Displacement monitoring and early warning analysis method based on Beidou satellite positioning system

Abstract

The invention relates to the technical field of satellite positioning, in particular to a displacement monitoring and early warning analysis method based on a Beidou satellite positioning system, and the method comprises the steps: receiving a Beidou satellite signal; processing and analyzing positioning data according to the Beidou satellite signal to obtain early warning information; and issuing the early warning information to a monitoring area. According to the method disclosed by the technical scheme, the problems of inaccurate early warning and untimely false alarm in displacement monitoring of a system based on Beidou satellite positioning are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite positioning, and particularly to a displacement monitoring and early warning analysis method based on the Beidou satellite positioning system. Background Art

[0002] The Beidou Navigation Satellite System (A-BDS) is a global satellite navigation system independently developed and operated by China. It officially started providing services to most of the Asia-Pacific region on December 27, 2012. On July 31, 2020, the Beidou-3 global satellite navigation system was officially launched, marking the entry of the Beidou cause into a new era of global services. Since its launch, the system has been operating stably, continuously providing high-quality services to global users, and starting a new journey of globalization and industrialization.

[0003] There are problems of inaccurate early warning and untimely false alarms in the displacement monitoring of the Beidou satellite positioning-based system. Summary of the Invention

[0004] In view of the problems of inaccurate early warning and untimely false alarms in the displacement monitoring of the Beidou satellite positioning-based system, the present invention introduces a new A-BDS solution method to assist the positioning of the Beidou satellite positioning system, and proposes a displacement monitoring and early warning analysis method based on the Beidou satellite positioning system.

[0005] A displacement monitoring and early warning analysis method based on the Beidou satellite positioning system includes the following steps:

[0006] Receiving Beidou satellite signals;

[0007] Processing and analyzing the positioning data according to the Beidou satellite signals to obtain early warning information;

[0008] Sending the early warning information to the monitoring area.

[0009] Further, the processing and analyzing the positioning data according to the Beidou satellite signals to obtain early warning information specifically includes the following steps:

[0010] S1. Enter the static solution processing flow according to the Beidou satellite signals, and calculate the approximate coordinates according to single-point positioning;

[0011] S2. Performing cycle slip detection and repair processing;

[0012] S3. Correcting systematic errors;

[0013] S4. Establishing a double-difference equation;

[0014] S5. Determine the ambiguity, specifically including first calculating the floating-point solution of the ambiguity and then calculating the fixed solution of the integer ambiguity;

[0015] S6. Solve the baseline length;

[0016] S7. Solve the static data;

[0017] S8. Process the data after static solution using the fast hybrid Gaussian unscented Kalman filter algorithm;

[0018] S9. Extract and process the eigenvalues of the processed data, and establish a model for the monitoring area;

[0019] S10. Conduct big data analysis and comparison for the monitoring type feature library, expert library, and online engineering database, and output early warning information.

[0020] Furthermore, it also includes intelligently analyzing according to the change trend and dynamically adjusting the sampling rate of the on-site monitoring terminal, and outputting an early warning report.

[0021] Furthermore, sending the early warning information to the monitoring area specifically includes the following steps:

[0022] First, conduct cycle slip detection and repair, systematic error correction, floating-point solution of ambiguity, fixed solution of integer ambiguity, and baseline solution in sequence;

[0023] Then, conduct eigenvalue processing and extraction, and establish a monitoring area model; conduct data comparison and analysis based on the eigenvalues and the monitoring area model to obtain an early warning report.

[0024] Furthermore, the fast hybrid Gaussian unscented Kalman filter algorithm is also adopted to improve the real-time performance of calculation.

[0025] As the same concept, a displacement monitoring and early warning system based on the Beidou satellite positioning system is also proposed, including a mobile communication network, an A-BDS solution and early warning server, and an A-BDS universal terminal receiver;

[0026] The A-BDS universal receiver receives Beidou satellite signals;

[0027] The A-BDS universal receiver uploads the Beidou satellite signals to the A-BDS solution and early warning server through the mobile communication network;

[0028] The A-BDS solution and early warning server processes and analyzes the positioning data to obtain early warning information;

[0029] The A-BDS solution and early warning server reports the early warning information to relevant units and at the same time sends it to the monitoring area.

