Monitoring method and system based on GNSS distributed solution

Abstract

The invention discloses a monitoring method and system based on GNSS distributed solution, and belongs to the technical field of space technology and satellite application, and the method comprises the steps that S1, a base station and monitoring stations receive GNSS data corresponding to a monitoring area sent by a satellite positioning system, and the base station sends the received GNSS data and coordinate information of the base station to a plurality of monitoring stations; s2, the plurality of monitoring stations calculate three-dimensional displacement data according to the GNSS data from the satellite positioning system and the GNSS data and the coordinate information from the base station, and send the three-dimensional displacement data to the base station according to a preset uploading frequency; s3, the base station uploads the three-dimensional displacement data sent by the monitoring station to an early warning platform in real time; and S4, the early warning platform detects the deformation trend and the abnormal change in the area in real time, generates an early warning signal when the abnormal deformation is found, and sends the early warning signal to the user terminal in real time. A distributed GNSS deformation monitoring method is adopted, and dense deployment of distributed nodes is utilized, so that a larger area can be covered, and blind areas are reduced.

Description

Technical Field

[0001] The present invention relates to the field of space technology and satellite application technology, and in particular to a monitoring method and system based on GNSS distributed solution. Background Art

[0002] Currently, in some high-precision deformation monitoring scenarios, such as landslide warning, the real-time solution and processing technology for GNSS (Global Navigation Satellite System) data has not yet fully met the real-time and efficient requirements. Many GNSS deformation monitoring real-time algorithms are not optimized enough to quickly respond to deformation events.

[0003] Traditional GNSS deformation monitoring stations are usually arranged at fixed points, which makes it difficult to cover large areas. In particular, blind spots may occur in areas with wide monitoring ranges and complex geological activities.

[0004] Therefore, there is an urgent need to propose a monitoring method and system that can significantly improve the real-time performance of GNSS deformation monitoring. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings of traditional GNSS deformation monitoring stations in the prior art, which are difficult to cover large areas, especially in areas with wide monitoring ranges and complex geological activities, where blind spots may occur, and to provide a monitoring method and system based on GNSS distributed solution.

[0006] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0007] A monitoring method based on GNSS distributed solution includes the following steps:

[0008] S1: The reference station and the monitoring station receive GNSS data corresponding to the monitoring area sent by the satellite positioning system, and the reference station sends the received GNSS data and the coordinate information of the reference station to multiple monitoring stations;

[0009] S2: The plurality of monitoring stations calculate three-dimensional displacement data based on GNSS data from a satellite positioning system and GNSS data and coordinate information from a reference station, and transmit the three-dimensional displacement data to the reference station according to a preset upload frequency;

[0010] S3: The reference station uploads the three-dimensional displacement data sent by the monitoring station to the early warning platform in real time;

[0011] S4: The early warning platform detects deformation trends and abnormal changes in the area in real time, and when abnormal deformation is found, generates an early warning signal and sends it to the user terminal in real time.

[0012] By adopting the above technical solution and a distributed GNSS deformation monitoring method, dense deployment of distributed nodes is utilized to cover a larger area and reduce blind spots. Through distributed computing and edge processing technology, data is quickly processed at local or regional nodes, reducing centralized processing delays and thus enhancing real-time performance. Through these measures, the real-time performance of GNSS deformation monitoring can be greatly improved. In addition, the anomaly detection and early warning functions are integrated, and historical data and real-time observation results are used to quickly identify abnormal deformations and provide real-time early warnings for geological disasters, landslides, ground subsidence, etc.

[0013] As a preferred solution of the present invention, step S1 includes: deploying multiple monitoring stations and reference stations in the monitoring area to receive GNSS data from the satellite positioning system, and setting the reference stations at known positions to provide position reference data.

[0014] As a preferred solution of the present invention, step S2 includes: the monitoring station combines the carrier phase observation value and the coordinate information of the reference station with the observation data of the monitoring station itself, performs real-time dynamic positioning through static baseline solution, and calculates the three-dimensional displacement data of each monitoring station in real time.

