Multi-satellite glacier flow velocity environment monitoring system based on GNSS differential algorithm

Abstract

The invention relates to the technical field of glacier environment observation, and discloses a multi-satellite glacier flow velocity environment monitoring system based on a GNSS differential algorithm, which comprises a glacier flow velocity testing module, a data recording collector module, a data analyzing and processing module and a communication transmission module, the data recording collector module stores and records the collected glacier flow velocity environmental element original data; the data analyzing and processing module analyzes and calculates the collected glacier flow velocity environmental element original data to obtain a first content package and a second content package, the first content package is the content of pictures and images, and the second content package is the content of characters and numerical values; the communication transmission module compresses, encrypts and transmits the first content packet and the second content packet; by reducing the content transmitted by the first content packet and the second content packet, the size of the transmitted data can be reduced, the data transmission time can be shortened, and the condition of network congestion can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of glacier environment observation, and in particular to a multi-satellite glacier flow velocity environment monitoring system based on a GNSS differential algorithm. Background Art

[0002] The importance of glacier velocity environmental monitoring is mainly reflected in the following aspects:

[0003] First, climate change monitoring: Changes in glacier flow velocity are one of the important indicators of climate change. The melting and flow speed of glaciers directly reflect the degree of climate warming. By monitoring glacier flow velocity, we can better understand the impact of global warming on glaciers and predict future climate change trends12.

[0004] Second, water resource management: glaciers are an important source of water in many regions, especially in arid and semi-arid areas. Monitoring glacier flow velocity helps to assess the flow and speed of glacier meltwater, thus providing a scientific basis for water resource management and rational use. This is of great significance for ensuring the living and production water supply of local residents.

[0005] Third, ecological and environmental protection: Changes in glacier flow rate will affect the balance of the surrounding ecosystem. Rapidly melting glaciers may lead to a reduction in water sources, which in turn affects the stability and biodiversity of the ecosystem. By monitoring glacier flow rate, changes in the ecological environment can be discovered in a timely manner and corresponding protective measures can be taken.

[0006] Fourth, scientific research: The monitoring of glacier flow velocity provides valuable data support for scientific research. Scientists can analyze the changes in glacier flow velocity to study the dynamic mechanism of glaciers, the impact of climate change on glaciers, and the interaction between glaciers and the climate system, and promote the development of related fields.

[0007] Glacier velocity environmental monitoring technology mainly includes the following key technologies:

[0008] Remote sensing technology: Using satellites, aircraft and other vehicles, sensors are installed to obtain remote sensing image data of glaciers. These data can provide information on the morphology, distribution, movement, etc. of glaciers. The principle of remote sensing technology is to obtain information about related ground objects by receiving electromagnetic energy reflected or radiated by the ground, analyzing and interpreting the characteristics of this energy, and thus inferring the physical changes of glaciers.

[0009] Topographic measurement technology: Use the laser radar system on satellites or aircraft to obtain elevation data on the glacier surface. This data can provide information such as the thickness and volume of the glacier. The principle of topographic measurement technology is to use the laser beam emitted by the laser radar to illuminate the glacier surface, measure the reflection time of the laser beam, and thus calculate the elevation of the glacier surface.

[0010] Soil temperature monitoring technology: By installing temperature sensors in the soil inside and around the glacier, temperature data is collected. These data can help scientists understand the changing process of glacier thermodynamics, thereby predicting the trend of glacier melting and evaluating the response of glaciers to climate change.

[0011] Real-time monitoring system: It consists of GNSS, laser ranging, camera, meteorology, ice temperature, seismograph and other monitoring modules, which transmit observation data in real time through 4G network and publish it online. This system greatly reduces the difficulty and potential risks of manual monitoring of high-altitude glaciers, and realizes the continuity and accuracy of data collection.

