Displacement monitoring methods, systems, and media based on BeiDou-R

Abstract

This application provides a displacement monitoring method, system, and medium based on BeiDou-R. The method is applied to the system's server, and the system also includes at least one BeiDou-R surface displacement monitoring instrument and a reference station installed in the area to be monitored. The monitoring instrument includes a receiver, a right-hand circularly polarized antenna, and a left-hand circularly polarized antenna. The method includes: acquiring a first satellite signal received by the right-hand circularly polarized antenna and a reflected broadcast signal received by the left-hand circularly polarized antenna; acquiring a differential correction signal transmitted by the reference station; performing positioning calculation based on the first satellite signal and the differential correction signal to obtain the device location information corresponding to the monitoring instrument; acquiring the area type corresponding to the area to be monitored; performing positioning calculation based on the device location information and the reflected broadcast signal to obtain the single-point location information of the reflection point; and acquiring the area parameters corresponding to the area to be monitored based on the area type and the single-point location information to complete the gridded displacement monitoring of the area to be monitored.

Description

[0001] This application is a divisional application of Chinese patent application No. 202411205738.1, filed on August 30, 2024, entitled "BeiDou-R Surface Displacement Monitoring System and Displacement Monitoring Method". Technical Field

[0002] This 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 Technology

[0003] In areas prone to natural disasters, disaster early warning currently relies mainly on single-point displacement monitoring. Often, the area where the instrument is installed shows no deformation, and landslides occur nearby but go undetected.

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

[0005] This application provides a displacement monitoring method, system, and medium based on BeiDou-R, aiming to solve the problems of high cost and high power consumption of current displacement monitoring based on imaging equipment such as millimeter-wave radar and lidar, and the long revisit cycle of SAR (Synthetic Aperture Radar) remote sensing which cannot meet the requirements. There is an urgent need for low-power, high-precision, and low-cost "point + area + multi-parameter" monitoring equipment and methods.

[0006] In a first aspect, this application provides a displacement monitoring method applied to a server of a BeiDou-R surface displacement monitoring system. The BeiDou-R surface displacement monitoring system further includes at least one BeiDou-R surface displacement monitor and a reference station. Each BeiDou-R surface displacement monitor is positioned in a corresponding monitoring area. Each 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 communicatively connected to both the receiver and the reference station. The method includes:

[0007] The receiver acquires 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; the reflected broadcast signal is generated by ground reflection of a second satellite signal transmitted by the same satellite as the first satellite signal.

[0008] Acquire the differential correction signal sent by the base station;

[0009] Positioning calculations are performed based on the first satellite signal and differential correction signal to obtain the device location information corresponding to the Beidou-R surface displacement monitor;

[0010] Obtain the region type corresponding to the region to be monitored;

[0011] Based on the device location information and each reflected broadcast signal, a positioning calculation is performed to obtain the single-point location information of the reflection point corresponding to the reflected broadcast signal;

[0012] Based on the region type and single-point location information, obtain the corresponding regional parameters of the region to be monitored, so as to complete the gridded displacement monitoring of the region to be monitored based on the single-point location information, equipment location information and regional parameters; among them, the regional parameters include at least one or more of the following: vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level and glacier thickness.

[0013] In some embodiments, the BeiDou-R surface displacement monitor further includes a connecting rod, at least one left-hand circularly polarized antenna disposed outside the connecting rod, and a right-hand circularly polarized antenna disposed on the connecting rod; positioning calculations are performed 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, including: obtaining the antenna installation elevation angle, antenna orientation information, and antenna position information of the left-hand circularly polarized antenna corresponding to the reflected broadcast signal; obtaining the first reception time of the right-hand circularly polarized antenna receiving the first satellite signal; obtaining the second reception time of the left-hand circularly polarized antenna receiving the reflected broadcast signal; calculating the reception time difference corresponding to the first reception time and the second reception time; and performing positioning calculations based on the reception time difference, antenna installation elevation angle, antenna position information, antenna orientation information, and device location information to obtain the single-point location information of the reflection point.

[0014] For example, positioning calculations are performed based on the reception time difference, antenna installation elevation angle, antenna location information, antenna orientation information, and device location information to obtain the single-point location information of the reflection point. This includes: obtaining single-point azimuth information based on the antenna installation elevation angle and antenna orientation information; obtaining single-point distance information based on the reception 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 location information, device location information, single-point azimuth information, and single-point distance information.

[0015] It should be noted that, in some embodiments, if the Beidou-R surface displacement monitor includes multiple left-hand circularly polarized antennas, and each left-hand circularly polarized antenna is set at a different height on the connecting rod; determining the single-point position information of the reflection point based on antenna position information, equipment position information, single-point azimuth information, and single-point distance information includes: obtaining the installation position information of the left-hand circularly polarized antenna corresponding to the antenna position information; and determining the single-point position information of the reflection point based on the installation position information, antenna position information, equipment position information, single-point azimuth information, and single-point distance information.

