signal processing module; The monitoring station receiver further includes a wireless networking module for establishing a networking relationship with the reference station receiver. Based on the wireless networking module, it receives the second original observation data sent by the reference station receiver. The second original observation data is a parameter representing the position of the reference station receiver based on the single Beidou; The Beidou signal processing module is configured to perform error elimination processing on the first original observation data based on at least one of the second original observation data to obtain intermediate observation data after error elimination; The Beidou signal processing module is built-in with a front-end calculation engine, and the front-end calculation engine is used to calculate the intermediate observation data to obtain the calculation result information corresponding to the intermediate observation data.

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