[0012] Real-time monitoring systems are undoubtedly applicable to high-altitude glaciers. However, due to their geographical location, high-altitude glaciers do not have a comprehensive layout of basic wireless communication equipment, such as fewer signal base stations, which leads to large network fluctuations and slow data transmission efficiency. Therefore, how to improve data transmission efficiency is the key to achieving continuity and accuracy in collecting glacier flow environment data. Summary of the invention

[0013] The purpose of the present invention is to provide a multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm. By setting up a data analysis and processing module to process the real-time collected data in real time, and classify and send the processed features, compared with the method of directly sending the collected data, it can reduce the size of the transmitted data while ensuring the continuity of the effective data, thereby improving the data transmission efficiency and achieving the continuity and accuracy of the glacier velocity environment data collection.

[0014] In order to achieve the above purpose, the technical solutions adopted are as follows:

[0015] A multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm, including a glacier velocity test module, a data recording and acquisition module, a data analysis and processing module, a communication transmission module and a user terminal;

[0016] The glacier velocity test module is used to collect the original data of glacier velocity environmental factors;

[0017] The data recorder module is connected to the glacier velocity test module and is used to obtain and store the original data of the glacier velocity environmental elements collected by the glacier velocity test module;

[0018] The data analysis and processing module is connected to the data recorder module, and is used to extract the original data of the glacier velocity environmental elements from the data recorder module, and perform analysis and calculation to obtain a first content package and a second content package; wherein the first content package is the content of pictures and / or images, and the second content package is the content of text and / or numerical values, and some contents of the first content package and the second content package correspond to each other;

[0019] The communication transmission module is connected to the data analysis and processing module, and is used to compress and transmit the first content package and the second content package;

[0020] The user terminal is used to receive the data transmitted by the communication transmission module, decrypt the received data based on a set decryption algorithm, and analyze the decrypted data.

[0021] Furthermore, the data analysis and processing module includes:

[0022] A comparison and analysis module, used to select correct test data from the original data of the glacier flow velocity environmental elements according to a fixed format of the test data and through a comparison function of a frame structure;

[0023] The operation module is used to perform radiation calibration, atmospheric calibration, geometric correction, texture analysis, shape analysis and edge detection on the correct test data to obtain a feature data set, and normalize and denoise the feature data set, and divide the feature data set into a first content package and a second content package according to the attribute type of the feature data set.

[0024] Furthermore, the comparison and analysis module is also used for:

[0025] Based on the comparison function of the frame structure, the fixed format of the test data is compared with the frame structure of the original data of the glacier flow velocity environmental elements. If the frame structure changes, the reason for the change is determined:

[0026] If it is repeated, the corresponding glacier velocity environment factor original data is deleted in the data recorder module, and only one glacier velocity environment factor original data is retained as the correct test data;

[0027] If it is sent in sub-packets, the frame structures sent in sub-packets are spliced ​​to obtain a complete frame structure, and the original data of the glacier velocity environmental elements corresponding to the complete frame structure are stored as correct test data in the data recorder module;

[0028] If the content is missing, the satellite signal strength is obtained. When the satellite signal strength is lower than the preset threshold, the data recording and acquisition module is ordered to re-receive the original data of the glacier flow velocity environmental elements. If the complete original data of the glacier flow velocity environmental elements are not received within the set time, the original data of the glacier flow velocity environmental elements are discarded and the reason for the missing is recorded in the data recording and acquisition module.

[0029] Furthermore, the operation module includes:

[0030] A radiation calibration unit is used to convert the digital values ​​of remote sensing images into physical radiation measurements to obtain accurate radiation information;

[0031] The atmospheric correction unit is used to improve the image quality by correcting the atmospheric interference and obtain a feature map reflecting the real characteristics of the surface;

[0032] A geometric correction unit, used to correct the geometric distortion of the image to ensure the accurate position of the image in the geographic coordinate system;

[0033] Texture analysis unit, used to extract texture information of images for target recognition and classification;

[0034] A shape analysis unit, used to identify and describe specific shapes in an image;

[0035] The edge detection unit is used to detect the edge features between objects in the image to extract and identify the object contours.