[0016] It should be noted that, in some embodiments, obtaining single-point distance information based on the reception time difference and the propagation speed corresponding to the second satellite signal further includes: obtaining terrain information corresponding to the area to be monitored 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, reception time difference, and propagation speed.

[0017] For example, obtaining the regional parameters corresponding to the monitored area based on the region type and single-point location information includes: determining at least one target region parameter from vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level, and glacier thickness based on the region 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 region parameter.

[0018] In some embodiments, the BeiDou-R surface displacement monitoring system includes multiple sensors, the types of which are any one of vegetation moisture content sensor, surface moisture content sensor, snow depth sensor, snow water equivalent sensor, tidal level sensor, and glacier thickness sensor; and obtains the regional parameters corresponding to the monitored area according to the area type and single-point location information, including: obtaining the measurement information and sensor type of the sensor within a preset range of the single-point location information, and constructing the regional parameters corresponding to the single-point location information based on the measurement information and the corresponding sensor type.

[0019] In some embodiments, a 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; acquiring the differential correction signal sent by the reference station includes: acquiring reference position information and a 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; calculating the third satellite signal to acquire the measurement position information of the reference station; and generating a differential correction signal based on the reference position information and the measurement position information.

[0020] In some embodiments, gridded displacement monitoring of the area to be monitored is completed based on each single-point location information, device location information, and area parameters, including: generating device markers in a preset blank grid based on each device location information; generating sub-markers corresponding to each device marker in the blank grid based on the single-point location information corresponding to each device location information; updating the corresponding device location information within the device markers; updating the corresponding single-point location information and area parameters within each sub-marker, thereby completing the construction of the blank grid corresponding to the area to be monitored, and forming multiple surface displacement monitoring grids corresponding to multiple areas to be monitored based on multiple blank grids.

[0021] Secondly, embodiments of this application provide a BeiDou-R surface displacement monitoring system, including:

[0022] At least one BeiDou-R surface displacement monitor is provided, and each BeiDou-R surface displacement monitor is set in the 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.

[0023] A base station is set up in a base area.

[0024] The server is connected to both the receiver and the base station for communication.

[0025] The server includes a processor and a memory. The memory is used to store computer programs. When the computer programs are executed by the processor, they implement the steps of the displacement monitoring method provided in any embodiment of this application.

[0026] This 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 set in a corresponding area to be monitored. Each 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 communicatively connected to the receiver and the reference station, respectively. The method includes: acquiring 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, transmitted by the receiver; the reflected broadcast signal is a second satellite signal transmitted by the same satellite as the first satellite signal. The method involves: generating signals via ground reflection; acquiring differential correction signals transmitted from a reference station; performing positioning calculations 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; obtaining the region type corresponding to the area to be monitored; performing positioning calculations 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; and obtaining the region parameters corresponding to the area to be monitored based on the region type and single-point location information. This allows for gridded displacement monitoring of the area to be monitored based on each single-point location information, device location information, and region parameters. The region parameters include at least one or more of the following: vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level, and glacier thickness. This method not only simplifies the cost of building a regional surface displacement monitoring system but also enables "point + area + multi-parameter" monitoring of the area to be monitored.

[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of a Beidou-R surface displacement monitoring system provided in an embodiment of this application;

[0030] Figure 2 This is a schematic flowchart illustrating the steps of a displacement monitoring method provided in an embodiment of this application;

[0031] Figure 3 This is a schematic flowchart illustrating the steps of a single-point location information acquisition method provided in an embodiment of this application;

[0032] Figure 4 This is a schematic diagram of a displacement monitoring grid provided in an embodiment of this application;

[0033] Figure 5 This is a schematic block diagram of the structure of a displacement monitoring device provided in this application;

[0034] Figure 6 This is a schematic block diagram of the structure of a server provided in this application.

[0035] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0038] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0039] It should be understood that, in order to clearly describe the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. For example, the first support member and the second support member are only used to distinguish different support members and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0040] It should also be understood that the term "and / or" as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0041] The following explains some of the technical terms that appear in the embodiments of this application.

[0042] 1. GNSS (Global Navigation Satellite System): This refers to all satellite navigation systems, including global, regional, and augmented systems, such as the US GPS, Russia's GLONASS, Europe's Galileo, and China's BeiDou Navigation Satellite System, as well as related augmentation systems, such as the US WAAS (Wide Area Augmentation System), Europe's EGNOS (European Geostationary Navigation Overlay System), and Japan's MSAS (Multifunctional Transport Satellite Augmentation System), and also covers other satellite navigation systems under construction or planned for the future.

