A multi-satellite glacier flow rate environment monitoring system based on GNSS differential algorithm

Abstract

The application relates to the technical field of glacial environment observation, and discloses a multi-satellite glacial flow speed environment monitoring system based on a GNSS differential algorithm, which comprises a glacial flow speed test module, a data record collector module, a data analysis processing module and a communication transmission module. The data record collector module stores and records original glacial flow speed environment element data collected by the glacial flow speed test module. The data analysis processing module analyzes and calculates the collected original glacial flow speed environment element data, obtains a first content package and a second content package, the first content package is picture and image content, and the second content package is text and numerical content. The communication transmission module compresses and encrypts the first content package and the second content package and transmits the first content package and the second content package. The application can reduce the transmission content of the first content package and the second content package, reduce the size of the transmission data, shorten the data transmission time and reduce the network congestion.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of glacial environment observation, in particular to a multi-satellite glacial flow rate environment monitoring system based on a GNSS differential algorithm. BACKGROUND

[0002] The importance of glacial flow rate environment monitoring mainly lies in the following aspects:

[0003] Firstly, climate change monitoring: the change of glacial flow rate is one of the important indicators of climate change. The ablation and flow rate of glaciers directly reflect the degree of climate warming. By monitoring the glacial flow rate, the impact of global warming on glaciers can be better understood, and the future trend of climate change can be predicted12.

[0004] Secondly, water resource management: glaciers are an important source of water in many regions, especially in arid and semi-arid regions. Monitoring of glacial flow rate helps to assess the flow and speed of glacial meltwater, providing scientific basis for water resource management and rational utilization. This is of great significance to the water for living and production of local residents.

[0005] Thirdly, ecological environment protection: the change of glacial flow rate will affect the balance of the surrounding ecological system. Rapidly ablated glaciers may lead to water reduction, which in turn affects the stability of the ecological system and biodiversity. By monitoring the glacial flow rate, changes in the ecological environment can be found in time, and appropriate protection measures can be taken.

[0006] Fourthly, scientific research: the monitoring of glacial flow rate provides valuable data support for scientific research. Scientists can study the dynamics of glaciers, the impact of climate change on glaciers, and the interaction between glaciers and the climate system by analyzing the changes in glacial flow rate, thus promoting the development of related fields

[0007] The key technologies of glacial flow rate environment monitoring mainly include the following:

[0008] Remote sensing technology: through satellites, aircraft and other carriers, sensors are installed to obtain remote sensing image data of glaciers. These data can provide information on the shape, distribution and movement of glaciers. The principle of remote sensing technology is to receive electromagnetic energy reflected or radiated by the ground, analyze and interpret the characteristics of these energies to obtain information about related ground objects, and thus infer the physical changes of glaciers.

[0009] Topographic surveying technology: laser radar systems on satellites or aircraft are used to obtain elevation data of the surface of glaciers. These data can provide information on the thickness and volume of glaciers. The principle of topographic surveying technology is to use laser beams emitted by laser radar to illuminate the surface of glaciers, measure the reflection time of laser beams, and thus calculate the elevation of the surface of glaciers.

[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 changes in the thermodynamics of the glacier, predict the trend of glacier melting, and assess the response of the glacier to climate change.

[0011] Real-time monitoring system: composed of GNSS, laser ranging, camera, weather, ice temperature, seismograph and other monitoring modules, through 4G network real-time transmission of observation data and online publishing. This system greatly reduces the difficulty and potential risk of manual monitoring of high-altitude glaciers, and realizes the continuity and accuracy of data collection.

[0012] For high-altitude glaciers, the real-time monitoring system is undoubtedly applicable. Due to the geographical location, the layout of the basic wireless communication equipment is not comprehensive, for example, there are fewer signal base stations, resulting in larger network fluctuations, resulting in slower data transmission efficiency, so how to improve the data transmission efficiency is the key to realize the continuity and accuracy of the glacier flow rate environmental data collection. SUMMARY

[0013] The purpose of the present application is to provide a multi-satellite glacier flow rate environmental monitoring system based on GNSS differential algorithm, by setting up a data analysis processing module to process the data collected in real time, and classify and send the processed features, compared with the way of directly sending the collected data, it can reduce the size of the transmission data under the premise of ensuring the continuity of the effective data, and then improve the data transmission efficiency, realize the continuity and accuracy of the glacier flow rate environmental data collection.

