GNSS deformation monitoring method, electronic equipment and computer readable storage medium

Abstract

The invention provides a GNSS deformation monitoring method, electronic equipment and a computer readable storage medium, and belongs to the field of surveying and mapping science and technology. In the method, firstly, a monitoring station acquires observation data corresponding to a current epoch moment, and stores the observation data corresponding to the current epoch moment in an observation queue; secondly, the monitoring station determines first observation data corresponding to a first moment of the observation queue based on the first moment corresponding to differential data provided by the base station, and performs differential positioning calculation based on the first observation data and the differential data to obtain a first monitoring station coordinate corresponding to the first moment of the monitoring station; the observation moments of the first observation data and the differential data are the same, it can be guaranteed that the differential age is zero, positioning errors caused by the differential age are reduced, and the monitoring precision is high; and finally, the monitoring station stores the first monitoring station coordinate to a coordinate queue, and determines a deformation monitoring result of the monitored object according to the coordinate queue, thereby realizing timely monitoring of sudden deformation of the monitored object.

Description

Technical Field

[0001] This application relates to the field of surveying and mapping science and technology, and particularly to a GNSS deformation monitoring method, an electronic device, and a computer-readable storage medium. Background Art

[0002] Deformation monitoring technology has important value in fields such as civil engineering, geological exploration, and construction engineering. If the deformation of a building exceeds the standard due to external environmental impacts, it may seriously affect social production and people's safety. With the complexity of engineering structures, deformation monitoring has become an important means to ensure structural safety and evaluate stability. In recent years, the Global Navigation Satellite System (GNSS) has gradually become the core technology of deformation monitoring due to its advantages such as all-weather and high precision.

[0003] There are mainly two ways of GNSS deformation monitoring: one is static differential technology, and the other is Real-Time Kinematic (RTK) technology. Static differential technology transmits the original data collected at the monitoring point to the central server, and the central server performs static post-processing and calculation after accumulating a certain duration of GNSS observables. This technology has high monitoring accuracy, but poor timeliness and cannot reflect sudden deformations in a timely manner. In addition, static differential technology also causes huge network traffic consumption and has high performance requirements for the central server performing data calculation, thus increasing the monitoring cost. In contrast, RTK technology can improve the monitoring timeliness, but the monitoring accuracy is relatively low. Especially in the case of unstable communication links, problems such as differential data loss and large differential ages may occur, thus introducing large positioning errors.

[0004] Therefore, when using GNSS for deformation monitoring, poor real-time performance and low monitoring accuracy have become problems that need to be solved urgently. Summary of the Invention

[0005] This application provides a GNSS deformation monitoring method, an electronic device, and a computer-readable storage medium to solve the problems of poor real-time performance and low monitoring accuracy in existing GNSS deformation monitoring.

[0006] In a first aspect, this application provides a GNSS deformation monitoring method, including:

[0007] Obtain the observation data corresponding to the current epoch moment, and store the observation data corresponding to the current epoch moment in an observation queue. The observation queue is used to store multiple observation data respectively corresponding to multiple epoch moments. Each observation data includes the pseudorange observable of the monitoring station, the carrier phase observable of the monitoring station, and the ephemeris data of multiple satellites;

[0008] Receive the differential data of the reference station, where the differential data includes the reference station pseudorange observation and the reference station carrier phase observation;

[0009] When there is observation data corresponding to the first moment in the observation queue, perform differential positioning calculation based on the first observation data and the differential data to obtain the first monitoring station coordinate corresponding to the monitoring station at the first moment; where the first moment is the observation moment of the differential data, and the first observation data is the observation data corresponding to the first moment in the observation queue;

[0010] Store the first monitoring station coordinate into the coordinate queue, where the coordinate queue is used to store L monitoring station coordinates corresponding to the monitoring station at L epoch moments respectively; where L is a positive integer and L≥2;

[0011] Determine the deformation monitoring result of the monitoring object according to the coordinate queue, where the deformation monitoring result is used to indicate that the monitoring object has deformation during the target time period, or is used to indicate that the monitoring object has no deformation during the target time period; where the end moment of the target time period is the first moment.

[0012] In a possible design, the performing differential positioning calculation based on the first observation data and the differential data to obtain the first monitoring station coordinate corresponding to the monitoring station at the first moment includes:

[0013] For the first satellite among the multiple satellites, construct the first non-differential observation equation corresponding to the first satellite based on the first observation data and the differential data;

[0014] Based on the first non-differential observation equation corresponding to the first satellite, construct the first single-difference observation equation corresponding to the first satellite;

[0015] Subtract the first single-difference observation equation from the second single-difference observation equation to obtain a double-difference observation equation; where the second single-difference observation equation is the single-difference observation equation corresponding to the second satellite among the multiple satellites;

[0016] Use the Kalman filtering algorithm to perform floating-point calculation on the double-difference observation equation to obtain the floating-point ambiguity at the first moment;

[0017] Perform ambiguity fixing on the floating-point ambiguity at the first moment to obtain the first monitoring station coordinate corresponding to the monitoring station at the first moment.

[0018] In a possible design, the determining the deformation monitoring result of the monitoring object according to the coordinate queue includes:

[0019] Determine a first coordinate mean value, a second coordinate mean value, and a coordinate queue variance according to the coordinate queue; wherein, the L monitoring station coordinates in the coordinate queue are arranged in the order of the L epoch times, the first coordinate mean value is the mean value of the first L / 2 monitoring station coordinates in the coordinate queue, the second coordinate mean value is the mean value of the last L / 2 monitoring station coordinates in the coordinate queue, and the coordinate queue variance is the variance of the L monitoring station coordinates;

[0020] Determine the difference between the first coordinate mean value and the second coordinate mean value as a first difference;

[0021] Determine the deformation monitoring result of the monitoring object according to the first difference and the coordinate queue variance.

[0022] In a possible design, the determining the deformation monitoring result of the monitoring object according to the first difference and the coordinate queue variance includes:

[0023] When the first difference is greater than a first threshold and the coordinate queue variance is greater than a second threshold, determine the deformation monitoring result of the monitoring object as a first deformation monitoring result, and the first deformation monitoring result is used to indicate that the monitoring object has deformation during the target time period;

[0024] When the first difference is less than or equal to the first threshold and / or the coordinate queue variance is less than or equal to the second threshold, determine the deformation monitoring result of the monitoring object as a second deformation monitoring result, and the second deformation monitoring result is used to indicate that the monitoring object has no deformation during the target time period.

[0025] In a possible design, when the deformation monitoring result of the monitoring object is the first deformation monitoring result, the method further includes:

[0026] Determine the second coordinate mean value as the smoothed monitoring station coordinate at the first moment and output a deformation warning signal.

[0027] In a possible design, when the deformation monitoring result of the monitoring object is the second deformation monitoring result, the method further includes:

[0028] According to the formula COOR k =αCOOR k-1 +βCoor k , determine the smoothed monitoring station coordinate at the first moment; wherein, α represents a first weight coefficient, β represents a second weight coefficient, α and β are set based on a preset monitoring solution arc length, and α + β = 1; COOR k-1 represents the smoothed monitoring station coordinate at the second moment, Coor kIndicates the coordinates of the first monitoring station, COOR k Indicates the smoothed monitoring station coordinates at the first moment; the second moment is an epoch moment before the first moment.

[0029] In a possible design, the method further includes:

[0030] Determine whether the current solution arc length is greater than or equal to a preset monitoring solution arc length;

[0031] When the current solution arc length is greater than or equal to the preset monitoring solution arc length, determine the difference between the smoothed monitoring station coordinates at the first moment and the coordinates of the second monitoring station as the deformation amount of the monitoring object, and output the deformation amount.

