GNSS (Global Navigation Satellite System) monitoring solution and result analysis integrated system

Abstract

The invention relates to the technical field of GNSS monitoring, discloses a GNSS monitoring solution and result analysis integrated system, and aims to solve the problems of difficulty in data management, poor reliability of monitoring data solution and large workload of monitoring result analysis of an existing system. A system configuration module; the format standardization conversion module is used for converting the acquired monitoring data into a standardized general format; the quality analysis module is used for performing quality analysis on the monitoring data; the resolving module is used for carrying out adjustment resolving on the monitoring data; the monitoring result precision analysis module is used for calculating errors in displacement of the monitoring points according to the monitoring results and carrying out precision analysis and reliability evaluation; and the monitoring result graphical display and analysis module is used for performing graphical display on the monitoring result and performing multi-dimensional data analysis on the monitoring result. According to the invention, the data management difficulty and the analysis workload of monitoring results are reduced, and the resolving reliability of the monitoring data is improved.

Description

Technical Field

[0001] The present invention relates to the field of GNSS monitoring technology, and in particular to an integrated GNSS monitoring solution and results analysis system. Background Art

[0002] GNSS monitoring is a monitoring technology based on the Global Navigation Satellite System. It aims to use satellite signals to locate, measure, monitor and manage the Earth's surface, environment, objects, etc. This technology has the characteristics of high precision and global coverage, and can provide all-weather and all-time monitoring capabilities.

[0003] In the field of GNSS monitoring, each hardware manufacturer has its own solution system that can solve monitoring data and obtain monitoring results. However, the GNSS monitoring systems currently on the market only focus on solution functions, and other functions are not yet perfect. The main technical defects are as follows: (1) The monitoring data formats collected by GNSS receivers from mainstream equipment manufacturers are not unified, such as Trimble's DAT format, Leica's BINEX format, and BDStar's RTCM format. This makes it difficult to achieve unified management of monitoring data from various manufacturers. (2) The GNSS monitoring systems currently available on the market are unable to conduct quantitative analysis on the quality of monitoring data and the accuracy of monitoring results, and are unable to guarantee the accuracy and reliability of monitoring data solutions. In addition, current GNSS monitoring systems generally do not support the long baseline solution mode, and their solution algorithms are relatively old and do not support the latest BeiDou 3 system, and are unable to adapt to the needs of technological development. (3) The GNSS monitoring systems currently available on the market are unable to graphically display and analyze monitoring results. The analysis and application of monitoring results are an important part of realizing the value of monitoring data. The lack of this function will increase the workload of results analysis. Summary of the Invention

[0004] The present invention aims to solve the problems of difficult data management, poor reliability of monitoring data solution and heavy workload of monitoring results analysis in existing GNSS monitoring systems, and proposes an integrated GNSS monitoring solution and results analysis system.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: A GNSS monitoring, solution and results analysis integrated system, the system comprising: A relational database is used to store front-end data and back-end data, wherein the front-end data and back-end data are divided according to time relationship, spatial relationship and function; System configuration module, used to configure system parameters, including basic parameters, base station parameters and monitoring network parameters; Format standardization conversion module, used to convert the monitoring data collected by the GNSS receiver into a standardized universal format; A quality analysis module is used to perform quality analysis on the monitoring data, wherein the quality analysis includes quantitative analysis of satellite visibility, satellite trajectory, signal-to-noise ratio, multipath effect and ionospheric delay change rate; The solution module is used to perform adjustment solution on the monitoring data to obtain monitoring results, which include monitoring point name, time, lateral displacement, longitudinal displacement, vertical displacement, plane total displacement and angle; The monitoring result accuracy analysis module is used to calculate the displacement mean error of the monitoring point based on the monitoring results obtained by the solution, and perform accuracy analysis and reliability evaluation based on the displacement mean error; The monitoring results graphical display and analysis module is used to graphically display the monitoring results and conduct multi-dimensional data analysis of the monitoring results.