[0015] As a preferred solution of the present invention, step S2 also includes: the monitoring station combines its own carrier phase observation value and the carrier phase observation value of the reference station to perform error correction on ionospheric delay, tropospheric delay, multipath effect, relativistic effect, earth tide, and earth rotation.

[0016] As a preferred solution of the present invention, an improved Klobuchar model is used to correct the ionospheric delay error in the satellite positioning system, including refitting the broadcast parameters using high-density C0RS station data in the Chinese region and performing least squares optimization using historical GNSS TEC (ionospheric TEC estimation model based on GNSS data) observation data.

[0017] As a preferred solution of the present invention, step S4 includes: analyzing the deformation trend of the monitoring area using time series analysis and anomaly detection algorithm based on the three-dimensional deformation data obtained in real time.

[0018] As a preferred solution of the present invention, the early warning platform detects deformation trends and abnormal changes in the area in real time through time series analysis, including: using historical data and real-time uploaded three-dimensional displacement data to quickly identify abnormal deformation in the monitoring area.

[0019] As a preferred solution of the present invention, step S4 also includes: the monitoring results are displayed in real time through the early warning platform, and the deformation dynamic trend diagram of the monitoring area can be obtained in real time based on the monitoring results, thereby adjusting the layout density of the monitoring sites and optimizing the transmission network.

[0020] As a preferred solution of the present invention, all monitoring stations and the reference station are synchronized based on a unified time reference provided by a GNSS system.

[0021] On the other hand, a monitoring system is provided for implementing any of the above-mentioned monitoring methods based on GNSS distributed solution, including a reference station and an early warning platform in communication connection, and a plurality of monitoring stations in communication connection with the reference station.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] Adopting a distributed GNSS deformation monitoring method, using dense deployment of distributed nodes, covering a larger area and reducing blind spots; through distributed computing and edge processing technology, data is quickly processed at local or regional nodes, reducing centralized processing delays, thereby enhancing real-time performance. Through these measures, the real-time performance of GNSS deformation monitoring can be greatly improved; using an improved error correction model, a more efficient ionospheric correction method is developed to reduce modeling time; supporting edge computing and centralized data fusion, each node can perform preliminary calculations locally, and transmit key data back to the base station according to the preset upload frequency. The stations report to the early warning platform in a unified manner, and the early warning platform analyzes displacement trends and dynamic changes. In addition, the system integrates anomaly detection and early warning functions, uses historical data and real-time observation results to quickly identify abnormal deformation, and provide real-time early warnings for geological disasters, landslides, ground subsidence, etc.; it has the characteristics of high precision, high real-time performance, flexible station layout and strong robustness, and is suitable for scenarios such as large-scale geological monitoring, deformation observation of engineering facilities, and earthquake fault activity research. At the same time, through modular design, the system has good scalability, and the node density or monitoring range can be increased according to needs to form a monitoring network with wider coverage and stronger adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. Throughout the drawings, the same reference numerals are used to denote the same components. In the drawings:

[0025] Figure 1 This is a flowchart of a monitoring method based on GNSS distributed solution according to Example 1 of the present invention;

[0026] Figure 2 This is a structural diagram of a monitoring device based on GNSS distributed solution shown in Example 3 of the present invention. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0028] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures. At the same time, in the description of the present invention, the terms "first" and "second" are used only to distinguish the description and should not be understood as indicating or implying relative importance, or implying any actual relationship or order between these entities or operations. In addition, the terms "connected" and "connected" can refer to direct connection between components or indirect connection through other components.

[0029] Example 1

[0030] A monitoring method based on GNSS distributed solution, such as Figure 1 As shown, the following steps are included:

[0031] S1: The reference station and the monitoring station receive GNSS data corresponding to the monitoring area sent by the satellite positioning system, and the reference station sends the received GNSS data and the coordinate information of the reference station to multiple monitoring stations;

[0032] Specifically, step S1 includes: deploying a plurality of monitoring stations and reference stations in the monitoring area to receive GNSS data from the satellite positioning system, and setting the reference stations at known positions to provide position reference data.

