A method for quantifying the shielding rate of a single-beidou deformation monitoring station in a complex observation environment

Abstract

This invention belongs to the field of BeiDou deformation monitoring technology, specifically disclosing a method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation environments. First, the elevation and azimuth information of the satellites are extracted from the observation data of the GNSS monitoring station. Then, cutoff elevation angle points are continuously extracted using the elevation and azimuth information. Next, the cutoff elevation angle points are smoothly fitted, and the smoothed fitting curve is obtained. Finally, the occlusion area and occlusion rate are calculated by integration. This invention requires no external equipment, relying solely on the observation data collected by the receiver. Furthermore, the observation data itself inverts the occlusion, naturally including the comprehensive occlusion effects of terrain, vegetation, buildings, and dynamic mechanical equipment. It can also automatically update as the observation data is updated, thus adapting to the dynamic changes in the occlusion environment. This invention is simple to operate, can be automated, and is particularly suitable for environmental self-assessment after rapid deployment of UAVs.

Description

Technical Field

[0001] This invention belongs to the field of BeiDou deformation monitoring technology, and specifically relates to a method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation environments, which is particularly suitable for environmental self-assessment application scenarios such as rapid deployment of stations by UAVs. Background Technology

[0002] With the continuous improvement of the BeiDou satellite navigation system, single BeiDou positioning technology has been widely used in complex environmental deformation monitoring scenarios such as mine monitoring, bridge monitoring, and slope monitoring due to its advantages such as independent control and all-weather operation.

[0003] However, in practical engineering applications, monitoring points are often limited by terrain and features, leading to a series of problems that reduce the number of effective satellites, weaken data continuity, frequent cycle slips, and weakened satellite distribution geometry.

[0004] Meanwhile, occlusion can also lead to severe signal diffraction and interference, resulting in continuous gross errors in the observations and seriously affecting the reliability of data preprocessing. In addition, complex occlusion environments can also bring about severe multipath effects, producing significant residual systematic errors, making it difficult to fix ambiguities, resulting in low solution accuracy and unreliable monitoring results, which can easily lead to false alarms or missed alarms.

[0005] In recent years, with the improvement of drone carrying capacity and the mass production of low-cost GNSS monitoring equipment, the rapid deployment of large-scale GNSS geological disaster monitoring stations using drones has become a reality.

[0006] However, this large-scale, high-efficiency operating model also brings new challenges:

[0007] In actual operations, it is often difficult to conduct a detailed on-site environmental survey of each preset point, which can easily lead to the station being set up in a complex and obstructed environment, resulting in the problem of substandard observation quality after the station is built.

[0008] If such a situation occurs, a new site selection and replacement are required, which seriously affects the construction efficiency and reliability of the monitoring system.

[0009] Therefore, how to quickly and quantitatively assess the environmental suitability of a single BeiDou deformation monitoring station has become a key technical problem that urgently needs to be solved in large-scale UAV deployment applications. Currently, there are three main methods for calculating the station occupancy rate:

[0010] 1. Fisheye camera panoramic photography method: This method involves mounting a fisheye lens directly above the antenna, overlaying the captured hemispherical image with a star map above the corresponding measurement station, and calculating the pixel values ​​of the sky and the obscured area separately.

[0011] The formula for calculating the occlusion rate in this method is: Occlusion rate = Occlusion area pixels / Total area pixels.

[0012] However, the fisheye camera panoramic photography method has the following problems in practical applications:

[0013] (1) Fisheye lenses have a lot of barrel distortion. The images taken are projected onto the center of the sphere's surface. The image scale of different parts of the image is different, and it cannot accurately represent the actual occlusion ratio of the station.

[0014] (2) It requires fisheye lens, camera and custom bracket, which is expensive and requires a lot of fieldwork.

[0015] (3) It cannot reflect seasonal shading changes (such as seasonal shading by vegetation branches and leaves);

[0016] (4) It cannot adapt to the real-time changes in the terrain of the mining area.

[0017] 2. DEM terrain calculation method: This method, based on Digital Elevation Model (DEM) data, assesses the obstruction rate by calculating the degree of obstruction of satellite signals by the terrain surrounding the station. This method has the following problems:

[0018] (1) It relies on high-precision terrain data, which results in high data acquisition costs;

[0019] (2) The terrain of the mining area changes in real time, and the DEM data is updated late, so the assessment results are often distorted.