[0032] In a possible design, the obtaining the observation data corresponding to the current epoch moment and storing the observation data corresponding to the current epoch moment into the observation queue includes:

[0033] Obtain the observation data corresponding to the current epoch moment;

[0034] Determine whether the current number of the observation data in the observation queue is less than a preset number;

[0035] When the current number of the observation data in the observation queue is less than the preset number, store the observation data corresponding to the current epoch moment into the observation queue;

[0036] When the current number of the observation data in the observation queue is equal to the preset number, clear the second observation data, and store the observation data corresponding to the current epoch moment into the observation queue; wherein, the second observation data is the observation data corresponding to the earliest epoch moment in the observation queue.

[0037] In a second aspect, the present application provides a communication device, including: a module for executing the method embodiments of the foregoing first aspect.

[0038] In a third aspect, the present application provides an electronic device, including: a memory and at least one processor;

[0039] The memory stores computer execution instructions;

[0040] The at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the method as described in the first aspect or various possible designs of the first aspect above.

[0041] Fourthly, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, the method described in the first aspect or various possible designs of the first aspect above is implemented.

[0042] Fifthly, the present application provides a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer is enabled to implement the method described in the first aspect or various possible designs of the first aspect above.

[0043] Sixthly, the present application provides a chip, including: an interface circuit and a logic circuit. The interface circuit is configured to receive signals from other chips outside the chip and transmit them to the logic circuit, or send signals from the logic circuit to other chips outside the chip. The logic circuit is configured to implement the method described in the first aspect or various possible designs of the first aspect above.

[0044] An embodiment of the present application provides a GNSS deformation monitoring method, an electronic device, and a computer-readable storage medium. In this GNSS deformation monitoring method, first, a monitoring station acquires observation data corresponding to the current epoch moment and stores the observation data corresponding to the current epoch moment in an observation queue. The observation queue includes multiple observation data corresponding to multiple epoch moments respectively. Secondly, based on the first moment corresponding to the differential data provided by the reference station, the monitoring station selects the observation data corresponding to the epoch moment consistent with the first moment in the observation queue as the first observation data, and performs differential positioning calculation based on the first observation data and the differential data to obtain the first monitoring station coordinate corresponding to the monitoring station at the first moment. By ensuring that the observation moments of the first observation data and the differential data are the same, the differential age is ensured to be zero, thereby minimizing the positioning error caused by the differential age and having high monitoring accuracy. Finally, the monitoring station stores the first monitoring station coordinate in a coordinate queue, and determines the deformation monitoring result of the monitoring object according to the coordinate queue, realizing the timely monitoring of the sudden deformation of the monitoring object and having good real-time performance. In addition, the calculation process of GNSS monitoring is concentrated in the monitoring station, reducing the dependence on the external network and reducing the communication cost and the calculation cost of the central server. Description of the Drawings

[0045] Figure 1 It is a schematic flowchart of a GNSS deformation monitoring method provided by an embodiment of the present application;

[0046] Figure 2 It is a schematic flowchart of another GNSS deformation monitoring method provided by an embodiment of the present application;

[0047] Figure 3Schematic flowchart of another GNSS deformation monitoring method provided by an embodiment of the present application;

[0048] Figure 4 Schematic flowchart of yet another GNSS deformation monitoring method provided by an embodiment of the present application;

[0049] Figure 5 Schematic flowchart of still another GNSS deformation monitoring method provided by an embodiment of the present application;

[0050] Figure 6 Schematic structural diagram of a GNSS deformation monitoring device provided by an embodiment of the present application;

[0051] Figure 7 Schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0052] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification, claims and drawings of this application are intended to cover non-exclusive inclusion.

[0054] Reference to "embodiment" herein means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase "embodiment" appearing in various places in the specification is not necessarily referring to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0055] The term "and / or" herein is only a description of the associated relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: the existence of A, the simultaneous existence of A and B, and the existence of B. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0056] In addition, the terms "first", "second", etc. in the description and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order, and may explicitly or implicitly include one or more of such features.

[0057] In the description of this application, unless otherwise specified, the meaning of "a plurality" refers to two or more (including two). Similarly, "multiple groups" refers to two or more groups (including two groups).

[0058] Deformation monitoring technology has important application value in the fields of civil engineering, geological exploration, construction engineering, bridge and tunnel, dam monitoring, etc. If engineering buildings are affected by the external environment, resulting in the actual deformation amount exceeding the maximum allowable range, it may cause serious impacts on social production, people's lives and property safety, and the ecological environment. With the increasing complexity and large-scale of modern engineering structures, deformation monitoring has become an important means to ensure structural safety, evaluate engineering stability, and predict potential risks.

[0059] Traditional deformation monitoring mainly relies on techniques such as leveling measurement and total station measurement. Although these methods can provide certain monitoring capabilities, they generally have limitations such as low automation, high cost, and difficulty in achieving real-time monitoring. In recent years, with the rapid development of sensor technology, remote sensing technology, Global Navigation Satellite System (GNSS), and the Internet of Things, deformation monitoring has gradually evolved towards automation, high precision, and real-time. Among them, GNSS technology, with its significant advantages such as all-day, all-weather, full synchronization, full automation, and high precision, can perform high-precision monitoring under various time and climate conditions, and has gradually become the core technical means in the field of deformation monitoring.

[0060] In related technologies, GNSS deformation monitoring mainly adopts two methods: one is static differential technology, and the other is RTK technology. Static differential technology transmits the original data collected at the monitoring points to the central server and performs static post-processing and calculation after accumulating a certain duration of GNSS observables. This technology has high monitoring accuracy, but poor timeliness and cannot reflect sudden deformations in a timely manner. In addition, static differential technology also causes huge network traffic consumption and has high performance requirements for the central server for data calculation, thus increasing the monitoring cost. In contrast, RTK technology can improve monitoring timeliness, but has low monitoring accuracy. Especially in the case of unstable communication links, it may cause problems such as loss of differential data and large differential ages, thus introducing large positioning errors.

[0061] In summary, the existing GNSS deformation monitoring methods still have certain limitations. For example, the original observation data of the monitoring station needs to be uploaded to the central server through a wireless network, which not only increases the communication cost, but also increases the calculation burden on the central server, and is easily affected by network latency and interruption. When choosing to use RTK technology, if the influence of large differential age is not considered, the monitoring accuracy will be low; while when choosing to use static differential technology, it is necessary to obtain and accumulate the original observations for a period of time before calculation, and sudden deformations cannot be reflected in real time, resulting in poor real-time performance.

[0062] The Chinese invention patent "GNSS Deformation Monitoring Method and Related Device" with the application number 202211424743.2 proposes a simple and easy-to-implement GNSS deformation monitoring method. This method takes into account the environmental change situation of the monitoring station and flexibly selects and determines the GNSS data calculation mode accordingly, so as to improve the problem that the current GNSS deformation monitoring scheme has poor applicability while meeting its own deformation monitoring requirements. The steps are as follows: Obtain the original satellite observation data and the environmental monitoring data of the monitoring station. The original satellite observation data includes the first original observation data of the reference station and the second original observation data of the monitoring station; According to the environmental monitoring data, determine the first target calculation mode corresponding to the original satellite observation data. The first target calculation mode includes real-time carrier phase difference decomposition calculation mode, quasi-real-time filtering calculation mode or post-processing static baseline calculation mode; Perform GNSS data calculation on the first original observation data and the second original observation data through the first target calculation mode to obtain the first displacement calculation result of the monitoring station.