[0043] 2. Beidou-R Surface Displacement Monitor: Based on high-precision single-point positioning, the Beidou-R surface displacement monitor uses GNSS reflected signals for remote sensing research, enabling long-term continuous observation of indicators such as surface displacement, rainfall, vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal changes, and glacier thickness in the area surrounding the receiver. It truly realizes a low-cost, low-power integrated monitoring equipment for multiple parameters including communication, navigation, and remote sensing.

[0044] 3. Base station: A 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 regular intervals via communication facilities.

[0045] 4. Receiver: A receiver is a circuit system consisting of an antenna, filter, amplifier, and A / D converter. Satellite-transmitted navigation and positioning signals are an information resource that can be shared by countless users. For users on land, at sea, and in space, as long as they possess a receiver capable of receiving, tracking, converting, and measuring the signals, they can use the signals for navigation and positioning measurements at any time.

[0046] 5. Circularly Polarized Antenna: When the angle between the polarization plane of a radio wave and the normal plane of the earth changes periodically from 0° to 360°, meaning the magnitude of the electric field remains constant while its direction changes with time, and the trajectory of the end of the electric field vector projects as a circle on a plane perpendicular to the propagation direction, it is called circular polarization. Circular polarization can be achieved when the horizontal and vertical components of the electric field have equal amplitudes and a phase difference of 90 degrees or 270 degrees. If the polarization plane rotates with time and forms a right-handed spiral relationship with the direction of electromagnetic wave propagation, it is called right-handed circular polarization; conversely, if it forms a left-handed spiral relationship, it is called left-handed circular polarization. With circular polarization, regardless of the polarization direction of the receiving antenna, the induced signal is the same and there is no difference (the projection of the electromagnetic wave is the same in any direction).

[0047] The advantages of circularly polarized antennas are mainly threefold: they can receive incoming waves of arbitrary polarization, and their radiated waves can also be received by any polarized antenna; they have orthogonality of rotation; and when polarized waves are incident on symmetrical targets (such as planes, spheres, etc.), their rotation reverses, and electromagnetic waves with different rotation directions have a large value of polarization isolation.

[0048] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0049] In areas prone to natural disasters, disaster early warning currently relies mainly on single-point displacement monitoring. Often, the area where the instrument is installed shows no deformation, and landslides occur nearby but go undetected.

[0050] Currently, displacement monitoring based on imaging equipment such as millimeter-wave radar and lidar is expensive and consumes a lot of power. The long revisit cycle of SAR (Synthetic Aperture Radar) remote sensing cannot meet the requirements. There is an urgent need for low-power, high-precision, and low-cost "point + area + multi-parameter" monitoring equipment and methods.

[0051] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of the BeiDou-R surface displacement monitoring system 10 provided in an embodiment of this 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 located in a corresponding monitoring area, and each monitor 11 includes a right-hand circularly polarized antenna 111, at least one left-hand circularly polarized antenna 112, and a receiver 113. The reference station 12 is located in a reference area. The server 13 is communicatively connected to both the receiver and the reference station, thereby enabling the server 13 to implement the steps of the displacement monitoring method provided in any embodiment of this application.

[0052] Specifically, the provided BeiDou-R surface displacement monitoring system 10 sets up multiple monitoring areas in a large region, such as multiple points in a mountainous area. At least one BeiDou-R surface displacement monitor 11 is placed in each monitoring area. Simultaneously, a reference station 12 is placed at a reference point within each area. The location of the server 13 can be selected based on the positions of the multiple BeiDou-R surface displacement monitors 11 and the reference station 12 to ensure that the server can communicate with multiple devices simultaneously. Furthermore, the provided method allows the server 13 to monitor the right-hand circularly polarized antenna 111 and left-hand circularly polarized antenna 112 transmitted from the satellite to each BeiDou-R surface displacement monitor 11 in real time. Figure 1The image shows only the satellite signal transmission status of one Beidou-R surface displacement monitor 11. The first satellite signal, the reflected second satellite signal, and the third satellite signal received by the base station can determine the device location information of each Beidou-R surface displacement monitor 11 and the single-point location information of the surrounding area to be monitored. At the same time, it can also acquire the area parameters corresponding to the area to be monitored by carrying various sensors or based on the information transmitted by satellite signals, so as to realize the "point + surface + multi-parameter" monitoring of the area to be monitored.

[0053] In some embodiments, such as Figure 1 As shown, the Beidou-R surface displacement monitor 11 also includes a connecting rod 114, at least one left-hand circularly polarized antenna 112 is disposed outside the connecting rod 114, and a right-hand circularly polarized antenna 111 is disposed on the connecting rod 114.

[0054] For example, such as Figure 1 As shown, the receiver 113 is located on the connecting rod 114 and between the left-hand circularly polarized antenna 112 and the right-hand circularly polarized antenna 111, thereby minimizing the distance between the receiver 113 and the left-hand circularly polarized antenna 112 and the right-hand circularly polarized antenna 111, and improving the data acquisition efficiency of the receiver 113.