[0020] (3) It cannot reflect dynamic shading factors such as vegetation growth and mechanical equipment stacking;

[0021] (4) It cannot detect temporary obstructions (such as parked vehicles, piled-up materials, etc.).

[0022] 3. The Multipath Hemispherical Map (MHM) method is commonly used for modeling and correcting multipath errors, and is also suitable for calculating occlusion rates. This MHM method overlays satellite trajectories onto a hemispherical model and determines the occlusion rate by calculating the surface area of ​​the sphere. However, this method has the following problems:

[0023] (1) The calculated occlusion rate is only the projected area of ​​the satellite trajectory in the hemispherical model, not the actual occlusion area;

[0024] (2) Low modeling accuracy and difficulty in image alignment;

[0025] (3) The workload of the office work is large and requires professional and technical personnel to operate.

[0026] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art. Summary of the Invention

[0027] The purpose of this invention is to propose a method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions. This method can automatically calculate the occlusion rate of the station by analyzing GNSS observation data and extracting the azimuth and elevation angle information of the satellite from the observation data. It does not rely on external equipment or terrain data, and is low in cost, high in efficiency, and highly adaptable.

[0028] To achieve the above objectives, the present invention adopts the following technical solution:

[0029] A method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions includes the following steps:

[0030] Step 1. Use a GNSS receiver to collect raw pseudorange and ephemeris data at the installation location, and collect GNSS observation data and broadcast ephemeris information within a continuous preset time period;

[0031] Step 2. Calculate the satellite's spatial coordinates in the geocentric coordinate system. The GNSS receiver outputs the spatial coordinates and corresponding geodetic coordinates of the monitoring point. Convert the satellite coordinates to coordinates in the station-centered rectangular coordinate system with the monitoring point as the origin.

[0032] The azimuth information of all satellites is obtained through calculation, including elevation angle and azimuth angle;

[0033] Step 3. Extract the observable satellite azimuth range and the satellite azimuth information of the starting point of all satellite arcs from the azimuth information of all satellites, and filter out the azimuth and elevation angles corresponding to the minimum elevation angle among the starting points;

[0034] The point formed by the minimum elevation angle and its corresponding azimuth and elevation angle information is the satellite cutoff elevation angle point; repeat the above satellite cutoff elevation angle point calculation process to obtain the satellite cutoff elevation angle points of all visible satellites;

[0035] Step 4. Construct a rectangular coordinate system with azimuth angle as the horizontal axis and elevation angle as the vertical axis, and map the satellite cutoff elevation angle points of all visible satellites to this rectangular coordinate system;

[0036] Substitute the azimuth and elevation angle information of the satellite cutoff elevation angle points obtained in step 3 into the trigonometric function combination model to obtain the model coefficients of the trigonometric function combination model, i.e. the fitted curve function model; then use the fitted curve function model to perform smooth curve fitting on all satellite cutoff elevation angle points to obtain the smoothed curve.

[0037] Step 5. Using the fitted curve function model, perform integral calculation on the part below the smoothed curve to obtain the obstruction area, and further calculate the GNSS station obstruction rate based on the obstruction area.

[0038] Furthermore, based on the aforementioned method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions, this invention also proposes a corresponding system for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions, the technical solution of which is as follows:

[0039] A system for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions includes the following modules:

[0040] The terminal equipment data acquisition module is used to collect raw pseudorange and ephemeris data at the installation location using a GNSS receiver, and to collect GNSS observation data and broadcast ephemeris information within a continuous preset time period.

[0041] The satellite azimuth information calculation module is used to calculate the spatial coordinates of the satellite in the geocentric coordinate system. The receiver outputs the spatial coordinates and corresponding geodetic coordinates of the monitoring point; it converts the satellite coordinates into coordinates in the station-centered rectangular coordinate system with the monitoring point as the origin; and it calculates the azimuth information of all satellites, including the elevation angle and azimuth angle.

