Dam high-precision deformation monitoring system and monitoring method based on single Beidou

Abstract

The invention discloses a dam high-precision deformation monitoring system and method based on a single Beidou, and relates to the technical field of dam monitoring, and the system comprises Beidou receiver equipment which is used for receiving a signal of a Beidou satellite navigation system; the choking coil antenna is used for enhancing signal reception; the communication module is used for transmitting the original observation information received by the Beidou receiver equipment; the back-end server is used for receiving and storing the original observation information; the database is used for storing the monitoring data after the original observation information is processed; wherein Beidou deformation monitoring calculation algorithm software is arranged on the rear-end server and is used for calculating original observation information to obtain deformation data of the dam and form processed monitoring data; and performing encryption processing on the monitoring data by adopting a national secret encryption technology. The problems that traditional external deformation observation is large in workload, the requirement for the technical level of personnel is high, and the observation time period is limited by meteorological conditions are solved.

Description

Technical Field

[0001] This application relates to the field of dam monitoring technology, and in particular to a high-precision deformation monitoring system and method for dams based on a single BeiDou navigation satellite system. Background Technology

[0002] In the field of hydropower engineering, monitoring the external deformation of dams is crucial for ensuring dam safety. Traditional methods for observing external deformation have many shortcomings, such as being labor-intensive, requiring highly skilled personnel, and being limited by weather conditions, making it impossible to achieve all-weather, real-time monitoring. These problems limit the effectiveness of traditional methods in ensuring dam safety and make it difficult to meet the high requirements of safety monitoring in modern hydropower projects.

[0003] The rise of the BeiDou Navigation Satellite System (BDS) has provided a new solution for monitoring the external deformation of hydropower projects. The BeiDou system boasts advantages such as high monitoring frequency, continuous and stable monitoring, wide monitoring range, high degree of automation, and immunity to weather conditions, with accuracy down to the millimeter level, making it a crucial tool for monitoring the external deformation of hydropower projects. The application of the BeiDou system not only improves monitoring efficiency and accuracy but also enables all-weather, real-time monitoring, providing strong support for the safe operation of hydropower projects.

[0004] With the completion of the BeiDou-3 system's global network, BeiDou has become a globally covering satellite navigation system, providing all-day, all-weather positioning services to users worldwide. In the field of hydropower engineering, the application of BeiDou is becoming increasingly widespread, particularly in the monitoring of external deformation of dams and slopes. The proposed high-precision deformation monitoring system for dams based on a single BeiDou system not only meets regulatory requirements for real-time monitoring of dam and slope operation but also achieves the modern enterprise management goal of "unmanned operation or minimal staffing." The application of this system will further enhance the safety monitoring level of hydropower projects and safeguard the lives and property of the people. Summary of the Invention

[0005] This application provides a high-precision deformation monitoring system and method for dams based on a single Beidou system. It can solve the problems of large workload, high technical requirements for personnel, and observation time limited by weather conditions in traditional external deformation observation, as well as the problems of low frequency, poor real-time performance, low efficiency, and high safety risks in the surface deformation monitoring of dam areas and slopes in hydropower projects.

[0006] Firstly, this application provides a high-precision deformation monitoring system for dams based on a single BeiDou navigation satellite system, comprising: Beidou receiver equipment, including integrated units and / or separate units, is used to receive signals from the Beidou satellite navigation system.

[0007] Choke coil antenna, connected to BeiDou receiver equipment, is used to enhance signal reception.

[0008] The communication module, including a 4G communication module and an optical fiber communication module, is used to transmit the raw observation information received by the Beidou receiver equipment.

[0009] The backend server, connected to the communication module via wired or wireless signals, is used to receive and store raw observation information.

[0010] The database, connected to the backend server, is used to store the monitoring data after processing the raw observation information.

[0011] The backend server is equipped with BeiDou deformation monitoring and calculation algorithm software, which is used to calculate the raw observation information and obtain the dam deformation data to form the processed monitoring data.

[0012] The BeiDou receiver equipment, choke antenna, communication module, back-end server, database, and BeiDou deformation monitoring and calculation algorithm software use national cryptographic encryption technology to encrypt the monitoring data.

[0013] In some examples, the high-precision deformation monitoring system for dams also includes a customized engineering scenario module, which allows users to configure the calculation parameters according to specific measurement point scenarios. Specific measurement point scenarios include at least one of open area measurement points, semi-obscured area measurement points, and water-adjacent measurement points.

[0014] In some examples, the BeiDou deformation monitoring and calculation algorithm software also includes a data quality control module set on the backend server to evaluate the data quality of the raw observation information and delete degraded data that adversely affects high-precision calculation.

[0015] In some examples, the BeiDou deformation monitoring and calculation algorithm software also includes a tropospheric delay correction module set up on the backend server. When the elevation difference exceeds 100 meters, the tropospheric delay correction module avoids the residual tropospheric delay from affecting the calculation accuracy by introducing an optimal estimation method.

[0016] In some examples, the BeiDou deformation monitoring and calculation algorithm software also includes a multipath error correction module set up on the backend server, which is used to extract and model multipath errors with high precision using the sidereal filtering method, and to compensate for them in the next satellite observation cycle calculation.

[0017] In some examples, the high-precision deformation monitoring system for dams also includes a remote control module located on a backend server, which authorizes users to remotely activate flood alarm devices via a 5G network.

[0018] Secondly, this application provides a high-precision deformation monitoring method for dams based on a single BeiDou navigation satellite system, comprising the following steps: Step S100: Use a BeiDou receiver to receive signals from the BeiDou satellite navigation system.

[0019] Step S200: Enhance signal reception using a choke coil antenna.

[0020] Step S300: Transmit the raw observation information to the backend server via the communication module.