[0033] S2: The plurality of monitoring stations calculate three-dimensional displacement data according to the GNSS data and the coordinate information, and send the three-dimensional displacement data to the reference station according to a preset upload frequency;

[0034] Specifically, step S2 includes: the monitoring station combines the carrier phase observation value and the coordinate information of the reference station with the observation data of the monitoring station itself, performs real-time dynamic positioning through static baseline solution, and calculates the three-dimensional displacement data of each monitoring station in real time;

[0035] Step S2 further includes: the monitoring station performing error correction for ionospheric delay, tropospheric delay, multipath effect, relativistic effect, earth tide, and earth rotation by combining its own carrier phase observation value and the carrier phase observation value of the reference station;

[0036] An improved Klobuchar model is used to correct the ionospheric delay error in the satellite positioning system, including refitting the broadcast parameters using the high-density CORS station data in the Chinese region and performing least squares optimization using historical GNSS TEC observation data.

[0037] Specifically, the Klobuchar model is used to estimate the ionospheric delay of GNSS users. Its core is to model the delay through 8 broadcast parameters (4 α and 4 β):

[0038] Ionospheric delay (vertical delay):

[0039]

[0040] in:

[0041] F=1+16(0.53-E) 3 is the slope factor (mapping function);

[0042]

[0043] t′=t local -50400;

[0044] φ m is the geomagnetic latitude of the ionospheric puncture point;

[0045] E is the elevation angle of the ionospheric penetration point;

[0046] The vertical total electron content (VTEC) data obtained from the CORS stations in China are used to perform fitting for a certain period of time. The fitting goal is to minimize the sum of squared residuals between the model estimates and the measured values.

[0047] For each moment i, the measured VTEC is VTEC i , the model prediction value is:

[0048]

[0049] The above formula is expressed as a nonlinear function f(α, β, t i ,φ m，i , E i );

[0050] The objective function is:

[0051]

[0052] in:

[0053] α=[α0, α1, α2, α3];

[0054] β=[β0, β1, β2, β3];

[0055] The nonlinear least squares problem is considered and the Levenberg-Marquardt algorithm is used to solve it iteratively.

[0056] Define the residual:

[0057] r i =VTEC i -f(α, β, t i ,φ m，i , E i )

[0058] Construct the Jacobian matrix J, find partial derivatives of α and β respectively, and iteratively update the parameter vector:

[0059] δ=(J T J) -1 J T r

[0060]

[0061] S3: The reference station uploads the three-dimensional displacement data sent by the monitoring station to the early warning platform in real time;

[0062] S4: The early warning platform detects deformation trends and abnormal changes in the area in real time, and generates an early warning signal when abnormal deformation is found, and sends it to the user terminal in real time;

[0063] Specifically, step S4 also includes: the monitoring results are displayed in real time through the early warning platform, and the deformation dynamic trend diagram of the monitoring area can be obtained in real time based on the monitoring results, so as to adjust the layout density of the monitoring sites and optimize the transmission network.

[0064] All monitoring stations and the reference station are synchronized based on a unified time reference provided by the GNSS system.

[0065] Example 2

[0066] A monitoring system for implementing the monitoring method based on GNSS distributed solution described in Example 1, comprising: Figure 2 The reference station and early warning platform are communicatively connected, and multiple monitoring stations are communicatively connected to the reference station.