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

[0015] A multi-satellite glacier flow rate environmental monitoring system based on GNSS differential algorithm, comprising a glacier flow rate test module, a data recording collector module, a data analysis processing module, a communication transmission module and a user terminal;

[0016] The glacier speed test module is used to collect the original data of the glacier flow rate environmental elements;

[0017] The data recording collector module is connected with the glacier speed test module, and is used to store the original data of the glacier flow rate environmental elements collected by the glacier speed test module;

[0018] The data analysis processing module is connected with the data recorder module and used for extracting glacial flow velocity environmental element original data from the data recorder module, analyzing and calculating, obtaining a first content package and a second content package; wherein the first content package is a picture and / or image content, the second content package is a text and / or numerical content, and the first content package and the second content package have some corresponding contents.

[0019] The communication transmission module is connected with the data analysis processing module and used for compressing and transmitting the first content package and the second content package.

[0020] The user terminal is used for receiving data transmitted by the communication transmission module, decrypting the received data based on a set decryption algorithm, and analyzing the decrypted data.

[0021] Further, the data analysis processing module comprises:

[0022] The comparison analysis module is used for screening correct test data from the glacial flow velocity environmental element original data according to a fixed format of test data and through a frame structure comparison function.

[0023] The calculation module is used for performing radiation calibration, atmospheric calibration, geometric correction, texture analysis, shape analysis and edge detection on the correct test data to obtain a feature data set, performing normalization and denoising processing on the feature data set, and dividing the feature data set into the first content package and the second content package according to an attribute type of the feature data set.

[0024] Further, the comparison analysis module is further used for:

[0025] Based on the frame structure comparison function, the fixed format of test data is compared with the frame structure of the glacial flow velocity environmental element original data, and if the frame structure changes, the reason for the change of the frame structure is determined.

[0026] If it is repeated sending, the corresponding glacial flow velocity environmental element original data is deleted in the data recorder module, and only one glacial flow velocity environmental element original data is reserved as correct test data.

[0027] If it is packet sending, the packet sending frame structure is spliced to obtain a complete frame structure, and the glacial flow velocity environmental element original data corresponding to the complete frame structure is stored in the data recorder module as correct test data.

[0028] If the content is missing, the satellite signal strength is acquired, and if the satellite signal strength is lower than a preset threshold, the data recorder collector module is caused to receive the original data of the glacier flow speed environmental elements again, and if the complete original data of the glacier flow speed environmental elements is not received within a set time, the original data of the glacier flow speed environmental elements is discarded, and the reason for the missing is recorded in the data recorder collector module.

[0029] Further, the operation module comprises:

[0030] A radiation calibration unit is configured to convert the digital values of the remote sensing image into physical radiation metrics to obtain accurate radiation information.

[0031] An atmospheric correction unit is configured to improve the image quality by correcting atmospheric interference to obtain a feature map reflecting the true characteristics of the ground surface.

[0032] A geometric correction unit is configured to correct the geometric distortion of the image to ensure the accurate position of the image in the geographic coordinate system.

[0033] A texture analysis unit is configured to extract the texture information of the image for target identification and classification.

[0034] A shape analysis unit is configured to identify and describe specific shapes in the image.

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

[0036] Further, the operation module further comprises:

[0037] A pixel-level change detection unit is configured to detect changes in individual pixels in the image to obtain first change features.

[0038] A target-level change detection unit is configured to detect changes in entire targets or objects to obtain second change features.

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

[0040] Further, the operation module further comprises:

[0041] A sensor data fusion unit is configured to fuse data from different flow speed sensors to improve the comprehensive ability of information acquisition.

[0042] A resolution fusion unit is configured to combine high-resolution and low-resolution images to obtain images with high spatial resolution and wide coverage.

[0043] A GNSS data processing unit is configured to utilize satellite navigation data to perform image geo-calibration and position positioning, and obtain calibrated images and position coordinates.

[0044] A time-series data analysis unit is configured to utilize multi-temporal data to perform surface change monitoring and analysis, and obtain time-series data.

[0045] An anomaly detection unit is configured to identify abnormal changes in images, and obtain ice crack features.

[0046] Further, the data analysis processing module further comprises an encryption module.

