CORS reference station displacement monitoring method and device

Abstract

The application provides a CORS reference station displacement monitoring method and device, and particularly relates to the technical field of global navigation satellite systems. The method comprises the following steps: acquiring satellite navigation observation data of a reference station to be detected; solving the satellite navigation observation data by using a target reference frame to obtain a solution result; determining the solution accuracy of the solution result; if the solution accuracy meets a preset solution accuracy condition, calculating a coordinate deviation value based on the solution result and the current reference coordinates of the reference station to be detected; and determining that the reference station to be detected has displacement when the coordinate deviation value exceeds a preset first deviation threshold. The method is used to improve the displacement judgment accuracy of the CORS reference station.

Description

Technical Field

[0001] This application relates to the field of global navigation satellite system technology, and in particular to a CORS reference station displacement monitoring method and device. Background Technology

[0002] GNSS (Global Navigation Satellite System) station displacement monitoring technology is widely used in fields such as geological disaster early warning, infrastructure safety assessment, and earthquake monitoring. Among these, CORS (Continuously Operating Reference Stations) are the core nodes of the GNSS monitoring network, and their coordinate stability directly affects the reliability of the entire monitoring system. For example, CORS stations deployed in seismic zones, landslide areas, or around large projects (such as bridges and dams) need to monitor their coordinate changes in real time to determine whether displacement has occurred, thus providing data support for disaster early warning and structural safety assessment. However, traditional monitoring methods suffer from decreased displacement judgment accuracy in complex geological environments or during long-term operation due to coordinate frame transformation errors and velocity field data accumulation, making it difficult to meet the requirements of high-precision monitoring. Summary of the Invention

[0003] This application provides a CORS base station displacement monitoring method and device to improve the accuracy of CORS base station displacement judgment.

[0004] In a first aspect, embodiments of this application provide a CORS base station displacement monitoring method, including:

[0005] Acquire satellite navigation observation data of the base station to be tested;

[0006] The satellite navigation observation data is solved using a target reference frame to obtain the solution results;

[0007] Determine the accuracy of the solution result;

[0008] If the calculation accuracy meets the preset calculation accuracy condition, then the coordinate deviation value is calculated based on the calculation result and the current reference coordinates of the reference station to be detected.

[0009] When the coordinate deviation value exceeds the preset first deviation threshold, it is determined that the base station to be detected has shifted.

[0010] In one possible implementation, the method further includes:

[0011] If the calculation accuracy meets the preset calculation accuracy condition, the calculation result is stored as the observation sample coordinates in the cache sequence. The observation sample coordinates refer to the coordinate values ​​obtained by solving the satellite navigation observation data. The calculation accuracy meets the preset calculation accuracy condition and is temporarily cached for sliding window statistical calculation to update the reference coordinates.

[0012] When the number of coordinates in the cache sequence exceeds a preset threshold, the target observation sample coordinates are removed from the cache sequence.

[0013] For the coordinates of the observed samples in the cache sequence, calculate the candidate reference coordinates;

[0014] When the deviation between the candidate reference coordinates and the current reference coordinates exceeds a preset second deviation threshold, the current reference coordinates are updated, and the candidate reference coordinates are used as the updated values.

[0015] In one possible implementation, calculating candidate reference coordinates for the coordinates of observed samples in the cache sequence includes:

[0016] The average value of the coordinates of the observed samples in the cache sequence is calculated, and the obtained average value is used as the candidate reference coordinates.

[0017] In one possible implementation, removing the target observation sample coordinates from the cache sequence when the number of coordinates in the cache sequence exceeds a preset threshold includes:

[0018] When the number of coordinates in the cache sequence exceeds a preset threshold, the coordinates of the observation sample with the earliest storage time in the cache sequence are removed from the cache sequence as the target observation sample coordinates.

[0019] In one possible implementation, the solution accuracy is quantified by the standard deviation of the solution result. If the solution accuracy meets a preset solution accuracy condition, then based on the solution result and the current reference coordinates of the reference station to be detected, a coordinate deviation value is calculated, including:

[0020] If the standard deviation of the solution result is less than the preset standard deviation threshold, the difference between the solution result and the current reference coordinates is calculated to obtain the coordinate deviation value.