[0021] Step S400: Deploy the BeiDou deformation monitoring and calculation algorithm software on the backend server to calculate the original observation information, obtain the dam deformation data, and generate processed monitoring data.

[0022] Step S500: Store the processed monitoring data in the database.

[0023] Among them, the high-precision deformation monitoring methods for dams all employ national cryptographic encryption technology to encrypt the monitoring data.

[0024] In some examples, before the processed monitoring data is generated, a step is included to flexibly configure the solution parameters according to the specific measurement point scenario.

[0025] Specific measurement point scenarios include at least one of the following: open area measurement points, semi-obscured area measurement points, and water-adjacent measurement points.

[0026] In some examples, the process of generating processed monitoring data also includes steps to assess the data quality of the original observation information and remove quality-degraded data that could negatively impact high-precision solutions.

[0027] In some examples, the process of generating the processed monitoring data also includes: Step S410: When the elevation difference exceeds 100 meters, the optimal estimation method is introduced to avoid the residual tropospheric delay affecting the solution accuracy.

[0028] Step S420: Use the sidereal solar filtering method to extract and model the multipath error with high precision, and compensate for it in the next satellite observation cycle.

[0029] The beneficial effects of this invention are as follows: It achieves millimeter-level precision dam safety monitoring, independent of other countries' systems and facilities, ensuring the operational safety of my country's hydropower projects. It achieves high intelligence and complete domestic production, meeting the requirements for automated data acquisition for dam surface deformation monitoring, and also fulfilling functions such as automatic calculation and processing of monitoring data, real-time monitoring, triggering, one-click report generation, and information push, facilitating daily power station management. It achieves high reliability in deformation early warning, outputting data quality indicators for any time period based on real-time data quality assessment, promptly evaluating data quality during periods of abrupt changes in calculation results, and avoiding false alarms caused by data quality deterioration. It achieves all-weather, fully automated, and real-time monitoring, meeting the requirements of modern enterprise management with "unmanned or minimally staffed" operations. Each monitoring station has optimal sensitivity parameter configurations, ensuring millimeter-level calculation accuracy. Strict data quality control strategies guarantee millimeter-level calculation accuracy. It improves the reliability of the calculation algorithm, avoiding the impact of residual tropospheric delay on calculation accuracy. It reduces multipath errors, improving monitoring accuracy. It reduces human intervention, not only improving monitoring efficiency but also reducing errors that may be introduced by manual operation, further enhancing monitoring accuracy. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the examples or prior art description will be briefly introduced below. Obviously, the drawings described below are only some examples of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the module structure of a high-precision deformation monitoring system for dams based on a single BeiDou system, as shown in one example of this application.

[0032] Figure 2 This is a flowchart illustrating a high-precision deformation monitoring system for a dam based on a single BeiDou navigation satellite system, as shown in one example of this application. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and examples. It should be understood that the specific examples described herein are merely illustrative and not intended to limit the scope of this application.

[0034] In high-precision dam deformation monitoring systems based on the BeiDou Navigation Satellite System, dam deformation monitoring is a crucial guarantee for the safe operation of water conservancy and hydropower projects, and is of great significance for preventing disasters and ensuring project safety. With the development and improvement of the BeiDou Navigation Satellite System, BeiDou-based dam deformation monitoring technology has gradually become a research hotspot in this field.

[0035] Traditional dam deformation monitoring relies primarily on manual measurement methods, such as leveling and total station surveying. These methods suffer from drawbacks including high workload, demanding skilled personnel, and limitations imposed by weather conditions during observation periods, making all-weather, real-time monitoring impossible. Particularly in monitoring surface deformation in hydropower dam areas and slopes, manual measurement methods suffer from low frequency, poor real-time performance, low efficiency, and high safety risks. Furthermore, monitoring work is easily affected by external factors such as rainfall and strong sunlight, which can disrupt data collection.

[0036] In other words, existing technologies still have the following problems: First, the on-site measurement work requires staff to travel back and forth between the work base point and the monitoring point. After the monitoring data is collected, professional surveyors are needed to perform adjustment calculations on the data in order to convert it into the actual displacement value of the slope. The workload is large and complex, and the timeliness cannot meet the actual needs.

[0037] Secondly, monitoring points in different environments such as high mountains and canyons, and waterfront areas require targeted solutions, and existing technologies lack the ability to flexibly configure specific monitoring point scenarios.

[0038] Third, there may be quality issues in the observation data, which could affect high-precision calculations. Existing technologies lack effective data quality control mechanisms.

[0039] Fourth, in the context of large elevation differences faced by hydropower stations, the tropospheric delay difference exceeding 100 meters of the baseline will significantly affect the accuracy of the calculation, and existing technologies do not adequately consider this.

[0040] Fifth, the monitoring points of hydropower stations generally suffer from serious multipath effects, and there is still room for improvement in the existing multipath error correction methods.

[0041] In addition, existing technologies are inadequate in terms of data security, lacking encryption protection measures for monitoring data.

[0042] To solve the above technical problems, please refer to Figures 1-2 As shown, the first aspect of this application proposes a high-precision deformation monitoring system for dams based on a single BeiDou navigation satellite system. This system addresses the problems of traditional external deformation monitoring, such as high workload, high skill requirements for personnel, and limitations imposed by weather conditions during observation periods. It also solves the problems of low frequency, poor real-time performance, low efficiency, and high safety risks in monitoring the surface deformation of dam areas and slopes in hydropower projects. Furthermore, this application achieves millimeter-level precision dam safety monitoring, high intelligence and complete domestic production, high reliability of deformation early warning, and all-weather, fully automated real-time monitoring.

[0043] Reference Figure 1 The high-precision deformation monitoring system for dams based on a single BeiDou system in this application includes: Beidou receiver equipment, including integrated units and / or separate units, is used to receive signals from the Beidou satellite navigation system.