[0030] Further, the A-BDS universal terminal receiver includes a control module, a power module, a mobile network 4G and NB communication function module, a Beidou positioning module, a MEMS vibration sensing module, and a display module;

[0031] The power module is connected to the control module, the mobile network 4G and NB communication function module, the Beidou positioning module, the MEMS vibration sensing module, and the display module for power supply;

[0032] The control module receives data from the Beidou positioning module and controls the operation of the Beidou positioning module at the same time;

[0033] The control module controls the operation of the mobile network 4G and NB communication function module;

[0034] The control module controls the operation of the MEMS vibration sensing module;

[0035] The control module controls the operation of the display module;

[0036] The control module controls the operation of the power module.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] This technical solution discloses a method for data acquisition, processing and analysis in a displacement monitoring and early warning system of the Beidou satellite positioning system, which solves the problems of inaccurate early warning and untimely false alarms in the displacement monitoring of the system based on Beidou satellite positioning. Description of the Drawings

[0039] Figure 1 It is a flowchart of a displacement monitoring and early warning analysis method based on the Beidou satellite positioning system in Embodiment 1 of the present invention;

[0040] Figure 2 It is a system block diagram of a displacement monitoring and early warning system based on the Beidou satellite positioning system in Embodiment 2 of the present invention;

[0041] Figure 3 It is a system block diagram of the A-BDS universal receiver in Embodiment 2 of the present invention. Detailed Embodiments

[0042] The present invention will be further described in detail below with reference to specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments. All technologies implemented based on the content of the present invention belong to the scope of the present invention.

[0043] Unless otherwise specified, in the description of the specific embodiments of the present invention, the expression terms indicating the orientation or positional relationship such as "upper", "lower", "left", "right", "center", "inner", "outer", etc. are all based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the invention product / device / equipment is usually used and placed. These terms of orientation or positional relationship are only for the convenience of describing the solution of the present invention or simplifying the description in the specific embodiments, so as to facilitate technicians to quickly understand the solution, rather than indicating or implying that a specific device / component / element must have a specific orientation or be constructed and operated in a specific positional relationship. Therefore, it should not be construed as a limitation to the present invention.

[0044] In addition, if terms such as "horizontal", "vertical", "hanging", "parallel" appear, it does not mean that the corresponding device / component / element is required to be absolutely horizontal or vertical or hanging or parallel, but can be slightly inclined or have a deviation. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined. Or, it can be simply understood that the corresponding device / component / element is arranged in the directions of "horizontal", "vertical", "hanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, more preferably within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still perform its function in the solution of the present invention.

[0045] In addition, the expressions such as "first", "second", "third", etc. in the terms are only used to distinguish the description of the same or similar components, and should not be understood as emphasizing or implying the relative importance of specific components.

[0046] In addition, in the description of the embodiments of the present invention, "several", "multiple", "a number of" represent at least 2. It can be any situation such as 2, 3, 4, 5, 6, 7, 8, 9, etc., and even can be more than 9.

[0047] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / limited, where terms such as "set", "installed", "connected", "connected", "provided with", "laid", "arranged" appear, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be connection means commonly used in the art such as welding, riveting, bolting, threaded connection, etc. This kind of connection can be a mechanical connection, an electrical connection or a communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components.

[0048] Embodiment 1

[0049] A displacement monitoring and early warning analysis method based on the Beidou satellite positioning system, the flow chart is as Figure 1 shown, including the following steps:

[0050] Receive Beidou satellite signals;

[0051] Process and analyze the positioning data according to the Beidou satellite signals to obtain early warning information;

[0052] Send the early warning information to the monitoring area.