[0063] It should be noted that when the above patent conducts GNSS deformation monitoring, it takes into account the environmental change situation of the monitoring station and flexibly selects and determines the GNSS data calculation mode, which can improve the problem that the current GNSS deformation monitoring scheme has poor applicability while meeting its own deformation monitoring requirements. However, problems such as the dependence on environmental monitoring data, the complexity of calculation mode switching, the limitation of the applicable range, and the data transmission and calculation costs still exist.

[0064] Based on the problems existing in the related art, the embodiments of the present application provide a GNSS deformation monitoring method, an electronic device, and a computer-readable storage medium. In this GNSS deformation monitoring method, first, the monitoring station acquires the observation data corresponding to the current epoch moment and stores the observation data corresponding to the current epoch moment into an observation queue. The observation queue includes multiple observation data respectively corresponding to multiple epoch moments. Secondly, based on the first moment corresponding to the differential data provided by the reference station, the monitoring station selects the observation data corresponding to the epoch moment consistent with the first moment in the observation queue as the first observation data, and performs differential positioning calculation based on the first observation data and the differential data to obtain the first monitoring station coordinate corresponding to the monitoring station at the first moment. By ensuring that the observation moments of the first observation data and the differential data are the same, the differential age is ensured to be zero, thereby minimizing the positioning error caused by the differential age and having high monitoring accuracy. Finally, the monitoring station stores the first monitoring station coordinate into a coordinate queue, and determines the deformation monitoring result of the monitoring object according to the coordinate queue, realizing the timely monitoring of the sudden deformation of the monitoring object and having good real-time performance. In addition, the calculation process of GNSS monitoring is concentrated in the monitoring station, reducing the dependence on the external network and reducing the communication cost and the calculation cost of the central server.

[0065] Next, through some specific embodiments and accompanying drawings, the present application will be introduced in detail on how to solve the problems of poor real-time performance and low monitoring accuracy during GNSS deformation monitoring.

[0066] Figure 1 The flowchart of a GNSS deformation monitoring method provided by the embodiments of the present application. The GNSS deformation monitoring method provided by the embodiments of the present application is executed by a monitoring station. As Figure 1 shown, the GNSS deformation monitoring method includes S101 to S105, and S101 to S105 will be described in detail below.

[0067] S101. The monitoring station acquires the observation data corresponding to the current epoch moment and stores the observation data corresponding to the current epoch moment into an observation queue.

[0068] Among them, the epoch moment refers to the moment when the monitoring station acquires the observation data.

[0069] Among them, the observation queue is used to store multiple observation data respectively corresponding to multiple epoch moments.

[0070] In this embodiment, the multiple epoch moments corresponding to the multiple observation data in the observation queue are respectively denoted as the third moment. The third moment can be the current epoch moment or an epoch moment before the current epoch moment and when the monitoring station acquires the observation data.

[0071] It should be noted that multiple observation data in the observation queue correspond one-to-one with multiple third moments, that is, each third moment corresponds to one observation data.

[0072] The observation queue allows storing at most H observation data corresponding to H third moments. H can be adjusted by the administrator of the GNSS deformation monitoring system according to specific circumstances, and this embodiment does not make specific limitations on this.

[0073] For example, H is 10, that is, the observation queue can store at most 10 observation data corresponding to 10 third moments.

[0074] Among them, each observation data includes the pseudorange observation of the monitoring station, the carrier phase observation of the monitoring station, and the ephemeris data of multiple satellites.

[0075] It should be noted that for any third moment, the pseudorange observation of the monitoring station, the carrier phase observation of the monitoring station, and the ephemeris data of multiple satellites included in the observation data corresponding to this third moment are all related to this third moment.

[0076] Specifically, the observation data corresponding to the current epoch moment includes the pseudorange observation of the monitoring station at the current epoch moment, the carrier phase observation of the monitoring station at the current epoch moment, and the ephemeris data of multiple satellites at the current epoch moment.

[0077] The pseudorange observation data of the monitoring station refers to the distance between the monitoring station and the satellite calculated by measuring the propagation time of the satellite signal from the satellite to the monitoring station. Since various errors (such as satellite clock error, receiver clock error, atmospheric delay, etc.) are included in this measurement, it is not the true geometric distance.

[0078] The carrier phase observation data of the monitoring station is the precise distance information obtained by measuring the phase change of the GNSS signal carrier. The wavelength of the carrier signal is shorter than that of the pseudorange signal, so the carrier phase observation can provide higher positioning accuracy.

[0079] For any one of the multiple satellites, the ephemeris data of this satellite is a set of parameters about its own position in space broadcast by this satellite. According to this set of parameters, the precise position of this satellite in space can be accurately calculated within a period of time, that is, the satellite position of this satellite. In addition, the satellite clock error of this satellite can also be calculated according to this set of parameters.

[0080] The satellite clock error refers to the time deviation between the satellite clock and the reference clock. The reference clock usually refers to the atomic clock of the ground control center. Since BDS positioning calculates the distance (pseudorange) by measuring the propagation time of the signal from the satellite to the receiver, the existence of the satellite clock error will cause errors in pseudorange measurement, thus affecting the positioning accuracy.

[0081] S102. The monitoring station receives the differential data from the reference station.

[0082] Among them, the differential data includes the reference station pseudorange observation and the reference station carrier phase observation.

[0083] It should be noted that the reference station is a GNSS receiving station with a known location, and the reference station can provide reference data for eliminating satellite signal errors. The differential data of the reference station is sent by the reference station to the monitoring station.

[0084] In this embodiment, after the monitoring station receives the differential data, the monitoring station drives the differential positioning solution to start.

[0085] S103. When there is observation data corresponding to the first moment in the observation queue, the monitoring station performs differential positioning solution based on the first observation data and the differential data to obtain the first monitoring station coordinate corresponding to the first moment of the monitoring station.

[0086] Among them, the first moment is the observation moment of the differential data, and the first observation data is the observation data corresponding to the first moment in the observation queue.

[0087] It should be noted that before the method steps shown in S103, the method further includes Sa, which is described in detail below.

[0088] Sa. The monitoring station determines whether there is a third moment in the multiple third moments corresponding to the observation queue that is the same as the first moment.

[0089] When there is a third moment in the multiple third moments corresponding to the observation queue that is the same as the first moment, the monitoring station determines the observation data corresponding to the third moment that is the same as the first moment as the first observation data, and executes the method steps shown in S103, and performs differential positioning solution based on the first observation data and the differential data to obtain the first monitoring station coordinate corresponding to the first moment of the monitoring station.

[0090] When there is no third moment in the multiple third moments corresponding to the observation queue that is the same as the first moment, that is, when there is no first observation data in the observation queue, the monitoring station does not perform differential positioning solution.

[0091] S104. The monitoring station stores the first monitoring station coordinate into the coordinate queue, and the coordinate queue is used to store the L monitoring station coordinates corresponding to the monitoring station at L epoch moments respectively.

[0092] Among them, L is a positive integer, and L ≥ 2.

[0093] It should be noted that by storing the coordinates of the monitoring station at L epoch moments in the coordinate queue, the monitoring station can accumulate historical data, which facilitates the monitoring station to judge whether the monitored object is deformed based on the changes in the coordinates of the monitoring station at different epoch moments, providing data support for subsequent deformation monitoring and analysis.