[0067] Example 3

[0068] This embodiment is a specific implementation of Example 1;

[0069] The monitoring technology approach of the GNSS distributed solution monitoring system is centered on static baseline solution. Combining distributed networks and multi-node collaboration, it constructs a real-time, high-precision deformation monitoring system. Multiple GNSS monitoring nodes (monitoring stations) are deployed within the monitoring area. These nodes consist of high-precision GNSS receivers, antennas, and communication modules, providing stable and accurate reference coordinates for the deployed base stations. The base stations collect GNSS data in real time and transmit it to each monitoring node via wireless communication (LORA). The monitoring nodes combine their own observation data with that of the base stations to perform error correction (including ionospheric delay, tropospheric delay, multipath effects, relativistic effects, Earth tides, Earth rotation, etc.), and calculate three-dimensional displacement in real time. This data is transmitted back to the base stations via LORA, and the base stations report the data to the early warning platform in real time via 4G communication.

[0070] To improve system efficiency, the monitoring solution supports edge computing and centralized data fusion. Each node performs preliminary calculations locally and transmits key data back to the base station via LoRa according to the preset upload frequency. The base station then reports the data in real time to the early warning platform via 4G communication. The early warning platform analyzes displacement trends and dynamic changes. Furthermore, the system integrates anomaly detection and early warning functions, leveraging historical data and real-time observations to quickly identify abnormal deformations and provide real-time warnings for geological disasters, landslides, and ground subsidence.

[0071] To optimize positioning algorithm efficiency and reduce modeling time, a more efficient ionospheric correction method was developed. The Klobuchar model was modified to improve its ionospheric delay correction accuracy over China. The Klobuchar model input is based on eight broadcast parameters, which are derived from global ionospheric characteristics and do not fully reflect the ionospheric characteristics of China. Therefore, the broadcast parameters were refitted using high-density CORS station data over China, and a least-squares optimization was performed using historical GNSS TEC observations.

[0072] This technical solution offers high precision, high real-time performance, flexible station deployment, and strong robustness, making it suitable for scenarios such as large-scale geological monitoring, deformation observation of engineering facilities, and research on earthquake fault activity. Furthermore, through its modular design, the system boasts excellent scalability, allowing for increased node density or monitoring range as needed, creating a monitoring network with wider coverage and greater adaptability.

[0073] Specifically, this system not only includes high-precision real-time positioning and error correction, but also covers all aspects of data transmission, processing, and analysis, ensuring that deformation over large areas can be efficiently and accurately monitored. The system relies on static baseline solution technology and provides an efficient and reliable monitoring method through the collaborative work of multiple GNSS monitoring nodes and base stations.

[0074] (1) GNSS signal reception and data collection

[0075] Monitoring Node Deployment: The system deploys multiple GNSS monitoring nodes within the monitoring area, capable of receiving multi-frequency signals from satellites. Base stations, located in known locations, primarily provide reference data, ensuring accuracy for the entire monitoring network.

[0076] Signal acquisition: Monitoring nodes and base stations receive signals from satellites such as the Global Positioning Satellite System (GPS), Beidou Satellite System (BDS), GLONASS, and Galileo, and obtain positioning data through pseudorange measurement and carrier phase measurement.

[0077] (2) Data transmission and synchronization

[0078] Communication method: The base station transmits carrier phase observations and known base station coordinates to all monitoring nodes in real time via LoRa. After the monitoring nodes solve the data, they transmit the results back to the base station via LoRa according to the preset upload frequency. The base station then reports the results to the early warning platform in real time via 4G communication.

[0079] Time synchronization: GNSS system time synchronization is critical. All nodes and base stations are synchronized based on the unified time reference provided by the GNSS system to ensure time consistency between each node and the warning platform, thereby ensuring the accuracy of deformation solution results.

[0080] (3) Data processing and deformation calculation

[0081] Real-time positioning solution: The monitoring node combines the carrier phase observation value of the base station, the known coordinate information of the base station and its own observation data to perform real-time dynamic positioning through static baseline solution, achieving millimeter-level accuracy and calculating the three-dimensional displacement data of each node in real time. These data are then uploaded to the early warning platform.

[0082] (4) Abnormal analysis and early warning

[0083] Deformation analysis: Based on the deformation data obtained in real time, the system uses time series analysis and anomaly detection algorithms to analyze the deformation trend of the monitored area. It can discover local abnormal deformation trends and provide a basis for subsequent early warning.