[0055] For example, such as Figure 1 As shown, multiple 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° monitoring without blind spots.

[0056] In some embodiments, such as Figure 1 As shown, the Beidou-R surface displacement monitor 11 also includes a housing 115. The housing 115 can be made of PVC material or other materials that satellite signals can pass through.

[0057] Please refer to Figure 2 , Figure 2 This application provides a schematic flowchart of the steps of a displacement monitoring method, which is applied to, for example... Figure 1 The server of the BeiDou-R surface displacement monitoring system provided in any of the corresponding embodiments.

[0058] like Figure 2 As shown, the provided settlement monitoring method includes steps S201 to S206.

[0059] S201. Acquire the 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, transmitted by the receiver; the reflected broadcast signal is generated by ground reflection of the second satellite signal transmitted by the same satellite as the first satellite signal.

[0060] Specifically, the server acquires the first satellite signal transmitted by a preset satellite (such as a BeiDou satellite) received by a right-hand circularly polarized antenna from a receiver. At this time, the preset satellite is in broadcast mode, such as... Figure 1 As shown, the second satellite signal, after being reflected by the ground, forms a reflected broadcast signal that enters the left-hand circularly polarized antenna. Simultaneously, the receiver also needs to record the reception times of the first and second satellite signals so that the server can calculate the single-point position of the BeiDou-R surface displacement monitoring instrument and the reflection point of the second satellite signal based on the data sent by the receiver.

[0061] S202. Obtain the differential correction signal sent by the base station.

[0062] Specifically, the preset base station is as follows: Figure 1 The staff selected the monitoring area based on its terrain characteristics, and then fixed it to provide a reference for the remaining Beidou-R surface displacement monitoring instruments, thus correcting the positioning calculation data of each Beidou-R surface displacement monitoring instrument.

[0063] In some embodiments, a 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; acquiring the differential correction signal sent by the reference station includes: acquiring reference position information and a 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; calculating the third satellite signal to acquire the measurement position information of the reference station; and generating a differential correction signal based on the reference position information and the measurement position information.

[0064] 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 the calibration and high communication efficiency. Simultaneously, the method provided in this application obtains the reference position information of the reference station (i.e., the height of the reference station placement point, etc.) and the third satellite signal received from a preset satellite via a server. It then performs calculations on the third satellite signal (such as RTK calculation) to obtain the measurement position information of the reference station corresponding to the third satellite signal. Based on the difference between the reference position information and the measurement position information, a corresponding differential correction signal is generated. That is, at the same time, the first satellite signal received by each BeiDou-R surface displacement monitor needs to be corrected using the differential correction signal to obtain accurate equipment position information. Therefore, the method provided, combined with the reference station, ensures that the position of each device can be accurately measured.

[0065] In some embodiments, before acquiring the differential correction signal sent by the base station, the method further includes: inputting the regional map information of the area to be monitored into a preset prediction model, wherein the prediction model outputs the location information of the base station, the location information of multiple monitoring instruments, and the location information of the server. The prediction model is a multi-convolutional neural network model, which is trained based on multiple actual monitoring system locations. This enables the determination of the most suitable locations for the base station, monitoring instruments, and server.

[0066] S203. Perform positioning calculations based on the first satellite signal and the differential correction signal to obtain the equipment location information corresponding to the Beidou-R surface displacement monitor.

[0067] Specifically, the server can obtain the precise equipment location information corresponding to the Beidou-R surface monitoring instrument by performing positioning calculations (such as RTK positioning calculations) based on the differential correction signals of the first satellite and the base station.

[0068] S204. Obtain the region type corresponding to the region to be monitored.

[0069] Specifically, the area to be monitored can be of any type, such as hillside, wetland, forest, or snowfield. This application achieves precise monitoring of the area by combining the area types.

[0070] S205. Based on the equipment location information and each reflected broadcast signal, perform positioning calculations to obtain the single-point location information of the reflection point corresponding to the reflected broadcast signal.

[0071] Specifically, the server performs positioning calculations on each received reflected broadcast signal (i.e., the reflected broadcast signal of the same Beidou-R surface displacement monitor) based on 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 location information of the reflection point corresponding to each reflected broadcast signal.

[0072] S206. Obtain the regional parameters corresponding to the area to be monitored based on the area type and single-point location information, so as to complete the gridded displacement monitoring of the area to be monitored based on each single-point location information, equipment location information and regional parameters; wherein, the regional parameters include at least one or more of the following: vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level and glacier thickness.

[0073] Specifically, the server analyzes the region type and single-point location information to obtain one or more regional parameters corresponding to the area to be monitored, including vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level, and glacier thickness. Then, by combining the single-point location information, device location information, and regional parameters, it can complete gridded displacement monitoring of the area to be monitored. Therefore, the provided method not only simplifies the cost of building a regional surface displacement monitoring system but also enables "point + area + multi-parameter" monitoring of the area to be monitored.