[0042] The cutoff elevation angle extraction module is used to extract the observable satellite azimuth range and the satellite azimuth information of the starting point of all satellite arcs from the azimuth information of all satellites, and to filter out the azimuth and elevation angles corresponding to the minimum elevation angle among the starting points;

[0043] The point formed by the minimum elevation angle and its corresponding azimuth and elevation angle information is the satellite cutoff elevation angle point; repeat the above satellite cutoff elevation angle point calculation process to obtain the satellite cutoff elevation angle points of all visible satellites;

[0044] The occlusion information extraction module is used to build a rectangular coordinate system with azimuth as the horizontal axis and elevation as the vertical axis, and to map the elevation angle and azimuth information corresponding to the obtained satellite cutoff elevation angle point onto this rectangular coordinate system;

[0045] Substitute the azimuth and elevation information of the satellite cutoff elevation angle points into the trigonometric function combination model to obtain the model coefficients of the trigonometric function combination model, i.e., the fitted curve function model; then use the fitted curve function model to perform smooth curve fitting on all satellite cutoff elevation angle points to obtain the smoothed curve.

[0046] And an obstruction rate calculation module, which uses the fitted curve function model to perform integral calculation on the obstructed part below the smoothed curve to obtain the obstruction area, and calculates the GNSS station obstruction rate based on the obstruction area.

[0047] Furthermore, based on the quantification method of single BeiDou deformation monitoring station occlusion rate under the above-mentioned complex observation environment, this invention also proposes a computer device, which includes a memory and one or more processors.

[0048] The executable code is stored in the memory. When the processor executes the executable code, it implements the steps of the method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under the complex observation environment described above.

[0049] Furthermore, based on the above-mentioned method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions, this invention also proposes a computer-readable storage medium storing a program that, when executed by a processor, implements the steps of the above-mentioned method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions.

[0050] The present invention has the following advantages:

[0051] As described above, this invention discloses a method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation environments. This method, specifically for deformation monitoring scenarios in complex environments such as mine monitoring, proposes a station occlusion rate quantification method based on the extraction of the cutoff elevation angle of the BeiDou satellite observation arc. First, the method extracts the satellite elevation and azimuth information from the GNSS monitoring station's observation data. Then, it uses the elevation and azimuth information to extract all satellite cutoff elevation angle points. Next, it performs a smooth fitting on the cutoff elevation angle points to obtain the smoothed fitting curve, and finally calculates the occlusion area and occlusion rate. Compared to traditional station occlusion rate calculation methods such as fisheye camera panoramic photography, this invention's method requires no external equipment and relies solely on observation data collected by a GNSS receiver. Furthermore, this invention utilizes the occlusion inversion inherent in the GNSS observation data itself, naturally incorporating the comprehensive occlusion effects of terrain, vegetation, buildings, and dynamic mechanical equipment. Moreover, as the GNSS receiver continuously observes, this invention's method can automatically update with the updated observation data, thus adapting to dynamic changes in the occlusion environment. In addition, this invention's method is simple to operate and can be automated, making it particularly suitable for environmental self-assessment after rapid UAV station deployment. Attached Figure Description

[0052] Figure 1 This is a flowchart of the method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions in an embodiment of the present invention;

[0053] Figure 2 This is a schematic diagram of the cutoff elevation angle point of the satellite observation arc in an embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram illustrating the extraction effect of occlusion information in a typical complex mine environment in an embodiment of the present invention;

[0055] Figure 4 This is a geometric schematic diagram illustrating the calculation of occlusion rate in an embodiment of the present invention. Detailed Implementation

[0056] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0057] Example 1

[0058] The existing method for calculating the obstruction rate of a survey station is generally achieved through panoramic photography. However, this method requires professional surveyors and a high level of expertise in surveying and mapping, which is both costly and inefficient.

[0059] To address the above problems, this invention proposes a method for quantifying the obstruction rate of a single BeiDou deformation monitoring station under complex observation environments. The obstruction rate of the station can be calculated simply by extracting the azimuth and elevation angle information of the satellite from the GNSS observation data.

[0060] This invention can fit the starting point information of all satellite arc segments extracted for each station, and finally accurately calculate the occlusion rate. It is easy to operate, saves costs, reduces the workload of field work, and reduces the difficulty of quantifying the occlusion rate of stations.

[0061] like Figure 1 As shown, a method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions includes the following steps:

[0062] Step 1. Data collection from terminal devices.

[0063] Using a GNSS receiver, raw pseudorange and ephemeris data are collected at the installation location. GNSS observation data and broadcast ephemeris information are collected over a continuous preset time period. The preset time period is, for example, set to 24 hours.