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

[0048] Further, the communication transmission module comprises:

[0049] A first communication unit is connected to the data analysis processing module, and is configured to transmit the first content package and the second content.

[0050] A second communication unit is arranged on the bank of the river, and is signal-connected to the first communication unit, and is configured to receive the first content package and the second content package, and transmit low-flux data to a user terminal through a Beidou satellite and high-flux data to the user terminal through a 4G / 5G module.

[0051] Further, the user terminal is further connected to a complementary data source, and is configured to verify and verify the decrypted data according to complementary data fed by the complementary data source, and obtain ice flow velocity data.

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

[0053] The present application has the following advantages:

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

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

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

[0057] Figure 3 The structure of a data analysis processing module in a multi-satellite glacier flow speed environment monitoring system based on a GNSS differential algorithm is shown according to an embodiment of the present application

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

[0059] Figure 5 The structure of a data analysis processing module in a multi-satellite glacier flow speed environment monitoring system based on a GNSS differential algorithm is shown according to an embodiment of the present application

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

[0061] The present application is described below by way of specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosure of the present specification. The present application can also be implemented or applied by different specific embodiments, and the details in the present specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0062] The specific embodiments of the present application are described in further detail below in conjunction with the accompanying drawings and embodiments.

[0063] The present application provides a multi-satellite glacier flow speed environment monitoring system based on a GNSS differential algorithm, as shown in Figure 1As shown, the multi-satellite glacier flow speed environment monitoring system based on the GNSS differential algorithm comprises a glacier flow speed test module 100, a data recording collector module 200, a data analysis processing module 300, a communication transmission module 400 and a user terminal 500; the glacier speed test module 100 is used for collecting glacier flow speed environment element raw data; the data recording collector module 200 is connected with the glacier speed test module 100, and is used for storing the glacier flow speed environment element raw data collected by the glacier speed test module 100; the data analysis processing module 300 is connected with the data recording collector module 200, and is used for extracting the glacier flow speed environment element raw data from the data recording collector module 200, and analyzing and operating to obtain a first content package and a second content package; wherein the first content package is a picture and / or image content, the second content package is a text and / or numerical content, and the first content package and the second content package have corresponding contents; the communication transmission module 400 is connected with the data analysis processing module 300, and is used for compressing and transmitting the first content package and the second content package; and the user terminal 500 is used for receiving the data transmitted by the communication transmission module, decrypting the received data based on a set decryption algorithm, and analyzing the decrypted data.

[0064] In the embodiment, the data recording collector module 200 can store the collected data in real time to obtain a backup data, and the data analysis processing module 300 is used for analyzing and operating the glacier flow speed environment element raw data, which can reduce the data transmission size and improve the data transmission efficiency compared with the direct sensor data transmission mode, and the processed characteristic data type is divided into the first content package and the second content package, and the first content package and the second content package can be transmitted through different communication frequency bands in the transmission process, so as to ensure the stable and efficient transmission of data. 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 selected to transmit the first content package through the relatively idle communication frequency band.

[0065] It should be noted that the glacier flow rate test module 100 is arranged according to the position of the glacier to be monitored, and the data recording collector module 200, the data analysis processing module 300 and the communication transmission module 400 are arranged at a safe position away from the glacier to be monitored according to the actual situation. The data recording collector module 200 can include a data collector and a memory. The data collector is used to obtain the glacier flow rate environmental element raw data collected by the glacier flow rate test module 100, and the memory directly stores the glacier flow rate environmental element raw data. The data analysis processing module 300 can be a server with sufficient computing power, and the data recording collector module 200 and the communication transmission module 400 are arranged on the server. The connection mode between the data recording collector module 200 and the glacier flow rate test module 100 is generally a wireless connection mode, that is, a communication link between the two is constructed by using wireless communication technology. In some scenarios, such as when the distance between the data recording collector module 200 and the glacier flow rate test module 100 is relatively short, and the environment is relatively low in terms of line laying cost, a wired connection mode can be considered, such as connecting the two by using an optical fiber to form a data transmission channel.

[0066] In some embodiments, the glacier flow rate test module 100 can be selected as a glacier flow rate test sensor. The performance parameters of the glacier flow rate test sensor are shown in Table 1.

