Displacement monitoring method and system based on Beidou-R and medium

Abstract

The invention provides a Beidou-R-based displacement monitoring method and system and a medium, the method is applied to a server of the system, the system further comprises at least one Beidou-R surface displacement monitor arranged in a to-be-monitored area and a base station, and the monitor comprises a receiver, a right-hand circularly polarized antenna and a left-hand circularly polarized antenna; the method comprises the following steps: acquiring a first satellite signal received by a right-hand circularly polarized antenna and a reflected broadcast signal received by a left-hand circularly polarized antenna; acquiring a differential correction signal sent by the base station; positioning calculation is carried out according to the first satellite signal and the differential correction signal, and equipment position information corresponding to the monitor is obtained; acquiring a region type corresponding to the to-be-monitored region; positioning calculation is carried out according to the equipment position information and the reflection broadcast signal, and single-point position information of a reflection point is obtained; and according to the region type and the single-point position information, obtaining region parameters corresponding to the to-be-monitored region so as to complete gridding displacement monitoring of the to-be-monitored region.

Description

[0001] This application is a divisional application of the Chinese patent application with application date 20240830, application number 202411205738.1, and invention name “Beidou-R surface displacement monitoring system and displacement monitoring method”. Technical Field

[0002] The present invention relates to the field of GNSS positioning technology, and in particular to a displacement monitoring method, system and medium based on Beidou-R. Background Art

[0003] In areas where natural disasters occur frequently, disaster warning is currently mainly carried out through single-point displacement monitoring. It often happens that there is no deformation at the place where the instrument is installed, and landslides nearby are not discovered.

[0004] The current displacement monitoring based on imaging equipment such as millimeter-wave radar and lidar is expensive and consumes high power. The long revisit period of SAR (Synthetic Aperture Radar) remote sensing cannot meet the demand. There is an urgent need for low-power, high-precision, and low-cost "point + surface + multi-parameter" monitoring equipment and methods. Summary of the invention

[0005] The present application provides a displacement monitoring method, system and medium based on BeiDou-R, aiming to solve the problems that the current displacement monitoring based on imaging equipment such as millimeter wave radar and lidar is expensive and has high power consumption, and the revisit period of SAR (Synthetic Aperture Radar) remote sensing is long and cannot meet the demand. Currently, there is an urgent need for low-power, high-precision, and low-cost "point + surface + multi-parameter" monitoring equipment and methods.

[0006] In a first aspect, the present application provides a displacement monitoring method, which is applied to a server of a BeiDou-R surface displacement monitoring system, wherein the BeiDou-R surface displacement monitoring system further includes at least one BeiDou-R surface displacement monitor and a reference station, wherein each BeiDou-R surface displacement monitor is arranged in a corresponding area to be monitored, wherein the BeiDou-R surface displacement monitor includes a receiver, a right-hand circularly polarized antenna and at least one left-hand circularly polarized antenna, and the server is respectively connected to the receiver and the reference station in communication; the method includes: Acquire a first satellite signal received by a right-hand circularly polarized antenna and at least one reflected broadcast signal received by a left-hand circularly polarized antenna sent by a receiver; the reflected broadcast signal is generated by a second satellite signal transmitted by the same satellite as the first satellite signal and reflected from the ground; Obtain the differential correction signal sent by the reference station; Perform positioning calculation based on the first satellite signal and the differential correction signal to obtain device location information corresponding to the Beidou-R surface displacement monitor; Get the area type corresponding to the area to be monitored; Perform positioning calculation based on the device location information and each reflected broadcast signal to obtain the single-point location information of the reflection point corresponding to the reflected broadcast signal; The regional parameters corresponding to the area to be monitored are obtained according to the area type and single-point location information, so as to complete the grid displacement monitoring of the area to be monitored according to each single-point location information, equipment location information and regional parameters; wherein the regional parameters include at least one or more of vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level and glacier thickness.

[0007] In some embodiments, the Beidou-R surface displacement monitor also includes a connecting rod, at least one left-hand circularly polarized antenna is arranged outside the connecting rod, and a right-hand circularly polarized antenna is arranged on the connecting rod; positioning and solving are performed according to the device location information and each reflected broadcast signal, and the single-point location information of the reflection point corresponding to the reflected broadcast signal is obtained, including: obtaining the antenna installation elevation angle, antenna orientation information and antenna point position information of the left-hand circularly polarized antenna corresponding to the reflected broadcast signal; obtaining the first receiving time when the right-hand circularly polarized antenna receives the first satellite signal; obtaining the second receiving time when the left-hand circularly polarized antenna receives the reflected broadcast signal; calculating the receiving time difference corresponding to the first receiving time and the second receiving time; performing positioning and solving according to the receiving time difference, the antenna installation elevation angle, the antenna point information, the antenna orientation information and the device location information, and obtaining the single-point location information of the reflection point.

[0008] Exemplarily, positioning is performed based on the receiving time difference, antenna installation elevation angle, antenna point information, antenna orientation information and device location information to obtain the single-point location information of the reflection point, including: obtaining the single-point azimuth information based on the antenna installation elevation angle and antenna orientation information; obtaining the single-point distance information based on the receiving time difference and the propagation speed corresponding to the second satellite signal; and determining the single-point location information of the reflection point based on the antenna point information, device location information, single-point azimuth information and single-point distance information.

