A method and system for real-time monitoring of reservoir dynamic water level and storage capacity based on GNSS-RTK

Abstract

A method and system for real-time monitoring of the dynamic water level and storage capacity of a reservoir based on GNSS-RTK belongs to the fields of environmental monitoring, environmental governance and computer control technology. The system includes a power supply system, a water level monitoring system, a control system and a data storage and display system. The steps are: select several fixed measuring stations around the reservoir, install high-precision GNSS receivers, and conduct real-time continuous observation of mobile stations in the reservoir area; transmit the real-time collected data to the data processing center via wireless communication or the Internet; calculate the real-time water level of the reservoir based on the buoy position information and the functional relationship between the water level and the position; substitute the real-time measured water level data into the volume calculation formula to calculate the real-time storage capacity of the reservoir; store the calculated water level and storage capacity data in a database, and display them in real time using visualization software. The present invention has the advantages of high real-time performance, high precision and strong comprehensiveness, and is suitable for the field of reservoir management and operation.

Description

Technical Field

[0001] The present invention belongs to the fields of environmental monitoring, environmental governance and computer control technology, and relates to a method and system for real-time monitoring of the 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, reservoirs are crucial facilities for water supply, flood control, and power generation. Effective reservoir management and operation require real-time monitoring and calculation of water levels and storage capacity. Many reservoirs measure storage capacity at intervals, and lack real-time storage capacity curves, directly impacting flood control safety and the benefits of irrigation, aquaculture, and power generation. Faced with the daunting challenges of flood control, disaster reduction, and drought relief, obtaining real-time storage capacity curves is a pressing challenge for every reservoir operation and management department. In current projects, the real-time and continuous calculation of storage capacity plays a crucial role in guiding water conservancy projects and provides technical guidance for decision-making in water conservancy project and reservoir management operations. Therefore, in-depth research on real-time reservoir storage capacity, real-time measurement and monitoring of reservoir storage capacity, and the subsequent development of targeted reservoir management strategies are crucial.

[0003] Traditional reservoir dynamic capacity measurement determines the dynamic capacity of a reservoir by measuring the water level in front of the reservoir dam and the relationship between the known water level elevation and the reservoir capacity. By setting water level elevation markers such as steel rulers and hydraulic gauges on the reservoir dam, the water level elevation is regularly measured and the reservoir capacity is calculated. However, this method cannot provide real-time information on the current dynamic capacity of the reservoir, hindering timely decision-making. Furthermore, it does not meet the requirements of digital, automated, and intelligent measurement. With the development of science and technology, methods have emerged that use satellite remote sensing technology to obtain elevation information or image data of the reservoir area and then calculate the reservoir capacity through data processing. However, due to the long acquisition cycle of remote sensing data, it is difficult to reflect changes in the reservoir over a short period of time. Furthermore, the quality and accuracy of remote sensing images are affected by meteorological conditions (such as cloud cover and haze), and there are many uncontrollable factors. Therefore, a real-time monitoring method and system for reservoir dynamic water level and storage capacity is urgently needed. Summary of the Invention

[0004] In view of the defects and shortcomings of existing reservoir water level and storage capacity measurement methods, which 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). It can not only realize real-time dynamic water level monitoring, 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 GNSS-RTK-based real-time monitoring system for reservoir dynamic water level and storage capacity 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 stabilization module 4. The solar panel 1 is fixed to a float to ensure it remains horizontal and supplies power to the lithium battery. The charging control circuit 2 is connected to the solar panel 1 and the lithium battery 3, storing the electricity 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 and stabilizes the power output by the lithium battery 3, ensuring that the system devices operate at a stable voltage and preventing device 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 resolves them to determine the position; the RTK calibration information receiver 7, acting as a mobile station, receives RTK calibration signals from the reference station and transmits these calibration signals to the GNSS positioning module 6 to calibrate the received positioning information, achieving centimeter-level measurement of the reservoir water level; the communication module 8 is responsible for data transmission and communication functions within the system, transmitting 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, communication module 8, and 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 via the communication module 8, then restarts the soft starter 5, sends an instruction to the GNSS positioning module 6 and obtains water level data, which is then stored in the local database 11 and uploaded to the remote control platform 10 via the communication module 8. The remote control platform 10 then enters 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 smart meter is abnormal.

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

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

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

[0013] Step 2: The operator sends a data acquisition 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] In 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 by the NMEA 0183 protocol and stores the information 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. Then, the port will be monitored. After the target Socket is monitored, the receiving program will be run in a loop. After receiving the heartbeat signal, the data acquisition instruction will be sent 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 latitude and longitude information, calculates the water depth at the latitude and longitude position, and persists it in the cloud database 12.

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

[0019] Step 7.1: According to the latitude, longitude and elevation information, get 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 enclosed by a triangular surface model and a horizontal plane at 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 ​​splitting and summing is adopted. A vertical line is drawn from each vertex of the triangle to the calculated elevation surface, and the solid model is split into n triangular pyramids. The volume of each triangular pyramid is calculated separately, and finally the volume of the n triangular pyramids is summed to obtain the reservoir capacity at the required water level.

[0021] Step 7.2.1: For each triangular pyramid, the 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 total reservoir capacity V res :

[0024]

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

[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 to obtain more accurate reservoir storage capacity data.

[0027] In 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 reservoir dynamic water level and storage capacity based on GNSS-RTK. In order to solve 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 centralizing information collection, 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, comprehensively reflecting 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 Figure 2 , Figure 2 This is a structural diagram of a GNSS-RTK-based reservoir dynamic water level and storage capacity monitoring system provided by the present invention. 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 regulator module 4. The solar panel 1 is fixed to a float to ensure it remains horizontal 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 electrical 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.