[0006] Furthermore, the front-end data includes user information, permission information, project information, layer element information, layer global style information, audit information and log information; The back-end data includes satellite and station information, station coordinate information, displacement speed information, receiver information, file format product information, receiver model information, network configuration information, survey area configuration information, baseline solution configuration information, data post-processing configuration information, base station monitoring configuration information, user command information, software message information and monitoring results information.

[0007] Furthermore, the system configuration module includes a basic parameter configuration submodule, a base station configuration submodule and a monitoring network configuration submodule; The basic parameter configuration submodule is used to configure the data storage path, GNSS receiver parameters, and GNSS antenna parameters; The base station configuration submodule is used to create, delete, and batch import and export base stations, and configure the basic information, spatial coordinates, communication protocol and data type of the base stations; The monitoring network configuration submodule is used to create, delete, import and export monitoring networks in batches, and configure basic information, measurement station information and networking mode of the monitoring network.

[0008] Furthermore, the format of the monitoring data collected by the GNSS receiver is DAT format, BINEX format or RTCM format, and the standardized universal format is RINEX format.

[0009] Furthermore, the quality analysis module includes a satellite visibility analysis submodule, a satellite trajectory analysis submodule, a signal-to-noise ratio analysis submodule, a multipath effect analysis submodule and an ionospheric delay change rate analysis submodule; The satellite visibility analysis submodule is used to automatically draw the visibility distribution map of each satellite at all times and perform quantitative analysis on satellite visibility; The satellite trajectory analysis submodule is used to automatically draw the full-time trajectory and altitude angle change diagram of each satellite, and perform quantitative analysis on the satellite trajectory; The signal-to-noise ratio analysis submodule is used to automatically draw a full-time signal-to-noise ratio variation graph for each satellite and perform quantitative analysis of the signal-to-noise ratio; The multipath effect analysis submodule is used to automatically draw a multipath effect variation diagram for each satellite over the entire period and perform quantitative analysis on the multipath effect; The ionospheric delay change rate analysis submodule is used to automatically draw the change graph of the ionospheric delay change rate of each satellite and perform quantitative analysis on the ionospheric delay change rate.

[0010] Furthermore, the solution module has a manual solution mode applicable to historical monitoring data and an automatic solution mode applicable to real-time data, and supports a short baseline solution mode of 500 meters to 5 kilometers and a long baseline solution mode of 5 kilometers to 50 kilometers.

[0011] Furthermore, multi-dimensional data analysis of monitoring results was conducted, including: The monitoring results can be extracted and analyzed at any time period, the maximum and average values ​​can be extracted and analyzed, and the deformation and environmental parameters can be comprehensively analyzed.

[0012] The beneficial effects of the present invention are as follows: the integrated GNSS monitoring, solution and results analysis system provided by the present invention has the functions of standardized conversion of monitoring data formats, monitoring data quality analysis, monitoring data solution, monitoring results accuracy analysis, graphical display and analysis of monitoring results, etc., which can solve the problems of the entire GNSS monitoring process in one stop, reduce the difficulty of data management and the workload of analyzing monitoring results, improve the reliability of monitoring data solution, and thus improve work efficiency and work quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of the structure of an integrated system for GNSS monitoring, solution and results analysis provided in an embodiment; Figure 2 A schematic diagram of the structure of a system configuration module provided in an embodiment; Figure 3 A structural diagram of a quality analysis module provided in an embodiment. DETAILED DESCRIPTION

[0014] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solution of this embodiment will be clearly and completely described below in conjunction with the drawings in this embodiment.

[0015] The technical solution of the present invention is applicable to application scenarios where the displacement of targets such as the ground surface, buildings, and infrastructure needs to be monitored.