[0094] Specifically, when the number of monitoring station coordinates in the coordinate queue has not reached L, the monitoring station can directly store the first monitoring station coordinate into the coordinate queue. When the number of monitoring station coordinates in the coordinate queue reaches L, the monitoring station clears the earliest stored monitoring station coordinate in the coordinate queue and stores the first monitoring station coordinate into the coordinate queue.

[0095] In this embodiment, the L epoch moments in the coordinate queue are respectively denoted as L fourth moments. The fourth moment corresponding to the first monitoring station coordinate stored most recently among the L fourth moments is the first moment.

[0096] S105. The monitoring station determines the deformation monitoring result of the monitored object according to the coordinate queue.

[0097] Among them, the deformation monitoring result is used to indicate that the monitored object is deformed within the target time period, or is used to indicate that the monitored object is not deformed within the target time period.

[0098] It should be noted that the monitoring station analyzes the changes in the coordinates of the monitoring station at different fourth moments based on the L monitoring station coordinates in the coordinate queue, and judges whether the monitored object is deformed within the target time period according to the changes in the coordinates of the monitoring station at different fourth moments, effectively improving the efficiency and accuracy of GNSS deformation monitoring.

[0099] Among them, the end moment of the target time period is the first moment.

[0100] It should be noted that the start moment of the target time period is the fourth moment that is before the first moment, closest to the first moment, and the monitored object is not deformed among the multiple fourth moments.

[0101] The embodiment of the present application provides a GNSS deformation monitoring method. First, the monitoring station acquires the observation data corresponding to the current epoch and stores the observation data corresponding to the current epoch in the observation queue. The observation queue includes multiple observation data corresponding to multiple epochs respectively. Secondly, based on the first moment corresponding to the differential data provided by the reference station, the monitoring station selects the observation data corresponding to the epoch that is the same as the first moment in the observation queue as the first observation data, and performs differential positioning calculation based on the first observation data and the differential data to obtain the first monitoring station coordinate corresponding to the monitoring station at the first moment. By ensuring that the observation moments of the first observation data and the differential data are the same, the differential age is ensured to be zero, thereby minimizing the positioning error caused by the differential age and having high monitoring accuracy. Finally, the monitoring station stores the first monitoring station coordinate in the coordinate queue and determines the deformation monitoring result of the monitoring object according to the coordinate queue, realizing the timely monitoring of the sudden deformation of the monitoring object and having good real-time performance. In addition, the calculation process of GNSS monitoring is concentrated in the monitoring station, reducing the dependence on the external network and reducing the communication cost and the calculation cost of the central server.

[0102] In the above embodiment, the monitoring station needs to perform differential positioning calculation based on the first observation data and the differential data to obtain the first monitoring station coordinate corresponding to the monitoring station at the first moment. Next, the specific process of the monitoring station performing differential positioning calculation based on the first observation data and the differential data to obtain the first monitoring station coordinate corresponding to the monitoring station at the first moment will be described in detail.

[0103] In a possible embodiment, the method steps shown in S103 above can be implemented by the method steps shown in S1031 to S1035. The following will describe S1031 to S1035 in detail.

[0104] S1031. For the first satellite among multiple satellites, the monitoring station constructs a first non-differential observation equation corresponding to the first satellite based on the first observation data and the differential data.

[0105] Specifically, the carrier wave observation equation of the monitoring station i for the first satellite P is the first non-differential observation equation, and the first non-differential observation equation satisfies Equation (1).

[0106]

[0107] Where φ i represents the carrier phase observation value of the monitoring station in the first observation data, λ represents the wavelength, (X P , Y P , Z P ) represents the coordinate of the first satellite at the first moment, (X i , Y i , Z irepresents the first monitoring station coordinates corresponding to the monitoring station at the first moment, c represents the speed of light, and V tR represents the receiver clock error, and V tS represents the satellite clock error of the first satellite, and N i represents the integer ambiguity corresponding to monitoring station i, (V ion ) i represents the ionospheric residual corresponding to monitoring station i, (V trop ) i represents the tropospheric residual corresponding to monitoring station i.

[0108] S1032. The monitoring station constructs the first single-difference observation equation corresponding to the first satellite based on the first undifferenced observation equation corresponding to the first satellite.

[0109] In a possible embodiment, the method steps shown in S1032 can be implemented by Sc1 and Sc2, and Sc1 and Sc2 are described in detail below.

[0110] Sc1. The monitoring station constructs the first carrier-phase observation equation for the monitoring station to perform carrier-phase measurement on the first satellite at the first moment based on the first undifferenced observation equation, and constructs the second carrier-phase observation equation for the reference station to perform carrier-phase measurement on the first satellite at the first moment.

[0111] Specifically, monitoring station i performs carrier-phase measurement on the first satellite P at the first moment t1, and in the case of , based on the first undifferenced observation equation, the first carrier-phase observation equation can be obtained, and the first carrier-phase observation equation satisfies Equation (2).

[0112]

[0113] Among them, represents the monitoring station carrier-phase observation quantity in the first observation data, and V ti (t1) represents the receiver clock error corresponding to monitoring station i at the first moment t1, and V tP (t1) represents the satellite clock error of the first satellite P at the first moment t1, represents the first distance, The first distance is the distance between the first satellite P and monitoring station i at the first moment t1, f represents the frequency, represents the integer ambiguity when monitoring station i performs carrier-phase measurement on the first satellite P, represents the ionospheric residual when monitoring station i performs carrier-phase measurement on the first satellite P, represents the tropospheric residual when monitoring station i performs carrier-phase measurement on the first satellite P.

[0114] The reference station j performs carrier phase measurement on the first satellite P at the first moment t1, and in the case of , based on the first undifferenced observation equation, a second carrier phase observation equation can be obtained, and the second carrier phase observation equation satisfies Equation (3).

[0115]

[0116] Among them, represents the carrier phase observation value of the reference station in the differential data, V tj (t1) represents the receiver clock error corresponding to the reference station j at the first moment t1, represents the second distance, The second distance is the distance between the first satellite P and the reference station j at the first moment t1, (X j , Y j , Z j ) represents the known coordinates of the reference station, represents the integer ambiguity when the reference station j performs carrier phase measurement on the first satellite P, represents the ionospheric residual when the reference station j performs carrier phase measurement on the first satellite P, represents the tropospheric residual when the reference station j performs carrier phase measurement on the first satellite P.

[0117] The monitoring station subtracts the first carrier phase observation equation from the second carrier phase observation equation to obtain the first single-difference observation equation corresponding to the first satellite.

[0118] Specifically, subtracting Equation (2) from Equation (3) can obtain the first single-difference observation equation corresponding to the first satellite, and the first single-difference observation equation satisfies Equation (4).

[0119]

[0120] For Equation (4), let V tij (t1) = V ti (t1) - V tj (t1), Equation (4) can be simplified to Equation (5), and Equation (5) is the first single-difference observation equation corresponding to the first satellite.

[0121]

[0122] Among them, represents the difference between the carrier phase observation value of the monitoring station in the first observation data and the carrier phase observation value of the reference station in the differential data; represents the difference between the first distance and the second distance; V tij(t1) represents the receiver clock error V corresponding to monitoring station i ti and the receiver clock error V corresponding to reference station j tj of the difference; represents the difference between the integer ambiguity when monitoring station i performs carrier phase measurement on the first satellite P and the integer ambiguity when reference station j performs carrier phase measurement on the first satellite P; represents the difference between the ionospheric residual when monitoring station i performs carrier phase measurement on the first satellite P and the ionospheric residual when reference station j performs carrier phase measurement on the first satellite P; represents the difference between the tropospheric residual when monitoring station i performs carrier phase measurement on the first satellite P and the tropospheric residual when reference station j performs carrier phase measurement on the first satellite P.