[0074] In some embodiments, the BeiDou-R surface displacement monitor further includes a connecting rod, with at least one left-handed circularly polarized antenna disposed outside the connecting rod and a right-handed circularly polarized antenna disposed on the connecting rod; such as Figure 3 As shown, Figure 3 This is a schematic flowchart illustrating the steps of the single-point location information acquisition method provided in the embodiments of this application.

[0075] like Figure 2 As shown, the provided method includes steps S205a to S205e.

[0076] S205a. Obtain the antenna installation elevation angle, antenna orientation information of the left-hand circularly polarized antenna corresponding to the reflected broadcast signal, and the antenna position information of the left-hand circularly polarized antenna receiving the reflected broadcast signal.

[0077] S205b. Obtain the first reception time when the right-hand circularly polarized antenna receives the first satellite signal.

[0078] S205c. Obtain the second reception time of the reflected broadcast signal received by the left-hand circularly polarized antenna.

[0079] S205d. Calculate the reception time difference corresponding to the first reception time and the second reception time.

[0080] S205e. Based on the receiving time difference, antenna installation elevation angle, antenna location information, antenna orientation information, and equipment location information, the positioning calculation is performed to obtain the single-point location information of the reflection point.

[0081] The installation elevation angle is the angle at which the left-hand circularly polarized antenna is set upwards or downwards. Antenna orientation information is as follows: Figure 1 As shown, when the connecting rod includes multiple left-hand circularly polarized antennas, the antenna orientation (such as any direction and corresponding angle) is set. By calculating the reception time difference between the first satellite signal and the reflected broadcast signal, and combining this with the antenna position information of the received reflected broadcast signal, the position information of the reflection point corresponding to the reflected broadcast signal can be deduced.

[0082] For example, positioning calculations are performed based on the reception time difference, antenna installation elevation angle, antenna location information, antenna orientation information, and device location information to obtain the single-point location information of the reflection point. This includes: obtaining single-point azimuth information based on the antenna installation elevation angle and antenna orientation information; obtaining single-point distance information based on the reception 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 location information, device location information, single-point azimuth information, and single-point distance information.

[0083] By analyzing the antenna's elevation angle and orientation, the information server can determine the specific location of the reflection point, i.e., the single-point azimuth information. This single-point azimuth information determines the angle and direction at which the reflection point enters the left-hand circularly polarized antenna. Simultaneously, by combining the reception time difference and the propagation speed of the second satellite signal, the distance between the reflection point and the left-hand circularly polarized antenna, i.e., the single-point distance information, can be determined. Furthermore, by combining the single-point azimuth information of the received reflected broadcast signal, the incident point can be determined. Based on the single-point azimuth and single-point distance information, the server can calculate the precise single-point position information for each reflection point.

[0084] It should be noted that, in some embodiments, if the Beidou-R surface displacement monitor includes multiple left-hand circularly polarized antennas, and each left-hand circularly polarized antenna is set at a different height on the connecting rod; determining the single-point position information of the reflection point based on antenna position information, equipment position information, single-point azimuth information, and single-point distance information includes: obtaining the installation position information of the left-hand circularly polarized antenna corresponding to the antenna position information; and determining the single-point position information of the reflection point based on the installation position information, antenna position information, equipment position information, single-point azimuth information, and single-point distance information.

[0085] When Figure 1 As shown, the Beidou-R surface displacement monitor is equipped with multiple left-hand circularly polarized antennas of the same or different heights. By determining the height of the left-hand circularly polarized antennas through their installation position information, the single-point position information of the reflection point can be more accurately confirmed.

[0086] It should be noted that, in some embodiments, obtaining single-point distance information based on the reception time difference and the propagation speed corresponding to the second satellite signal further includes: obtaining terrain information corresponding to the area to be monitored 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, reception time difference, and propagation speed.

[0087] Since the BeiDou-R surface displacement monitoring instrument 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 reflection parameters corresponding to the terrain information of the area to be monitored can be used to correct the single-point distance information, so that the final single-point position information is more accurate.

[0088] For example, obtaining the regional parameters corresponding to the monitored area based on the region type and single-point location information includes: determining at least one target region parameter from vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level, and glacier thickness based on the region 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 region parameter.

[0089] Since factors such as varying moisture content, snow depth, snow water equivalent, and tidal level all affect the speed of signal propagation in the air, and different regional types require different parameters to be measured, this application determines the corresponding measurement model by identifying the parameter types corresponding to the target region's parameters. For example, the soil moisture measurement model can be used to calculate the soil moisture at the corresponding reflection point by combining the signal-to-noise ratio (SNR) phase reference value in the reflected broadcast signal with the SNR phase reference value in the database. By storing measurement models corresponding to multiple parameter types on the server, the corresponding parameters can be measured by combining the information in the reflected satellite signal formed after the second satellite signal is reflected.