[0016] Since the current GNSS monitoring system only focuses on the solution function, there are problems such as difficult data management, poor reliability of monitoring data solution, and a large workload in monitoring results analysis. Based on this, the present invention proposes an integrated GNSS monitoring, solution and results analysis system, which includes: a relational database for storing front-end data and back-end data, wherein the front-end data and back-end data are divided according to time relationship, spatial relationship and function; a system configuration module for configuring system parameters, wherein the system parameters include basic parameters, base station parameters and monitoring network parameters; a format standardization conversion module for converting the monitoring data collected by the GNSS receiver into a standardized universal format; a quality analysis module for performing quality analysis on the monitoring data, wherein the quality analysis includes quantitative analysis of satellite visibility, satellite trajectory, signal-to-noise ratio, multipath effect and ionospheric delay change rate; a solution module for performing adjustment solution on the monitoring data to obtain monitoring results, wherein the monitoring results include monitoring point name, time, lateral displacement, longitudinal displacement, vertical displacement, plane total displacement and angle; a monitoring result accuracy analysis module for calculating the displacement mean error of the monitoring point based on the monitoring results obtained by solution, and performing accuracy analysis and reliability evaluation based on the displacement mean error; and a monitoring result graphical display and analysis module for graphically displaying the monitoring results and performing multi-dimensional data analysis on the monitoring results.

[0017] Specifically, the format standardization conversion module of the present invention can unify the monitoring data of each manufacturer into a standard data format, reducing the difficulty of unified data management; the monitoring data quality analysis module can effectively prevent gross errors and improve the accuracy and reliability of monitoring data solution; the solution module can support two solution modes, short baseline and long baseline, and support the latest Beidou 3 system at the same time to realize the automatic solution of monitoring data; the monitoring result accuracy analysis module can quantitatively analyze the monitoring results obtained by solution, such as calculating the displacement error of each monitoring point, drawing a change curve, etc., and evaluating its accuracy and reliability; the monitoring result graphical display and analysis module can realize the graphical display and automatic analysis of the monitoring results, reducing the workload of monitoring result analysis. The present invention forms an integrated system by integrating the above modules, realizing the full chain intelligence of GNSS monitoring from data collection to decision support, and can solve the whole process problem of GNSS monitoring in one stop, significantly improving monitoring efficiency, result credibility and engineering applicability, and thus improving work efficiency and work quality.

[0018] The technical solution of this embodiment will be clearly and completely described below in conjunction with the drawings in this embodiment. Obviously, the described embodiment is only a part of the embodiments of the present invention, rather than all the embodiments.

[0019] Figure 1 A schematic diagram of the structure of an integrated GNSS monitoring, solution and results analysis system is shown. Figure 1 The system includes a relational database, a system configuration module, a format standardization conversion module, a quality analysis module, a solution module, a monitoring result accuracy analysis module and a monitoring result graphical display and analysis module.

[0020] In this embodiment, the relational database is used to store front-end data and back-end data, and the front-end data and back-end data are divided according to time relationship, spatial relationship and function.

[0021] In practical applications, relevant data can be sorted out from multiple dimensions such as time relationship, spatial relationship, and module functions, and the data can be divided into two categories: front-end data and back-end data. A relational database can be used for detailed database design and construction.

[0022] In this embodiment, the front-end data includes user information, permission information, project information, layer element information, layer global style information, audit information and log information.

[0023] The back-end data includes satellite and station information, station coordinate information, displacement speed information, receiver information, file format product information, receiver model information, network configuration information, survey area configuration information, baseline solution configuration information, data post-processing configuration information, base station monitoring configuration information, user command information, software message information and monitoring results information.

[0024] In this embodiment, the system configuration module is used to configure system parameters, which include basic parameters, base station parameters, and monitoring network parameters.

[0025] See also Figure 2 In this embodiment, the system configuration module includes a basic parameter configuration submodule, a base station configuration submodule, and a monitoring network configuration submodule. The basic parameter configuration submodule configures the data storage path, GNSS receiver parameters, and GNSS antenna parameters. The base station configuration submodule allows for the creation, deletion, and batch import and export of base stations, as well as configuration of their basic information, spatial coordinates, communication protocols, and data types. The monitoring network configuration submodule allows the creation, deletion, and batch import and export of monitoring networks, as well as configuration of their basic information, station information, and networking mode.

