Real-time monitoring method and system for dynamic water level and storage capacity of reservoir based on GNSS-RTK (Global Navigation Satellite System-Real-Time Kinematic)

Abstract

The invention discloses a real-time monitoring method and system for dynamic water level and storage capacity of a reservoir based on GNSS-RTK (Global Navigation Satellite System-Real-Time Kinematic), and belongs to the technical field of environmental monitoring, environmental governance and computer control. The system comprises a power supply system, a water level monitoring system, a control system and a data storage and display system. The method comprises the following steps: selecting a plurality of fixed observation stations around a reservoir, installing a high-precision GNSS receiver, and carrying out real-time continuous observation on a mobile station in a reservoir area; data collected in real time is transmitted to a data processing center through wireless communication or the Internet; calculating the real-time water level of the reservoir according to the buoy position information in combination with the function relationship between the water level and the position; substituting the water level data measured in real time into a volume calculation formula, and calculating the real-time storage capacity of the reservoir; and storing the calculated water level and reservoir capacity data in a database, and displaying the data in real time by using visual software. The method has the advantages of high real-time performance, high precision, high comprehensiveness and the like, and is suitable for the field of reservoir management and operation.

Description

Technical Field

[0001] The present invention belongs to the field of environmental monitoring, environmental governance and computer control technology, and relates to a method and system for real-time monitoring of dynamic water level and storage capacity of a reservoir based on GNSS-RTK. Aiming at the problem that traditional reservoir storage capacity measurement cannot be accurately measured in real time, a monitoring method with fast acquisition speed and high real-time performance is proposed. Background Art

[0002] In the field of water conservancy projects, reservoirs are important water supply, flood control and power generation facilities. In order to effectively manage and operate reservoirs, it is necessary to monitor and calculate the water level and storage capacity of the reservoir in real time. Many reservoirs have a certain time interval for measuring storage capacity, and there is no real-time storage capacity curve, which directly affects the flood control safety of the reservoir and the benefits of irrigation, breeding, power generation, etc. In the face of severe flood control and disaster reduction, flood control and drought relief tasks, how to obtain a real-time storage capacity curve is a difficult problem that every reservoir operation and management department urgently needs to solve. In the current project, the real-time and continuity of storage capacity calculation plays an important guiding role in the water conservancy project industry, and is also a technical guide for water conservancy projects and reservoir management and operation decisions. Therefore, it is very important to conduct in-depth research on the real-time storage capacity of reservoirs, real-time measurement and monitoring of reservoir storage capacity, and then study targeted reservoir management countermeasures.

[0003] The traditional dynamic capacity measurement of reservoirs is based on measuring the water level in front of the reservoir dam and the relationship between the known water level elevation and the reservoir capacity to determine the dynamic capacity of the reservoir. By setting water level elevation marks such as steel rulers and hydraulic gauges on the reservoir dam, the water level elevation is measured regularly and the reservoir capacity is calculated. It is impossible to grasp the current dynamic capacity of the reservoir in real time and make decisions in time; at the same time, it is not suitable for digital, automated, and intelligent measurement requirements. With the development of science and technology, there is a method of using satellite remote sensing technology to obtain elevation information or image data of the reservoir area, and then calculating the reservoir capacity through data processing. However, due to the long acquisition cycle of remote sensing data, it is difficult to reflect the changes in the reservoir in a short period of time. In addition, the quality and accuracy of remote sensing images are affected by meteorological conditions (such as cloud cover, haze, etc.), and there are many uncontrollable factors. Therefore, there is an urgent need for a real-time monitoring method and system for the dynamic water level and storage capacity of reservoirs. Summary of the invention