[0044] Choke coil antenna, connected to BeiDou receiver equipment, is used to enhance signal reception.

[0045] The communication module, including a 4G communication module and an optical fiber communication module, is used to transmit the raw observation information received by the Beidou receiver equipment.

[0046] The backend server, connected to the communication module via wired or wireless signals, is used to receive and store raw observation information.

[0047] The database, connected to the backend server, is used to store the monitoring data after processing the raw observation information.

[0048] The backend server is equipped with BeiDou deformation monitoring and calculation algorithm software, which is used to calculate the raw observation information and obtain the dam deformation data to form the processed monitoring data.

[0049] The BeiDou receiver equipment, choke antenna, communication module, back-end server, database, and BeiDou deformation monitoring and calculation algorithm software use national cryptographic encryption technology to encrypt the monitoring data.

[0050] In the above structure, the BeiDou receiver equipment is one of the core components of the entire system, and it comes in two forms: integrated and separate. The main function of these receivers is to receive signals from the BeiDou satellite navigation system, ensuring accurate signal acquisition.

[0051] There are two types of BeiDou receiver equipment: integrated units and separate units. An integrated unit combines the antenna and processing unit into one device, while a separate unit separates the antenna and processing unit. The main task of these devices is to capture navigation signals transmitted by BeiDou satellites, thereby achieving functions such as positioning, navigation, and time synchronization.

[0052] Among them, the BeiDou receiver is a device specifically designed to receive signals from the BeiDou satellite navigation system. It is an indispensable core component of the entire BeiDou navigation system and is widely used in transportation, agriculture, military, and other fields. An integrated unit refers to a design that integrates the antenna and signal processing unit into a single device, characterized by its small size and easy installation, suitable for certain specific scenarios. A separate unit refers to a device with the antenna and signal processing unit designed separately, offering greater flexibility and suitable for complex environments or situations requiring special installation conditions. Combining the two allows for applications in even more complex scenarios.

[0053] The integrated unit combines a receiving antenna and a signal processing unit, making it suitable for deployment at monitoring points in open areas. The separate unit separates the receiving antenna and signal processing unit, making it suitable for monitoring points with limited space or requiring flexible deployment. The BeiDou receiver supports multi-band signal reception (B1, B2, and B3) with a sampling rate up to 1Hz, ensuring the continuity and integrity of data acquisition.

[0054] The choke coil antenna is connected to the BeiDou receiver to enhance the signal received by the receiver, thereby improving signal stability and reliability. In this way, the system can more accurately capture satellite signals, providing a solid foundation for subsequent data processing.

[0055] Choke coil antennas can employ a special ring structure design to effectively suppress multipath effects and improve signal reception quality. The antenna features omnidirectional reception characteristics, a receiving gain of no less than 36dB, an operating temperature range of -40℃ to 85℃, and an IP67 waterproof rating, making it suitable for long-term stable operation under various harsh weather conditions.

[0056] The communication module is a key component responsible for data transmission in the system. It includes a 4G communication module and a fiber optic communication module, capable of transmitting raw observation information received by the BeiDou receiver to the backend server. The 4G communication module utilizes the mobile communication network for data transmission, while the fiber optic communication module achieves high-speed and stable data transmission through the fiber optic network.

[0057] The 4G communication module features an industrial-grade design, supports all network signals, and achieves a transmission rate of up to 100Mbps, making it suitable for data transmission at remote monitoring points. The fiber optic communication module uses a gigabit Ethernet interface, achieving a transmission rate of up to 1Gbps, suitable for high-speed and stable transmission of large amounts of data, especially in environments with strong electromagnetic interference. The communication module has a built-in data caching function, which can temporarily store data when the network is interrupted and automatically retransmit it after the network is restored, ensuring data integrity.

[0058] The backend server is a crucial component of the system responsible for data processing and storage. It connects to the communication module via wired or wireless signals to receive and store raw observation information transmitted from the communication module. The server possesses powerful data processing capabilities, enabling it to efficiently process and store large amounts of observation data.

[0059] The server employs a high-performance computing platform, equipped with multi-core CPUs and large-capacity memory, supporting parallel computing and capable of processing data from multiple monitoring points simultaneously. The server is equipped with redundant power supplies and RAID disk arrays to ensure high system availability and data security. Dedicated data receiving software is deployed on the server, enabling it to receive, parse, and store raw observation data from each monitoring point in real time.

[0060] The database is tightly connected to the backend server and is used to store processed monitoring data. This data is obtained by processing and analyzing the raw observation information through the backend server, and can more intuitively reflect the deformation of the dam.

[0061] The database can adopt a distributed architecture, supporting efficient storage and fast retrieval of massive amounts of data. It features a specialized data model, including raw data tables, processing result tables, historical data tables, and alarm information tables, enabling categorized data management and efficient querying. The database has automatic backup and data recovery functions, regularly backing up important data to ensure data security.

[0062] On the backend server, a dedicated BeiDou deformation monitoring and calculation algorithm software was installed. The software's main function is to process the raw observation information using complex algorithms to ultimately obtain the dam's deformation data, forming processed monitoring data. This data provides crucial reference information for the dam's safety monitoring.

[0063] The software can be modularly designed, including but not limited to data preprocessing, baseline calculation, deformation analysis, and results display modules. It supports multiple calculation strategies, including single-point positioning, relative positioning, and network calculation, allowing users to select the appropriate method based on different monitoring needs. The software employs a high-precision baseline calculation algorithm, achieving millimeter-level deformation monitoring accuracy.