[0064] Step 2. Calculate satellite orientation information.

[0065] Calculate the satellite's spatial coordinates in the geocentric coordinate system according to the GNSS system interface file (BeiDou Navigation Satellite System Space Signal Interface Control File). , , , These are the three components in spatial coordinates.

[0066] GNSS receiver outputs the spatial coordinates of the monitoring point and corresponding geodetic coordinates .in , , These are the three components of the spatial coordinates of the monitoring point. Longitude, Latitude of the earth It is high for the earth.

[0067] Convert the satellite coordinates to a station-centered rectangular coordinate system with the monitoring point as the origin. ,in , , These represent the three orthogonal directions: East, North, and Sky. The coordinate transformation process is as follows:

[0068] First, calculate the difference between the satellite and the monitoring station in the geocentric coordinate system, using the following formula:

[0069] (1)

[0070] in Let the geocentric relative vector be the vector; then, the geocentric relative vector is transformed using a rotation matrix. Convert to station center coordinates The rotation formula is expressed in matrix form as follows:

[0071] (2)

[0072] Finally, the satellite's elevation and azimuth angles are calculated using the following formulas:

[0073] (3)

[0074] (4)

[0075] In the formula: For satellite azimuth, is the satellite elevation angle, and arctan is the arctangent function.

[0076] Since GEO satellites are geostationary satellites, their observation arc does not change over time. However, for IGSO satellites, their trajectories are in the shape of an "8", and they will pass over the top twice a day. It is necessary to extract the cutoff altitude angle point between the two passes.

[0077] Therefore, the method of this invention mainly targets the extraction of cutoff elevation angle points for the dynamic observation arc of MEO satellites. Here, MEO satellites are medium Earth orbit satellites, and IGSO satellites are inclined geosynchronous orbit satellites.

[0078] The azimuth information of all satellites is obtained through calculation, including elevation and azimuth angles. This embodiment calculates the azimuth information of all satellites using formulas based on the station coordinates and observation values ​​output by the GNSS receiver.

[0079] Step 3. Extract the observable satellite azimuth range and the satellite azimuth information of the starting point of all satellite arcs from the azimuth information of all satellites, and filter out the azimuth and elevation angles corresponding to the minimum elevation angle among the starting points.

[0080] The point formed by the minimum elevation angle and its corresponding azimuth and elevation angles is the satellite cutoff elevation angle point. Repeating the above calculation process for the satellite cutoff elevation angle point yields the satellite cutoff elevation angle points for all visible satellites.

[0081] In this embodiment, the observable satellite azimuth range (default [0, 360°]) and the satellite azimuth information of the starting point B of all satellite arcs are extracted from the azimuth information of all satellites, such as... Figure 2 As shown.

[0082] Among them, satellite azimuth information includes azimuth angle. and satellite elevation angle Except for the receiver power-on and power-off records, continuous observations at the same satellite time can be considered as the same arc segment.

[0083] From the starting point B of all satellite arcs, select the azimuth and elevation angles corresponding to the minimum elevation angle. The point composed of the minimum elevation angle and its corresponding azimuth and elevation angle information is the satellite cutoff elevation angle point.

[0084] Define satellite Minimum elevation angle is Its corresponding azimuth angle is Based on the geometric configuration of the station and the satellite, the point consisting of the minimum elevation angle and its corresponding observation azimuth information is the satellite cutoff elevation angle point.

[0085] Repeat the above process of calculating the satellite cutoff elevation angle to obtain the satellite cutoff elevation angle of all visible satellites.

[0086] Step 4. Construct a rectangular coordinate system with azimuth angle as the horizontal axis and elevation angle as the vertical axis, and map the satellite cutoff elevation angles of all visible satellites onto this rectangular coordinate system, such as... Figure 3 As shown.

[0087] Substitute the azimuth and elevation angle information of the satellite cutoff elevation angle points obtained in step 3 into the trigonometric function combination model to obtain the model coefficients of the trigonometric function combination model, i.e. the fitted curve function model; then use the fitted curve function model to perform smooth curve fitting on all satellite cutoff elevation angle points to obtain the smoothed curve.

[0088] The trigonometric function combination model used in this embodiment is expressed by the following formula:

[0089] (5)

[0090] in For satellite azimuth, For the satellite elevation angle, , , The coefficients to be fitted are... This is the order of the Fourier series. In this embodiment, For example, a possible value is 3.