[0021] In one possible implementation, determining the solution accuracy of the solution result includes:

[0022] Based on the solution results and the satellite navigation observation data, a residual vector is determined, which represents the difference between the satellite navigation observation data and the solution results;

[0023] The residual variance factor is calculated based on the residual vector and the weight matrix of the satellite navigation observation data;

[0024] Based on the residual variance factor and the design matrix, the covariance matrix of the solution result is calculated, and the design matrix represents the relationship between the satellite navigation observation data and the solution result;

[0025] Based on the covariance matrix of the solution results, the standard deviation of the solution results is calculated to quantify the solution accuracy of the solution results;

[0026] The design matrix includes geometric and satellite distribution information related to satellite navigation observations, and the weight matrix is ​​set according to the observation noise characteristics to reflect the weight differences of different observations.

[0027] In one possible implementation, the method further includes:

[0028] If the coordinate deviation value does not exceed the preset first deviation threshold, it is determined that the base station to be detected has not undergone displacement.

[0029] Secondly, embodiments of this application provide a CORS base station displacement monitoring device, comprising:

[0030] The acquisition module is used to acquire satellite navigation observation data of the base station to be tested;

[0031] The solution module is used to solve the satellite navigation observation data using a target reference frame to obtain the solution results;

[0032] The determination module is used to determine the accuracy of the solution result;

[0033] The calculation module is used to calculate the coordinate deviation value based on the calculation result and the current reference coordinates of the reference station to be detected if the calculation accuracy meets the preset calculation accuracy condition.

[0034] The determination module is used to determine that the base station to be detected has shifted when the coordinate deviation value exceeds a preset first deviation threshold.

[0035] In one possible implementation, the CORS reference station displacement monitoring device of this application embodiment is further used for:

[0036] If the calculation accuracy meets the preset calculation accuracy condition, the calculation result is stored as the observation sample coordinates in the cache sequence. The observation sample coordinates refer to the coordinate values ​​obtained by solving the satellite navigation observation data. The calculation accuracy meets the preset calculation accuracy condition and is temporarily cached for sliding window statistical calculation to update the reference coordinates.

[0037] When the number of coordinates in the cache sequence exceeds a preset threshold, the target observation sample coordinates are removed from the cache sequence.

[0038] For the coordinates of the observed samples in the cache sequence, calculate the candidate reference coordinates;

[0039] When the deviation between the candidate reference coordinates and the current reference coordinates exceeds a preset second deviation threshold, the current reference coordinates are updated, and the candidate reference coordinates are used as the updated values.

[0040] In one possible implementation, the CORS reference station displacement monitoring device of this application embodiment is further used for:

[0041] The average value of the coordinates of the observed samples in the cache sequence is calculated, and the obtained average value is used as the candidate reference coordinates.

[0042] In one possible implementation, the CORS reference station displacement monitoring device of this application embodiment is further used for:

[0043] When the number of coordinates in the cache sequence exceeds a preset threshold, the coordinates of the observation sample with the earliest storage time in the cache sequence are removed from the cache sequence as the target observation sample coordinates.

[0044] In one possible implementation, the solution accuracy is quantified by the standard deviation of the solution result, and the calculation module is specifically used for:

[0045] If the standard deviation of the solution result is less than the preset standard deviation threshold, the difference between the solution result and the current reference coordinates is calculated to obtain the coordinate deviation value.

[0046] In one possible implementation, the determining module is specifically used for:

[0047] Based on the solution results and the satellite navigation observation data, a residual vector is determined, which represents the difference between the satellite navigation observation data and the solution results;

[0048] The residual variance factor is calculated based on the residual vector and the weight matrix of the satellite navigation observation data;

[0049] Based on the residual variance factor and the design matrix, the covariance matrix of the solution result is calculated, and the design matrix represents the relationship between the satellite navigation observation data and the solution result;

[0050] Based on the covariance matrix of the solution results, the standard deviation of the solution results is calculated to quantify the solution accuracy of the solution results;

[0051] The design matrix includes geometric and satellite distribution information related to satellite navigation observations, and the weight matrix is ​​set according to the observation noise characteristics to reflect the weight differences of different observations.

[0052] In one possible implementation, the CORS reference station displacement monitoring device of this application embodiment is further used for:

[0053] If the coordinate deviation value does not exceed the preset first deviation threshold, it is determined that the base station to be detected has not undergone displacement.