[0064] To ensure the security of monitoring data, the BeiDou receiver equipment, choke antenna, communication module, backend server, database, and BeiDou deformation monitoring and calculation algorithm software all employ national cryptographic encryption technology. This encryption technology effectively protects the monitoring data from unauthorized access or tampering by third parties, ensuring data security and integrity. The system uses the SM2 elliptic curve public key cryptography algorithm for authentication and key negotiation, the SM4 block cipher algorithm for encrypting transmitted data, and the SM3 cryptographic hash algorithm to ensure data integrity. Encryption processes cover the entire process of data acquisition, transmission, storage, and processing, effectively preventing unauthorized access or tampering.

[0065] Through the coordinated work of the above components, this system can achieve high-precision monitoring of dam deformation, providing strong technical support for the safe operation of the dam.

[0066] At least some of the equipment and software involved in this application system can be domestically produced, or can be completely domestically produced, thereby ensuring that the technology is not restricted or affected by foreign countries.

[0067] Furthermore, using domestically produced equipment and software helps reduce dependence on external supply chains and enhances the system's self-controllability. In terms of system maintenance and upgrades, domestically produced equipment and software often provide more timely and convenient technical support, ensuring the stability and reliability of system operation. Simultaneously, this aligns with the national strategic requirements for information security and self-controllability, contributing to the development and growth of related domestic industries. Therefore, the importance of domestic production and self-controllability was fully considered during the design and implementation of the system in this application.

[0068] In the above structure, the communication module includes a 4G communication module and a fiber optic communication module, used to transmit raw observation information from the BeiDou monitoring receiving equipment of the hydropower project to the relevant server via 4G communication protocol, TCP protocol (fiber optic + Ethernet), or LoRa communication technology. The backend server is connected to the communication module via wired or wireless signal to receive and store the raw observation information. The database is connected to the backend server to store the processed monitoring data from the raw observation information. The backend server is equipped with BeiDou deformation monitoring and calculation algorithm software to calculate the raw observation information and obtain the dam deformation data, forming the processed monitoring data. The system uses China's independently developed BeiDou satellite navigation system to provide high-precision positioning services, ensuring the independence and autonomy of the monitoring data. The system employs national cryptographic encryption technology to strictly encrypt the monitoring data, ensuring its confidentiality and integrity.

[0069] In some examples, the high-precision deformation monitoring system for dams also includes a customized engineering scenario module, which allows users to configure the calculation parameters according to specific measurement point scenarios. Specific measurement point scenarios include at least one of open area measurement points, semi-obscured area measurement points, and water-adjacent measurement points.

[0070] The main function of the customized engineering scenario module in the above structure is to support users in configuring the solution parameters in a personalized manner according to specific measurement point scenarios. The so-called specific measurement point scenarios mainly include, but are not limited to, three types: open area measurement points, semi-obscured area measurement points, and water-adjacent measurement points.

[0071] For measurement points in open areas, due to their wide field of view and good satellite signal reception conditions, the system uses standard calculation parameters. In this case, the satellite cutoff elevation angle is set to 10 degrees, meaning the system will prioritize receiving satellite signals with elevation angles higher than 10 degrees. Simultaneously, to ensure signal quality, the signal-to-noise ratio threshold is set to 35 dB-Hz; the system will only perform data calculations when the signal strength reaches this standard.

[0072] For measurement points in partially obstructed areas, satellite signal reception conditions are relatively poor due to obstruction from buildings, trees, or other obstacles. In this case, the system automatically adjusts the satellite weighting model, reducing the weight of low-elevation satellites to minimize errors caused by obstruction. Simultaneously, to further improve signal quality, the signal-to-noise ratio threshold is increased to 40 dB-Hz, ensuring that only high-quality signals are accepted and processed by the system.

[0073] For measuring points near water, signal quality may be affected by multipath effects due to water surface reflection. Therefore, the system employs a special multipath suppression algorithm combined with a water surface reflection model for signal quality assessment. This algorithm and model can effectively identify and eliminate signal interference caused by water surface reflection, thereby improving data accuracy.

[0074] The customized engineering scenario module uses a graphical interface to allow users to intuitively select measurement point types and adjust relevant parameters. Users can flexibly configure system parameters according to actual engineering scenarios and needs, thereby improving the adaptability and accuracy of the entire monitoring system. This modular configuration approach not only enhances system flexibility but also significantly improves user convenience and efficiency in actual operation.

[0075] In some examples, the BeiDou deformation monitoring and calculation algorithm software also includes a data quality control module set on the backend server to evaluate the data quality of the raw observation information and delete degraded data that adversely affects high-precision calculation.

[0076] The aforementioned data quality control module primarily assesses and monitors the quality of the input raw observation information to ensure that this data meets the requirements of high-precision calculations. To achieve this goal, the module proactively identifies and removes degraded data that may negatively impact high-precision calculations.

[0077] To achieve this functionality, the data quality control module employs multiple verification mechanisms, including but not limited to signal-to-noise ratio (SNR) verification, multipath effect index (MPI) verification, cycle slip detection, and pseudorange residual verification. Through these verification methods, the system can effectively identify abnormal data and perform corresponding labeling or removal operations based on the degree of anomaly. For example, SNR verification assesses signal quality, MPI detection detects interference during signal propagation, cycle slip detection identifies jumps in the data, and pseudorange residual verification evaluates the accuracy of the observed data.

[0078] In addition, the data quality control module possesses a crucial function: adaptive thresholding. This feature allows the system to automatically adjust quality control parameters based on the specific needs of different monitoring environments. Through this adaptive mechanism, the system can more accurately and effectively filter data, thereby ensuring the high precision and reliability of the final calculation results. This adaptive thresholding function not only improves the accuracy of data filtering but also significantly enhances the flexibility and applicability of the entire BeiDou deformation monitoring system.