[0009] It should be noted that, in some embodiments, if the Beidou-R surface displacement monitor includes multiple left-handed circularly polarized antennas, and each left-handed circularly polarized antenna is arranged at a different height on the connecting rod; the single-point position information of the reflection point is determined according to the antenna point position information, the device position information, the single-point azimuth information and the single-point distance information, including: obtaining the installation position information of the left-handed circularly polarized antenna corresponding to the antenna point position information; determining the single-point position information of the reflection point according to the installation position information, the antenna point position information, the device position information, the single-point azimuth information and the single-point distance information.

[0010] It should be noted that, in some embodiments, obtaining single-point distance information based on the receiving time difference and the propagation speed corresponding to the second satellite signal also includes: obtaining terrain information corresponding to the monitored area based on the area type; obtaining terrain reflection parameters corresponding to the terrain information; and obtaining single-point distance information based on the terrain reflection parameters, the receiving time difference and the propagation speed.

[0011] Exemplarily, regional parameters corresponding to the monitored area are obtained based on the regional type and the single-point location information, including: determining at least one target regional parameter from vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level and glacier thickness based on the regional type; and obtaining the regional parameters corresponding to the single-point location information based on the receiving time difference and the parameter type corresponding to the target regional parameter.

[0012] In some embodiments, the Beidou-R surface displacement monitoring system includes multiple sensors, the sensor type is any one of a vegetation moisture content sensor, a surface moisture content sensor, a snow depth sensor, a snow water equivalent sensor, a tide level sensor and a glacier thickness sensor; the regional parameters corresponding to the monitored area are obtained according to the regional type and the single-point position information, including: obtaining the measurement information and sensor type of the sensor within a preset range of the single-point position information, and constructing the regional parameters corresponding to the single-point position information according to the measurement information and the corresponding sensor type.

[0013] In some embodiments, a base station is set in a base area, and the distance between the base area and the area to be measured is less than a preset distance; obtaining a differential correction signal sent by the base station includes: obtaining base position information and a third satellite signal sent by the base station; the third satellite signal is transmitted to the base station by the same satellite as the first satellite signal; solving the third satellite signal to obtain the measurement position information of the base station; generating a differential correction signal based on the base position information and the measurement position information.

[0014] In some embodiments, grid displacement monitoring of the monitored area is completed according to each single-point location information, device location information and area parameters, including: generating a device tag in a preset blank grid according to each device location information; generating a sub-tag corresponding to each device tag in the blank grid according to the single-point location information corresponding to each device location information; updating the corresponding device location information in the device tag; updating the corresponding single-point location information and area parameters in each sub-tag, completing the construction of the blank grid corresponding to the monitored area, and forming multiple surface displacement monitoring grids corresponding to the monitored area according to multiple blank grids.

[0015] In a second aspect, an embodiment of the present application provides a BeiDou-R surface displacement monitoring system, including: At least one BeiDou-R surface displacement monitor, each BeiDou-R surface displacement monitor is arranged in a corresponding area to be monitored, and the BeiDou-R surface displacement monitor comprises a receiver, a right-hand circularly polarized antenna and at least one left-hand circularly polarized antenna; Base station, the base station is set up in the base area; A server, the server is respectively connected to the receiver and the base station for communication; The server includes a processor and a memory, the memory is used to store a computer program, and when the computer program is executed by the processor, the steps of the displacement monitoring method provided in any embodiment of the present application are implemented.

[0016] The present application provides a BeiDou-R surface displacement monitoring system and a displacement monitoring method. The method is applied to a server of the BeiDou-R surface displacement monitoring system. The BeiDou-R surface displacement monitoring system also includes at least one BeiDou-R surface displacement monitor and a reference station. Each BeiDou-R surface displacement monitor is arranged in a corresponding area to be monitored. The BeiDou-R surface displacement monitor includes a receiver, a right-hand circularly polarized antenna and at least one left-hand circularly polarized antenna. The server is respectively connected to the receiver and the reference station for communication. The method includes: obtaining a first satellite signal sent by the receiver and received by the right-hand circularly polarized antenna and at least one reflected broadcast signal received by the left-hand circularly polarized antenna; the reflected broadcast signal is a second satellite signal transmitted by the same satellite as the first satellite signal. Generate through ground reflection; obtain the differential correction signal sent by the base station; perform positioning and solution according to the first satellite signal and the differential correction signal, and obtain the device location information corresponding to the Beidou-R surface displacement monitor; obtain the area type corresponding to the area to be monitored; perform positioning and solution according to the device location information and each reflected broadcast signal, and obtain the single-point location information of the reflection point corresponding to the reflected broadcast signal; obtain the area parameters corresponding to the area to be monitored according to the area type and the single-point location information, so as to complete the grid displacement monitoring of the area to be monitored according to each single-point location information, the device location information and the area parameters; wherein the area parameters include at least one or more of vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tide level and glacier thickness. The method provided can not only simplify the cost of building a regional surface displacement monitoring system, but also realize the "point + surface + multi-parameter" monitoring of the area to be monitored.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a structural schematic diagram of a BeiDou-R surface displacement monitoring system provided in an embodiment of the present application; Figure 2 is a schematic flow chart of the steps of a displacement monitoring method provided in an embodiment of the present application; Figure 3 is a schematic flow chart of the steps of a method for obtaining single-point location information provided by an embodiment of the present application; Figure 4 is a schematic diagram of a displacement monitoring grid provided in an embodiment of the present application; Figure 5 It is a schematic structural block diagram of a displacement monitoring device provided by the present application; Figure 6 It is a structural schematic block diagram of a server provided by this application.

[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0023] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0024] It should be understood that, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first support member and the second support member are only used to distinguish different support members, and the order thereof is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit them to be different.