[0004] In view of the defects and shortcomings of existing reservoir water level and storage capacity measurement methods that require a lot of time and resources and cannot meet the needs of real-time monitoring, the present invention provides a reservoir dynamic water level and storage capacity real-time monitoring method and system based on real-time dynamic differential technology (RTK) of the global navigation satellite system (GNSS), which can not only realize real-time dynamic monitoring of water level, but also realize manual and automatic control, and realize real-time uploading of reservoir water level and system status.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A reservoir dynamic water level and storage capacity real-time monitoring system based on GNSS-RTK, the reservoir dynamic water level and storage capacity monitoring system includes four parts: power supply system, water level monitoring system, control system and data storage and display system. Specifically:

[0007] The power supply system includes a solar panel 1, a charging control circuit 2, a lithium battery 3, and a power supply voltage stabilizing module 4. The solar panel 1 is fixed on the float to ensure that it is located on a horizontal plane and supplies power to the lithium battery; the charging control circuit 2 is connected to the solar panel 1 and the lithium battery 3 respectively to store the electric energy converted by the solar panel in the lithium battery; the lithium battery 3 stores energy and supplies power to all the devices in the system; the power supply voltage stabilizing module 4 is connected to the lithium battery 3 to stabilize the electric energy output by the lithium battery 3 to ensure that the system devices work under a stable voltage and avoid equipment failure or performance degradation due to voltage fluctuations.

[0008] The water level monitoring system includes a soft starter 5, a GNSS high-precision positioning module 6, an RTK calibration information receiver 7, and a communication module 8. The soft starter 5 controls the start and stop of the GNSS high-precision positioning module 6; the GNSS high-precision positioning module 6 receives satellite signals, and determines the position by solving the received satellite signals; the RTK calibration information receiver 7 receives the RTK calibration signal of the reference station as a mobile station, and transmits the calibration signal to the GNSS positioning module 6 to calibrate the received positioning information, so as to realize the centimeter-level measurement of the reservoir water level; the communication module 8 is responsible for the data transmission and communication functions in the system, and transmits the calibrated positioning information to the remote monitoring center 10 in real time.

[0009] The control system includes an intelligent control terminal 9 and a remote control platform 10. The soft starter 5, the communication module 8, and the local database 11 are connected to the intelligent control terminal 9, and the remote control platform 10 is wirelessly connected to the intelligent control terminal 9. The remote control platform 10 sends a data acquisition instruction to the intelligent control terminal 9 through the communication module 8, then starts the soft starter 5, sends an instruction to the GNSS positioning module 6 and obtains the water level data, and then saves it in the local database 11, and uploads the data to the remote control platform 10 through the communication module 8; the remote control platform 10 puts the water level data into the reservoir capacity calculation model to obtain the current reservoir capacity, and stores it in the cloud database 12. The intelligent control terminal 9 also includes an alarm module, which is used to issue an alarm when the power information measured by the intelligent meter is abnormal.

[0010] The data storage and display system includes a local database 11, a cloud database 12, and a visualization software 13. The local database 11 is on the intelligent control terminal 9 and is used to store various collected data and monitoring data from the water level monitoring system; the cloud database 12 is on the remote control platform 10 and is used to store processed water level data and calculated reservoir capacity; the visualization software 13 visualizes the water level and calculated reservoir capacity obtained at different continuous times on the remote control platform 10.

[0011] A method for real-time monitoring of reservoir capacity based on GNSS-RTK, the monitoring method is implemented based on the above-mentioned reservoir dynamic water level and reservoir capacity real-time monitoring system, and comprises the following steps:

[0012] Step 1: Turn on the power of the intelligent control terminal 9 to put it in working state, and select the working mode as real-time acquisition.

[0013] Step 2: The operator sends a data collection instruction through the remote control platform 10. After the communication module 8 receives the instruction and verifies it successfully, it sends the corresponding information to the intelligent control terminal 9 through the RS232 serial port.

[0014] Step 3, the intelligent control terminal 9 enters the serial port receiving interrupt to receive the information transmitted by the communication module 8, and then enters the serial port sending interrupt to send a read data instruction frame to the GNSS positioning module 6. After receiving the read data instruction, the GNSS positioning module 6 returns the node status data, magnetometer data and GNSS status data, and transmits the information back to the intelligent control terminal 9.