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

[0068]

[0069] The glacier flow rate test sensor is a four-system 7-frequency high-precision GNSS monitoring device compatible with BDS, GPS, GLONASS and Galileo, supporting BDS B1I / B2a, GPS L1 / L5, GLONASS. G1 and Galileo E1 / E5a frequency points. Support for receiving double-frequency data from three satellites in the north, provide millimeter-level carrier phase observation values, built-in GNSS / 4G / WIFI antenna and integrated communication interface, support LORA (optional) data transmission and multiple data transmission formats, default 64G large capacity storage, built-in gyroscope can switch to emergency state when displacement occurs, suitable for deformation monitoring application fields such as glacier weather, landslide monitoring, bridge monitoring, roadbed monitoring, etc.

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

[0071] 1) Support for Beidou triple-frequency data solution, 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, provides alarm and 6-36 hours self-power uninterrupted operation in case of external power failure (battery capacity can be selected) ;

[0076] 6) Equipment voltage, 4G signal, temperature and humidity monitoring;

[0077] 7) Configure anti-theft screw holes to ensure safe operation of the equipment in the field;

[0078] 8) watchdog design, up to 5 years of continuous monitoring.

[0079] For example, by setting the glacier flow rate test sensor, 15min and GGA mode, the collected glacier flow rate environmental factor raw data are as follows:

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

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

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

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

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

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

[0086] VTG: azimuth and ground speed.

[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 raw data, filters out qualified data through fusion algorithm, and rejects a small amount of unqualified data. The satellite protocol data is compressed into TOB binary data type. Through the agreed protocol calculation rule, the plaintext data is encrypted to improve the security of the data.

[0089] In some embodiments, as shown in Figure 2 The data analysis processing module 300 includes a comparison analysis module 310 and an operation module 320.

[0090] The comparison analysis module 310 is used to screen correct test data from the glacier flow rate environmental factor raw data according to the fixed format of the test data through the frame structure comparison function.

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

[0092] S31, based on the frame structure comparison function, compare the fixed format of the test data with the frame structure of the glacier flow rate environmental factor raw data, and if the frame structure changes, determine the reason for the change in the frame structure.

[0093] S32, if it is repeated sending, delete the corresponding glacier flow rate environmental factor raw data in the data recorder module, and only keep one glacier flow rate environmental factor raw data as correct test data.

[0094] S33, if it is a split package sending, splice the frame structure of the split package sending to obtain a complete frame structure, and store the glacier flow rate environmental factor raw data corresponding to the complete frame structure as correct test data in the data recorder module.

[0095] S34, if the content is missing, acquire the satellite signal strength, and in the case that the satellite signal strength is lower than the preset threshold, make the data recorder module receive the glacier flow rate environmental factor raw data again, if the complete glacier flow rate environmental factor raw data is not received within the set time, discard the glacier flow rate environmental factor raw data, and record the reason for the lack in the data recorder 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 data), the specific reason is analyzed. Repeated transmission, sub-packet transmission, or missing transmission. If repeated transmission, discard and do not store to save memory space. If sub-packet transmission, through the splicing technology of program code, integrate into a complete frame structure. 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 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, as 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] An atmospheric correction unit 322 is used to improve image quality by correcting atmospheric interference and obtain a feature map reflecting the true characteristics of the surface;

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

[0102] Texture analysis unit 324, for extracting 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 for detecting edge features between objects in an image to extract and identify object contours;

[0105] a pixel-level change detection unit 327 for detecting changes in a single pixel in the image to obtain a first change feature;

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

[0107] The time series analysis unit 329 is configured to perform change analysis on the multi-temporal images to obtain time series data.

[0108] The water body extraction unit 3210 is configured to extract water body features by using the reflection characteristics of water bodies in different wave bands.

[0109] The sensor data fusion unit 3211 is configured to fuse data from different flow rate sensors to improve the comprehensive ability of information acquisition.

[0110] The resolution fusion unit 3212 is configured 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 configured to use satellite navigation data to perform image geographic calibration and position positioning to obtain calibrated images and position coordinates.

[0112] The time series data analysis unit 3214 is configured to use multi-temporal data to monitor and analyze surface changes to obtain time series data.