[0054] Thirdly, embodiments of this application provide a CORS base station displacement monitoring device, including: a memory and a processor;

[0055] The memory stores computer-executed instructions;

[0056] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0057] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0058] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0059] The CORS base station displacement monitoring method and apparatus provided in this application evaluate the accuracy of the solution results before calculating the coordinate deviation value. Subsequent displacement judgment is only performed when the solution accuracy meets the preset solution accuracy conditions, effectively avoiding interference from low-precision solution results and improving the reliability of the judgment. A unified target reference frame is used to solve the satellite navigation observation data, eliminating displacement judgment deviations caused by coordinate frame transformation errors. Through the synergistic effect of the above technical means, the problem of decreased displacement judgment accuracy caused by coordinate frame transformation errors and the accumulation of low-precision data in traditional methods is effectively solved, significantly improving the accuracy and reliability of CORS base station displacement monitoring. This application improves the accuracy of CORS base station displacement judgment by introducing solution accuracy as a pre-condition for displacement judgment and using stable reference coordinates established based on historical data under the target reference frame as the displacement judgment benchmark. Attached Figure Description

[0060] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0061] Figure 1 A schematic diagram illustrating a scenario for the CORS base station displacement monitoring method provided in this application;

[0062] Figure 2Flowchart of the CORS reference station displacement monitoring method provided in this application Figure 1 ;

[0063] Figure 3 Flowchart of the CORS reference station displacement monitoring method provided in this application Figure 2 ;

[0064] Figure 4 A schematic diagram of the CORS reference station displacement monitoring method provided in this application;

[0065] Figure 5 This is a schematic diagram of the CORS reference station displacement monitoring device provided in this application;

[0066] Figure 6 A schematic diagram of the CORS reference station displacement monitoring equipment provided in this application.

[0067] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0068] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0069] Comparing the calculated coordinates with the reference coordinates is a common method for determining the displacement of a CORS station. However, since they belong to different reference frames and epochs, the calculated coordinates must be transformed to the frame and epoch of the reference coordinates before comparison. This transformation process relies on velocity field data, which changes cumulatively over time due to plate movement, leading to a continuous decrease in transformation accuracy and an increase in error, ultimately affecting the accuracy of displacement determination.

[0070] The CORS base station displacement monitoring method and apparatus provided in this application evaluate the accuracy of the solution results before calculating the coordinate deviation value. Subsequent displacement judgment is only performed when the solution accuracy meets the preset solution accuracy conditions, effectively avoiding interference from low-precision solution results and improving the reliability of the judgment. A unified target reference frame is used to solve the satellite navigation observation data, eliminating displacement judgment deviations caused by coordinate frame transformation errors. Through the synergistic effect of the above technical means, the problem of decreased displacement judgment accuracy caused by coordinate frame transformation errors and the accumulation of low-precision data in traditional methods is effectively solved, significantly improving the accuracy and reliability of CORS base station displacement monitoring. This application improves the accuracy of CORS base station displacement judgment by introducing solution accuracy as a pre-condition for displacement judgment and using stable reference coordinates established based on historical data under the target reference frame as the displacement judgment benchmark.

[0071] Figure 1 This is a schematic diagram illustrating a scenario for the CORS base station displacement monitoring method provided in this application, such as... Figure 1 As shown, the terminal device 101 is used to acquire and process satellite navigation observation data to determine whether the base station to be detected has shifted.

[0072] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0073] Figure 2 Flowchart of the CORS reference station displacement monitoring method provided in this application Figure 1 ,like Figure 2 As shown, the method includes:

[0074] S201. Obtain satellite navigation observation data of the base station to be tested.

[0075] The raw GNSS observation data collected by the CORS receiver, including pseudorange, carrier phase, and other data, is acquired as the input source for subsequent calculations.

[0076] S202. The satellite navigation observation data is solved using a target reference frame to obtain the solution results.

[0077] Within a unified reference framework (such as ITRF2020), precise point positioning (PPP) or relative positioning modes are used to estimate the parameters of the observation data and calculate the current coordinates of the reference station to be tested. This step ensures that all calculation results are within the same framework as the reference coordinates, avoiding the transformation errors introduced by inconsistencies in the framework in traditional methods.

[0078] S203. Determine the accuracy of the solution results.

[0079] Calculate the quality index of the solution results to quantify the reliability of the current solution.

[0080] S204. If the solution accuracy meets the preset solution accuracy conditions, then the coordinate deviation value is calculated based on the solution results and the current reference coordinates of the base station to be tested.