[0015] Step 4: After receiving the data, the intelligent control terminal 9 parses the latitude, longitude and elevation information from the GNSS status data according to the GPS / Beidou positioning data frame format defined in the NMEA 0183 protocol and stores it in the local database 11.

[0016] Step 5, after a period of time, the remote control platform will first bind the TCPServer port. The port parameters are the target server parameters set in the communication module 8, including the address, port and protocol, and then monitor the port. After listening to the target Socket, the loop receiving program runs. After receiving the heartbeat signal, it sends a data acquisition instruction to read the data from the local database 11.

[0017] Step 6: After receiving the data, the remote control platform 10 reads the reservoir bottom elevation data of the corresponding point from the cloud database 12 according to the longitude and latitude information, calculates the water depth at the longitude and latitude position and persists it in the cloud database 12.

[0018] Step 7: Calculate the reservoir capacity. Read the data of different latitude and longitude points of the reservoir from the cloud database, determine whether the water level exceeds the warning water level, and use the DEM method to calculate the reservoir capacity. The irregular triangle (TIN) modeling method is used in the reservoir capacity calculation. This step includes the following sub-steps:

[0019] Step 7.1: According to the latitude, longitude and elevation information, obtain the location of each point (x i ,y i , z i ) coordinates, where z i Indicates the elevation of the point;

[0020] Step 7.2: Use countless interconnected triangular faces to simulate the real underwater terrain surface as much as possible, and establish a triangular surface model of the underwater terrain. The reservoir capacity can be represented by a solid model surrounded by a triangular surface model and a horizontal plane of a specific elevation. The calculation of the reservoir capacity is converted into the calculation of the volume of the solid model. For the calculation of the volume of the solid model, the idea of ​​segmentation and summation is adopted. A vertical line is drawn from each vertex of the triangle to the calculated elevation surface, and the solid model is segmented into n triangular pyramid columns. The volume of each triangular pyramid column is calculated separately, and finally the volume of the n triangular pyramid columns is summed to obtain the reservoir capacity at the required water level elevation;

[0021] Step 7.2.1: For each triangular pyramid, its area A can be calculated using the centroid method. i and the center of gravity height h i Therefore, the volume of the triangular pyramid can be expressed as:

[0022]

[0023] Step 7.2.2: Sum the volumes of all triangular pyramids to get the storage capacity V of the entire reservoir. res :

[0024]

[0025] Wherein, N represents the number of triangular pyramid columns.

[0026] Step 7.3: When calculating the total volume of the reservoir, it is necessary to consider the impact of the reservoir retention guarantee rate and the storage capacity reduction coefficient to adjust the calculation results in order to obtain more accurate reservoir storage capacity data.

[0027] Step 8, the calculated reservoir capacity is persisted in the cloud database 12 and displayed to the operator through the visualization software 13, so that the operator can understand the real-time status of the reservoir and make corresponding decisions.

[0028] The beneficial effects of the present invention are as follows:

[0029] (1) The present invention discloses a method for real-time monitoring of dynamic water level and storage capacity of a reservoir based on GNSS-RTK. Aiming at the problem that the current reservoir water level and storage capacity cannot be measured in real time, the GNSS-RTK technology is used to realize real-time monitoring of the reservoir water level, and accurate water level and storage capacity data can be obtained in a short time, which is real-time.

[0030] (2) The present invention integrates the functions of water level monitoring and dynamic reservoir capacity monitoring, making them integrated and centrally collecting information, data analysis and feedback, and water level early warning;

[0031] (3) The present invention can monitor and calculate the water level and storage capacity of different parts of the reservoir in real time, and comprehensively reflect the operating status of the reservoir, which is of great significance to the management and operation of the reservoir. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a system block diagram of the present invention;

[0033] Figure 2 It is a structural schematic diagram of the present invention;

[0034] Figure 3 It is a schematic diagram of the installation structure of the present invention;

[0035] Figure 4 This is the workflow diagram for real-time monitoring of reservoir capacity;