[0113] The anomaly detection unit 3215 is configured to identify abnormal changes in images to 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 a plurality of features. The plurality of features are mainly divided into two categories: image features and 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, as shown in Figure 4 The data analysis and processing module 300 further includes an encryption module 330. The encryption module is configured to encrypt the first content package and the second content package according to one of the modbus protocol, the 104 protocol, the H212 protocol, the ADS-B protocol, and the Pakbus protocol and combinations thereof as a convention protocol. In the case where the convention protocol is determined, a corresponding set decryption algorithm can be obtained, which is configured in the user terminal 500.

[0116] In this embodiment, considering the original transparent transmission of the ASSIC message, the plaintext is easily tampered with or stolen. Therefore, according to the needs, a plurality of protocols are developed: modbus protocol, 104 protocol, H212 protocol, ADS-B protocol, Pakbus protocol, free rule encryption algorithm self-defined protocol, etc. Each protocol has a corresponding calculation rule, and one or more protocols are combined for encryption, which cannot be easily attacked and stolen.

[0117] In some embodiments, as shown inFigure 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 processing module 300, for transmitting the first content package and the second content; the second communication unit 402 is arranged on the bank of the river, and is signal-connected with the first communication unit, for receiving the first content package and the second content package, and transmitting the low-flux data to the user terminal through the Beidou satellite and transmitting the high-flux data to the user terminal 500 through the 4G / 5G module.

[0118] In this embodiment, considering the particularity of the glacier environment, the communication technology of Beidou satellite+4G / 5G+high-speed radio station is combined. The data is transmitted to the bank of the river through the radio station. The bank data is transmitted to the user terminal through the Beidou satellite. The 4G / 5G module is complementary, and the high-flux data is transmitted to the user terminal.

[0119] In some embodiments, as shown in Figure 6 As shown, the user terminal 500 is also connected to a complementary data source 600, for verifying and verifying the decrypted data according to the complementary data fed by the complementary data source, to obtain the glacier flow rate data.

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

[0121] In this embodiment, the user terminal 500 receives the data, and analyzes it after decryption by the agreed decryption algorithm. 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 ice imaging sensor array 620, and the ice laser scanner 630, the ice surface temperature array 640, and the displacement array 650. Data elements, dot matrix, and image analysis. The position information of the glacier flow rate sensor changes and fuses multiple online sensors, and verifies each other. The glacier flow rate can provide a large amount of high-precision positioning data, which makes up for the deficiency of local observation of the ice surface laser ranging sensor array single point. Make up for the defects that the ice imaging sensor array cannot be clearly taken due to weather, light and other factors. The glacier flow rate can provide a large amount of long-term online high-precision positioning data, and the ice laser scanner can only provide short-term data. The ice surface temperature array data can better know the melting speed of the glacier. The displacement array data can know the moving direction of the glacier. Multiple data are mutually corroborated and mutually complementary. The data accuracy is improved. Finally, the glacier flow rate data with higher accuracy and higher accuracy is obtained.

[0123] In order to improve the test precision, the system adopts the mobile terminal and the differential measurement mode of the reference station. The CM level measurement precision can be realized. Data storage: 64GB memory card is added. The data is safely backed up. The power source of each module in the system can adopt the solar power supply system.

[0124] The above embodiments are only used for describing the present application, and not for limiting the present application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application. Therefore, all equivalent technical solutions belong to the scope of the present application, and the patent protection scope of the present application should be defined by the claims.