[0081] The reference coordinates can be the reference values ​​determined by the base station to be tested before entering the monitoring cycle, based on its historical satellite navigation observation data, within the target reference frame, and used as the reference values ​​for determining subsequent displacement.

[0082] In this step, the displacement determination process is triggered only when the solution accuracy meets the preset solution accuracy conditions; the current solution coordinates and the reference coordinates (stable coordinates established by historical data under the target reference frame before the monitoring cycle) are subjected to vector difference operation to obtain the three-dimensional coordinate deviation values ​​(ΔX, ΔY, ΔZ).

[0083] S205. When the coordinate deviation value exceeds the preset first deviation threshold, it is determined that the base station to be detected has shifted.

[0084] The calculated coordinate deviation value is compared with a preset first deviation threshold, and the result of the comparison determines whether displacement has occurred.

[0085] The CORS base station displacement monitoring method provided in this application evaluates the accuracy of the solution results before calculating the coordinate deviation value. Subsequent displacement judgment is only performed when the solution accuracy meets a preset accuracy condition, effectively avoiding interference from low-precision solution results and improving the reliability of the judgment. A unified target reference frame is used to solve the satellite navigation observation data, eliminating displacement judgment deviations caused by coordinate frame transformation errors. Through the synergistic effect of the above technical means, the problem of decreased displacement judgment accuracy caused by coordinate frame transformation errors and the accumulation of low-precision data in traditional methods is effectively solved, significantly improving the accuracy and reliability of CORS base station displacement monitoring. This application improves the accuracy of CORS base station displacement judgment by introducing solution accuracy as a prerequisite quality control condition for displacement judgment and using stable reference coordinates established based on historical data under the target reference frame as the displacement judgment benchmark.

[0086] Figure 3 Flowchart of the CORS reference station displacement monitoring method provided in this application Figure 2 ,like Figure 3 As shown, in this embodiment... Figure 2 Based on the examples, the CORS base station displacement monitoring method is described in detail, which includes:

[0087] S301. Obtain satellite navigation observation data of the base station to be tested.

[0088] S302. The target reference frame is used to solve the satellite navigation observation data to obtain the solution results.

[0089] The target reference frame can be the International Earth Reference Frame (ITRF).

[0090] The ITRF framework, established by the International Earth Rotation and Reference Systems Service (IERS) based on coordinate and velocity data from global space geodetic observatories, serves as a benchmark framework connecting geometric and physical geodetic observations. Given the continuous changes in the Internationally Agreement Origin of the Earth's Poles (CIO) due to Earth's nutation and polar motion, the ITRF framework is updated periodically to reflect geodynamic effects.

[0091] ITRF versions include, but are not limited to, ITRF94, ITRF96, ITRF97, ITRF2000, ITRF2005, ITRF2008, ITRF2014, and ITRF2020.

[0092] The target reference frame for this application can be the International Earth Reference Frame (ITRF) 2020.

[0093] S303. Determine the accuracy of the solution results.

[0094] In one possible implementation, determining the accuracy of the solution result may specifically include the following steps:

[0095] Based on the solution results and satellite navigation observation data, a residual vector is determined, which represents the difference between the satellite navigation observation data and the solution results;

[0096] The residual variance factor is calculated based on the residual vector and the weight matrix of satellite navigation observation data;

[0097] Based on the residual variance factor and the design matrix, the covariance matrix of the solution result is calculated. The design matrix represents the relationship between the satellite navigation observation data and the solution result.

[0098] Based on the covariance matrix of the solution results, the standard deviation of the solution results is calculated to quantify the solution accuracy.

[0099] The design matrix includes geometric and satellite distribution information related to satellite navigation observations, and the weight matrix is ​​set according to the observation noise characteristics to reflect the weight differences of different observations.

[0100] In this embodiment, the solution result can be obtained by least squares estimation using the following formula:

[0101] ;

[0102] Where X represents the solution result; A is the design matrix, which contains the relationship between satellite navigation observation data and the solution result; L represents the satellite navigation observation data; and P is the weight matrix, which reflects the weight differences of different observations.

[0103] Based on the solution result X and the satellite navigation observation data L, the residual vector v can be determined, and the calculation formula is as follows:

[0104] .

[0105] Based on the residual vector v and the weight matrix P of the satellite navigation observation data, the residual variance factor can be calculated. The calculation formula is as follows:

[0106] ;

[0107] Where n is the number of observations, The number of parameters.