[0079] In some examples, the BeiDou deformation monitoring and calculation algorithm software also includes a tropospheric delay correction module set up on the backend server. When the elevation difference exceeds 100 meters, the tropospheric delay correction module avoids the residual tropospheric delay from affecting the calculation accuracy by introducing an optimal estimation method.

[0080] The aforementioned tropospheric delay correction module is capable of avoiding the impact of residual tropospheric delay on solution accuracy when the elevation difference exceeds 100 meters by introducing an optimal estimation method. The module can use a modified Saastamoinen model to calculate the dry and wet delays of the troposphere and perform corresponding corrections based on real-time meteorological data. For monitoring networks with large elevation differences, the system employs a stochastic parameter estimation method, treating the tropospheric delay parameter as an additional unknown in the joint solution, thereby effectively reducing the impact of tropospheric delay on the elevation component. Furthermore, the module supports various mapping functions, including GMF and VMF1, allowing users to select the most suitable function based on their specific needs.

[0081] The Saastamoinen model is a mathematical model used to calculate tropospheric delay, widely applied in Global Navigation Satellite System (GNSS) positioning and geodesy. Particularly in GNSS positioning, it is used in conjunction with real-time meteorological data (such as air pressure, temperature, and humidity) to calculate and correct for tropospheric wet and dry delays, thereby improving positioning accuracy.

[0082] In some examples, the BeiDou deformation monitoring and calculation algorithm software also includes a multipath error correction module set up on the backend server, which is used to extract and model multipath errors with high precision using the sidereal filtering method, and to compensate for them in the next satellite observation cycle calculation.

[0083] The main function of the multipath error correction module is to use the sidereal-day filtering method to extract and model multipath errors with high precision, and to perform corresponding compensation in the next satellite observation cycle.

[0084] The multipath error correction module is designed based on the orbital periodicity of BeiDou satellites. It collects observation data over several consecutive days and extracts multipath errors with periodic characteristics. The system establishes a comprehensive multipath error model library and generates customized error correction models for the specific environmental characteristics of each monitoring point. In this way, each monitoring point can obtain an error correction model that matches its specific environment, thereby improving the accuracy of error correction.

[0085] During real-time calculations, the system automatically calls upon the appropriate error correction values ​​based on the satellite's position. This means that the system can select the most suitable error correction model based on the satellite's specific location, thereby effectively compensating for multipath errors. In this way, calculation accuracy can be significantly improved, ensuring the accuracy and reliability of deformation monitoring data.

[0086] In summary, the multipath error correction module significantly improves the solution accuracy of the BeiDou deformation monitoring algorithm software through high-precision error extraction and modeling, as well as a customized error correction model. This not only enhances the accuracy of monitoring data but also provides more reliable technical support for research and applications in related fields.

[0087] In some examples, the high-precision deformation monitoring system for dams also includes a remote control module located on a backend server, which authorizes users to remotely activate flood alarm devices via a 5G network.

[0088] The primary function of the remote control module is to authorize users to remotely activate the flood alarm device via the 5G network. To further enhance system security, the system also supports a two-factor authentication mechanism. This mechanism includes both password verification and dynamic token verification, ensuring operational security. Through this two-factor authentication, users need to provide two different authentication factors when performing remote operations, significantly improving system security.

[0089] Furthermore, remote control commands are transmitted at high speed via the 5G network, with a latency of no more than 100 milliseconds. This low latency ensures timely response in emergencies, effectively preventing and mitigating potential disasters. The remote control module also features an operation log recording function, capable of recording detailed user information, operation time, operation content, and system response status for each operation. These detailed operation logs greatly facilitate subsequent auditing and traceability work, allowing managers to easily track and review the specific circumstances of each operation, ensuring system transparency and traceability.

[0090] To further improve the performance of the high-precision deformation monitoring system for dams based on a single BeiDou system (hereinafter referred to as the system), the high-precision deformation monitoring system for dams is further divided into modules.

[0091] Module 1: System Composition This system is a high-precision deformation monitoring system for dams based on the BeiDou Navigation Satellite System. Its core components include an integrated BeiDou receiver unit, a separate receiver unit, and a choke antenna. In addition, the system is equipped with 4G and fiber optic communication modules to ensure the stability and efficiency of data transmission. The backend server, database, and BeiDou deformation monitoring algorithm software are also important components of the system. Together, they ensure the reliability of high-precision positioning services using China's independently developed BeiDou satellite navigation system.

[0092] Module 2: Data Acquisition At key locations along the dam, integrated and separate BeiDou receiver systems, along with choke coil antennas, have been deployed. These devices are capable of acquiring real-time three-dimensional coordinate data of the dam. This data allows for precise monitoring of dam deformation, ensuring its safe operation.

[0093] Module 3: Data Transmission To ensure the stability and efficiency of data transmission, 4G and fiber optic communication modules were employed. These modules enable the real-time transmission of collected data to the backend server, providing reliable data support for subsequent data processing and analysis.

[0094] Module Four: Data Processing and Analysis The backend server is the core of the entire system, responsible for storing, processing, and analyzing the transmitted data. The database stores historical data and analysis results, providing data support for the system. The BeiDou deformation monitoring and calculation algorithm software then calculates the collected data to determine the dam's deformation, providing a scientific basis for decision-makers.

[0095] Module 5: Early Warning and Report Generation The system includes an early warning module that can trigger warnings based on calculation results and output data quality indicators for any time period based on real-time data quality assessment. The report generation module can generate monitoring reports with a single click, allowing decision-makers to quickly understand the dam's deformation status.

[0096] Module Six: Information Push and Customization The system also includes an information push module, which can push monitoring results and early warning information to relevant personnel in real time. The system supports customized engineering scenarios, as well as parameter configuration templates for specific measuring point scenarios, and allows users to flexibly combine template parameters to meet the needs of different users.