[0036] Figure 5 Data processing flow chart for reservoir capacity calculation;

[0037] In the figure: 1 solar panel; 2 charging controller; 3 lithium battery; 4 power supply voltage regulator module; 5 soft starter; 6 GNSS high-precision positioning module; 7 RTK calibration information receiver; 8 communication module; 9 intelligent control terminal; 10 remote control platform; 11 local database; 12 cloud database; 13 visualization software. DETAILED DESCRIPTION

[0038] In order to make the method problems solved by the present invention, the method solutions adopted and the method effects achieved clearer, the present invention is further described below in conjunction with the technical solutions and drawings.

[0039] See also Figure 2 , Figure 2 The structure diagram of a reservoir dynamic water level and storage capacity monitoring system based on GNSS-RTK provided by the present invention is shown in FIG. The reservoir dynamic water level and storage capacity monitoring system includes four parts: power supply system, water level monitoring system, control system and data storage and display system. Figure 1 shown.

[0040] The power supply system includes a solar panel 1, a charging control circuit 2, a lithium battery 3, and a power supply voltage stabilization module 4. The solar panel 1 is fixed on the float to ensure that it is located on a horizontal plane and supplies power to the lithium battery; the charging control circuit 2 is connected to the solar panel 1 and the lithium battery 3 respectively to store the electric energy converted by the solar panel into the lithium battery; the lithium battery 3 stores energy and supplies power to all devices in the system.

[0041] The water level monitoring system includes a soft starter 5, a GNSS high-precision positioning module 6, an RTK calibration information receiver 7, and a communication module 8. The soft starter 5 controls the start and stop of the GNSS high-precision positioning module 6; the GNSS high-precision positioning module 6 receives satellite signals, and after receiving the satellite signals, it determines the position by calculating the time difference of the satellite signals; the RTK calibration information receiver 7 receives the RTK calibration signal of the reference station as a mobile station, and transmits the calibration signal to the GNSS positioning module 6 to calibrate the received positioning information, so as to achieve centimeter-level positioning of the reservoir water level altitude.

[0042] The control system includes an intelligent control terminal 9 and a remote control platform 10. The soft starter 5, the communication module 8, and the local database 11 are connected to the intelligent control terminal, and the remote control platform is wirelessly connected to the intelligent control terminal. The remote control platform 10 sends a data acquisition instruction to the intelligent control terminal 9 through the communication module 8, then starts the soft starter 5, sends an instruction to the GNSS positioning module 6 and obtains the water level data, and then saves it in the local database 11, and uploads the data to the remote control platform 11 through the communication module 8; the remote control platform 11 puts the water level data into the reservoir capacity calculation model to obtain the current reservoir capacity, and stores it in the cloud database 12. The intelligent control terminal 9 also includes an alarm module for issuing an alarm when the power information measured by the intelligent meter is abnormal.

[0043] The data storage and display system includes a local database 11, a cloud database 12, and a visualization software 13. The local database 11 is on the intelligent control terminal 9 and is used to store various collected data and monitoring data from the water level monitoring system; the cloud database 12 is on the remote control platform 10 and is used to store processed water level data and calculated reservoir capacity; the visualization software 13 visualizes the water level and calculated reservoir capacity obtained at different continuous times on the remote control platform 10.

[0044] A reservoir dynamic water level and storage capacity monitoring method based on GNSS-RTK, such as Figure 4 As shown, the specific steps of the control method are as follows:

[0045] Step 1: Deploy a mobile station (such as a buoy) at the corresponding location of the reservoir, and use a high-precision GNSS receiver to observe its position coordinates in real time to obtain water level information;

[0046] Step 2: Turn on the power of the intelligent control terminal 9 to make it powered on and in working state, and select the control mode of the reservoir dynamic storage capacity monitoring system as real-time collection;