[0108] Based on residual variance factor Given the design matrix A, the covariance matrix of the solution result X can be calculated. The calculation formula is as follows:

[0109] .

[0110] Based on the covariance matrix of the solution results The standard deviation σ of the solution result is calculated. X , σ Y , σ Z The calculation formula is as follows:

[0111] ;

[0112] in, This represents the standard deviation of the i-th coordinate component in the solution result; Represents the covariance matrix The i-th diagonal element.

[0113] The standard deviation is derived from the covariance matrix estimated by least squares and reflects the uncertainty of parameter solution under current observation conditions and model constraints. As a quantitative indicator of solution accuracy, the smaller the value, the higher the accuracy, and it can be used to indirectly measure the accuracy of coordinate solution.

[0114] S304. If the solution accuracy meets the preset solution accuracy condition, the solution result is stored as the observation sample coordinates in the cache sequence. The observation sample coordinates refer to the coordinate values ​​obtained by solving the satellite navigation observation data. The solution accuracy meets the preset solution accuracy condition and is temporarily cached for sliding window statistical calculation to update the reference coordinates.

[0115] In this step, the high-quality solution results that have passed the accuracy threshold screening are marked as "observation sample coordinates" and added to the cache sequence to form a sliding window statistical sample set.

[0116] S305. When the number of coordinates in the cache sequence exceeds a preset threshold, remove the target observation sample coordinates from the cache sequence.

[0117] In one possible implementation, when the number of coordinates in the cache sequence exceeds a preset threshold, the target observation sample coordinates are removed from the cache sequence. This may specifically include the following steps:

[0118] When the number of coordinates in the cache sequence exceeds a preset threshold, the coordinates of the earliest stored observation sample in the cache sequence will be removed from the cache sequence as the target observation sample coordinates.

[0119] In this implementation, when the number of cached observation sample coordinates exceeds the preset window length, a "first-in, first-out" (FIFO) eviction mechanism is triggered to remove the oldest stored observation sample coordinates, thus maintaining a fixed cache size. This ensures that the sample set used for statistical calculation of reference coordinates always consists of the most recent and timely high-precision observation sample coordinates, effectively suppressing the impact of accumulated errors from outdated data.

[0120] S306. Calculate the candidate reference coordinates for the coordinates of the observed samples in the cache sequence.

[0121] In one possible implementation, candidate reference coordinates are calculated for the coordinates of observed samples in the cache sequence, which may specifically include the following steps:

[0122] The average value of the coordinates of the observed samples in the cache sequence is calculated, and the resulting average value is used as the candidate reference coordinates.

[0123] This step implements statistical fusion of the coordinates of the observed samples within the sliding window: the arithmetic mean is calculated on the coordinates of all high-precision observed samples in the cache sequence, and by smoothing out random calculation errors, more stable and representative coordinate estimates are generated as candidate reference coordinates than those obtained from a single calculation.

[0124] The cache sequence serves as a time window, retaining only the coordinates of the most recent N observation samples that meet the accuracy requirements. Data fusion is achieved through arithmetic averaging to suppress observation noise and short-term disturbances, generating stable and reliable candidate reference coordinates.

[0125] S307. When the deviation between the candidate reference coordinates and the current reference coordinates exceeds the preset second deviation threshold, the current reference coordinates are updated, and the candidate reference coordinates are used as the updated values.

[0126] In this step, when the deviation between the candidate reference coordinates and the current reference coordinates exceeds a preset second deviation threshold, a reference coordinate update is triggered, resetting the current reference coordinates to the candidate reference coordinates.

[0127] Because the samples within the window are continuously updated, the candidate reference coordinates can gradually reflect the long-term coordinate changes caused by velocity fields such as plate motion. Through the threshold triggering mechanism, the reference coordinates are updated only when the change is significant, avoiding frequent and meaningless adjustments, and ensuring that the reference coordinates are neither too static nor fluctuate drastically.

[0128] Dynamically updated reference coordinates eliminate the systematic cumulative deviation between the static reference and the actual position, ensuring that displacement determination is always based on the currently valid reference. This accurately distinguishes between actual displacement events and long-term velocity field drift, effectively avoiding the problem of misjudgment of the static reference caused by changes in the velocity field.