[0084] Warning release: When abnormal deformation exceeding the set threshold is detected, the system will trigger the warning mechanism and push warning information to users in real time to remind them of possible geological disasters.

[0085] (5) User visualization and feedback

[0086] Real-time display: The monitoring results can be displayed in real time through the early warning platform, and users can clearly see the deformation dynamic trend chart of the monitored area.

[0087] Feedback and Adjustment: Based on the monitoring results, users can adjust the density of monitoring sites, optimize the transmission network, etc., to further improve the accuracy and responsiveness of the monitoring system, and ensure that the system can maintain efficient monitoring even under complex geological conditions.

[0088] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A monitoring method based on GNSS distributed solution, characterized in that: The following steps are involved: S1: The reference station and the monitoring station receive GNSS data corresponding to the monitoring area sent by the satellite positioning system, and the reference station sends the received GNSS data and the coordinate information of the reference station to multiple monitoring stations; S2: The plurality of monitoring stations calculate three-dimensional displacement data based on the GNSS data and the coordinate information, and send the three-dimensional displacement data to the reference station according to a preset upload frequency; S3: The reference station uploads the three-dimensional displacement data sent by the monitoring station to the early warning platform in real time; S4: The early warning platform detects deformation trends and abnormal changes in the area in real time, and when abnormal deformation is found, generates an early warning signal and sends it to the user terminal in real time.

2. The monitoring method based on GNSS distributed solution according to claim 1, characterized in that: Step S1 includes: deploying a plurality of monitoring stations and reference stations in the monitoring area to receive GNSS data from the satellite positioning system, and setting the reference stations at known locations to provide position reference data.

3. The monitoring method based on GNSS distributed solution according to claim 1, characterized in that: Step S2 includes: the monitoring station combines the carrier phase observation value and the coordinate information of the reference station with the observation data of the monitoring station itself, performs real-time dynamic positioning through static baseline solution, and calculates the three-dimensional displacement data of each monitoring station in real time.

4. The monitoring method based on GNSS distributed solution according to claim 3, characterized in that: Step S2 also includes: the monitoring station combines its own carrier phase observation value and the carrier phase observation value of the reference station to perform error correction on ionospheric delay, tropospheric delay, multipath effect, relativistic effect, earth tide, and earth rotation.

5. The monitoring method based on GNSS distributed solution according to claim 4, characterized in that: An improved Klobuchar model is used to correct the ionospheric delay error in the satellite positioning system, including refitting the broadcast parameters using the high-density CORS station data in the Chinese region and performing least squares optimization using historical GNSS TEC observation data.

6. The monitoring method based on GNSS distributed solution according to claim 1, characterized in that: Step S4 includes: analyzing the deformation trend of the monitoring area using time series analysis or anomaly detection algorithm based on the three-dimensional deformation data obtained in real time.

7. The monitoring method based on GNSS distributed solution according to claim 6, characterized in that: The early warning platform detects deformation trends and abnormal changes in the area in real time through time series analysis, including: using historical data and real-time uploaded three-dimensional displacement data to quickly identify abnormal deformation in the monitoring area.

8. The monitoring method based on GNSS distributed solution according to claim 6, characterized in that: Step S4 also includes: the monitoring results are displayed in real time through the early warning platform, and the deformation dynamic trend diagram of the monitoring area can be obtained in real time based on the monitoring results, so as to adjust the layout density of the monitoring sites and optimize the transmission network.

9. The monitoring method based on GNSS distributed solution according to claim 1, characterized in that: All monitoring stations and the reference station are synchronized based on a unified time reference provided by the GNSS system.

10. A monitoring system for implementing the monitoring method based on GNSS distributed solution according to any one of claims 1 to 9, characterized in that: It includes a reference station and an early warning platform in communication connection, and a plurality of monitoring stations in communication connection with the reference station.

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