[0026] In this embodiment, the format standardization conversion module is used to convert the monitoring data collected by the GNSS receiver into a standardized universal format.

[0027] Understandably, the monitoring data formats collected by GNSS receivers from major domestic and international equipment manufacturers currently differ, such as Trimble's DAT format, Leica's BINEX format, and BDStar's RTCM format. This makes it difficult for users to unify monitoring data from various manufacturers into a single, standardized format when managing them. This also hinders subsequent data preprocessing and unified solution algorithms.

[0028] Based on this, and through research on monitoring data formats used by GNSS receivers from major domestic and international equipment manufacturers, this embodiment implements automated conversion of monitoring data formats through a standardized format conversion module. This module converts monitoring data in DAT, BINEX, or RTCM formats to RINEX. In practice, users can batch-select monitoring data to be converted in the system menu and click the "Convert" button to convert them to RINEX format with a single click.

[0029] The quality analysis module is used to perform quality analysis on the monitoring data, which includes quantitative analysis of satellite visibility, satellite trajectory, signal-to-noise ratio, multipath effect and ionospheric delay change rate.

[0030] It is understandable that the collection of GNSS monitoring data is affected by many factors, and its quality directly determines the accuracy and reliability of the solution results. Therefore, it is necessary to analyze the quality of GNSS monitoring data.

[0031] Through the study of GNSS monitoring data quality assessment theory, this embodiment proposes the following evaluation indicators: satellite visibility, satellite trajectory, signal-to-noise ratio, multipath effect, and ionospheric delay change rate, and implements quantitative and visual analysis of these indicators through corresponding submodules.

[0032] See also Figure 3 In this embodiment, the quality analysis module includes a satellite visibility analysis submodule, a satellite trajectory analysis submodule, a signal-to-noise ratio analysis submodule, a multipath effect analysis submodule and an ionospheric delay change rate analysis submodule.

[0033] GNSS monitoring requires receiving signals from at least four satellites, so satellite visibility must be analyzed first. In this embodiment, the satellite visibility analysis submodule automatically draws a full-time visibility distribution map for each satellite and performs a quantitative analysis of satellite visibility.

[0034] The trajectory of the satellite, especially the change of the satellite elevation angle, has a great impact on the GNSS monitoring accuracy. This embodiment uses the satellite trajectory analysis submodule to automatically draw the trajectory and elevation angle change diagram of each satellite over time and perform quantitative analysis on the satellite trajectory.

[0035] The signal-to-noise ratio (SNR) is the ratio of GNSS signal strength to noise strength. A larger value indicates a stronger signal strength. This embodiment uses the SNR analysis submodule to automatically plot a full-time SNR variation graph for each satellite and perform quantitative analysis of the SNR.

[0036] Multipath occurs when a GNSS receiver, in addition to receiving the direct signal from the satellite, also receives signals reflected one or more times by objects near the station. These signals along different paths are superimposed on the direct signal, creating a time delay known as multipath error. Pseudorange multipath error can reach the meter level, while carrier phase multipath error can reach the centimeter level. This embodiment uses the multipath effect analysis submodule to automatically plot the multipath effect changes for each satellite over time and quantitatively analyze the multipath effect.

[0037] The ionosphere is diffuse, causing GNSS signals to shift their propagation paths and cause delays. Because the error caused by ionospheric delay can be as high as tens of meters, the ionospheric delay rate of change can reflect the ionospheric delay's variations. This embodiment uses the ionospheric delay rate of change analysis submodule to automatically plot the ionospheric delay rate of change for each satellite and perform quantitative analysis of the ionospheric delay rate of change.