[0129] S308. Based on the solution results and the current reference coordinates of the reference station to be tested, calculate the coordinate deviation value.

[0130] In one possible implementation, the solution accuracy is quantified by the standard deviation of the solution results. If the solution accuracy meets the preset solution accuracy condition, the coordinate deviation value is calculated based on the solution results and the current reference coordinates of the base station to be tested. Specifically, this may include the following steps:

[0131] If the standard deviation of the solution result is less than the preset standard deviation threshold, the difference between the solution result and the current reference coordinates is calculated to obtain the coordinate deviation value.

[0132] The "current baseline coordinates" used here refer to the latest updated baseline values ​​as of now, rather than the static values ​​determined before the monitoring period.

[0133] In this embodiment, the coordinate deviation value is obtained by calculating the vector difference between the solution result and the current reference coordinates only if the standard deviation of the solution result is less than a preset standard deviation threshold. The current reference coordinates are the latest dynamically updated reference values ​​calculated using a sliding window statistical method based on the coordinates of observed samples in the cache sequence within the monitoring period.

[0134] S309. When the coordinate deviation value exceeds the preset first deviation threshold, it is determined that the base station to be detected has shifted.

[0135] In one possible implementation, the CORS reference station displacement monitoring method of this application may further include the following steps:

[0136] If the coordinate deviation value does not exceed the preset first deviation threshold, it is determined that the base station to be detected has not undergone displacement.

[0137] When the coordinate deviation exceeds a preset first deviation threshold, the base station under test is determined to have experienced displacement; conversely, when the coordinate deviation does not exceed the first deviation threshold, the base station under test is determined not to have experienced displacement. The first deviation threshold is the critical value that distinguishes between actual displacement events and observed noise fluctuations.

[0138] The relevant technology uses a seven-parameter transformation and velocity field correction to transform the calculated coordinates under the ITRF2020 framework to the ITRF2014 framework. After the transformation from the spatial rectangular coordinate system to the geodetic coordinate system, the difference between the coordinates and the static reference coordinates is calculated to determine whether displacement has occurred. This method relies on an external transformation model and velocity field data, which has problems such as high data coupling, complex transformation process, and amplification of cumulative errors, leading to long-term monitoring accuracy degradation and increased risk of misjudgment.

[0139] This application employs a single-frame ITRF2020 for displacement identification, directly completing coordinate calculation and displacement determination within the current frame. This eliminates the need for frame transformation and velocity field correction, significantly reducing data coupling and transformation error propagation, and improving the accuracy and timeliness of displacement monitoring. (Refer to...) Figure 4 The diagram shown illustrates the process of the CORS base station displacement monitoring method provided in this application, specifically including:

[0140] Input the satellite navigation observation data of the reference station to be tested.

[0141] The target reference frame is used to solve satellite navigation observation data to obtain the solved coordinates in the spatial rectangular coordinate system, and the solution accuracy (standard deviation) is calculated simultaneously.

[0142] If the standard deviation exceeds the preset standard deviation threshold, the solution accuracy is deemed insufficient, and the result of that epoch is discarded; if it does not exceed the threshold, the accuracy is deemed to meet the requirements, and the process proceeds to the next step.

[0143] The solution results that pass the accuracy screening are stored in the cache sequence as observation sample coordinates. Based on the observation sample coordinates in the cache sequence, candidate reference coordinates are dynamically generated through sliding window statistical calculation (such as arithmetic mean).

[0144] When the deviation between the candidate reference coordinates and the current reference coordinates exceeds a preset second deviation threshold, an update mechanism is triggered, resetting the current reference coordinates to the candidate reference coordinates. Otherwise, the initial reference coordinates can be used. The initial reference coordinates refer to the reference values ​​determined before entering the monitoring cycle, based on historical satellite navigation observation data and within the target reference frame, serving as the benchmark for determining subsequent displacements.

[0145] The calculated coordinates are compared with the current reference coordinates using a vector difference operation in a spatial rectangular coordinate system to obtain the coordinate deviation value. The coordinate deviation value is then converted from the spatial rectangular coordinate system to the geodetic coordinate system (BLH), and finally the displacement difference value (ΔB, ΔL, ΔH) in the geodetic coordinate system is output for subsequent displacement determination and early warning.