[0036] Furthermore, the operation module further includes:

[0037] A pixel-level change detection unit, used to detect a change in a single pixel in the image and obtain a first change feature;

[0038] A target level change detection unit, used to detect the change of the entire target or object and obtain a second change feature;

[0039] The time series analysis unit is used to perform change analysis on multi-temporal images to obtain a time series; the water body extraction unit is used to extract water body features using the reflection characteristics of water bodies in different bands.

[0040] Furthermore, the operation module further includes:

[0041] The sensor data fusion unit is used to fuse the data from different flow rate sensors to improve the comprehensive ability of information acquisition;

[0042] Resolution fusion unit, used to combine high-resolution and low-resolution images to obtain images with high spatial resolution and wide coverage;

[0043] A GNSS data processing unit, used to perform image geo-calibration and position positioning using satellite navigation data to obtain a calibrated image and position coordinates;

[0044] A time series data analysis unit is used to monitor and analyze surface changes using multi-temporal data to obtain time series data;

[0045] The anomaly detection unit is used to identify abnormal changes in the image and obtain ice crack features.

[0046] Furthermore, the data analysis and processing module also includes an encryption module;

[0047] The encryption module is used to encrypt the first content package and the second content package according to one of the modbus protocol, 104 protocol, H212 protocol, ADS-B protocol and Pakbus protocol and a combination thereof as the agreed protocol.

[0048] Furthermore, the communication transmission module includes:

[0049] A first communication unit, connected to the data analysis and processing module, for transmitting the first content package and the second content;

[0050] The second communication unit is arranged on the bank of the river and is signal-connected to the first communication unit for receiving the first content package and the second content package, and transmitting low-throughput data to the user terminal through the Beidou satellite and transmitting high-throughput data to the user terminal through the 4G / 5G module.

[0051] Furthermore, the user terminal is also connected to a complementary data source to corroborate and verify the decrypted data according to complementary data fed by the complementary data source to obtain glacier flow velocity data.

[0052] Furthermore, the complementary data source includes at least one of an ice surface laser ranging sensor array, a glacier imaging sensor array, a glacier laser scanner, a glacier surface temperature array, and a displacement array.

[0053] The beneficial effects of the present invention are:

[0054] The present invention can reduce the size of transmitted data and the time of data transmission by reducing the content transmitted by the first content package and the second content package, thereby reducing network congestion. The present invention is very practical. At the same time, data encryption and content processing ensure the security of data transmission and improve the accuracy of test measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 The structure of a multi-satellite glacier velocity environment monitoring system based on a GNSS differential algorithm according to an embodiment of the present invention is shown. Figure 1 .

[0056] Figure 2 The structure of a data analysis and processing module in a multi-satellite glacier velocity environment monitoring system based on a GNSS differential algorithm according to an embodiment of the present invention is shown. Figure 1 .

[0057] Figure 3 A calculation module structure diagram of a data analysis and processing module in a multi-satellite glacier velocity environment monitoring system based on a GNSS differential algorithm according to an embodiment of the present invention is shown.

[0058] Figure 4 The structure of a data analysis and processing module in a multi-satellite glacier velocity environment monitoring system based on a GNSS differential algorithm according to an embodiment of the present invention is shown. Figure 2 .

[0059] Figure 5 A structural diagram of a communication transmission module in a multi-satellite glacier velocity environment monitoring system based on a GNSS differential algorithm according to an embodiment of the present invention is shown.

[0060] Figure 6 The structure of a multi-satellite glacier velocity environment monitoring system based on a GNSS differential algorithm according to an embodiment of the present invention is shown. Figure 2 . DETAILED DESCRIPTION

[0061] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0062] The specific implementation of the present invention is further described in detail below in conjunction with the drawings and examples.