[0047] Step 3: preset the time for collecting water level data in the program of the intelligent control terminal 9, read the time in the clock chip in real time, and when the timing time is reached, control the lithium battery 3 to supply power to the water level monitoring system, and after a period of time, cut off the power to the water level monitoring system;

[0048] Step 4: After the water level monitoring system is powered on, the GNSS positioning module 6 receives satellite signals through the antenna after initialization, calculates the position of the receiver after receiving the satellite signal, calibrates the position information in combination with the RTK signal received by the RTK calibration signal receiver 7, and sends the position and time information to the intelligent control terminal 9;

[0049] Step 5: After receiving the digital signal sent by the GNSS positioning module 6, the intelligent control terminal 9 filters and amplifies the digital signal according to the communication protocol, converts it into position and time information, and then stores the current time and position information in the local database 11;

[0050] Step 6: After a period of time, the remote control platform 10 will first bind the TCP Server port, and the port parameters are the target server parameters set in the communication module 8, including the address, port and protocol, and then monitor the port. After listening to the target Socket, the loop receiving program runs, and after receiving the heartbeat signal, it sends a data acquisition instruction to read the data from the local database 11;

[0051] Step 7: After receiving the location information, the remote control platform 10 reads the reservoir bottom elevation information of the corresponding point in the cloud database 12, calculates the real-time collected water level data, and thus obtains the real-time water level of the reservoir. Figure 5 , Figure 5 It is a data processing flow chart for reservoir capacity calculation provided by the present invention. It is judged whether the water level exceeds the warning water level and the reservoir capacity is calculated using the DEM method, and the irregular triangle (TIN) modeling method is used in the reservoir capacity calculation.

[0052] Step 8: The remote control platform 10 stores the calculated water level and reservoir capacity data in the cloud database 12, and displays them in real time using the visualization software 13 so that users can monitor, analyze and manage them.

[0053] Specifically, the method of the present invention mainly involves the data collection part: the operator selects the data collection mode, and the data collection mode is divided into timed collection and real-time collection. Among them: the timed collection part can be read by the intelligent control terminal 9 in the clock chip, when the preset time is reached, the water level monitoring system is started, and after the water level data is collected, the intelligent control terminal 9 shuts down the water level monitoring system; the real-time collection part can be set by the operator through the remote control platform 10 according to the actual situation on site. The system working mode is normally closed mode, and then the corresponding data collection instructions are sent to realize real-time data collection.

[0054] The reservoir capacity monitoring method of the present invention uses an intelligent instrument to monitor the signal of the GNSS positioning module in real time, which can timely feedback the operation status of the GNSS positioning module and avoid the problem that the GNSS positioning module cannot receive satellite signals during operation. The entire system is monitored and controlled by a remote control platform, and the operator can grasp the operation status of the system, control the system in time when the system is abnormal, and notify the maintenance personnel to rush to the site for troubleshooting.

[0055] See also Figure 3 , Figure 3 The figure is a schematic diagram of the installation structure of a reservoir dynamic storage capacity monitoring system based on GNSS-RTK provided by the present invention. The structure includes three parts: a hollow sphere, a balancing ball and a reservoir dynamic storage capacity monitoring system. Figure 3 As shown, the sphere 1 is hollow inside, and three balancing balls 2 are symmetrically connected to both sides of the sphere 1 through connecting rods 3. The balancing balls 2 are used to increase the lateral stability of the sphere 1 when it floats on the water surface; wherein, the sphere 1 is a two-petal symmetrical assembly made of EVA die-cast, and the two petal-shaped docking assemblies have four groups of mounting holes evenly distributed on the inner circumference for facilitating the installation of counterweight blocks and for adjusting the center of gravity position of the sphere 1 after the dynamic storage capacity monitoring system of the reservoir is installed; the balancing ball 2 is a solid sphere made of EVA die-cast.