[0146] The CORS base station displacement monitoring method provided in this application evaluates the accuracy of the solution results before calculating the coordinate deviation value. Subsequent displacement judgment is only performed when the solution accuracy meets a preset accuracy condition, effectively avoiding interference from low-precision solution results and improving the reliability of the judgment. A unified target reference frame is used to solve the satellite navigation observation data, eliminating displacement judgment deviations caused by coordinate frame transformation errors. Through the synergistic effect of the above technical means, the problem of decreased displacement judgment accuracy caused by coordinate frame transformation errors and the accumulation of low-precision data in traditional methods is effectively solved, significantly improving the accuracy and reliability of CORS base station displacement monitoring. This application improves the accuracy of CORS base station displacement judgment by introducing solution accuracy as a prerequisite quality control condition for displacement judgment and using stable reference coordinates established based on historical data under the target reference frame as the displacement judgment benchmark.

[0147] Figure 5 This is a schematic diagram of the CORS reference station displacement monitoring device provided in this application, as shown below. Figure 5 As shown, the CORS base station displacement monitoring device 50 provided in this embodiment includes:

[0148] The acquisition module 501 is used to acquire satellite navigation observation data of the base station to be tested;

[0149] Solution module 502 is used to solve satellite navigation observation data using a target reference frame to obtain solution results;

[0150] Module 503 is used to determine the accuracy of the solution results;

[0151] The calculation module 504 is used to calculate the coordinate deviation value based on the calculation result and the current reference coordinates of the reference station to be tested if the calculation accuracy meets the preset calculation accuracy conditions.

[0152] The determination module 505 is used to determine that the base station to be detected has shifted when the coordinate deviation value exceeds the preset first deviation threshold.

[0153] In one possible implementation, the CORS reference station displacement monitoring device of this application embodiment is further used for:

[0154] If the solution accuracy meets the preset solution accuracy condition, the solution result will be stored in the cache sequence as the observation sample coordinates. The observation sample coordinates refer to the coordinate values ​​obtained by solving the satellite navigation observation data. The solution accuracy meets the preset solution accuracy condition and is temporarily cached for sliding window statistical calculation to update the reference coordinates.

[0155] When the number of coordinates in the cache sequence exceeds a preset threshold, the coordinates of the target observation sample are removed from the cache sequence.

[0156] For the coordinates of the observed samples in the cache sequence, calculate the candidate reference coordinates;

[0157] When the deviation between the candidate reference coordinates and the current reference coordinates exceeds a preset second deviation threshold, the current reference coordinates are updated, and the candidate reference coordinates are used as the updated values.

[0158] In one possible implementation, the CORS reference station displacement monitoring device of this application embodiment is further used for:

[0159] The average value of the coordinates of the observed samples in the cache sequence is calculated, and the resulting average value is used as the candidate reference coordinates.

[0160] In one possible implementation, the CORS reference station displacement monitoring device of this application embodiment is further used for:

[0161] When the number of coordinates in the cache sequence exceeds a preset threshold, the coordinates of the earliest stored observation sample in the cache sequence will be removed from the cache sequence as the target observation sample coordinates.

[0162] In one possible implementation, the solution accuracy is quantified by the standard deviation of the solution results, and the calculation module is specifically used for:

[0163] If the standard deviation of the solution result is less than the preset standard deviation threshold, the difference between the solution result and the current reference coordinates is calculated to obtain the coordinate deviation value.

[0164] In one possible implementation, the module is specifically used for:

[0165] Based on the solution results and satellite navigation observation data, a residual vector is determined, which represents the difference between the satellite navigation observation data and the solution results;

[0166] The residual variance factor is calculated based on the residual vector and the weight matrix of satellite navigation observation data;

[0167] Based on the residual variance factor and the design matrix, the covariance matrix of the solution result is calculated. The design matrix represents the relationship between the satellite navigation observation data and the solution result.

[0168] Based on the covariance matrix of the solution results, the standard deviation of the solution results is calculated to quantify the solution accuracy.

[0169] The design matrix includes geometric and satellite distribution information related to satellite navigation observations, and the weight matrix is ​​set according to the observation noise characteristics to reflect the weight differences of different observations.

[0170] In one possible implementation, the CORS reference station displacement monitoring device of this application embodiment is further used for:

[0171] If the coordinate deviation value does not exceed the preset first deviation threshold, it is determined that the base station to be detected has not undergone displacement.