[0025] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0026] The following is an explanation of some of the terms used in the embodiments of the present application.

[0027] 1. GNSS (Global Navigation Satellite System): It refers to all satellite navigation systems, including global, regional and enhanced, such as the United States' GPS, Russia's Glonass, Europe's Galileo, China's BeiDou Satellite Navigation System, and related augmentation systems, such as the United States' WAAS (Wide Area Augmentation System), Europe's EGNOS (European Geostationary Navigation Overlay System) and Japan's MSAS (Multifunctional Transport Satellite Augmentation System), etc. It also covers other satellite navigation systems that are under construction or to be built in the future.

[0028] 2. BeiDou-R surface displacement monitor: BeiDou-R surface displacement monitor, based on high-precision single-point positioning, uses GNSS reflection signals for remote sensing research, and realizes long-term continuous observation of indicators such as surface displacement, rainfall, vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level changes and glacier thickness in the area around the receiver, truly realizing low-cost, low-power integrated multi-parameter monitoring equipment.

[0029] 3. Base station: The base station is a fixed ground observation station that conducts long-term continuous observation of satellite navigation signals and transmits the observation data to the data center in real time or at a fixed time through communication facilities.

[0030] 4. Receiver: The receiver is a circuit system composed of the following components: antenna, filter, amplifier, A / D converter. The navigation and positioning signal sent by the satellite is an information resource that can be shared by countless users. For the vast number of users on land, sea and space, as long as the user has a receiver that can receive, track, transform and measure signals, the signal can be used for navigation and positioning measurement at any time.

[0031] 5. Circularly polarized antenna: When the angle between the polarization plane of the radio wave and the normal plane of the earth changes periodically from 0 to 360°, that is, the electric field remains unchanged, the direction changes with time, and the trajectory of the end of the electric field vector is projected as a circle on a plane perpendicular to the propagation direction, it is called circular polarization. When the amplitudes of the horizontal and vertical components of the electric field are equal and the phase difference is 90 degrees or 270 degrees, circular polarization can be obtained. If the polarization plane rotates with time and forms a right-hand spiral relationship with the propagation direction of the electromagnetic wave, it is called right circular polarization; conversely, if it forms a left-hand spiral relationship, it is called left circular polarization. In circular polarization, no matter what the polarization direction of the receiving antenna is, the induced signal is the same, and there will be no difference (the projection of the electromagnetic wave in any direction is the same).

[0032] There are three main advantages of circularly polarized antennas: circularly polarized antennas can receive waves of any polarization, and their radiated waves can also be received by any polarized antenna; circularly polarized antennas have orthogonal rotation; when polarized waves are incident on symmetrical targets (such as planes, spheres, etc.), the rotation direction is reversed, and electromagnetic waves with different rotation directions have a large polarization isolation.

[0033] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0034] In areas where natural disasters occur frequently, disaster warning is currently mainly carried out through single-point displacement monitoring. It often happens that there is no deformation at the place where the instrument is installed, and landslides nearby are not discovered.

[0035] The current displacement monitoring based on imaging equipment such as millimeter-wave radar and lidar is expensive and consumes high power. The long revisit period of SAR (Synthetic Aperture Radar) remote sensing cannot meet the demand. There is an urgent need for low-power, high-precision, and low-cost "point + surface + multi-parameter" monitoring equipment and methods.

[0036] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of the structure of the BeiDou-R surface displacement monitoring system 10 provided in the embodiment of the present application. Figure 1 As shown, the provided BeiDou-R surface displacement monitoring system 10 includes: at least one BeiDou-R surface displacement monitor 11, a reference station 12 and a server 13. Each BeiDou-R surface displacement monitor 11 is in the corresponding monitored area, and the BeiDou-R surface displacement monitor 11 includes a right-hand circularly polarized antenna 111 and at least one left-hand circularly polarized antenna 112 and a receiver 113. The reference station 12 is set in the reference area. The server 13 is respectively connected to the receiver and the reference station in communication, and then the server 13 can implement the steps of the displacement monitoring method provided in any embodiment of the present application.

[0037] Specifically, the provided Beidou-R surface displacement monitoring system 10 is achieved by setting up multiple areas to be monitored in an entire area, such as setting up multiple points in an entire mountain. And at least one Beidou-R surface displacement monitor 11 is placed in each area to be monitored. At the same time, a reference point is taken therein to place a reference station 12. The location where the server 13 is set can be selected according to the locations of multiple Beidou-R surface displacement monitors 11 and reference stations 12 to ensure that the server can communicate with multiple devices at the same time. Furthermore, the provided method server 13 can real-time transmit the right-hand circularly polarized antenna 111 and the left-hand circularly polarized antenna 112 ( Figure 1 The first satellite signal and the reflected second satellite signal of only one BeiDou-R surface displacement monitor 11 are shown in the figure, as well as the third satellite signal received by the base station. The device location information of each BeiDou-R surface displacement monitor 11 and the single-point location information of the surrounding monitored area can be determined. At the same time, the regional parameters corresponding to the monitored area can be obtained by carrying various sensors or based on the transmission information of satellite signals, thereby realizing "point + surface + multi-parameter" monitoring of the monitored area.

[0038] In some embodiments, Figure 1 As shown, the BeiDou-R surface displacement monitor 11 further includes a connecting rod 114 , at least one left-handed circularly polarized antenna 112 is disposed outside the connecting rod 114 , and a right-handed circularly polarized antenna 111 is disposed on the connecting rod 114 .