[0063] The embodiment of the present invention provides a multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm, such as Figure 1As shown, the multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm includes a glacier velocity test module 100, a data recorder module 200, a data analysis and processing module 300, a communication transmission module 400 and a user terminal 500; the glacier velocity test module 100 is used to collect the original data of the glacier velocity environment elements; the data recorder module 200 is connected to the glacier velocity test module 100, and is used to obtain the original data of the glacier velocity environment elements collected by the glacier velocity test module 100 and store them; the data analysis and processing module 300 is connected to the data recorder module 200, and is used to collect the original data of the glacier velocity environment elements from the data recorder module 100. The original data of the glacier flow velocity environmental elements are extracted from the device module 200, and analyzed and calculated to obtain the first content package and the second content package; wherein, the first content package is the content of pictures and / or images, and the second content package is the content of text and / or numerical values, and there are some contents corresponding to each other in the first content package and the second content package; the communication transmission module 400 is connected to the data analysis and processing module 300, and is used to compress and transmit the first content package and the second content package; the user terminal 500 is used to receive the data transmitted by the communication transmission module, decrypt the received data based on the set decryption algorithm, and analyze the decrypted data.

[0064] In this embodiment, the data recorder module 200 can store the collected data in real time to obtain a backup data. The function of the data analysis and processing module 300 is to analyze and calculate the original data of the glacier flow velocity environmental elements. Compared with the method of directly transmitting sensor data, it can reduce the data transmission size, thereby improving the data transmission efficiency. At the same time, according to the processed characteristic data type, it is divided into a first content package and a second content package. During the transmission process, the first content package and the second content package can be transmitted through different communication frequency bands, thereby ensuring stable and efficient data transmission. For example, the size of the first content package is usually larger than that of the second content package, so the congestion degree of different communication frequency bands can be extracted and obtained, and a relatively idle communication frequency band can be selected to transmit the first content package.

[0065] It should be noted that the glacier velocity test module 100 is arranged according to the location of the glacier to be monitored, and the data recorder module 200, the data analysis and processing module 300 and the communication transmission module 400 are arranged at a safe location with a certain distance from the glacier to be monitored according to the actual situation, wherein the data recorder module 200 may include a data collector and a memory, the data collector is used to obtain the original data of the glacier velocity environmental elements collected by the glacier velocity test module 100, and the memory directly stores the original data of the glacier velocity environmental elements, the data analysis and processing module 300 may be a server configured with sufficient computing power, and the data recorder module 200 and the communication transmission module 400 are configured on the server. The connection method between the data recorder module 200 and the glacier velocity test module 100 is generally a wireless connection method, that is, a communication link between the two is constructed using wireless communication technology. In some scenarios, such as when the distance between the data recorder module 200 and the glacier flow rate test module 100 is relatively close and the cost of laying lines in the environment is relatively low, you can consider using a wired connection. For example, the wired connection can be achieved by connecting the two using optical fiber to form a data transmission channel.

[0066] In some embodiments, the glacier flow rate test module 100 may be selected as a glacier flow rate test sensor. Table 1 shows the performance parameters of the glacier flow rate test sensor.

[0067] Table 1 Performance parameters of glacier flow rate test sensor

[0068]

[0069] The glacier velocity test sensor is a high-precision GNSS monitoring device with four systems and seven frequencies that is compatible with BDS, GPS, GLONASS and Galileo. It supports BDS B1I / B2a, GPS L1 / L5, GLONASS. G1 and Galileo E1 / E5a ​​frequencies. It supports dual-frequency data reception of the North Three satellites, provides millimeter-level carrier phase observation values, has a built-in GNSS / 4G / WIFI antenna and an integrated communication interface, supports LORA (optional) data transmission and a variety of data transmission formats, and has a default 64G large-capacity storage. When the built-in gyroscope is displaced, it can switch to an emergency state. It is suitable for glacier meteorology, landslide monitoring, bridge monitoring, roadbed monitoring and other deformation monitoring applications.