[0056] When in use, the reservoir dynamic storage capacity monitoring system is fixed in the waterproof protection box at the center of the sphere 1, connected to the solar panel 4 on the top through a cable, put into the water, adjust the center of gravity to ensure that it floats horizontally on the water surface, and then add a counterweight block to the cable 6 to fix the position of the sphere 1, and then start data collection at the specified position. Among them, multiple floating spheres 1 can also be connected in series and dragged linearly on the water surface to form a multi-channel system, which effectively reduces the risk of loss caused by the monitoring equipment falling into the water and improves the reliability of the system.

[0057] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A reservoir dynamic water level and reservoir capacity real-time monitoring system based on GNSS-RTK, characterized in that: The reservoir dynamic water level and storage capacity monitoring system includes four parts: power supply system, water level monitoring system, control system and data storage and display system. Specifically: The power supply system comprises a solar panel (1), a charging control circuit (2), a lithium battery (3), and a power supply voltage stabilization module (4); the solar panel (1) is fixed on a float and is located above a horizontal plane to supply power to the lithium battery; the charging control circuit (2) is connected to the solar panel (1) and the lithium battery (3) respectively to store the electric energy converted by the solar panel in the lithium battery; the lithium battery (3) stores energy and supplies power to all devices in the system; the power supply voltage stabilization module (4) is connected to the lithium battery (3) to perform voltage stabilization on the electric energy output by the lithium battery (3); The water level monitoring system comprises a soft starter (5), a GNSS high-precision positioning module (6), an RTK calibration information receiver (7), and a communication module (8); the soft starter (5) controls the start and stop of the GNSS high-precision positioning module (6); the GNSS high-precision positioning module (6) receives satellite signals, and performs calculation to determine the position after receiving the satellite signals; the RTK calibration information receiver (7) receives the RTK calibration signal of the reference station as a mobile station, and transmits the calibration signal to the GNSS positioning module (6) to calibrate the received positioning information, thereby realizing centimeter-level measurement of the reservoir water level; the communication module (8) is responsible for data transmission and communication functions in the system, and transmits the calibrated positioning information to the remote control platform (10) in real time; The control system comprises an intelligent control terminal (9) and a remote control platform (10); the soft starter (5), the communication module (8) and the local database (11) are connected to the intelligent control terminal (9), and the remote control platform (10) is wirelessly connected to the intelligent control terminal (9); The data storage and display system comprises a local database (11), a cloud database (12), and visualization software (13); the local database (11) is on the intelligent control terminal (9) and is used to store various collected data and monitoring data from the water level monitoring system; the cloud database (12) is on the remote control platform (10) and is used to store processed water level data and calculated reservoir capacity; the visualization software (13) is used to visualize the water levels and calculated reservoir capacities obtained at different continuous times on the remote control platform (10).

2. According to claim 1, a reservoir dynamic water level and reservoir capacity real-time monitoring system based on GNSS-RTK is characterized in that: The remote control platform (10) sends a data collection instruction to the intelligent control terminal (9) through the communication module (8), then starts the soft starter (5), sends an instruction to the GNSS positioning module (6) and obtains water level data, which is then stored in a local database (11), and the data is uploaded to the remote control platform (10) through the communication module (8); the remote control platform (10) puts the water level data into a reservoir capacity calculation model to obtain the current reservoir capacity, and stores it in a cloud database (12).

3. The reservoir dynamic water level and reservoir capacity real-time monitoring system based on GNSS-RTK according to claim 2 is characterized in that: The intelligent control terminal (9) also includes an alarm module, which is used to issue an alarm when the power information measured by the intelligent meter is abnormal.