[0039] For example, Figure 1 As shown, the receiver 113 is located on the connecting rod 114 and between the left-hand circular polarization antenna 112 and the right-hand circular polarization antenna 111, so that the distance between the receiver 113 and the left-hand circular polarization antenna 112 and the right-hand circular polarization antenna 111 can be minimized, thereby improving the data acquisition efficiency of the receiver 113.

[0040] For example, Figure 1 As shown, a plurality of left-handed circularly polarized antennas 112 are arranged around the connecting rod 114 to form a left-handed circularly polarized antenna group. The BeiDou-R surface displacement monitor 11 includes at least one left-handed circularly polarized antenna group. The left-handed circularly polarized antenna group enables the BeiDou-R surface displacement monitor 11 to achieve 360° non-dead-angle monitoring.

[0041] In some embodiments, Figure 1 As shown, the BeiDou-R surface displacement monitor 11 further includes a shell 115 , and the material of the shell 115 may be PVC material or other materials through which satellite signals can pass.

[0042] Please refer to Figure 2 , Figure 2A schematic flow chart of the steps of a displacement monitoring method provided in an embodiment of the present application is applied to Figure 1 A server of the BeiDou-R surface displacement monitoring system provided in any corresponding embodiment.

[0043] like Figure 2 As shown, the provided settlement monitoring method includes steps S201 to S206.

[0044] S201. Obtain a first satellite signal sent by a receiver and received by a right-hand circularly polarized antenna and at least one reflected broadcast signal received by a left-hand circularly polarized antenna; the reflected broadcast signal is generated by a second satellite signal transmitted by the same satellite as the first satellite signal and reflected from the ground.

[0045] Specifically, the server obtains the first satellite signal transmitted by the preset satellite (such as the Beidou satellite) received by the right-hand circularly polarized antenna sent by the receiver. At this time, the preset satellite is in broadcast mode, such as Figure 1 As shown, the second satellite signal is reflected by the ground to form a reflected broadcast signal that is emitted into the left-hand circularly polarized antenna. At the same time, the receiver also needs to record the reception time of the first satellite signal and the second satellite signal, so that the server can solve the single point position of the Beidou-R surface displacement monitor and the reflection point of the second satellite signal based on the data sent by the receiver.

[0046] S202. Obtain the differential correction signal sent by the reference station.

[0047] Specifically, the preset reference stations are as follows: Figure 1 The staff shown are selected according to the terrain characteristics of the area to be monitored, and then fixed to provide a benchmark for the remaining Beidou-R surface displacement monitors, and correct the positioning solution data of each Beidou-R surface displacement monitor.

[0048] In some embodiments, a base station is set in a base area, and the distance between the base area and the area to be measured is less than a preset distance; obtaining a differential correction signal sent by the base station includes: obtaining base position information and a third satellite signal sent by the base station; the third satellite signal is transmitted to the base station by the same satellite as the first satellite signal; solving the third satellite signal to obtain the measurement position information of the base station; generating a differential correction signal based on the base position information and the measurement position information.

[0049] The distance between the reference area and the area to be measured needs to be controlled within a preset distance, such as 30km, to ensure the accuracy of its correction and high efficiency of communication. At the same time, the method provided in the present application obtains the reference position information of the reference station (i.e., the height of the reference station placement point and other information) and the third satellite signal sent by the preset satellite received by the server, and then can solve the third satellite signal (such as RTK solution) to obtain the measurement position information of the reference station corresponding to the third satellite signal, and then generate the corresponding differential correction signal according to the difference between the reference position information and the measurement position information, that is, the first satellite signal received by each Beidou-R surface displacement monitor at the same time needs to be corrected by the differential correction signal to obtain accurate device position information. Therefore, the provided method combined with the reference station can ensure that the position of each device can be accurately measured.

[0050] In some embodiments, before obtaining the differential correction signal sent by the reference station, it also includes: inputting the regional map information of the area to be monitored into a preset prediction model, and the prediction model outputs the reference station location information, the location information of multiple monitors, and the server location information. The prediction model is a multi-convolutional neural network model, and the model is trained based on multiple actual monitoring system construction points. In this way, the most suitable locations of the reference station, monitor, and server can be determined.

[0051] S203. Perform positioning solution based on the first satellite signal and the differential correction signal to obtain the device location information corresponding to the Beidou-R surface displacement monitor.

[0052] Specifically, the server can obtain precise device location information corresponding to the BeiDou-R surface monitor by performing positioning solution (such as RTK positioning solution) based on the first satellite signal and the differential correction signal of the reference station.

[0053] S204. Obtain the area type corresponding to the area to be monitored.

[0054] Specifically, the area type of the area to be monitored is any area type such as hillside, wetland, forest, snowfield, etc. The present application realizes accurate monitoring of the area to be monitored by combining the area types.

[0055] S205. Perform positioning calculation based on the device location information and each reflected broadcast signal to obtain the single-point location information of the reflection point corresponding to the reflected broadcast signal.

[0056] Specifically, the server performs positioning and solving for each corresponding reflected broadcast signal received (i.e., the reflected broadcast signal of the same Beidou-R surface displacement monitor) according to the device location information. For example, by combining the time difference between the reflected broadcast signal and the first satellite signal of the Beidou-R surface displacement monitor, the installation information of the left-hand circularly polarized antenna, etc., the server can quickly confirm the single-point position information of the reflection point corresponding to each reflected broadcast signal.