[0053] The A-BDS solution process includes the following steps:

[0054] 1) The A-BDS solution early warning server receives the monitored preprocessed information, reference station ephemeris data, and observation station ephemeris data uploaded from the monitoring site;

[0055] 2) Enter the static solution process to calculate the approximate coordinates of single-point positioning;

[0056] 3) Perform cycle slip detection and repair processing;

[0057] 4) System error correction;

[0058] 5) Establish a double-difference equation;

[0059] 6) Determine the ambiguity, specifically including: first calculate the floating-point solution of the ambiguity, and then calculate the fixed solution of the integer cycle ambiguity;

[0060] 7) Solve the baseline length;

[0061] 8) Solve the static data;

[0062] 9) Use the fast hybrid Gaussian unscented Kalman filter algorithm to process the data after static solution;

[0063] 10) Extract and process the eigenvalues of the processed data, and establish a model for the monitoring area;

[0064] 11) Perform big data analysis and comparison on the monitoring type feature library, expert library, and online engineering database, and output early warning information;

[0065] 12) Intelligently analyze according to the change trend and dynamically adjust the sampling rate of the on-site monitoring terminal;

[0066] 13) Output an early warning report.

[0067] As a specific displacement monitoring and early warning analysis method based on the Beidou satellite positioning system, it includes the following steps:

[0068] 1) The A-BDS universal receiver receives Beidou satellite signals;

[0069] (2) The A-BDS universal receiver uploads the original ephemeris data to the A-BDS solution and warning server through the mobile communication network; the original ephemeris data usually refers to the satellite orbit parameters and clock correction information, which are crucial for positioning. The original ephemeris data is obtained from the Beidou satellite signals.

[0070] (3) The A-BDS solution and warning server processes and analyzes the positioning data according to the work process;

[0071] (4) The A-BDS solution and warning server reports the warning information to the relevant units and simultaneously issues it to the alarm devices in the monitoring area.

[0072] A displacement monitoring and warning analysis method based on the Beidou satellite positioning system further includes: the A-BDS solution and warning server reports the warning information to the relevant units and simultaneously issues it to the alarm devices in the monitoring area.

[0073] Cycle slip detection and repair, systematic error correction, ambiguity float solution, integer ambiguity fixing, and baseline solution are used to solve the errors caused by some environmental factors such as the ionosphere, troposphere, and multipath to the monitoring.

[0074] Static solution performs fusion solution on the sampled data, and performs rolling calculations in half-hour, one-hour, one-day, one-week, one-month, one-quarter, and one-year periods to obtain higher accuracy and more accurate data; it also provides mutual reference and verification for various data processing methods and algorithms.

[0075] Eigenvalue processing and extraction, establishment of the monitoring area model. For infrastructure such as slopes, roadbeds, bridges, tunnels, and dams to be monitored, referring to environmental parameters such as surrounding temperature, humidity, rainfall, wind speed, and wind direction, and analyzing the actual usage scenarios, the eigenvalue monitoring area model is extracted.

[0076] Fast mixed Gaussian unscented Kalman filter algorithm: In order to further improve the accuracy of the unscented Kalman filter in sampling, combined with the theory that a finite Gaussian probability distribution can approximate any probability density function, a fast mixed Gaussian unscented Kalman filter algorithm is proposed with the framework of the mixed Gaussian unscented Kalman filter. This algorithm uses singular value decomposition to replace the unscented transform, generates the covariance square root calculation in the sampling points, constructs a finite-component mixed Gaussian model in the iteration, performs a second-order approximation of the posterior second moment, reduces the number of sub-filters, and improves the situation where the number of sub-filters in the traditional algorithm increases exponentially with the number of iterations, increasing the calculation cost, and improves the real-time performance of the calculation to a certain extent.

[0077] Big data analysis and comparison of the monitoring type feature library, expert library, and online engineering database to extract characteristic values for slopes and roadbeds with different soil types in different regions, and different types of bridges, tunnels, and dams in different regions; for the monitoring of different types of infrastructure, establish an expert library by referring to the latest geological and facility monitoring theories; rely on a large number of online monitoring projects for intelligent data analysis and comparison of the monitoring system's big data; and give a reasonable early warning report by synthesizing various parameters.