[0090] In some embodiments, the BeiDou-R surface displacement monitoring system includes multiple sensors, the types of which are any one of vegetation moisture content sensors, surface moisture content sensors, snow depth sensors, snow water equivalent sensors, tidal level sensors, and glacier thickness sensors. The system acquires regional parameters corresponding to the monitored area based on the region type and single-point location information, including: acquiring measurement information and sensor types from sensors within a preset range of the single-point location information; and constructing regional parameters corresponding to the single-point location information based on the measurement information and the corresponding sensor types. Therefore, this application can construct corresponding regional parameters from sensor information within a preset range of the reflection point by setting multiple sensors corresponding to regional parameters.

[0091] In some embodiments, gridded displacement monitoring of the area to be monitored is completed based on each single-point location information, device location information, and area parameters, including: generating device markers in a preset blank grid based on each device location information; generating sub-markers corresponding to each device marker in the blank grid based on the single-point location information corresponding to each device location information; updating the corresponding device location information within the device markers; updating the corresponding single-point location information and area parameters within each sub-marker, thereby completing the construction of the blank grid corresponding to the area to be monitored, and forming multiple surface displacement monitoring grids corresponding to multiple areas to be monitored based on multiple blank grids.

[0092] like Figure 4 As shown, Figure 4 The first marker in the text is the Beidou-R surface displacement monitor ( Figure 4(Only two are used for illustration) to record the equipment location information of each monitoring instrument, while multiple second markers (corresponding to multiple BeiDou-R surface displacement monitoring instruments) are used to record multiple single-point location information and the corresponding area parameters. Simultaneously, the blank grids of multiple BeiDou-R surface displacement monitoring instruments are constructed and merged to form a grid as shown in the image. Figure 4 The surface displacement monitoring grid shown allows users to easily view the device location, single-point location, and area parameters in each region, improving the efficiency of surface displacement monitoring and management.

[0093] like Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of a displacement monitoring device 300 provided in an embodiment of this application. This displacement monitoring device is used to perform the aforementioned displacement monitoring method. It is applied to, for example... Figure 1 The corresponding embodiment provides a server for the BeiDou-R surface displacement monitoring system.

[0094] like Figure 5 As shown, the displacement monitoring device 300 includes a signal receiving unit 301, a signal acquisition unit 302, a positioning calculation unit 303, a type acquisition unit 304, a single-point calculation unit 305, and a monitoring completion unit 306.

[0095] The signal receiving unit 301 is used to acquire the 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, which are transmitted by the receiver; the reflected broadcast signal is generated by ground reflection of the second satellite signal transmitted by the same satellite as the first satellite signal.

[0096] The signal acquisition unit 302 is used to acquire the differential correction signal sent by the reference station.

[0097] The positioning calculation unit 303 is used to perform positioning calculation based on the first satellite signal and the differential correction signal to obtain the equipment location information corresponding to the Beidou-R surface displacement monitor.

[0098] The type acquisition unit 304 is used to acquire the region type corresponding to the region to be monitored.

[0099] The single-point calculation unit 305 is used to perform positioning calculations based on the equipment location information and each reflected broadcast signal to obtain the single-point location information of the reflection point corresponding to the reflected broadcast signal.

[0100] The monitoring completion unit 306 is used to obtain the regional parameters corresponding to the area to be monitored based on the area type and single-point location information, so as to complete the gridded displacement monitoring of the area to be monitored based on the single-point location information, equipment location information and regional parameters; wherein, the regional parameters include at least one or more of the following: vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level and glacier thickness.

[0101] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the above-described apparatus and each unit can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0102] The aforementioned device can be implemented as a computer program, which can be used in, for example... Figure 6 It is running on the server shown.

[0103] Please see Figure 6 , Figure 6 This is a schematic block diagram illustrating the structure of a server provided in an embodiment of this application. See also... Figure 6 The server includes a processor, memory, and network interface connected via a system bus, wherein the memory may include non-volatile storage media and internal memory.

[0104] Non-volatile storage media can store operating systems and computer programs. These computer programs include program instructions that, when executed, cause the processor to perform any displacement monitoring method.

[0105] The processor provides computing and control capabilities to support the operation of the entire server.

[0106] Internal memory provides an environment for the execution of computer programs stored in non-volatile storage media. When executed by a processor, the computer program enables the processor to perform any displacement monitoring method.

[0107] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the solution of this application and does not constitute a limitation on the server to which the solution of this application is applied. A specific server may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0108] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0109] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps:

[0110] The receiver acquires 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; the reflected broadcast signal is generated by ground reflection of a second satellite signal transmitted by the same satellite as the first satellite signal.