[0057] S206. Obtain regional parameters corresponding to the area to be monitored according to the area type and single-point location information, so as to complete grid displacement monitoring of the area to be monitored according to each single-point location information, equipment location information and regional parameters; wherein the regional parameters include at least one or more of vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level and glacier thickness.

[0058] Specifically, the server performs parsing based on the regional type and single-point location information, and obtains one or more regional parameters corresponding to the monitored area from vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tide level and glacier thickness. Then, the grid displacement monitoring of the monitored area can be completed by combining the single-point location information, equipment location information and regional parameters. The provided method can not only simplify the cost of building a regional surface displacement monitoring system, but also realize the "point + surface + multi-parameter" monitoring of the monitored area.

[0059] In some embodiments, the BeiDou-R surface displacement monitor further includes a connecting rod, at least one left-hand circularly polarized antenna is disposed outside the connecting rod, and a right-hand circularly polarized antenna is disposed on the connecting rod; Figure 3 As shown, Figure 3 It is a schematic flowchart of the steps of the method for obtaining single-point location information provided in an embodiment of the present application.

[0060] like Figure 2 As shown, the provided method includes steps S205a to S205e.

[0061] S205a. Obtain the antenna installation elevation angle and antenna orientation information of the left-hand circularly polarized antenna corresponding to the reflected broadcast signal, and the antenna point information at which the left-hand circularly polarized antenna receives the reflected broadcast signal.

[0062] S205b. Obtain a first receiving time when the right-hand circularly polarized antenna receives a first satellite signal.

[0063] S205c. Obtain a second receiving time at which the left-hand circularly polarized antenna receives the reflected broadcast signal.

[0064] S205d. Calculate the reception time difference between the first reception time and the second reception time.

[0065] S205e. Perform positioning calculation based on the receiving time difference, antenna installation elevation angle, antenna point information, antenna orientation information and device location information to obtain the single-point location information of the reflection point.

[0066] The installation elevation angle is the angle at which the left-hand circularly polarized antenna is set upward or downward. The antenna orientation information is as follows: Figure 1 As shown, when the connecting rod includes multiple left-hand circularly polarized antennas, the orientation direction of the antenna setting (such as any direction of southeast, northwest and the corresponding angle). And by solving the receiving time difference corresponding to the first satellite signal and the reflected broadcast signal and combining the antenna point information receiving the reflected broadcast signal, the position information of the reflection point corresponding to the reflected broadcast signal can be calculated.

[0067] Exemplarily, positioning is performed based on the receiving time difference, antenna installation elevation angle, antenna point information, antenna orientation information and device location information to obtain the single-point location information of the reflection point, including: obtaining the single-point azimuth information based on the antenna installation elevation angle and antenna orientation information; obtaining the single-point distance information based on the receiving time difference and the propagation speed corresponding to the second satellite signal; and determining the single-point location information of the reflection point based on the antenna point information, device location information, single-point azimuth information and single-point distance information.

[0068] The server can confirm the specific position of the reflection point, i.e., the single-point position information, based on the antenna installation elevation angle and antenna orientation information. The single-point position information can determine the angle and direction of the reflection point entering the left-hand circularly polarized antenna. At the same time, the distance between the reflection point and the left-hand circularly polarized antenna can be determined by combining the reception time difference and the propagation speed of the second satellite signal, i.e., the single-point distance information. The incident point is then determined by combining the single-point position information of the received reflected broadcast signal. Based on the single-point position information and single-point distance information, the server can calculate the precise single-point position information of each reflection point.

[0069] It should be noted that, in some embodiments, if the Beidou-R surface displacement monitor includes multiple left-handed circularly polarized antennas, and each left-handed circularly polarized antenna is arranged at a different height on the connecting rod; the single-point position information of the reflection point is determined according to the antenna point position information, the device position information, the single-point azimuth information and the single-point distance information, including: obtaining the installation position information of the left-handed circularly polarized antenna corresponding to the antenna point position information; determining the single-point position information of the reflection point according to the installation position information, the antenna point position information, the device position information, the single-point azimuth information and the single-point distance information.

[0070] When Figure 1 As shown, the BeiDou-R surface displacement monitor is equipped with multiple left-hand circularly polarized antennas of the same / different heights. By determining the height of the left-hand circularly polarized antenna through its installation position information, the single-point position information of the reflection point can be confirmed more accurately.

[0071] It should be noted that, in some embodiments, obtaining single-point distance information based on the receiving time difference and the propagation speed corresponding to the second satellite signal also includes: obtaining terrain information corresponding to the monitored area based on the area type; obtaining terrain reflection parameters corresponding to the terrain information; and obtaining single-point distance information based on the terrain reflection parameters, the receiving time difference and the propagation speed.

[0072] Since the Beidou-R surface displacement monitor is set in different areas such as soil and snow, the reflection speed of the reflected broadcast signal generated by the second satellite signal will be affected. Therefore, the single-point distance information can be corrected by the reflection parameters corresponding to the terrain information of the monitored area, making the final single-point position information more accurate.

[0073] Exemplarily, regional parameters corresponding to the monitored area are obtained based on the regional type and the single-point location information, including: determining at least one target regional parameter from vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level and glacier thickness based on the regional type; and obtaining the regional parameters corresponding to the single-point location information based on the receiving time difference and the parameter type corresponding to the target regional parameter.