[0123] S1033. The monitoring station subtracts the first single-difference observation equation from the second single-difference observation equation to obtain a double-difference observation equation.

[0124] Among them, the second single-difference observation equation is the single-difference observation equation corresponding to the second satellite among multiple satellites.

[0125] It should be noted that the construction process of the second single-difference observation equation is similar to the construction process of the above-mentioned first single-difference observation equation, and this embodiment will not elaborate on it here.

[0126] Specifically, the second single-difference observation equation corresponding to the second satellite Q satisfies Equation (6).

[0127]

[0128] Among them, represents the difference between the carrier phase observation value of the monitoring station in the first observation data and the carrier phase observation value of the reference station in the differential data; represents the difference between the third distance and the fourth distance. The third distance is the distance between the second satellite Q and monitoring station i at the first moment t1, and the fourth distance is the distance between the second satellite Q and reference station j at the first moment t1; represents the difference between the integer ambiguity when monitoring station i performs carrier phase measurement on the second satellite Q and the integer ambiguity when reference station j performs carrier phase measurement on the second satellite Q; represents the difference between the ionospheric residual when monitoring station i performs carrier phase measurement on the second satellite Q and the ionospheric residual when reference station j performs carrier phase measurement on the second satellite Q; represents the difference between the tropospheric residual when monitoring station i performs carrier phase measurement on the second satellite Q and the tropospheric residual when reference station j performs carrier phase measurement on the second satellite Q.

[0129] Subtract Equation (5) from Equation (6) to obtain the double-difference observation equation, which satisfies Equation (7).

[0130]

[0131] Based on Equation (7), let

[0132] Equation (7) can be simplified to Equation (8), which is the double-difference observation equation.

[0133]

[0134] S1034. The monitoring station uses the Kalman filtering algorithm to perform floating-point solution on the double-difference observation equation to obtain the floating-point ambiguity at the first moment.

[0135] Among them, the monitoring station uses the Kalman filtering algorithm to perform floating-point solution on Equation (8) to obtain the floating-point ambiguity at the first moment

[0136] It should be noted that the monitoring station uses the Kalman filtering algorithm to perform floating-point solution on Equation (8) to obtain the floating-point ambiguity at the first moment The specific process is an existing process, which will not be elaborated in this embodiment.

[0137] S1035. The monitoring station fixes the ambiguity of the floating-point ambiguity at the first moment to obtain the first monitoring station coordinates corresponding to the monitoring station at the first moment.

[0138] Among them, when the monitoring station knows the floating-point ambiguity at the first moment the integer ambiguity N corresponding to the monitoring station i can be searched using the LAMBDA algorithm i ; when the integer ambiguity N corresponding to the monitoring station i i is known, by solving Equation (1), the first monitoring station coordinates (X i , Y i , Z i ) corresponding to the monitoring station i at the first moment t1 can be obtained.

[0139] In this embodiment, by constructing a first single-difference observation equation corresponding to the first satellite and a second single-difference observation equation corresponding to the second satellite, and based on the first single-difference observation equation and the second single-difference observation equation, a double-difference observation equation is obtained. Using the Kalman filtering algorithm to perform floating-point solution on the double-difference observation equation can effectively solve the floating-point ambiguity of the monitoring station at the first moment. Finally, according to the solution result of the floating-point ambiguity, ambiguity fixing is performed, and the first monitoring station coordinates corresponding to the monitoring station at the first moment can be accurately determined, realizing precise GNSS positioning and improving the real-time performance and reliability of the monitoring system.

[0140] In the above embodiment, the monitoring station needs to determine the deformation monitoring result of the monitoring object according to the coordinate queue. Next, the specific process of the monitoring station determining the deformation monitoring result of the monitoring object according to the coordinate queue will be described in detail.

[0141] Figure 2 It is a schematic flowchart of another GNSS deformation monitoring method provided by an embodiment of the present application. As Figure 2 shown, in a possible embodiment, the method steps shown in S105 above can be implemented by the method steps shown in S1051 to S1053. The following will describe S1051 to S1053 in detail.

[0142] S1051. The monitoring station determines the first coordinate mean, the second coordinate mean, and the coordinate queue variance according to the coordinate queue.

[0143] The L monitoring station coordinates in the coordinate queue are arranged in the order of the L epoch times. The first coordinate mean is the mean of the first L / 2 monitoring station coordinates in the coordinate queue, the second coordinate mean is the mean of the last L / 2 monitoring station coordinates in the coordinate queue, and the coordinate queue variance is the variance of the L monitoring station coordinates.

[0144] It should be noted that the calculation methods of the mean of the monitoring station coordinates and the coordinate queue variance are existing methods, and will not be elaborated in this embodiment.

[0145] For example, the coordinate queue includes four monitoring station coordinates, and the four monitoring station coordinates are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), and (x4, y4, z4) in the order of their corresponding epoch times. In this case, the first coordinate mean is The second coordinate mean is The coordinate queue variance is S, S x represents the variance of the x-axis coordinate, S y represents the variance of the y-axis coordinate, S z represents the variance of the z-axis coordinate.

[0146] Specifically,

[0147] In this embodiment, the monitoring station can effectively analyze the stability and change trend of the monitored object at different epoch moments by equally dividing the coordinate queue into two parts, the front part and the back part, and respectively calculating the first coordinate mean value corresponding to the front half of the coordinate queue, the second coordinate mean value corresponding to the back half of the coordinate queue, and the coordinate queue variance of the coordinate queue, thereby improving the accuracy and sensitivity of GNSS deformation monitoring.

[0148] S1052. The monitoring station determines the first difference as the difference between the first coordinate mean value and the second coordinate mean value.

[0149] Among them, the first difference reflects the change amplitude between the coordinates of the monitoring station in the front half of the coordinate queue and the coordinates of the monitoring station in the back half of the coordinate queue, and the user can evaluate the displacement or deformation degree of the monitored object within the target time period.

[0150] It should be noted that if the first difference is large, it means that the monitored object has undergone significant deformation. If the first difference is small, it means that the monitored object has not undergone obvious deformation.

[0151] S1053. The monitoring station determines the deformation monitoring result of the monitored object according to the first difference and the coordinate queue variance.

[0152] It should be noted that the monitoring station determines the deformation monitoring result of the monitored object based on the first difference, the coordinate queue variance, and a preset threshold.

[0153] In this embodiment, by calculating the first coordinate mean value, the second coordinate mean value corresponding to the coordinate queue, and the coordinate queue variance, and determining the deformation monitoring result of the monitored object based on the difference between the first coordinate mean value and the second coordinate mean value and the coordinate queue variance, the accuracy and sensitivity of deformation monitoring can be effectively improved, enabling the monitoring station to make accurate deformation judgments based on the change trend of the monitoring data in different time periods.

[0154] In the above embodiment, the monitoring station needs to determine the deformation monitoring result of the monitored object according to the first difference and the coordinate queue variance. Next, the specific process of the monitoring station determining the deformation monitoring result of the monitored object according to the first difference and the coordinate queue variance will be described in detail.

[0155] Figure 3 It is a schematic flowchart of another GNSS deformation monitoring method provided by the embodiment of the present application. As Figure 3As shown, in a possible embodiment, the method steps shown in S1053 above can be implemented through the method steps shown in Sd1 to Sd3. The following provides a detailed description of Sd1 to Sd3.