[0111] Acquire the differential correction signal sent by the base station;

[0112] Positioning calculations are performed based on the first satellite signal and differential correction signal to obtain the device location information corresponding to the Beidou-R surface displacement monitor;

[0113] Obtain the region type corresponding to the region to be monitored;

[0114] Based on the device location information and each reflected broadcast signal, a positioning calculation is performed to obtain the single-point location information of the reflection point corresponding to the reflected broadcast signal;

[0115] Based on the region type and single-point location information, obtain the corresponding regional parameters of the region to be monitored, so as to complete the gridded displacement monitoring of the region to be monitored based on the single-point location information, equipment location information and regional parameters; among them, the regional parameters include at least one or more of the following: vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level and glacier thickness.

[0116] In some embodiments, the BeiDou-R surface displacement monitor further includes a connecting rod, at least one left-hand circularly polarized antenna disposed outside the connecting rod, and a right-hand circularly polarized antenna disposed on the connecting rod; positioning calculations are performed 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, including: obtaining the antenna installation elevation angle, antenna orientation information, and antenna position information of the left-hand circularly polarized antenna corresponding to the reflected broadcast signal; obtaining the first reception time of the right-hand circularly polarized antenna receiving the first satellite signal; obtaining the second reception time of the left-hand circularly polarized antenna receiving the reflected broadcast signal; calculating the reception time difference corresponding to the first reception time and the second reception time; and performing positioning calculations based on the reception time difference, antenna installation elevation angle, antenna position information, antenna orientation information, and device location information to obtain the single-point location information of the reflection point.

[0117] For example, positioning calculations are performed based on the reception time difference, antenna installation elevation angle, antenna location information, antenna orientation information, and device location information to obtain the single-point location information of the reflection point. This includes: obtaining single-point azimuth information based on the antenna installation elevation angle and antenna orientation information; obtaining single-point distance information based on the reception 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 location information, device location information, single-point azimuth information, and single-point distance information.

[0118] It should be noted that, in some embodiments, if the Beidou-R surface displacement monitor includes multiple left-hand circularly polarized antennas, and each left-hand circularly polarized antenna is set at a different height on the connecting rod; determining the single-point position information of the reflection point based on antenna position information, equipment position information, single-point azimuth information, and single-point distance information includes: obtaining the installation position information of the left-hand circularly polarized antenna corresponding to the antenna position information; and determining the single-point position information of the reflection point based on the installation position information, antenna position information, equipment position information, single-point azimuth information, and single-point distance information.

[0119] It should be noted that, in some embodiments, obtaining single-point distance information based on the reception time difference and the propagation speed corresponding to the second satellite signal further includes: obtaining terrain information corresponding to the area to be monitored 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, reception time difference, and propagation speed.

[0120] For example, obtaining the regional parameters corresponding to the monitored area based on the region type and single-point location information includes: determining at least one target region parameter from vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level, and glacier thickness based on the region 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 region parameter.

[0121] In some embodiments, the BeiDou-R surface displacement monitoring system includes multiple sensors, the types of which are any one of vegetation moisture content sensor, surface moisture content sensor, snow depth sensor, snow water equivalent sensor, tidal level sensor, and glacier thickness sensor; and obtains the regional parameters corresponding to the monitored area according to the area type and single-point location information, including: obtaining the measurement information and sensor type of the sensor within a preset range of the single-point location information, and constructing the regional parameters corresponding to the single-point location information based on the measurement information and the corresponding sensor type.

[0122] In some embodiments, a 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; acquiring the differential correction signal sent by the reference station includes: acquiring reference position information and a 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; calculating the third satellite signal to acquire the measurement position information of the reference station; and generating a differential correction signal based on the reference position information and the measurement position information.

[0123] In some embodiments, gridded displacement monitoring of the area to be monitored is completed based on each single-point location information, device location information, and area parameters, including: generating device markers in a preset blank grid based on each device location information; generating sub-markers corresponding to each device marker in the blank grid based on the single-point location information corresponding to each device location information; updating the corresponding device location information within the device markers; updating the corresponding single-point location information and area parameters within each sub-marker, thereby completing the construction of the blank grid corresponding to the area to be monitored, and forming multiple surface displacement monitoring grids corresponding to multiple areas to be monitored based on multiple blank grids.

[0124] The embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement any of the displacement monitoring methods provided in the embodiments of this application.

[0125] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the 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, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device.