[0038] The quality analysis module provided in this embodiment implements the full-process quality management of GNSS monitoring data, including "pre-prevention, in-process control, and post-evaluation," through collaborative diagnosis of multiple dimensions and physical quantities. This significantly improves the reliability, accuracy, and anti-interference capability of the monitoring system, providing a high-quality data foundation for engineering safety and scientific research.

[0039] In this embodiment, the solution module is used to perform adjustment solution on the monitoring data to obtain monitoring results, which include monitoring point name, time, lateral displacement, longitudinal displacement, vertical displacement, plane total displacement and angle.

[0040] Existing GNSS monitoring systems generally do not support the long baseline solution mode, and the solution algorithms are relatively old. They do not support the latest Beidou 3 system and cannot adapt to the needs of technological development.

[0041] Based on this, through the study of the GNSS monitoring data solution theory, this embodiment integrates a solution module, which supports the short baseline solution mode of 500 meters to 5 kilometers and the long baseline solution mode of 5 kilometers to 50 kilometers. At the same time, it supports the latest Beidou 3 system to realize the automatic solution of monitoring data. The solution module has a manual solution mode suitable for historical monitoring data and an automatic solution mode suitable for real-time data, which can be selected according to needs.

[0042] In this embodiment, the monitoring result accuracy analysis module is used to calculate the mean displacement error of the monitoring point based on the monitoring result obtained by the solution, and perform accuracy analysis and reliability evaluation based on the mean displacement error.

[0043] Existing GNSS monitoring systems generally fail to quantitatively analyze the accuracy of monitoring results. Based on this, and through research into the theory of GNSS monitoring result accuracy analysis, this embodiment integrates a monitoring result accuracy analysis module to quantitatively analyze the calculated monitoring results. This module can calculate the mean error in displacement for each monitoring point, plot variation curves, and evaluate its accuracy and reliability. This module transforms fuzzy data credibility into actionable engineering metrics, significantly improving the decision-making value and engineering applicability of the monitoring system.

[0044] In this embodiment, the monitoring result graphical display and analysis module is used to graphically display the monitoring results and perform multi-dimensional data analysis on the monitoring results.

[0045] When it comes to applying GNSS monitoring results, the most important thing is to interpret the results and extract valuable monitoring information for the project, thereby assisting in the stability evaluation of buildings, slopes, etc.

[0046] Through research on different monitoring objects and application scenarios, this embodiment integrates a graphical display and analysis module for monitoring results, which enables automatic display and analysis of GNSS monitoring results. Monitoring results can be displayed using vector arrows to display X-, Y-, and H-axis displacements, as well as planar displacements and angles. Monitoring results analysis allows for analysis of any time period, extraction and analysis of maximum and average values, and comprehensive analysis of deformation and environmental variables (such as water level and rainfall).

[0047] The graphical display of monitoring results can help quickly and intuitively understand the displacement situation, and through multi-dimensional automatic analysis of monitoring results, the deformation law can be intuitively revealed, assisting in locating abnormal areas and reducing the workload of monitoring results analysis.

[0048] To sum up, the integrated GNSS monitoring, solution and results analysis system provided in this embodiment, by integrating the format standardization conversion module, quality analysis module, solution module, monitoring results accuracy analysis module and monitoring results graphical display and analysis module, has the functions of monitoring data format standardization conversion, monitoring data quality analysis, monitoring data solution, monitoring results accuracy analysis, monitoring results graphical display and analysis, etc., which can solve the problems of the entire GNSS monitoring process in one stop, reduce the difficulty of data management and the workload of monitoring results analysis, improve the reliability of monitoring data solution, and thus improve work efficiency and work quality.