[0097] Module 7: Data Security and Encryption The system includes a data encryption module that employs national standard cryptographic encryption technology to rigorously encrypt monitoring data, ensuring data security. Additionally, it includes a digital signature and key exchange module to guarantee data integrity and authentication, preventing data tampering.

[0098] Module 8: Support for Domestic Equipment All key equipment in this system, including the integrated BeiDou receiver unit, the separate receiver unit, the choke antenna, the 4G and fiber optic communication modules, the back-end server, the database, and the BeiDou deformation monitoring and calculation algorithm software, are domestically produced. This not only demonstrates support for domestically produced equipment but also ensures the stability and reliability of the system.

[0099] Module Nine: Innovative Configuration and Quality Control For monitoring points in diverse environments such as high mountains, deep valleys, and waterfront locations, the system innovatively implements automatic configuration of sensitivity parameters, such as the shortest common arc length of satellite observations. Simultaneously, through a rigorous data quality control strategy, data that might adversely affect high-precision calculations is removed, ensuring data accuracy.

[0100] Module 10: Special Environment Handling To address the significant elevation differences faced by hydropower stations, the system introduces an optimal estimation method, effectively avoiding the impact of residual tropospheric delay on calculation accuracy during BeiDou high-precision calculations. To address the severe multipath effect at hydropower station monitoring points, the system employs a sidereal-day filtering method for high-precision extraction and modeling of multipath errors, compensating for these errors during the next satellite observation cycle, thereby improving the system's calculation accuracy.

[0101] Module Eleven: Remote Control and Alarm The system supports remote activation of the flood alarm device, including control via a 5G network and an app. Additionally, the system includes an alarm history module to record detailed information for each alarm, allowing users to easily view and analyze the alarm situation at any time.

[0102] Module Twelve: Power Supply and Environmental Monitoring The system includes a power management module to manage the system's power supply and ensure stable operation. An environmental monitoring module monitors the meteorological conditions around the dam in real time, providing meteorological data support to ensure the system's normal operation.

[0103] Module Thirteen: Troubleshooting and Upgrades The system includes a fault diagnosis module for real-time monitoring of system operation status, enabling timely detection and handling of faults. A remote upgrade module is used for remote software upgrades, ensuring the system's advanced features and stability.

[0104] Module Fourteen: User and System Management The system includes a user management module for managing system users and ensuring system security. A logging module records system operation logs, facilitating system maintenance and optimization. A data backup module backs up system data to prevent data loss and ensure data security.

[0105] Module 15: Data Analysis and Visualization The system includes a data analysis module for in-depth analysis of the collected data and extraction of patterns in dam deformation. A 3D visualization module displays the dam's deformation in 3D graphics, allowing users to intuitively understand the dam's deformation.

[0106] Module Sixteen: Simulation Prediction and Learning The system includes a simulation and prediction module, which simulates the future deformation of the dam based on historical data. A learning module continuously optimizes the system's functionality and performance based on user feedback, improving the system's intelligence level.

[0107] Module Seventeen: Other Functional Modules The system also includes modules for user access management, data synchronization, fault early warning, data cleanup, system log analysis, intelligent recommendation, knowledge base, community, training, data export, data import, system recovery, and system upgrade notification, to meet various needs of high-precision dam deformation monitoring. These modules together constitute a comprehensive and stable high-precision dam deformation monitoring system.

[0108] This application achieves millimeter-level precision dam safety monitoring, independent of other countries' systems and facilities, ensuring the operational safety of my country's hydropower projects. It achieves high intelligence and complete domestic production, meeting the requirements for automated data acquisition for dam surface deformation monitoring. It also supports automatic calculation and processing of monitoring data, real-time monitoring, triggering, one-click report generation, and information push functions, facilitating daily power station management. It achieves high reliability in deformation early warning, outputting data quality indicators for any time period based on real-time data quality assessment, promptly evaluating data quality during periods of abrupt changes in calculation results, and avoiding false alarms caused by data quality deterioration. It achieves all-weather, fully automated, and real-time monitoring, meeting the requirements of modern enterprise management with "unmanned or minimally staffed" operations. Each monitoring station has optimal sensitivity parameter configurations to ensure millimeter-level accuracy. Strict data quality control strategies guarantee millimeter-level accuracy. It improves the reliability of the calculation algorithm, avoiding the impact of residual tropospheric delay on calculation accuracy. It reduces multipath errors, improving monitoring accuracy. It reduces human intervention, not only improving monitoring efficiency but also reducing errors that may be introduced by manual operation, further enhancing monitoring accuracy.

[0109] Reference Figure 2 Secondly, this application provides a high-precision deformation monitoring method for dams based on a single BeiDou navigation satellite system, comprising the following steps: Step S100: Use a BeiDou receiver to receive signals from the BeiDou satellite navigation system.

[0110] In this step, a BeiDou receiver will be used to receive signals from the BeiDou Navigation Satellite System. Specifically, this receiver can be a professional-grade high-precision receiver with multi-frequency reception capabilities. Such a receiver can simultaneously receive BeiDou satellite signals from multiple frequencies, including but not limited to B1, B2, and B3. This ensures that the received signals have high accuracy and reliability.

[0111] Step S200: Enhance signal reception using a choke coil antenna.

[0112] The above steps can enhance signal reception using a choke coil antenna. The choke coil antenna employs a special ring structure, which effectively suppresses multipath effects, thereby significantly improving signal reception quality. Specifically, this choke coil antenna has a diameter of 15 cm and a height of 8 cm, and is made of aluminum alloy. This material not only has good anti-interference performance but also ensures the antenna's stability and reliability.

[0113] Step S300: Transmit the raw observation information to the backend server via the communication module.