[0074] Because different moisture contents, different snow depths, snow water equivalents, tide levels and other information will affect the propagation speed of the signal in the air. Different area types require different parameters to be measured. The present application can determine the corresponding measurement model and model by determining the parameter type corresponding to the target area parameter. For example, the soil moisture measurement model is used to combine the signal-to-noise ratio phase reference value in the reflected broadcast signal and the signal-to-noise ratio phase reference value in the database to calculate the soil moisture at the corresponding single reflection point. By storing measurement models corresponding to multiple parameter types in the server, the corresponding parameters can be measured in combination with the information in the reflected satellite signal formed after the second satellite signal is reflected.

[0075] In some embodiments, the BeiDou-R surface displacement monitoring system includes multiple sensors, the type of which is any one of a vegetation moisture sensor, a surface moisture sensor, a snow depth sensor, a snow water equivalent sensor, a tide level sensor, and a glacier thickness sensor; obtaining regional parameters corresponding to the monitored area according to the regional type and the single-point location information, including: obtaining the measurement information and sensor type of the sensor within the preset range of the single-point location information, and forming the regional parameters corresponding to the single-point location information according to the measurement information and the corresponding sensor type. Furthermore, the present application can form corresponding regional parameters for the information of the sensors within the preset range of the reflection point by setting sensors corresponding to multiple regional parameters.

[0076] In some embodiments, grid displacement monitoring of the monitored area is completed according to each single-point location information, device location information and area parameters, including: generating a device tag in a preset blank grid according to each device location information; generating a sub-tag corresponding to each device tag in the blank grid according to the single-point location information corresponding to each device location information; updating the corresponding device location information in the device tag; updating the corresponding single-point location information and area parameters in each sub-tag, completing the construction of the blank grid corresponding to the monitored area, and forming multiple surface displacement monitoring grids corresponding to the monitored area according to multiple blank grids.

[0077] like Figure 4 As shown, Figure 4 The first marker is the BeiDou-R surface displacement monitor ( Figure 4 Only two are used as an illustration) to record the equipment location information of each monitor, and multiple second tags (corresponding to multiple BeiDou-R surface displacement monitors) are used to record multiple single-point location information and regional parameters corresponding to the single-point location information. At the same time, the blank grids of multiple BeiDou-R surface displacement monitors are constructed and merged to form the following Figure 4 The surface displacement monitoring grid shown allows users to easily view the equipment location, single-point location and regional parameters of each area, thereby improving the efficiency of surface displacement monitoring and management.

[0078] like Figure 5 As shown, Figure 5 FIG. 3 is a schematic diagram of a displacement monitoring device 300 provided in an embodiment of the present application, and the displacement monitoring device is used to perform the above-mentioned displacement monitoring method. Figure 1 The corresponding embodiment provides a server of the BeiDou-R surface displacement monitoring system.

[0079] like Figure 5 As shown, the displacement monitoring device 300 includes a signal receiving unit 301 , a signal acquiring unit 302 , a positioning solving unit 303 , a type acquiring unit 304 , a single point solving unit 305 and a monitoring completing unit 306 .

[0080] The signal receiving unit 301 is used to obtain the first satellite signal received by the right circular polarization antenna and at least one reflected broadcast signal received by the left circular polarization antenna sent by the receiver; the reflected broadcast signal is generated by reflecting the second satellite signal transmitted by the same satellite as the first satellite signal from the ground.

[0081] The signal acquisition unit 302 is used to acquire the differential correction signal sent by the reference station.

[0082] The positioning solution unit 303 is used to perform positioning solution according to the first satellite signal and the differential correction signal to obtain the device position information corresponding to the Beidou-R surface displacement monitor.

[0083] The type acquisition unit 304 is used to acquire the area type corresponding to the area to be monitored.

[0084] The single point solution unit 305 is used to perform positioning solution according to the device position information and each reflected broadcast signal, and obtain the single point position information of the reflection point corresponding to the reflected broadcast signal.

[0085] The monitoring completion unit 306 is used to obtain the regional parameters corresponding to the area to be monitored according to the area type and the single-point location information, so as to complete the grid displacement monitoring of the area to be monitored according to each single-point location information, the equipment location information and the regional parameters; wherein the regional parameters include at least one or more of vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tide level and glacier thickness.

[0086] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and each unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0087] The above-mentioned device can be implemented in the form of a computer program. Figure 6 Run on the server shown.

[0088] See also Figure 6 , Figure 6 is a schematic block diagram of the structure of a server provided in an embodiment of the present application. Figure 6 The server includes a processor, a memory, and a network interface connected through a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.

[0089] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any displacement monitoring method.

[0090] The processor is used to provide computing and control capabilities to support the operation of the entire server.

[0091] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any displacement monitoring method.

[0092] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will appreciate that Figure 6The structure shown in the figure is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the server to which the solution of the present application is applied. The specific server may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0093] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0094] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps: Acquire a first satellite signal received by a right-hand circularly polarized antenna and at least one reflected broadcast signal received by a left-hand circularly polarized antenna sent by a receiver; the reflected broadcast signal is generated by a second satellite signal transmitted by the same satellite as the first satellite signal and reflected from the ground; Obtain the differential correction signal sent by the reference station; Perform positioning calculation based on the first satellite signal and the differential correction signal to obtain device location information corresponding to the Beidou-R surface displacement monitor; Get the area type corresponding to the area to be monitored; Perform positioning calculation based on the device location information and each reflected broadcast signal to obtain the single-point location information of the reflection point corresponding to the reflected broadcast signal; The regional parameters corresponding to the area to be monitored are obtained according to the area type and single-point location information, so as to complete the grid displacement monitoring of the area to be monitored according to each single-point location information, equipment location information and regional parameters; wherein the regional parameters include at least one or more of vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level and glacier thickness.