[0070] The glacier flow velocity test sensor has at least the following functions:

[0071] 1) Support BeiDou-3 dual-frequency data solution and provide millimeter-level carrier phase observation values;

[0072] 2) GNSS single / multi-system RTD / RTK positioning;

[0073] 3) RTCM 3.x data storage;

[0074] 4) Beidou satellite, 4G, serial port, network port, LORA, WIFI real-time data / file transmission;

[0075] 5) Built-in large-capacity lithium battery, providing alarm and 6 to 36 hours of self-powered uninterrupted operation in case of external power failure (battery capacity is optional);

[0076] 6) Monitoring of equipment voltage, 4G signal, temperature and humidity, etc.;

[0077] 7) Anti-theft screw holes are configured to ensure safe operation of the equipment in the field;

[0078] 8) Watchdog design, continuous monitoring for up to 5 years.

[0079] Exemplarily, by setting the glacier velocity test sensor, 15min and GGA mode, the collected raw data of glacier velocity environmental factors are as follows:

[0080] GGA: time, location, positioning data.

[0081] GLL: longitude and latitude, UTC time and positioning status.

[0082] GSA: Receiver mode and satellite working data, including position and horizontal / vertical dilution accuracy, etc. Dilution of Precision is a geographic positioning.

[0083] A receiver can obtain positioning information from many satellites at the same time, but for precise positioning, only four satellite signals are sufficient.

[0084] GSV: Satellite information that the receiver can receive, including satellite ID, altitude, elevation, azimuth, and signal-to-noise ratio (SNR).

[0085] RMC: Date, time, position, direction, speed data. It is the most commonly used message.

[0086] VTG: azimuth and speed over ground.

[0087] MSS: signal-to-noise ratio (SNR), signal strength, frequency, bit rate.

[0088] The data analysis and processing module 300 compares, analyzes and judges the original data and selects qualified data through the fusion algorithm. A small amount of unqualified data is eliminated. The satellite protocol data is compressed into a binary data type of TOB. The plain text data is encrypted through the agreed protocol solution rules to improve the security of the data.

[0089] In some embodiments, Figure 2 As shown, the data analysis and processing module 300 includes a comparison and analysis module 310 and a calculation module 320 .

[0090] The comparison and analysis module 310 is used to filter out correct test data from the original data of the glacier flow velocity environmental elements according to the fixed format of the test data and through the comparison function of the frame structure.

[0091] In some embodiments, according to the fixed format of the test data, the specific implementation steps of selecting the correct test data from the original data of the glacier flow velocity environmental element through the comparison function of the frame structure are as follows:

[0092] S31. Based on the frame structure comparison function, the fixed format of the test data is compared with the frame structure of the original data of the glacier flow velocity environmental element. If the frame structure changes, the reason for the change in the frame structure is determined.

[0093] S32. If it is repeated transmission, the corresponding glacier velocity environment factor original data is deleted in the data recording and collecting module, and only one glacier velocity environment factor original data is retained as the correct test data.

[0094] S33. If the data is sent in sub-packets, the frame structures sent in sub-packets are spliced ​​to obtain a complete frame structure, and the original data of the glacier velocity environmental elements corresponding to the complete frame structure are correct test data and stored in the data recorder module.

[0095] S34. If the content is missing, obtain the satellite signal strength. When the satellite signal strength is lower than the preset threshold, instruct the data recorder and collector module to re-receive the original data of the glacier flow velocity environmental elements. If the complete original data of the glacier flow velocity environmental elements are not received within the set time, the original data of the glacier flow velocity environmental elements are discarded and the reason for the missing is recorded in the data recorder and collector module.

[0096] Specifically, the comparison and analysis module 310 uses the fixed format (beginning, end, length, data type) of the sensor test data. By programming the comparison function of the frame structure, the correct test data is determined. If the frame structure changes (incomplete missing characters, insufficient length, missing part of the data), the specific reason is analyzed. Repeated transmission, packet transmission, or missing transmission. If repeated transmission, discard and do not store, saving memory space. If packet transmission, integrate into a complete frame structure through the splicing technology of program code. Storage. If it is determined that the transmission is missing. Issue a warning message. Analyze the cause. Check the satellite signal strength. Try to receive a new data packet again. If the signal strength is relatively poor, geomagnetic interference, wait for 3 minutes. If still no data is received, discard this frame structure. Record the reason for the missing.