[0078] Embodiment 2

[0079] Correspondingly, a displacement monitoring and early warning analysis system based on the Beidou satellite positioning system is also proposed. The system block diagram is as Figure 2 shown, including BDS satellites, a mobile communication network, an A-BDS solution and early warning server, and an A-BDS universal terminal receiver. The system block diagram of the A-BDS universal receiver is as Figure 3 shown. The A-BDS universal receiver, this monitoring terminal includes a control module, a power module, a mobile network 4G and NB communication function module, a Beidou positioning module, a MEMS vibration sensing module, and a display module;

[0080] The power module is connected to the control module, the mobile network 4G and NB communication function module, the Beidou positioning module, the MEMS vibration sensing module, and the display module to supply power to them;

[0081] The control module receives data from the Beidou positioning module and simultaneously controls the operation of the Beidou positioning module;

[0082] The control module controls the operation of the mobile network 4G and NB communication function module;

[0083] The control module controls the operation of the MEMS vibration sensing module;

[0084] The control module controls the operation of the display module;

[0085] The control module controls the operation of the power module.

[0086] The above shows and describes the basic principles, main features, and advantages of the present invention. For those skilled in the art, it is obvious that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0087] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A displacement monitoring and early warning analysis method based on Beidou satellite positioning system, characterized in that: The following steps are involved: Receive Beidou satellite signals; Processing and analyzing positioning data according to the Beidou satellite signal to obtain early warning information; The warning information is sent to the monitoring area.

2. A displacement monitoring and early warning analysis method based on Beidou satellite positioning system as claimed in claim 1, characterized in that: The processing and analysis of the positioning data according to the Beidou satellite signal to obtain the early warning information specifically comprises the following steps: S1, enter the static solution processing flow according to the Beidou satellite signal, and calculate the approximate coordinates according to the single point positioning; S2, cycle slip detection and repair processing; S3, system error correction; S4, establish double difference equation; S5, determining the ambiguity, specifically including first calculating the ambiguity floating point solution, and then calculating the integer ambiguity fixed solution; S6, calculating the baseline length; S7, solving the static data; S8, using a fast hybrid Gaussian unscented Kalman filter algorithm to process the statically solved data; S9, extracting and processing feature values ​​of the processed data, and establishing a model for the monitoring area; S10: Analyze and compare big data of monitoring type feature database, expert database and online engineering database, and output warning information.

3. A displacement monitoring and early warning analysis method based on Beidou satellite positioning system as claimed in claim 2, characterized in that: It also includes intelligent analysis according to changing trends and dynamic adjustment of the sampling rate of on-site monitoring terminals, and output of early warning reports.

4. A displacement monitoring and early warning analysis method based on the Beidou satellite positioning system as described in any one of claims 1 to 3, characterized in that: Sending the warning information to the monitoring area specifically includes the following steps: First, cycle slip detection and repair, system error correction, ambiguity floating point solution, integer ambiguity fixation and baseline solution are carried out in sequence; Then, the characteristic value processing and extraction are performed, and a monitoring area model is established; data comparison and analysis are performed based on the characteristic value and the monitoring area model to obtain an early warning report.

5. A displacement monitoring and early warning analysis method based on Beidou satellite positioning system as claimed in claim 4, characterized in that: A fast mixed Gaussian unscented Kalman filter algorithm is also used to improve the real-time performance of the calculation.

6. A displacement monitoring and early warning system based on the Beidou satellite positioning system, characterized in that: Including mobile communication network, A-BDS solution and warning server and A-BDS universal terminal receiver; A-BDS universal receiver receives BeiDou satellite signals; The A-BDS universal receiver uploads BeiDou satellite signals to the A-BDS solution and warning server through the mobile communication network; The A-BDS solution warning server processes and analyzes the positioning data to obtain warning information; The A-BDS solution and warning server reports the warning information to relevant units and sends it to the monitoring area at the same time.

7. A displacement monitoring and early warning system based on Beidou satellite positioning system as claimed in claim 6, characterized in that: The A-BDS universal terminal receiver includes a control module, a power module, a mobile network 4G and NB communication function module, a Beidou positioning module, a MEMS vibration sensing module, and a display module; The power module is connected to the control module, the mobile network 4G and NB communication function modules, the Beidou positioning module, the MEMS vibration sensing module and the display module for power supply; The control module receives data from the Beidou positioning module and controls the operation of the Beidou positioning module; The control module controls the operation of the mobile network 4G and NB communication function modules; The control module controls the operation of the MEMS vibration sensing module; The control module controls the operation of the display module; The control module controls the operation of the power module.

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