[0095] In some embodiments, the Beidou-R surface displacement monitor also includes a connecting rod, at least one left-hand circularly polarized antenna is arranged outside the connecting rod, and a right-hand circularly polarized antenna is arranged on the connecting rod; positioning and solving are performed according to the device location information and each reflected broadcast signal, and the single-point location information of the reflection point corresponding to the reflected broadcast signal is obtained, including: obtaining the antenna installation elevation angle, antenna orientation information and antenna point position information of the left-hand circularly polarized antenna corresponding to the reflected broadcast signal; obtaining the first receiving time when the right-hand circularly polarized antenna receives the first satellite signal; obtaining the second receiving time when the left-hand circularly polarized antenna receives the reflected broadcast signal; calculating the receiving time difference corresponding to the first receiving time and the second receiving time; performing positioning and solving according to the receiving time difference, the antenna installation elevation angle, the antenna point information, the antenna orientation information and the device location information, and obtaining the single-point location information of the reflection point.

[0096] Exemplarily, positioning is performed based on the receiving time difference, antenna installation elevation angle, antenna point information, antenna orientation information and device location information to obtain the single-point location information of the reflection point, including: obtaining the single-point azimuth information based on the antenna installation elevation angle and antenna orientation information; obtaining the single-point distance information based on the receiving time difference and the propagation speed corresponding to the second satellite signal; and determining the single-point location information of the reflection point based on the antenna point information, device location information, single-point azimuth information and single-point distance information.

[0097] It should be noted that, in some embodiments, if the Beidou-R surface displacement monitor includes multiple left-handed circularly polarized antennas, and each left-handed circularly polarized antenna is arranged at a different height on the connecting rod; the single-point position information of the reflection point is determined according to the antenna point position information, the device position information, the single-point azimuth information and the single-point distance information, including: obtaining the installation position information of the left-handed circularly polarized antenna corresponding to the antenna point position information; determining the single-point position information of the reflection point according to the installation position information, the antenna point position information, the device position information, the single-point azimuth information and the single-point distance information.

[0098] It should be noted that, in some embodiments, obtaining single-point distance information based on the receiving time difference and the propagation speed corresponding to the second satellite signal also includes: obtaining terrain information corresponding to the monitored area based on the area type; obtaining terrain reflection parameters corresponding to the terrain information; and obtaining single-point distance information based on the terrain reflection parameters, the receiving time difference and the propagation speed.

[0099] Exemplarily, regional parameters corresponding to the monitored area are obtained based on the regional type and the single-point location information, including: determining at least one target regional parameter from vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level and glacier thickness based on the regional type; and obtaining the regional parameters corresponding to the single-point location information based on the receiving time difference and the parameter type corresponding to the target regional parameter.

[0100] In some embodiments, the Beidou-R surface displacement monitoring system includes multiple sensors, the sensor type is any one of a vegetation moisture content sensor, a surface moisture content sensor, a snow depth sensor, a snow water equivalent sensor, a tide level sensor and a glacier thickness sensor; the regional parameters corresponding to the monitored area are obtained according to the regional type and the single-point position information, including: obtaining the measurement information and sensor type of the sensor within a preset range of the single-point position information, and constructing the regional parameters corresponding to the single-point position information according to the measurement information and the corresponding sensor type.

[0101] In some embodiments, a base station is set in a base area, and the distance between the base area and the area to be measured is less than a preset distance; obtaining a differential correction signal sent by the base station includes: obtaining base position information and a third satellite signal sent by the base station; the third satellite signal is transmitted to the base station by the same satellite as the first satellite signal; solving the third satellite signal to obtain the measurement position information of the base station; generating a differential correction signal based on the base position information and the measurement position information.

[0102] In some embodiments, grid displacement monitoring of the monitored area is completed according to each single-point location information, device location information and area parameters, including: generating a device tag in a preset blank grid according to each device location information; generating a sub-tag corresponding to each device tag in the blank grid according to the single-point location information corresponding to each device location information; updating the corresponding device location information in the device tag; updating the corresponding single-point location information and area parameters in each sub-tag, completing the construction of the blank grid corresponding to the monitored area, and forming multiple surface displacement monitoring grids corresponding to the monitored area according to multiple blank grids.

[0103] A computer-readable storage medium is also provided in an embodiment of the present application. The computer-readable storage medium stores a computer program. The computer program includes program instructions. The processor executes the program instructions to implement any displacement monitoring method provided in the embodiment of the present application.

[0104] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the computer device.