[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 determines the position by calculating the time difference between the satellite signals. The RTK calibration information receiver 7, acting as a mobile station, receives RTK calibration signals from the reference station and transmits the calibration signals to the GNSS positioning module 6, which calibrates the received positioning information to achieve centimeter-level positioning of the reservoir water level.

[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 via 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 the local database 11. The data is uploaded to the remote control platform 11 via 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 smart meter is abnormal.

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

[0044] A method for monitoring reservoir dynamic water level and storage capacity 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 so that it is powered on and in working state, and select the control mode of the reservoir dynamic storage capacity monitoring system as real-time acquisition;

[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 timer is reached, control the lithium battery 3 to supply power to the water level monitoring system. After a period of time, the water level monitoring system is powered off;

[0048] Step 4: After the water level monitoring system is powered on, the GNSS positioning module 6 is initialized and receives satellite signals through the antenna. After receiving the satellite signals, the position of the receiver is calculated, and the position information is calibrated in combination with the RTK signal received by the RTK calibration signal receiver 7. The position and time information are then sent to the intelligent control terminal 9;

[0049] Step 5: After receiving the digital signal from 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. The port parameters are the target server parameters set in the communication module 8, including address, port and protocol. Then, the port will be monitored. After the target socket is detected, the receiving program will be run in a loop. After receiving the heartbeat signal, the data acquisition instruction will be sent 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 This is a data processing flow chart for reservoir capacity calculation provided by the present invention. It determines whether the water level exceeds the warning water level and calculates the reservoir capacity using the DEM method, and adopts the irregular triangle (TIN) modeling method 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 for users to monitor, analyze and manage.

[0053] Specifically, the data collection portion of the method of the present invention primarily involves an operator selecting a data collection mode, which can be either timed or real-time. For timed collection, the intelligent control terminal 9 reads the time stored in a clock chip. When the preset time is reached, the water level monitoring system activates and, after collecting water level data, shuts it down. For real-time collection, the operator, through the remote control platform 10, sets the system's operating mode to normally closed based on actual on-site conditions and then sends corresponding data collection instructions to achieve real-time data collection.

[0054] The reservoir capacity monitoring method of this invention uses intelligent instruments to monitor the GNSS positioning module's signals in real time, providing timely feedback on the module's operational status and preventing issues such as the module failing to receive satellite signals during operation. A remote control platform monitors and controls the entire system, allowing operators to monitor system performance and promptly control the system in the event of an anomaly, notifying maintenance personnel to rush to the site for troubleshooting.

[0055] See Figure 3 , Figure 3 This 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 inner circumference of the two petal-shaped docking assemblies is evenly distributed with four groups of mounting holes for facilitating the installation of counterweight blocks to adjust 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] During use, the reservoir dynamic storage capacity monitoring system is secured in a waterproof protective box at the center of sphere 1. Cables connect the system to the solar panel 4 on top, which is then placed in water. The system's center of gravity is adjusted to ensure it floats horizontally on the surface. A counterweight is then attached to the cable 6 to secure the sphere 1 in place, allowing data collection to begin at the designated location. Multiple floating spheres 1 can also be linked in series and dragged linearly across the water surface to form a multi-channel system, effectively reducing the risk of damage from monitoring equipment falling into the water and improving system reliability.

[0057] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A GNSS-RTK-based reservoir dynamic water level and storage capacity real-time monitoring system, characterized by: 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 stabilizing 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 stabilizing 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 includes 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. A reservoir dynamic water level and storage capacity real-time monitoring system based on GNSS-RTK according to claim 1, characterized in that: 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 water level data, then saves the data in a 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 a reservoir capacity calculation model to obtain the current reservoir capacity, and stores it in a cloud database (12).

3. The GNSS-RTK-based real-time monitoring system for reservoir dynamic water level and storage capacity according to claim 2 is characterized in that: 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.

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 storage capacity real-time monitoring system according to any one of claims 1 to 3, and comprises the following steps: Step 1: Turn on the power of the intelligent control terminal (9) to put it into working state, and select the working mode as real-time acquisition; Step 2: Send data collection instructions through the remote control platform (10). After the communication module (8) receives the instructions and verifies them 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, magnetometer data and 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) analyzes the latitude, longitude and elevation information and stores them in the local database (11); Step 5: After a period of time, the remote control platform (10) first binds the TCP Server port, then monitors the port, and after monitoring the target Socket, it loops the receiving program to run, and after receiving the heartbeat signal, it 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 latitude and longitude information, calculates the water depth at the latitude and longitude position, and persists it in the cloud database (12); Step 7: Calculate the reservoir capacity; read the data of different latitude and longitude points of the reservoir from the cloud database (12), determine whether the water level exceeds the warning water level, and calculate the reservoir capacity; In 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, characterized in that: In 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, characterized in that: In 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 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, 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, characterized in that: In step 7, the storage 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, get 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 actual 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 at a specific elevation. The calculation of the reservoir capacity is converted into the calculation of the solid model volume. To calculate the solid model volume, the idea of ​​segmentation and summation is adopted. Draw perpendicular lines from each triangle vertex to the calculation elevation surface, segment the solid model into n triangular pyramids, calculate the volume of each triangular pyramid separately, and finally sum the volumes of the n triangular pyramids to obtain the reservoir capacity at the desired water level. 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 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, calculate its area A using the centroid method. 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 total reservoir capacity V res : Wherein, N represents the number of triangular pyramids.

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