[0172] The CORS base station displacement monitoring device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0173] Figure 6 This is a structural schematic diagram of the CORS reference station displacement monitoring equipment provided in this application. Figure 6 As shown, the CORS base station displacement monitoring device 60 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the device 60 also includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus.

[0174] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.

[0175] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0176] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0177] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0178] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0179] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0180] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0181] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0182] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0183] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0184] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0185] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0186] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0187] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0188] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for monitoring displacement at a CORS reference station, characterized in that, include: Acquire satellite navigation observation data of the base station to be tested; The satellite navigation observation data is solved using a target reference frame to obtain the solution results; Based on the solution results and the satellite navigation observation data, a residual vector is determined, which represents the difference between the satellite navigation observation data and the solution results; The residual variance factor is calculated based on the residual vector and the weight matrix of the satellite navigation observation data; Based on the residual variance factor and the design matrix, the covariance matrix of the solution result is calculated, and the design matrix represents the relationship between the satellite navigation observation data and the solution result; Based on the covariance matrix of the solution results, the standard deviation of the solution results is calculated to quantify the solution accuracy; wherein, the design matrix includes geometric and satellite distribution information related to satellite navigation observations, and the weight matrix is ​​set according to the observation noise characteristics to reflect the weight differences of different observations; If the standard deviation of the solution result is less than the preset standard deviation threshold, then the coordinate deviation value is calculated based on the solution result and the current reference coordinates of the reference station to be detected under the target reference frame. When the coordinate deviation value exceeds the preset first deviation threshold, it is determined that the base station to be detected has shifted.

2. The method according to claim 1, characterized in that, The method further includes: If the standard deviation of the solution result is less than the preset standard deviation threshold, the solution result is stored as the observation sample coordinates in the cache sequence. The observation sample coordinates refer to the coordinate values ​​obtained by solving the satellite navigation observation data. The solution accuracy meets the preset solution accuracy condition and is temporarily cached for sliding window statistical calculation to update the reference coordinates. When the number of coordinates in the cache sequence exceeds a preset threshold, the target observation sample coordinates are removed from the cache sequence. For the coordinates of the observed samples in the cache sequence, calculate the candidate reference coordinates; When the deviation between the candidate reference coordinates and the current reference coordinates exceeds a preset second deviation threshold, the current reference coordinates are updated, and the candidate reference coordinates are used as the updated value.

3. The method according to claim 2, characterized in that, The step of calculating candidate reference coordinates for the coordinates of observed samples in the cache sequence includes: The average value of the coordinates of the observed samples in the cache sequence is calculated, and the obtained average value is used as the candidate reference coordinates.

4. The method according to claim 2, characterized in that, The step of removing the target observation sample coordinates from the cache sequence when the number of coordinates in the cache sequence exceeds a preset threshold includes: When the number of coordinates in the cache sequence exceeds a preset threshold, the coordinates of the observation sample with the earliest storage time in the cache sequence are removed from the cache sequence as the target observation sample coordinates.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: If the coordinate deviation value does not exceed the preset first deviation threshold, it is determined that the base station to be detected has not undergone displacement.

6. A CORS reference station displacement monitoring device, characterized in that, include: The acquisition module is used to acquire satellite navigation observation data of the base station to be tested; The solution module is used to solve the satellite navigation observation data using a target reference frame to obtain the solution results; The determination module is used to determine a residual vector based on the solution result and the satellite navigation observation data, wherein the residual vector represents the difference between the satellite navigation observation data and the solution result; The residual variance factor is calculated based on the residual vector and the weight matrix of the satellite navigation observation data; Based on the residual variance factor and the design matrix, the covariance matrix of the solution result is calculated, and the design matrix represents the relationship between the satellite navigation observation data and the solution result; Based on the covariance matrix of the solution results, the standard deviation of the solution results is calculated to quantify the solution accuracy; wherein, the design matrix includes geometric and satellite distribution information related to satellite navigation observations, and the weight matrix is ​​set according to the observation noise characteristics to reflect the weight differences of different observations; The calculation module is used to calculate the coordinate deviation value based on the calculation result and the current reference coordinates of the reference station to be detected under the target reference frame if the standard deviation of the solution result is less than a preset standard deviation threshold. The determination module is used to determine that the base station to be detected has shifted when the coordinate deviation value exceeds a preset first deviation threshold.

7. A CORS reference station displacement monitoring device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-5.

8. A computer-readable storage medium or computer program product, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-5; And / or, The computer program product includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-5.

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