[0097] The operation module 320 is used to perform radiation calibration, atmospheric calibration, geometric correction, texture analysis, shape analysis and edge detection on the correct test data to obtain a feature data set, and normalize and denoise the feature data set, and divide the feature data set into a first content package and a second content package according to the attribute type of the feature data set.

[0098] In some embodiments, Figure 3 As shown, the operation module 320 includes:

[0099] The radiation calibration unit 321 is used to convert the digital value of the remote sensing image into a physical radiation measurement to obtain accurate radiation information;

[0100] The atmospheric correction unit 322 is used to improve the image quality by correcting the atmospheric interference, and obtain a feature map reflecting the real characteristics of the surface;

[0101] A geometric correction unit 323, used to correct the geometric distortion of the image to ensure the accurate position of the image in the geographic coordinate system;

[0102] Texture analysis unit 324, used to extract texture information of the image for target recognition and classification;

[0103] a shape analysis unit 325 for identifying and describing specific shapes in an image;

[0104] An edge detection unit 326, used for edge features between objects in the image to extract and identify object contours;

[0105] A pixel level change detection unit 327, used to detect the change of a single pixel in the image and obtain a first change feature;

[0106] The target level change detection unit 328 is used to detect the change of the entire target or object and obtain a second change feature;

[0107] A time series analysis unit 329 is used to perform change analysis on multi-temporal images to obtain a time series;

[0108] The water body extraction unit 3210 is used to extract water body features by using the reflection characteristics of the water body in different bands;

[0109] The sensor data fusion unit 3211 is used to fuse the data from different flow velocity sensors, thereby improving the comprehensive ability of information acquisition;

[0110] A resolution fusion unit 3212 is used to combine high-resolution and low-resolution images to obtain images with high spatial resolution and wide coverage;

[0111] The GNSS data processing unit 3213 is used to perform image geo-calibration and position positioning using satellite navigation data to obtain a calibrated image and position coordinates;

[0112] A time series data analysis unit 3214 is used to monitor and analyze surface changes using multi-temporal data to obtain time series data;

[0113] The anomaly detection unit 3215 is used to identify abnormal changes in the image and obtain ice crack features.

[0114] In this embodiment, each unit in the operation module 320 performs corresponding data processing based on the data processed by the comparison and analysis module 310 to obtain multiple features. The multiple features are mainly divided into two categories, one is image features, and the other is text features. The image features are combined into a first content package, and the text features are combined into a second content package.

[0115] In some embodiments, Figure 4 As shown, the data analysis and processing module 300 also includes an encryption module 330; the encryption module is used to encrypt the first content package and the second content package according to one of the modbus protocol, 104 protocol, H212 protocol, ADS-B protocol and Pakbus protocol and a combination thereof as the agreed protocol. When the agreed protocol is determined, a corresponding set decryption algorithm can be obtained, and the set decryption algorithm is configured in the user terminal 500.

[0116] In this embodiment, the original transparent ASSIC message, plain text, is easily tampered or stolen. To this end, a variety of protocols are developed according to needs: modbus protocol, 104 protocol, H212 protocol, ADS-B protocol, Pakbus protocol, free rule encryption algorithm custom protocol, etc. Each protocol has a corresponding solution rule, and one or more protocols are used for combined encryption, which will not be easily attacked and stolen.

[0117] In some embodiments, Figure 5 As shown, the communication transmission module 400 includes a first communication unit 401 and a second communication unit 402. The first communication unit 401 is connected to the data analysis and processing module 300, and is used to transmit the first content package and the second content; the second communication unit 402 is arranged on the bank of the river, and is connected to the signal of the first communication unit, and is used to receive the first content package and the second content package, and transmit low-throughput data to the user terminal through the Beidou satellite and transmit high-throughput data to the user terminal 500 through the 4G / 5G module.