[0105] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A displacement monitoring method based on BeiDou-R, characterized in that: A server applied to a BeiDou-R surface displacement monitoring system, wherein the BeiDou-R surface displacement monitoring system further comprises at least one BeiDou-R surface displacement monitor and a reference station, each of the BeiDou-R surface displacement monitors being arranged in a corresponding area to be monitored, the BeiDou-R surface displacement monitors comprising a receiver, a right-hand circularly polarized antenna and at least one left-hand circularly polarized antenna, the server being communicatively connected with the receiver and the reference station respectively, the BeiDou-R surface displacement monitor further comprising a connecting rod, if the BeiDou-R surface displacement monitor comprises a plurality of left-hand circularly polarized antennas, each of the left-hand circularly polarized antennas is arranged outside the connecting rod, the right-hand circularly polarized antenna is arranged on the connecting rod, and each of the left-hand circularly polarized antennas is arranged at a different height on the connecting rod; the method comprises: Acquire a first satellite signal received by the right-hand circularly polarized antenna and at least one reflected broadcast signal received by the left-hand circularly polarized antenna and sent by the receiver; the reflected broadcast signal is generated by a second satellite signal transmitted by the same satellite as the first satellite signal and reflected from the ground; Acquiring a differential correction signal sent by the reference station; Performing positioning calculation according to the first satellite signal and the differential correction signal to obtain device location information corresponding to the BeiDou-R surface displacement monitor; Obtaining the area type corresponding to the area to be monitored; Obtain the antenna installation elevation angle, antenna orientation information and antenna point information of the left-hand circularly polarized antenna corresponding to the reflected broadcast signal; obtain the first reception time when the right-hand circularly polarized antenna receives the first satellite signal; obtain the second reception time when the left-hand circularly polarized antenna receives the reflected broadcast signal; calculate the reception time difference corresponding to the first reception time and the second reception time; obtain single-point azimuth information according to the antenna installation elevation angle and antenna orientation information; obtain single-point distance information according to the reception time difference and the propagation speed corresponding to the second satellite signal; determine the single-point position information of the reflection point according to the antenna point information, device location information, single-point azimuth information and single-point distance information; According to the area type and the single-point location information, the area parameters corresponding to the area to be monitored are obtained; according to each device location information, a device tag is generated in a preset blank grid; according to the single-point location information corresponding to each device location information, a sub-tag corresponding to each device tag is generated in the blank grid; the corresponding device location information is updated in the device tag; the corresponding single-point location information and area parameters are updated in each sub-tag, and the construction of the blank grid corresponding to the area to be monitored is completed; according to the multiple blank grids, multiple surface displacement monitoring grids corresponding to the area to be monitored are formed, and the grid displacement monitoring of the area to be monitored is completed.

2. The method according to claim 1, characterized in that If the BeiDou-R surface displacement monitor includes a plurality of left-hand circularly polarized antennas, and each of the left-hand circularly polarized antennas is arranged at a different height on the connecting rod; the single-point position information of the reflection point is determined according to the antenna point information, the device position information, the single-point azimuth information and the single-point distance information, including: Obtaining installation position information of the left-hand circularly polarized antenna corresponding to the antenna point information; The single-point position information of the reflection point is determined according to the installation position information, antenna point position information, device position information, single-point orientation information and single-point distance information.

3. The method according to claim 1, characterized in that The step of obtaining single-point distance information according to the reception time difference and the propagation speed corresponding to the second satellite signal further includes: Acquire terrain information corresponding to the area to be monitored according to the area type; Obtaining terrain reflection parameters corresponding to the terrain information; The single-point distance information is acquired according to the terrain reflection parameter, the receiving time difference and the propagation speed.

4. The method according to claim 1, characterized in that: The regional parameters include at least one or more of vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tide level and glacier thickness; the regional parameters corresponding to the area to be monitored are obtained according to the area type and the single point location information, including: Determine at least one target area parameter from among the vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tide level and glacier thickness according to the area type; The area parameter corresponding to the single point location information is acquired according to the receiving time difference and the parameter type corresponding to the target area parameter.

5. The method according to claim 1, characterized in that: The BeiDou-R surface displacement monitoring system includes a plurality of sensors, the type of which is any one of a vegetation moisture sensor, a surface moisture sensor, a snow depth sensor, a snow water equivalent sensor, a tide level sensor, and a glacier thickness sensor; the acquiring of the regional parameters corresponding to the area to be monitored according to the area type and the single point position information includes: Acquire measurement information and sensor type of sensors within a preset range of the single-point position information; The area parameter corresponding to the single point position information is constructed according to the measurement information and the corresponding sensor type.

6. The method according to claim 1, characterized in that The reference station is set in a reference area, and the distance between the reference area and the area to be measured is less than a preset distance; the obtaining of the differential correction signal sent by the reference station includes: Acquire the reference position information and the third satellite signal sent by the reference station; the third satellite signal is transmitted to the reference station by the same satellite as the first satellite signal; Resolving the third satellite signal to obtain measurement position information of the reference station; A differential correction signal is generated based on the reference position information and the measured position information.

7. A BeiDou-R surface displacement monitoring system, characterized in that: include: At least one BeiDou-R surface displacement monitor, each BeiDou-R surface displacement monitor is arranged in a corresponding area to be monitored, and the BeiDou-R surface displacement monitor comprises a receiver, a right-hand circularly polarized antenna and at least one left-hand circularly polarized antenna; Base station, the base station is set up in the base area; A server, the server is respectively connected to the receiver and the base station for communication; Connecting rod, if the BeiDou-R surface displacement monitor includes a plurality of left-hand circularly polarized antennas, each of the left-hand circularly polarized antennas is arranged outside the connecting rod, the right-hand circularly polarized antenna is arranged on the connecting rod, and each of the left-hand circularly polarized antennas is arranged at different heights on the connecting rod. The server comprises a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

8. The system according to claim 7, characterized in that The receiver is located on the connecting rod and between the left-hand circular polarization antenna and the right-hand circular polarization antenna, so that the distance between the receiver and the left-hand circular polarization antenna and the right-hand circular polarization antenna can be minimized.

9. The system according to claim 7, characterized in that A plurality of left-handed circularly polarized antennas are disposed around the outside of the connecting rod to form a left-handed circularly polarized antenna group; The BeiDou-R surface displacement monitor includes at least one left-handed circularly polarized antenna group; the left-handed circularly polarized antenna group enables the BeiDou-R surface displacement monitor to achieve 360° non-dead-angle monitoring.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the method according to any one of claims 1 to 6.

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