[0114] Specifically, the communication module uses 4G / 5G wireless transmission technology to achieve real-time data transmission with a transmission rate of up to 10Mbps, ensuring that the original observation data can be transmitted to the backend server in a timely and complete manner.

[0115] After the raw observation information is transmitted to the backend server, the calculation parameters are flexibly configured according to the specific measurement point scenario. For measurement points in open areas, standard calculation parameters are used, with the satellite cutoff elevation angle set to 10° and the signal-to-noise ratio threshold set to 35dB-Hz. For measurement points in partially obscured areas, the satellite cutoff elevation angle is reduced to 7°, while the robustness of the weighted model is improved. For measurement points near water, considering the water surface reflection characteristics, a special multipath suppression algorithm is used, and the phase center correction parameters are adjusted.

[0116] Subsequently, the data quality of the original observation information was assessed, and degraded data that adversely affected high-precision calculations was removed. Data quality assessment included multiple indicators such as signal-to-noise ratio (SNR) detection, cycle slip detection, and multipath effect assessment. Data with an SNR below 30 dB-Hz, a cycle slip count exceeding 3 times / hour, or a multipath effect index greater than 0.5 was identified as degraded and deleted to ensure high accuracy in subsequent calculations.

[0117] When the elevation difference exceeds 100 meters, an optimal estimation method is introduced to avoid the impact of residual tropospheric delay on the solution accuracy. This method uses an improved Saastamoinen model to accurately model the tropospheric delay, and combines real-time meteorological data to differentiate the measurement points at different elevations, effectively eliminating the tropospheric delay error caused by elevation difference and improving the solution accuracy.

[0118] Meanwhile, the sidereal filtering method is employed to extract and model multipath errors with high precision, and then compensates for them during the next satellite observation cycle. Based on the orbital periodicity of the BeiDou satellites, the sidereal filtering method analyzes continuous multi-day observation data to extract a multipath error model with periodic characteristics, and performs real-time compensation in subsequent observations, significantly improving positioning accuracy.

[0119] Step S400: Deploy the BeiDou deformation monitoring and calculation algorithm software on the backend server to calculate the original observation information, obtain the dam deformation data, and generate processed monitoring data.

[0120] The above steps involve deploying BeiDou deformation monitoring and calculation algorithm software on a backend server to calculate the deformation data of the dam from the raw observation information, generating processed monitoring data. Specifically, the calculation algorithm employs precise point positioning technology, combined with precise ephemeris and clock error products, to achieve centimeter-level positioning accuracy. During the calculation process, a Kalman filter algorithm is used for data smoothing, effectively suppressing the influence of random noise, thereby ensuring the accuracy and reliability of the deformation monitoring data.

[0121] Step S500: Store the processed monitoring data in the database.

[0122] The database adopts a distributed architecture design, which supports massive data storage and efficient querying, while also realizing automatic data backup and disaster recovery functions.

[0123] Among them, the high-precision deformation monitoring methods for dams all employ national cryptographic encryption technology to encrypt the monitoring data.

[0124] Throughout the monitoring process, national cryptographic encryption technologies were employed to encrypt the monitoring data. Specifically, the SM2 elliptic curve public-key cryptography algorithm was used for data transmission encryption, the SM3 cryptographic hash algorithm was used for data integrity verification, and the SM4 block cipher algorithm was used for data storage encryption, comprehensively ensuring the security and confidentiality of the monitoring data.

[0125] The above methods can achieve high-precision monitoring of dam deformation, with a monitoring accuracy of ±3mm, meeting the stringent requirements for safety monitoring of large-scale water conservancy projects.

[0126] In some examples, before the processed monitoring data is generated, a step is included to flexibly configure the solution parameters according to the specific measurement point scenario.

[0127] Specific measurement point scenarios include at least one of the following: open area measurement points, semi-obscured area measurement points, and water-adjacent measurement points.

[0128] To ensure the accuracy and reliability of the monitoring data, an additional step is required before generating the processed data. This step involves flexibly configuring the calculation parameters according to the specific scenario of the monitoring point. In this way, the calculation parameters can be adjusted according to different environments and conditions to obtain more accurate monitoring results.

[0129] Specifically, these particular measurement points fall into several categories, including but not limited to: open area measurement points, semi-obstructed area measurement points, and water-adjacent measurement points. For open area measurement points, the signal propagation is relatively stable due to the wide field of view, allowing for simpler calculation parameters. However, for semi-obstructed area measurement points, the presence of obstructions may cause signal interference, necessitating adjustments to the calculation parameters to compensate for this interference. As for water-adjacent measurement points, the signal propagation characteristics differ from those on land due to water reflection and refraction, requiring specially configured calculation parameters to ensure data accuracy.

[0130] This method of flexibly configuring solution parameters can better adapt to various complex monitoring environments, thereby improving the quality and reliability of monitoring data.

[0131] In some examples, the process of generating processed monitoring data also includes steps to assess the data quality of the original observation information and remove quality-degraded data that could negatively impact high-precision solutions.

[0132] This step is crucial for ensuring the accuracy and reliability of the final monitoring data. Data quality assessment can be conducted in various ways, including but not limited to checking signal strength, stability, and consistency. When the raw observation information contains poor data quality, such as weak signals, high noise levels, or data anomalies, this data may adversely affect high-precision calculations, leading to inaccurate monitoring results. Therefore, before generating processed monitoring data, the system automatically identifies and removes this degraded data. This approach further improves the accuracy and reliability of the monitoring data, providing more accurate data support for subsequent deformation analysis and decision-making.

[0133] In some examples, the process of generating the processed monitoring data also includes: Step S410: When the elevation difference exceeds 100 meters, the optimal estimation method is introduced to avoid the residual tropospheric delay affecting the solution accuracy.