[0118] In this embodiment, the particularity of the glacier environment is taken into consideration. The communication technology of Beidou satellite + 4G / 5G + high-speed radio is combined. The data is transmitted to the shore of the river through the radio. The shore data is transmitted to the user end through Beidou satellite, and a small amount of data is transmitted to the user end. The 4G / 5G module is complementary to transmit high-throughput data to the user end.

[0119] In some embodiments, Figure 6 As shown, the user terminal 500 is also connected to a complementary data source 600, and is used to corroborate and verify the decrypted data according to the complementary data fed by the complementary data source to obtain glacier flow velocity data.

[0120] Exemplarily, the complementary data source 600 includes at least one of an ice surface laser ranging sensor array 610 , a glacier imaging sensor array 620 , a glacier laser scanner 630 , a glacier surface temperature array 640 , and a displacement array 650 .

[0121] In this embodiment, the user terminal 500 decrypts the received data using an agreed decryption algorithm and then analyzes it. The analysis process is as follows:

[0122] The decrypted data is combined with the complementary data source 600: the ice surface laser ranging sensor array 610, the glacier imaging sensor array 620, the glacier laser scanner 630, the glacier surface temperature array 640, and the displacement array 650. Data element, dot matrix, and image analysis are performed. The position information change of the glacier flow velocity sensor integrates multiple online sensors to corroborate and verify each other. The glacier flow velocity can provide a large amount of high-precision positioning data, which makes up for the lack of local observation of a single point of the ice surface laser ranging sensor array. It makes up for the defects of the glacier imaging sensor array being distorted and unclear due to factors such as weather and light. The glacier flow velocity can provide a large amount of long-term online high-precision positioning data, while the glacier laser scanner can only provide short-term data. The glacier surface temperature array data can better understand the melting speed of the glacier. The displacement array data can know the moving direction of the glacier. Multiple data testify to each other and complement each other. The data accuracy is improved. Finally, higher-precision and more accurate glacier flow velocity data is obtained.

[0123] In order to improve the test accuracy, the system adopts the differential measurement method of the mobile terminal and the base station. It can achieve CM-level measurement accuracy. Data storage: A 64GB memory card is added to back up the data safely. The power source of each module in the system can adopt the solar power supply system.

[0124] The above implementation modes are only used to illustrate the present invention, but not to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention. The patent protection scope of the present invention should be defined by the claims.

Claims

1. A multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm, characterized in that: It includes a glacier flow rate test module, a data recorder module, a data analysis and processing module, a communication transmission module and a user terminal; The glacier velocity test module is used to collect the original data of glacier velocity environmental factors; The data recorder module is connected to the glacier velocity test module and is used to obtain and store the original data of the glacier velocity environmental elements collected by the glacier velocity test module; The data analysis and processing module is connected to the data recorder module, and is used to extract the original data of the glacier velocity environmental elements from the data recorder module, and perform analysis and calculation to obtain a first content package and a second content package; wherein the first content package is the content of pictures and / or images, and the second content package is the content of text and / or numerical values, and some contents of the first content package and the second content package correspond to each other; The communication transmission module is connected to the data analysis and processing module, and is used to compress and transmit the first content package and the second content package; The user terminal is used to receive the data transmitted by the communication transmission module, decrypt the received data based on a set decryption algorithm, and analyze the decrypted data.

2. The multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm as claimed in claim 1, characterized in that: The data analysis and processing module includes: A comparison and analysis module, used to select correct test data from the original data of the glacier flow velocity environmental elements according to a fixed format of the test data and through a comparison function of a frame structure; The operation module is used to perform radiation calibration, atmospheric calibration, geometric correction, texture analysis, shape analysis and edge detection on the correct test data to obtain a feature data set, and normalize and denoise the feature data set, and divide the feature data set into a first content package and a second content package according to the attribute type of the feature data set.