[0156] Sd1. The monitoring station determines whether the first difference is greater than the first threshold and whether the variance of the coordinate queue is greater than the second threshold.

[0157] Among them, the first threshold and the second threshold can be set by the user themselves, and this embodiment does not make specific limitations on this.

[0158] It should be noted that if the first difference is greater than the first threshold, it indicates that the coordinates of the monitoring station change significantly during the target time period, and the monitored object may be deformed. The variance of the coordinate queue reflects the distribution range of the coordinates of the monitoring station in the coordinate queue. If the variance of the coordinate queue is greater than the second threshold, it indicates that the coordinates of the monitoring station change unstably or with a large amplitude during the target time period, and the monitored object may be deformed.

[0159] When the monitoring station determines that the first difference is greater than the first threshold and the variance of the coordinate queue is greater than the second threshold, the monitoring station executes the method steps shown in Sd2; otherwise, the monitoring station executes the method steps shown in Sd3.

[0160] Sd2. When the first difference is greater than the first threshold and the variance of the coordinate queue is greater than the second threshold, the monitoring station determines that the deformation monitoring result of the monitored object is the first deformation monitoring result.

[0161] Among them, the first deformation monitoring result is used to indicate that the monitored object is deformed during the target time period.

[0162] It should be noted that when the first difference is greater than the first threshold and the variance of the coordinate queue is greater than the second threshold, the monitoring station determines that the monitored object is deformed during the target time period.

[0163] Sd3. When the first difference is less than or equal to the first threshold and / or the variance of the coordinate queue is less than or equal to the second threshold, the monitoring station determines that the deformation monitoring result of the monitored object is the second deformation monitoring result.

[0164] Among them, the second deformation monitoring result is used to indicate that the monitored object is not deformed during the target time period.

[0165] It should be noted that when the first difference is less than or equal to the first threshold and / or the variance of the coordinate queue is less than or equal to the second threshold, the monitoring station determines that the monitored object is not deformed during the target time period, avoiding false alarms caused by small changes in the coordinates of the monitoring station, ensuring that the monitored object is considered deformed during the target time period only when there is an obvious deformation, and helping to maintain the stability of the monitoring system.

[0166] In this embodiment, by setting reasonable first and second thresholds, environmental noise or small irrelevant variations can be effectively filtered out, improving the stability and efficiency of GNSS deformation monitoring.

[0167] In this embodiment, based on the first difference and the variance of the coordinate queue, and combined with the judgment of the first and second thresholds, the monitoring station can effectively distinguish whether the monitored object has deformed during the target time period, improving the accuracy and sensitivity of GNSS deformation monitoring, being able to detect real deformations in a timely manner, reducing false alarms caused by small variations, and ensuring efficient and accurate deformation detection.

[0168] In the above embodiment, the deformation monitoring result of the monitored object is the first deformation monitoring result or the second deformation monitoring result. Next, the method executed by the monitoring station after the deformation monitoring result is the first deformation monitoring result will be described in detail.

[0169] Figure 4 It is a flowchart of another GNSS deformation monitoring method provided by an embodiment of the present application. As Figure 4 shown, in a possible embodiment, after the method step shown in Sd2, the monitoring station executes Se1, and Se1 will be described in detail below.

[0170] Se1: The monitoring station determines the second coordinate mean value as the smoothed monitoring station coordinate at the first moment and outputs a deformation warning signal.

[0171] In this embodiment, when the deformation monitoring result is the first deformation monitoring result, that is, when the monitored object has deformed during the target time period, using the second coordinate mean value as the smoothed monitoring station coordinate at the first moment can eliminate measurement errors caused by instantaneous fluctuations or noise, making the positioning result more stable and accurate; at the same time, the monitoring station outputs a deformation warning signal to prompt relevant personnel that the monitored object has deformed during the target time period.

[0172] In the above embodiment, the deformation monitoring result of the monitored object is the first deformation monitoring result or the second deformation monitoring result. Next, the method executed by the monitoring station after the deformation monitoring result is the second deformation monitoring result will be described in detail.

[0173] As Figure 4 shown, in a possible embodiment, after the method step shown in Sd3, the monitoring station executes Se2, and Se2 will be described in detail below.

[0174] Se2: The monitoring station determines the smoothed monitoring station coordinate at the first moment according to the formula COOR k =αCOOR k-1 +βCoor k ,.

[0175] Among them, α represents the first weight coefficient, β represents the second weight coefficient, α and β are set based on a preset monitoring solution arc length, and α + β = 1; COOR k-1 represents the smoothed monitoring station coordinates at the second moment, Coor k represents the coordinates of the first monitoring station, COOR k represents the smoothed monitoring station coordinates at the first moment.

[0176] It should be noted that α and β can be set by the user themselves, and this embodiment does not make specific limitations on this.

[0177] Among them, the second moment is the epoch moment before the first moment.

[0178] It should be noted that the second moment is the fourth moment among the L fourth moments that is before the first moment and closest to the first moment. The calculation method of the smoothed monitoring station coordinates at the second moment is similar to that of the smoothed monitoring station coordinates at the first moment, and this embodiment will not elaborate on this.

[0179] In this embodiment, when the deformation monitoring result is the second deformation monitoring result, that is, when there is no deformation of the monitoring object during the target time period, the smoothed monitoring station coordinates at the first moment are determined according to the coordinates of the first monitoring station corresponding to the first moment, the smoothed monitoring station coordinates at the second moment, and the weight coefficients. By introducing a smoothing algorithm based on weight coefficients and combining the monitoring data at the second moment, the smoothed monitoring station coordinates at the first moment can be estimated more accurately, effectively removing the instantaneous fluctuations of the data, and further improving the accuracy and reliability of this GNSS deformation monitoring method.

[0180] In the above embodiment, the monitoring station needs to determine the smoothed monitoring station coordinates at the first moment. Next, the method steps executed after the monitoring station determines the deformation monitoring result of the monitoring object will be described in detail.

[0181] Such as Figure 4 shown, in a possible embodiment, the method further includes Sf1 to Sf3, and Sf1 to Sf3 will be described in detail below.

[0182] Sf1. The monitoring station determines whether the current solution arc length is greater than or equal to the preset monitoring solution arc length.

[0183] Among them, the solution arc length refers to the distance or spatial distribution range between the monitoring stations at multiple epoch moments during GNSS deformation monitoring.

[0184] It should be noted that the preset monitoring solution arc length can be set by the user themselves, and this embodiment will not elaborate on this.

[0185] In this embodiment, by determining whether the current calculated arc length is greater than or equal to the preset monitoring calculated arc length, it is possible to ensure that the spatial range and accuracy of the monitoring data meet the requirements, effectively avoiding the problem of inaccurate deformation monitoring results caused by too small a monitoring range or low accuracy during the data processing process. Only when the calculated arc length is large enough and the monitoring data is sufficient can the subsequent calculation of the amount of deformation be carried out, enabling a more accurate and effective evaluation of the deformation of the monitored object. Especially when continuously monitoring large-scale projects or complex structures, it has important technical significance.

[0186] Specifically, when the current calculated arc length is greater than or equal to the preset monitoring calculated arc length, the monitoring station executes the method steps shown in Sf2 and Sf3; when the current calculated arc length is less than the preset monitoring calculated arc length, the monitoring station executes the method steps shown in Sf3.

[0187] Sf2. The monitoring station determines the deformation amount of the monitored object by taking the difference between the smoothed monitoring station coordinates at the first moment and the coordinates of the second monitoring station, and outputs the deformation amount.