Claims

1. A GNSS monitoring, solution and results analysis integrated system, characterized by: The system comprises: A relational database is used to store front-end data and back-end data, wherein the front-end data and back-end data are divided according to time relationship, spatial relationship and function; System configuration module, used to configure system parameters, including basic parameters, base station parameters and monitoring network parameters; Format standardization conversion module, used to convert the monitoring data collected by the GNSS receiver into a standardized universal format; A quality analysis module is used to perform quality analysis on the monitoring data, wherein the quality analysis includes quantitative analysis of satellite visibility, satellite trajectory, signal-to-noise ratio, multipath effect and ionospheric delay change rate; The solution module is used to perform adjustment solution on the monitoring data to obtain monitoring results, which include monitoring point name, time, lateral displacement, longitudinal displacement, vertical displacement, plane total displacement and angle; The monitoring result accuracy analysis module is used to calculate the displacement mean error of the monitoring point based on the monitoring results obtained by the solution, and perform accuracy analysis and reliability evaluation based on the displacement mean error; The monitoring results graphical display and analysis module is used to graphically display the monitoring results and conduct multi-dimensional data analysis of the monitoring results.

2. The integrated GNSS monitoring, solution and results analysis system according to claim 1 is characterized in that: The front-end data includes user information, permission information, project information, layer element information, layer global style information, audit information and log information; The back-end data includes satellite and station information, station coordinate information, displacement speed information, receiver information, file format product information, receiver model information, network configuration information, survey area configuration information, baseline solution configuration information, data post-processing configuration information, base station monitoring configuration information, user command information, software message information and monitoring results information.

3. The integrated GNSS monitoring, solution and results analysis system according to claim 1 is characterized in that: The system configuration module includes a basic parameter configuration submodule, a base station configuration submodule and a monitoring network configuration submodule; The basic parameter configuration submodule is used to configure the data storage path, GNSS receiver parameters, and GNSS antenna parameters; The base station configuration submodule is used to create, delete, and batch import and export base stations, and configure the basic information, spatial coordinates, communication protocol and data type of the base stations; The monitoring network configuration submodule is used to create, delete, import and export monitoring networks in batches, and configure basic information, measurement station information and networking mode of the monitoring network.

4. The integrated GNSS monitoring, solution and results analysis system according to claim 1 is characterized in that: The monitoring data collected by the GNSS receiver is in the DAT format, BINEX format or RTCM format, and the standardized universal format is the RINEX format.

5. The integrated GNSS monitoring, solution and results analysis system according to claim 1 is characterized in that: The quality analysis module includes a satellite visibility analysis submodule, a satellite trajectory analysis submodule, a signal-to-noise ratio analysis submodule, a multipath effect analysis submodule and an ionospheric delay change rate analysis submodule; The satellite visibility analysis submodule is used to automatically draw the visibility distribution map of each satellite at all times and perform quantitative analysis on satellite visibility; The satellite trajectory analysis submodule is used to automatically draw the full-time trajectory and altitude angle change diagram of each satellite, and perform quantitative analysis on the satellite trajectory; The signal-to-noise ratio analysis submodule is used to automatically draw a full-time signal-to-noise ratio variation graph for each satellite and perform quantitative analysis of the signal-to-noise ratio; The multipath effect analysis submodule is used to automatically draw a multipath effect variation diagram for each satellite over the entire period and perform quantitative analysis on the multipath effect; The ionospheric delay change rate analysis submodule is used to automatically draw the change graph of the ionospheric delay change rate of each satellite and perform quantitative analysis on the ionospheric delay change rate.

6. The integrated GNSS monitoring, solution and results analysis system according to claim 1 is characterized in that: The solution module has a manual solution mode suitable for historical monitoring data and an automatic solution mode suitable for real-time data, and supports a short baseline solution mode of 500 meters to 5 kilometers and a long baseline solution mode of 5 kilometers to 50 kilometers.

7. The integrated GNSS monitoring, solution and results analysis system according to claim 1 is characterized in that: Conduct multi-dimensional data analysis on monitoring results, including: The monitoring results can be extracted and analyzed at any time period, the maximum and average values ​​can be extracted and analyzed, and the deformation and environmental parameters can be comprehensively analyzed.

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