3. The multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm as claimed in claim 2, characterized in that: The comparison and analysis module is also used for: Based on the comparison function of the frame structure, the fixed format of the test data is compared with the frame structure of the original data of the glacier flow velocity environmental elements. If the frame structure changes, the reason for the change is determined: If it is repeated, the corresponding glacier velocity environment factor original data is deleted in the data recorder module, and only one glacier velocity environment factor original data is retained as the correct test data; If it is sent in sub-packets, the frame structures sent in sub-packets are spliced ​​to obtain a complete frame structure, and the original data of the glacier velocity environmental elements corresponding to the complete frame structure are stored as correct test data in the data recorder module; If the content is missing, the satellite signal strength is obtained. When the satellite signal strength is lower than the preset threshold, the data recording and acquisition module is ordered to re-receive the original data of the glacier flow velocity environmental elements. If the complete original data of the glacier flow velocity environmental elements are not received within the set time, the original data of the glacier flow velocity environmental elements are discarded and the reason for the missing is recorded in the data recording and acquisition module.

4. The multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm as claimed in claim 2, characterized in that: The operation module comprises: A radiation calibration unit is used to convert the digital values ​​of remote sensing images into physical radiation measurements to obtain accurate radiation information; The atmospheric correction unit is used to improve the image quality by correcting the atmospheric interference and obtain a feature map reflecting the real characteristics of the surface; A geometric correction unit, used to correct the geometric distortion of the image to ensure the accurate position of the image in the geographic coordinate system; Texture analysis unit, used to extract texture information of images for target recognition and classification; A shape analysis unit, used to identify and describe specific shapes in an image; The edge detection unit is used to detect the edge features between objects in the image to extract and identify the object contours.

5. The multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm as claimed in claim 4, characterized in that: The operation module also includes: A pixel-level change detection unit, used to detect a change of a single pixel in the image and obtain a first change feature; A target level change detection unit, used to detect the change of the entire target or object and obtain a second change feature; A time series analysis unit is used to analyze the changes of multi-temporal images to obtain a time series; The water body extraction unit is used to extract water body features by utilizing the reflection characteristics of water bodies in different bands.

6. The multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm as claimed in claim 2, characterized in that: The operation module also includes: The sensor data fusion unit is used to fuse the data from different flow rate sensors to improve the comprehensive ability of information acquisition; Resolution fusion unit, used to combine high-resolution and low-resolution images to obtain images with high spatial resolution and wide coverage; A GNSS data processing unit, used to perform image geo-calibration and position positioning using satellite navigation data to obtain a calibrated image and position coordinates; A time series data analysis unit is used to monitor and analyze surface changes using multi-temporal data to obtain time series data; The anomaly detection unit is used to identify abnormal changes in the image and obtain ice crack features.

7. The multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm as claimed in claim 2, characterized in that: The data analysis and processing module also includes an encryption module; The encryption module is used to encrypt the first content package and the second content package according to one of the modbus protocol, 104 protocol, H212 protocol, ADS-B protocol and Pakbus protocol and a combination thereof as the agreed protocol.

8. The multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm as claimed in claim 1, characterized in that: The communication transmission module comprises: A first communication unit, connected to the data analysis and processing module, for transmitting the first content package and the second content; The second communication unit is arranged on the bank of the river and is signal-connected to the first communication unit for receiving the first content package and the second content package, and transmitting low-throughput data to the user terminal through the Beidou satellite and transmitting high-throughput data to the user terminal through the 4G / 5G module.

9. The multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm as claimed in claim 1, characterized in that: The user terminal is also connected to a complementary data source, and is used to corroborate and verify the decrypted data according to the complementary data fed by the complementary data source, so as to obtain glacier flow velocity data.

10. The multi-satellite glacier velocity environment monitoring system based on GNSS differential algorithm as claimed in claim 9, characterized in that: The complementary data source includes at least one of an ice surface laser ranging sensor array, a glacier imaging sensor array, a glacier laser scanner, a glacier surface temperature array, and a displacement array.

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