[0188] It should be noted that the coordinates of the second monitoring station are the known coordinates of the monitoring station. The coordinates of the second monitoring station can be obtained by long-term static observation and calculation, or can be set artificially. This embodiment does not make specific limitations on this.

[0189] As Figure 2 shown, it should be noted that after the method steps shown in Se1, the monitoring station can directly execute the method steps shown in Sf2 and Sf3. After the method steps shown in Se2, the monitoring station executes the method steps shown in Sf1 to Sf3.

[0190] Sf3. The monitoring station ends the deformation monitoring of the monitored object at the first moment and monitors the deformation of the monitored object at the second moment.

[0191] It should be noted that the method for the monitoring station to monitor the deformation of the monitored object at the second moment is similar to the method for the monitoring station to monitor the deformation of the monitored object at the first moment (the method shown in S101 to S105), and this embodiment will not elaborate on this.

[0192] In this embodiment, by determining whether the current calculated arc length is greater than or equal to the preset monitoring calculated arc length, it is ensured that the monitoring data has sufficient spatial coverage and accuracy. When the current calculated arc length is greater than or equal to the preset monitoring calculated arc length, the deformation amount of the monitored object is determined by calculating the difference between the smoothed monitoring station coordinates at the first moment and the coordinates of the second monitoring station, and the deformation amount of the monitored object is output in a timely manner. This process not only improves the accuracy of monitoring, avoids errors caused by insufficient data, but also makes the deformation monitoring of the monitored object more accurate and reliable through the management of the continuity and real-time nature of the deformation monitoring.

[0193] In the above embodiments, the monitoring station needs to obtain the observation data corresponding to the current epoch moment and store the observation data corresponding to the current epoch moment in the observation queue. Next, the specific process of the monitoring station obtaining the observation data corresponding to the current epoch moment and storing the observation data corresponding to the current epoch moment in the observation queue will be described in detail.

[0194] Figure 5 It is a schematic flow chart of another GNSS deformation monitoring method provided by an embodiment of the present application. As Figure 5 shown, in a possible embodiment, the method steps shown in S101 can be implemented by the method steps shown in S1011 to S1014, and the following will describe S1011 to S1014 in detail.

[0195] S1011: The monitoring station obtains the observation data corresponding to the current epoch moment.

[0196] S1012: The monitoring station determines whether the current number of observation data in the observation queue is less than the preset number.

[0197] Among them, the preset number is N, N is a positive integer, and N>2.

[0198] It should be noted that the value of N can be set by the administrator of the GNSS deformation monitoring system according to the specific situation, and this embodiment does not make specific limitations on this.

[0199] For example, N takes 5.

[0200] Specifically, when the current number of observation data in the observation queue is less than the preset number, the monitoring station executes the method steps shown in S1013. When the current number of observation data in the observation queue is equal to the preset number, the monitoring station executes the method steps shown in S1014.

[0201] S1013: The monitoring station stores the observation data corresponding to the current epoch moment in the observation queue.

[0202] It should be noted that when the number of observation data in the observation queue has not reached N, the monitoring station can directly store the observation data corresponding to the current epoch moment in the observation queue to ensure the continuity and real-time nature of the observation data stored in the observation queue.

[0203] S1014: The monitoring station clears the second observation data and stores the observation data corresponding to the current epoch moment in the observation queue; where the second observation data is the observation data corresponding to the earliest epoch moment in the observation queue.

[0204] It should be noted that when the number of observation data in the observation queue reaches N, that is, when the observation queue is full, the earliest stored observation data (the second observation data) in the observation queue is cleared, and the observation data corresponding to the current epoch is stored in the observation queue.

[0205] In this embodiment, the space in the observation queue is freed up by clearing the outdated observation data so as to store new observation data. The observation queue always retains the latest observation data. This "first-in, first-out" data management strategy helps to optimize memory usage and ensure that the data does not become outdated.

[0206] Figure 6 This is a schematic structural diagram of a GNSS deformation monitoring device provided by an embodiment of the present application. As Figure 6 shown, the GNSS deformation monitoring device 600 provided in this embodiment can exist independently and is used to implement the operations corresponding to the monitoring station in the foregoing method embodiment.

[0207] The GNSS deformation monitoring device 600 may include: a transceiver module 601 and a processing module 602. The processing module 602 is used for data processing, and the transceiver module 601 can implement corresponding communication functions. The transceiver module 601 can also be referred to as a communication interface or a communication unit.

[0208] Optionally, the GNSS deformation monitoring device 600 may further include a storage unit, which can be used to store instructions and / or data. The processing module 602 can read the instructions and / or data in the storage unit so that the GNSS deformation monitoring device 600 can implement the steps implemented by the monitoring station in the foregoing method embodiment.

[0209] The transceiver module 601 is used to perform the operations related to reception of the monitoring station in the foregoing method embodiment, and the processing module 602 is used to perform the operations related to processing of the monitoring station in the foregoing method embodiment.

[0210] Optionally, the transceiver module 601 may include a sending module and a receiving module. The sending module is used to perform the sending operation in the foregoing method embodiment. The receiving module is used to perform the receiving operation in the foregoing method embodiment.

[0211] It should be noted that the GNSS deformation monitoring device 600 may include a sending module but not a receiving module. Or, the GNSS deformation monitoring device 600 may include a receiving module but not a sending module. Specifically, it depends on whether the foregoing scheme implemented by the GNSS deformation monitoring device 600 includes a sending action and a receiving action.

[0212] As an example, the GNSS deformation monitoring device 600 is used to perform the actions performed by the monitoring station in the foregoing Figure 1 shown embodiment.

[0213] The GNSS deformation monitoring device 600 may include: a transceiver module 601 and a processing module 602.

[0214] The transceiver module 601 is configured to obtain the observation data corresponding to the current epoch moment, and store the observation data corresponding to the current epoch moment into an observation queue, where the observation queue is used to store a plurality of observation data respectively corresponding to a plurality of epoch moments, and each observation data includes the pseudorange observation of the monitoring station, the carrier phase observation of the monitoring station, and the ephemeris data of a plurality of satellites;

[0215] The transceiver module 601 is further configured to receive the differential data of the reference station, where the differential data includes the pseudorange observation of the reference station and the carrier phase observation of the reference station.

[0216] The processing module 602 is configured to, when there is observation data corresponding to the first moment in the observation queue, perform differential positioning calculation based on the first observation data and the differential data to obtain the first monitoring station coordinate corresponding to the monitoring station at the first moment; where the first moment is the observation moment of the differential data, and the first observation data is the observation data corresponding to the first moment in the observation queue.

[0217] The processing module 602 is further configured to store the first monitoring station coordinate into a coordinate queue, where the coordinate queue is used to store L monitoring station coordinates respectively corresponding to the monitoring station at L epoch moments; where L is a positive integer and L≥2.

[0218] The processing module 602 is further configured to determine the deformation monitoring result of the monitoring object according to the coordinate queue, where the deformation monitoring result is used to indicate that the monitoring object has deformation during the target time period, or is used to indicate that the monitoring object has no deformation during the target time period; where the end moment of the target time period is the first moment.

[0219] It should be understood that the execution of the above corresponding processes by each module has been described in detail in the above method embodiments. For the sake of brevity, it will not be repeated here.

[0220] The processing module 602 in the foregoing embodiments may be implemented by at least one processor or processor-related circuits. The transceiver module 601 may be implemented by a transceiver or transceiver-related circuits. The transceiver module 601 may also be referred to as a communication unit or a communication interface. The storage unit may be implemented by at least one memory.