[0134] Step S420: Use the sidereal solar filtering method to extract and model the multipath error with high precision, and compensate for it in the next satellite observation cycle.

[0135] Specifically, when the elevation difference exceeds 100 meters, to ensure that the calculation accuracy is not affected by the residual tropospheric delay, we introduce an optimal estimation method. This method, through mathematical models and statistical analysis, can effectively estimate and eliminate the errors caused by the tropospheric delay, thereby improving the accuracy of the monitoring data.

[0136] Furthermore, we employed the sidereal-day filtering method to address multipath errors. This method, through multiple observations and analyses of satellite signals, enables the high-precision extraction and modeling of multipath errors. In this way, we can better understand the characteristics of multipath errors and effectively compensate for them during the next satellite observation cycle, thereby further improving the accuracy of the monitoring data.

[0137] The above steps also include: Step S430: To address the obstruction in the monitoring area, a multi-frequency, multi-system combined observation technique is employed to enhance signal strength and reliability, thereby reducing observation errors caused by obstruction.

[0138] Step S440: In the case of gross errors in the monitoring data, use robust estimation methods to effectively identify and remove gross error data to ensure the robustness of the solution results.

[0139] With these additional functional modules, the monitoring system can more comprehensively cope with various complex scenarios and challenges, ensuring the high accuracy and reliability of monitoring data, and providing a solid foundation for deformation analysis and decision-making.

[0140] In the accompanying drawings of this application, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0141] The above are merely preferred examples of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A high-precision deformation monitoring system for dams based on a single BeiDou navigation satellite system, characterized in that, include: Beidou receiver equipment, including integrated units and / or separate units, is used to receive signals from the Beidou satellite navigation system; A choke coil antenna, connected to the BeiDou receiver equipment, is used to enhance signal reception; The communication module, including a 4G communication module and an optical fiber communication module, is used to transmit the raw observation information received by the Beidou receiver equipment; A backend server, connected to the communication module via wired or wireless signal, is used to receive and store the raw observation information; A database, connected to the backend server, is used to store the monitoring data after processing the original observation information; The backend server is equipped with Beidou deformation monitoring and calculation algorithm software, which is used to calculate the original observation information to obtain the dam deformation data and form the processed monitoring data. The BeiDou receiver, the choke antenna, the communication module, the back-end server, the database, and the BeiDou deformation monitoring and calculation algorithm software employ national cryptographic encryption technology to encrypt the monitoring data.

2. The high-precision deformation monitoring system for dams based on a single BeiDou system according to claim 1, characterized in that, The high-precision deformation monitoring system for dams also includes a customized engineering scenario module, which allows users to configure the calculation parameters according to specific measurement point scenarios. The specific measurement point scenarios include at least one of open area measurement points, semi-obscured area measurement points, and water-adjacent measurement points.

3. The high-precision deformation monitoring system for dams based on a single BeiDou system according to claim 1, characterized in that, The BeiDou deformation monitoring and calculation algorithm software also includes a data quality control module set on the backend server, which is used to evaluate the data quality of the original observation information and delete degraded data that adversely affects high-precision calculation.

4. The high-precision deformation monitoring system for dams based on a single BeiDou system according to claim 1, characterized in that, The BeiDou deformation monitoring and calculation algorithm software also includes a tropospheric delay correction module set on the backend server. When the elevation difference exceeds 100 meters, the tropospheric delay correction module avoids the residual tropospheric delay from affecting the calculation accuracy by introducing an optimal estimation method.

5. The high-precision deformation monitoring system for dams based on a single BeiDou system according to claim 1, characterized in that, The BeiDou deformation monitoring and calculation algorithm software also includes a multipath error correction module set on the backend server, which is used to extract and model multipath errors with high precision using the sidereal filtering method, and to compensate for them in the next satellite observation cycle calculation.

6. The high-precision deformation monitoring system for dams based on a single BeiDou system according to claim 1, characterized in that, The high-precision deformation monitoring system for dams also includes a remote control module located on the back-end server, which is used to authorize users to remotely activate flood alarm devices via a 5G network.

7. A high-precision deformation monitoring method for dams based on a single BeiDou system, characterized in that, Includes the following steps: Use BeiDou receiver equipment to receive signals from the BeiDou satellite navigation system; Enhance signal reception using a choke coil antenna; The raw observation information is transmitted to the backend server via the communication module; The BeiDou deformation monitoring and calculation algorithm software is deployed on the backend server to calculate the original observation information, obtain the deformation data of the dam, and form the processed monitoring data. The processed monitoring data is stored in a database; The high-precision deformation monitoring methods for dams all employ national cryptographic encryption technology to encrypt the monitoring data.

8. The high-precision deformation monitoring method for dams based on a single BeiDou system according to claim 7, characterized in that, Before the processed monitoring data is generated, the process also includes a step of flexibly configuring the calculation parameters according to the specific monitoring point scenario; The specific measurement point scenario includes at least one of the following: open area measurement point, semi-obscured area measurement point, and water-adjacent measurement point.

9. The high-precision deformation monitoring method for dams based on a single BeiDou system according to claim 7, characterized in that, The process of generating the processed monitoring data also includes steps of evaluating the data quality of the original observation information and deleting quality-degraded data that adversely affects high-precision calculations.

10. The high-precision deformation monitoring method for dams based on a single BeiDou system according to claim 7, characterized in that, The process of generating the processed monitoring data also includes: When the elevation difference exceeds 100 meters, the optimal estimation method is introduced to avoid the step of residual tropospheric delay affecting the solution accuracy. In addition, the steps include using the sidereal-day filtering method to extract and model multipath errors with high precision, and compensating for them during the next satellite observation cycle.

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