Claims

1. A multi-satellite glacier flow rate environmental monitoring system based on GNSS differential algorithm, characterized in that, The system comprises a glacier flow rate testing module, a data recording collector module, a data analysis processing module, a communication transmission module and a user terminal. The glacier flow rate testing module is used to collect glacier flow rate environmental element original data. The data recording collector module is connected with the glacier flow rate testing module and is used to acquire and store the glacier flow rate environmental element original data collected by the glacier flow rate testing module. The data analysis processing module is connected with the data recording collector module and is used to extract the glacier flow rate environmental element original data from the data recording collector module, analyze and calculate the glacier flow rate environmental element original data, and obtain a first content package and a second content package; the first content package is a picture and / or image content, the second content package is a text and / or numerical content, and the first content package and the second content package have some corresponding contents. The communication transmission module is connected with the data analysis 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. The data analysis processing module comprises: A comparison and analysis module is used to filter correct test data from the glacier flow rate environmental element original data according to the fixed format of the test data and through a frame structure comparison function. An 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, normalize and denoise the feature data set, divide the feature data set into the first content package and the second content package according to the attribute type of the feature data set. The comparison and analysis module is further used to: Based on the frame structure comparison function, the fixed format of the test data is compared with the frame structure of the glacier flow rate environmental element original data, and if the frame structure changes, the reason for the change of the frame structure is determined: If it is repeated sending, the corresponding glacier flow rate environmental element original data is deleted in the data recording collector module, and only one glacier flow rate environmental element original data is kept as correct test data; If it is packet sending, the packet sent frame structure is spliced to obtain a complete frame structure, and the glacier flow rate environmental element original data corresponding to the complete frame structure is stored in the data recording collector module as correct test data; If it is content missing, the satellite signal strength is acquired, and in the case that the satellite signal strength is lower than a preset threshold, the data recording collector module is instructed to receive the glacier flow rate environmental element original data again, and if the complete glacier flow rate environmental element original data is not received within a set time, the glacier flow rate environmental element original data is discarded, and the missing reason is recorded in the data recording collector module. The operation module comprises: A radiation calibration unit is used to convert the digital value of a remote sensing image into a physical radiation measurement to obtain accurate radiation information. An atmospheric correction unit is configured to improve image quality by correcting atmospheric interference, and obtain a feature map reflecting the true characteristics of the ground surface; A geometric correction unit is configured to correct the geometric distortion of the image to ensure the accurate position of the image in the geographic coordinate system; A texture analysis unit is configured to extract the texture information of the image for target identification and classification; A shape analysis unit is configured to identify and describe specific shapes in the image; An edge detection unit is configured to extract and identify the edge features between objects in the image.

2. The GNSS differential algorithm based multi-satellite glacier flow velocity environmental monitoring system according to claim 1, wherein, The operation module further comprises: A pixel-level change detection unit is configured to detect changes in individual pixels in the image, and obtain first change features; A target-level change detection unit is configured to detect changes in entire targets or objects, and obtain second change features; A time series analysis unit is configured to perform change analysis on multi-temporal images, and obtain time series; A water body extraction unit is configured to extract water body features by using the reflection characteristics of water bodies in different wave bands.

3. The GNSS differential algorithm based multi-satellite glacier flow velocity environmental monitoring system according to claim 1, wherein, The operation module further comprises: A sensor data fusion unit is configured to fuse data from different flow rate sensors to improve the comprehensive ability of information acquisition; A resolution fusion unit is configured to combine high-resolution and low-resolution images to obtain images with high spatial resolution and wide coverage; A GNSS data processing unit is configured to use satellite navigation data to perform image geographic calibration and position positioning, and obtain calibrated images and position coordinates; A time series data analysis unit is configured to use multi-temporal data to monitor and analyze ground surface changes, and obtain time series data; An anomaly detection unit is configured to identify abnormal changes in the image, and obtain ice crack features.

4. The GNSS differential algorithm based multi-satellite glacier flow velocity environmental monitoring system according to claim 1, wherein, The data analysis processing module further comprises an encryption module; The encryption module is configured to encrypt the first content package and the second content package according to one of the modbus protocol, the 104 protocol, the H212 protocol, the ADS-B protocol, and the Pakbus protocol, and combinations thereof as a convention protocol.

5. The GNSS differential algorithm based multi-satellite glacier flow velocity environmental monitoring system according to claim 1, wherein, The communication transmission module comprises: A first communication unit connected to the data analysis processing module, configured to transmit the first content package and the second content package; A second communication unit arranged on the bank of the river, signal connected with the first communication unit, configured to receive the first content package and the second content package, and transmit low-flux data to the user terminal through the Beidou satellite and high-flux data to the user terminal through the 4G / 5G module.

6. The GNSS differential algorithm based multi-satellite glacier flow velocity environmental monitoring system according to claim 1, wherein, The user terminal is further connected to a complementary data source, configured to verify and verify the decrypted data according to the complementary data fed by the complementary data source, and obtain the glacier flow rate data.

7. The GNSS differential algorithm based multi-satellite glacier flow velocity environmental monitoring system according to claim 6, wherein, The complementary data source comprises at least one of an ice surface laser ranging sensor array, an ice imaging sensor array, an ice laser scanner, an ice surface temperature array, and a displacement array.

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