[0126] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A displacement monitoring method based on BeiDou-R, characterized in that, A server is used in a BeiDou-R surface displacement monitoring system. The BeiDou-R surface displacement monitoring system further includes at least one BeiDou-R surface displacement monitor and a reference station. Each BeiDou-R surface displacement monitor is located in a corresponding monitoring area. Each 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 communicatively connected to both the receiver and the reference station. The BeiDou-R surface displacement monitor also includes a connecting rod. Each BeiDou-R surface displacement monitor includes multiple left-hand circularly polarized antennas, each of which is located outside the connecting rod. The right-hand circularly polarized antennas are located on the connecting rod, and the height at which each left-hand circularly polarized antenna is located on the connecting rod is different. The method includes: The receiver acquires 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; the reflected broadcast signal is generated by ground reflection of a second satellite signal transmitted by the same satellite as the first satellite signal. Acquire the differential correction signal sent by the reference station; Positioning calculations are performed 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; Obtain the region type corresponding to the region to be monitored; The process involves: acquiring the antenna installation elevation angle, antenna orientation information, and antenna position information of the left-hand circularly polarized antenna corresponding to the reflected broadcast signal; acquiring the first reception time of the right-hand circularly polarized antenna receiving the first satellite signal; acquiring the second reception time of the left-hand circularly polarized antenna receiving the reflected broadcast signal; calculating the reception time difference between the first and second reception times; acquiring single-point azimuth information based on the antenna installation elevation angle and antenna orientation information; acquiring single-point distance information based on the reception time difference and the propagation speed corresponding to the second satellite signal; and determining the single-point position information of the reflecting point based on the antenna position information, equipment location information, single-point azimuth information, and single-point distance information. Based on the region type and the single-point location information, obtain the region parameters corresponding to the region to be monitored. Generate a device marker in a preset blank grid according to the location information of each device. Generate a sub-marker corresponding to each device marker in the blank grid according to the single-point location information corresponding to each device location information. Update the corresponding device location information in the device marker. Update the corresponding single-point location information and region parameters in each sub-marker to complete the construction of the blank grid corresponding to the region to be monitored. Based on multiple blank grids, form multiple surface displacement monitoring grids corresponding to the regions to be monitored to complete the gridded displacement monitoring of the regions to be monitored.

2. The method according to claim 1, characterized in that, If the Beidou-R surface displacement monitoring instrument includes multiple left-hand circularly polarized antennas, and each left-hand circularly polarized antenna is mounted at a different height on the connecting rod; the step of determining the single-point position information of the reflection point based on the antenna point information, device position information, single-point azimuth information, and single-point distance information includes: Obtain the installation position information of the left-hand circularly polarized antenna corresponding to the antenna position information; The single-point location information of the reflection point is determined based on the installation location information, antenna location information, device location information, single-point azimuth information, and single-point distance information.

3. The method according to claim 1, characterized in that, The step of obtaining single-point distance information based on the received time difference and the propagation speed corresponding to the second satellite signal further includes: Obtain the terrain information corresponding to the area to be monitored based on the area type; Obtain the terrain reflection parameters corresponding to the terrain information; The single-point distance information is obtained based on the terrain reflection parameters, the reception 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 the following: vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level, and glacier thickness; obtaining the regional parameters corresponding to the monitored area based on the regional type and the single-point location information includes: Based on the region type, at least one target region parameter is determined from the vegetation moisture content, surface moisture content, snow depth, snow water equivalent, tidal level, and glacier thickness. The region parameters corresponding to the single-point location information are obtained based on the receiving time difference and the parameter type corresponding to the target region parameters.

5. The method according to claim 1, characterized in that, The BeiDou-R surface displacement monitoring system includes multiple sensors, which are any one of the following types: vegetation moisture content sensor, surface moisture content sensor, snow depth sensor, snow water equivalent sensor, tidal level sensor, and glacier thickness sensor. The process of obtaining the regional parameters corresponding to the monitored area based on the region type and the single-point location information includes: Obtain the measurement information and sensor type of the sensor within the preset range of the single-point location information; The area parameters corresponding to the single-point location information are constructed based on the measurement information and the corresponding sensor type.

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

7. A BeiDou-R surface displacement monitoring system, characterized in that, include: At least one BeiDou-R surface displacement monitor is provided, and each BeiDou-R surface displacement monitor is set in the 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. A base station is set up in a base area. The server is connected to both the receiver and the base station for communication. The connecting rod, the Beidou-R surface displacement monitor includes multiple left-hand circularly polarized antennas, each of which is disposed outside the connecting rod, while the right-hand circularly polarized antenna is disposed on the connecting rod, and the height at which each left-hand circularly polarized antenna is disposed on the connecting rod is different. The server includes a processor and a memory, the memory being used to store a computer program that, when executed by the processor, implements the steps of the method as described in any one of claims 1 to 6.

8. The system according to claim 7, characterized in that, The receiver is located on the connecting rod and between the left-hand circularly polarized antenna and the right-hand circularly polarized antenna, thereby minimizing the distance between the receiver and the left-hand and right-hand circularly polarized antennas.

9. The system according to claim 7, characterized in that, Multiple left-hand circularly polarized antennas are arranged around the outside of the connecting rod to form a left-hand circularly polarized antenna group; The Beidou-R surface displacement monitor includes at least one left-handed circularly polarized antenna group, enabling the Beidou-R surface displacement monitor to achieve 360° monitoring without blind spots.

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

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