4. A method for real-time monitoring of reservoir capacity based on GNSS-RTK, characterized in that: The monitoring method is implemented based on the reservoir dynamic water level and reservoir capacity real-time monitoring system according to any one of claims 1 to 3, and comprises the following steps: Step 1, turning on the power of the intelligent control terminal (9), so that it is powered on and in working state, and selecting the working mode as real-time acquisition; Step 2, sending a data collection instruction through the remote control platform (10), after the communication module (8) receives the instruction and verifies it successfully, it sends the information to the intelligent control terminal (9); Step 3, the intelligent control terminal (9) receives the information transmitted by the communication module (8), and then sends a read data instruction frame to the GNSS positioning module (6). After receiving the read data instruction, the GNSS positioning module (6) returns the node status data, the magnetometer data and the GNSS status data, and transmits the information back to the intelligent control terminal (9); Step 4, after receiving the data, the intelligent control terminal (9) parses the latitude, longitude and elevation information and stores it in the local database (11); Step 5, after a period of time, the remote control platform (10) first performs TCP Server port binding, then monitors the port, and after monitoring the target Socket, the receiving program runs in a loop, and after receiving the heartbeat signal, sends a data acquisition instruction to read the data from the local database (11); Step 6, after receiving the data, the remote control platform (10) reads the reservoir bottom elevation data of the corresponding point from the cloud database (12) according to the longitude and latitude information, calculates the water depth at the longitude and latitude position and persists it in the cloud database (12); Step 7: Calculate the reservoir capacity; read the data of different longitude and latitude points of the reservoir from the cloud database (12), determine whether the water level exceeds the warning water level, and calculate the reservoir capacity; Step 8, the calculated reservoir capacity is persisted in the cloud database (12) and displayed to the operator through the visualization software (13), so that the operator can understand the real-time status of the reservoir and make corresponding decisions.

5. The method for real-time monitoring of reservoir capacity based on GNSS-RTK according to claim 4 is characterized in that: In the step 2, the communication module (8) sends information to the intelligent control terminal (9) via the RS232 serial port.

6. The method for real-time monitoring of reservoir capacity based on GNSS-RTK according to claim 4 is characterized in that: In step 4, after receiving the data, the intelligent control terminal (9) parses the longitude, latitude and altitude information from the GNSS status data according to the GPS / Beidou positioning data frame format defined by the NMEA 0183 protocol and stores the information in a local database (11).

7. The method for real-time monitoring of reservoir capacity based on GNSS-RTK according to claim 4 is characterized in that: In step 5, the port parameters are target server parameters set in the communication module (8), including address, port and protocol.

8. The method for real-time monitoring of reservoir capacity based on GNSS-RTK according to claim 4 is characterized in that: In step 7, the reservoir capacity is calculated using an irregular triangle modeling method.

9. The method for real-time monitoring of reservoir capacity based on GNSS-RTK according to claim 4, characterized in that: The step 7 includes the following sub-steps: Step 7.1: According to the latitude, longitude and elevation information, obtain the location of each point (x i ,y i , z i ) coordinates, where z i Indicates the elevation of the point; Step 7.2: Use multiple interconnected triangular faces to simulate the real underwater terrain surface and establish a triangular surface model of the underwater terrain; the reservoir capacity is represented by a solid model formed by the triangular surface model and a horizontal plane of a specific elevation, and the calculation of the reservoir capacity is converted into the calculation of the volume of the solid model; for the calculation of the volume of the solid model, the idea of ​​segmentation and summation is adopted, and vertical lines are drawn from each vertex of the triangle to the calculated elevation surface, and the solid model is segmented into n triangular pyramid columns. The volume of each triangular pyramid column is calculated separately, and finally the volume of the n triangular pyramid columns is summed to obtain the reservoir capacity at the required water level elevation; Step 7.3: When calculating the total volume of the reservoir, it is necessary to consider the impact of the reservoir retention guarantee rate and the storage capacity reduction coefficient to adjust the calculation results in order to obtain more accurate reservoir storage capacity data.

10. The method for real-time monitoring of reservoir capacity based on GNSS-RTK according to claim 9, characterized in that: The specific steps of calculating the volume of the solid model are as follows: Step 7.2.1: For each triangular pyramid, use the centroid method to find its area A. i and the center of gravity height h i ; Therefore, the volume of the triangular pyramid is expressed as: Step 7.2.2: Sum the volumes of all triangular pyramids to obtain the storage capacity V of the entire reservoir. res : Wherein, N represents the number of triangular pyramid columns.

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