[0221] Figure 7 This is a schematic structural diagram of an electronic device provided in an embodiment of the present application. As Figure 7 shown, the electronic device 700 provided in this embodiment includes: a memory 701 and a processor 702.

[0222] Among them, the memory 701 can be an independent physical unit, and can be connected to the processor 702 through a bus 703. The memory 701 and the processor 702 can also be integrated together and implemented through hardware, etc. The memory 701 is used to store program instructions, and the processor 702 calls the program instructions to execute the operations performed by the monitoring station in any of the above method embodiments.

[0223] Optionally, when part or all of the methods in the above embodiments are implemented by software, the electronic device 700 may also include only the processor 702. The memory 701 for storing the program is located outside the electronic device 700, and the processor 702 is connected to the memory through a circuit / wire for reading and executing the program stored in the memory. The processor 702 can be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and an NP. The processor 702 may further include a hardware chip. The above hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0224] The memory 701 may include a volatile memory, such as a random-access memory (RAM); the memory may also include a non-volatile memory, such as a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); the memory may further include a combination of the above types of memories.

[0225] Exemplarily, the present application provides a chip, including: an interface circuit and a logic circuit, where the interface circuit is used to receive a signal from another chip outside the chip and transmit it to the logic circuit, or send a signal from the logic circuit to another chip outside the chip, and the logic circuit is used to execute the operations performed by the monitoring station in the above method embodiments.

[0226] Exemplarily, the present application provides a computer-readable storage medium, on which computer program instructions are stored. The computer program instructions are run by a processor of an electronic device, causing the electronic device to perform the operations executed by the monitoring station in the above method embodiments.

[0227] Exemplarily, the present application provides a computer program product. When the computer program product runs on an electronic device, it causes the electronic device to perform the operations executed by the monitoring station in the above method embodiments.

[0228] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments described herein, but rather will conform to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A GNSS deformation monitoring method, characterized in that, The method includes: Obtaining the observation data corresponding to the current epoch moment, and storing the observation data corresponding to the current epoch moment into an observation queue, where the observation queue is used to store multiple observation data respectively corresponding to multiple epoch moments, each of the observation data includes a monitoring station pseudorange observation and a monitoring station carrier phase observation, as well as ephemeris data of multiple satellites; Receiving differential data of a reference station, where the differential data includes a reference station pseudorange observation and a reference station carrier phase observation; When there is observation data corresponding to a first moment in the observation queue, performing differential positioning calculation based on the first observation data and the differential data to obtain a first monitoring station coordinate corresponding to the monitoring station at the first moment; where the first moment is the observation moment of the differential data, and the first observation data is the observation data corresponding to the first moment in the observation queue; Storing the first monitoring station coordinate into a coordinate queue, where the coordinate queue is used to store L monitoring station coordinates respectively corresponding to the monitoring station at L epoch moments; where L is a positive integer and L≥2; Determining a deformation monitoring result of a monitoring object according to the coordinate queue, where the deformation monitoring result is used to indicate that there is deformation of the monitoring object during a target time period, or is used to indicate that there is no deformation of the monitoring object during the target time period; where the end moment of the target time period is the first moment.

2. The method according to claim 1, wherein The performing differential positioning calculation based on the first observation data and the differential data to obtain a first monitoring station coordinate corresponding to the monitoring station at the first moment includes: For a first satellite among the multiple satellites, constructing a first non-differential observation equation corresponding to the first satellite based on the first observation data and the differential data; Based on the first non-differential observation equation corresponding to the first satellite, constructing a first single-difference observation equation corresponding to the first satellite; Subtracting the first single-difference observation equation from a second single-difference observation equation to obtain a double-difference observation equation; where the second single-difference observation equation is a single-difference observation equation corresponding to a second satellite among the multiple satellites; Performing floating-point calculation on the double-difference observation equation by using a Kalman filtering algorithm to obtain a floating-point ambiguity at the first moment; Performing ambiguity fixing on the floating-point ambiguity at the first moment to obtain the first monitoring station coordinate corresponding to the monitoring station at the first moment.

3. The method according to claim 1, wherein The determining a deformation monitoring result of a monitoring object according to the coordinate queue includes: Determining a first coordinate mean, a second coordinate mean, and a coordinate queue variance according to the coordinate queue; where the L monitoring station coordinates in the coordinate queue are arranged in the order of the L epoch moments, the first coordinate mean is the mean of the first L / 2 monitoring station coordinates in the coordinate queue, the second coordinate mean is the mean of the last L / 2 monitoring station coordinates in the coordinate queue, and the coordinate queue variance is the variance of the L monitoring station coordinates; Determining the difference between the first coordinate mean and the second coordinate mean as a first difference; Determine the deformation monitoring result of the monitored object according to the first difference and the variance of the coordinate queue.

4. The method according to claim 3, characterized in that, The determining the deformation monitoring result of the monitored object according to the first difference and the variance of the coordinate queue includes: When the first difference is greater than a first threshold and the variance of the coordinate queue is greater than a second threshold, determine that the deformation monitoring result of the monitored object is a first deformation monitoring result, where the first deformation monitoring result is used to indicate that the monitored object has deformation during the target time period; When the first difference is less than or equal to the first threshold and / or the variance of the coordinate queue is less than or equal to the second threshold, determine that the deformation monitoring result of the monitored object is a second deformation monitoring result, where the second deformation monitoring result is used to indicate that the monitored object has no deformation during the target time period.

5. The method according to claim 4, characterized in that, When the deformation monitoring result of the monitored object is the first deformation monitoring result, the method further includes: Determine the smoothed monitoring station coordinate at the first moment as the smoothed monitoring station coordinate at the first moment, and output a deformation warning signal.

6. The method according to claim 4, wherein When the deformation monitoring result of the monitored object is the second deformation monitoring result, the method further includes: According to the formula COOR k = αCOOR k-1 + βCoor k , determine the coordinates of the smoothed monitoring station at the first moment; where α represents the first weight coefficient, β represents the second weight coefficient, α and β are set based on a preset monitoring solution arc length, and α + β = 1; COOR k-1 represents the coordinates of the smoothed monitoring station at the second moment, Coor k represents the coordinates of the first monitoring station, and COOR k represents the coordinates of the smoothed monitoring station at the first moment; the second moment is an epoch moment before the first moment.

7. The method according to claim 5 or 6, characterized in that, The method further includes: Determine whether the current solution arc length is greater than or equal to a preset monitoring solution arc length; When the current solution arc length is greater than or equal to the preset monitoring solution arc length, determine the difference between the smoothed monitoring station coordinate at the first moment and the second monitoring station coordinate as the deformation amount of the monitored object, and output the deformation amount.

8. The method according to claim 1, wherein The obtaining the observation data corresponding to the current epoch moment and storing the observation data corresponding to the current epoch moment in the observation queue includes: Obtain the observation data corresponding to the current epoch moment; Determine whether the current number of the observation data in the observation queue is less than a preset number; When the current number of the observation data in the observation queue is less than the preset number, store the observation data corresponding to the current epoch moment in the observation queue; When the current number of the observation data in the observation queue is equal to the preset number, clear the second observation data, and store the observation data corresponding to the current epoch moment in the observation queue; where the second observation data is the observation data corresponding to the earliest epoch moment in the observation queue.

9. An electronic device, characterized in that, Includes: A memory and a processor; The memory is configured to store computer program instructions; The processor is configured to run the computer program instructions, so that the electronic device implements the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed, the method according to any one of claims 1 to 8 is implemented.

Images