[0091] The trigonometric function combination model can capture periodic fluctuations better and is simpler than cubic splines.

[0092] like Figure 3 The results of extracting occlusion information in a typical complex mine environment are shown. Figure 3 The blue dots represent the cutoff altitude angles of all visible satellites, and the red lines represent the smoothed curves.

[0093] Step 5. Using the fitted curve function model, perform integral calculation on the part below the smoothed curve to obtain the obstruction area, and further calculate the GNSS station obstruction rate based on the obstruction area.

[0094] Step 5.1. Calculate the shading area.

[0095] The occluded portion is calculated by integrating the smoothed curve function model, as shown in the following formula:

[0096] (6)

[0097] Formula (6) calculates the area obscured by the azimuth angle between 0 and 360 degrees through integration.

[0098] in , This represents the smoothed curve function model. The integral variable represents the satellite azimuth information, and its value range is... , This represents the change in the integral. This indicates the boundary of the integral along the horizontal axis.

[0099] Step 5.2. Calculation of GNSS station obstruction rate.

[0100] definition Indicates the occlusion rate, then Represented as:

[0101] (7)

[0102] Formula (7) is obtained by dividing Formula (6) by the theoretical area under unobstructed observation, i.e., 90×360. This refers to the occlusion rate, where 90% of the theoretical area represents the maximum range of the azimuth angle, and 360% represents the maximum value of the azimuth angle.

[0103] From formula (7), we can see that, The theoretical minimum value is 0, and the maximum value is 1. The larger the value, the more severe the occlusion.

[0104] The method of the present invention, through steps 1 to 5 above, effectively quantifies the obstruction rate of GNSS monitoring stations during GNSS observation in complex environments, thereby providing quantitative support for the environmental complexity of GNSS monitoring stations.

[0105] This invention extracts only the azimuth and elevation angle information of satellites from GNSS observation data to automatically calculate the obstruction rate of the station. It does not rely on external equipment or terrain data, and is low in cost, highly efficient, and highly adaptable.

[0106] In terms of adaptability, this invention utilizes the observation data itself to invert occlusion, which naturally includes the comprehensive occlusion effects of terrain, vegetation, buildings and dynamic mechanical equipment, without relying on potentially outdated GIS terrain data.

[0107] In addition, in terms of cost and efficiency, this invention does not require auxiliary equipment such as fisheye cameras. It can automatically calculate the data with just 24 hours of observation data from a single Beidou receiver, making it particularly suitable for environmental self-assessment after rapid deployment of UAVs.

[0108] Example 2

[0109] This embodiment 2 describes a method for quantifying the occlusion rate of a single Beidou deformation monitoring station under complex observation conditions. Unlike the above embodiment 1, this embodiment 2 requires a graded evaluation of the station's observation environment after quantifying the occlusion rate.

[0110] Specifically, after step 5, the method of the present invention further includes:

[0111] Step 6. Set an environmental level scoring threshold. Compare the GNSS station obstruction rate calculated in Step 5 with the preset environmental level scoring threshold to achieve a graded assessment of the station's observation environment and provide corresponding suggestions.

[0112] Table 1 below shows the grading and evaluation criteria for the observation environment of the station. In this embodiment, for example, three environmental level scoring thresholds can be set. , , , For example, a value of 0.15, The value is 0.25. The value is 0.35.

[0113] Table 1. Evaluation Criteria for Station Observation Environment Classification

[0114]

[0115] The above grading standards are derived from statistical analysis of a large amount of measured data from mining scenarios.

[0116] in This is a critical threshold; when the obstruction rate exceeds this value, GNSS positioning accuracy and data availability will significantly decrease. It is recommended to change the station location or adopt a special data processing strategy. Output information should include:

[0117] (1). Shading rate value; (2). Shading boundary curve; (3). Environmental level assessment conclusion.

[0118] The occlusion boundary curve diagram should be plotted with azimuth as the horizontal axis (0°-360°) and elevation as the vertical axis (0°-90°), showing the cutoff elevation angle curve and marking the position of each cutoff elevation angle point, such as... Figure 3 As shown.

[0119] Example 3

[0120] This embodiment 3 describes a system for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions, which is based on the same inventive concept as the method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions in embodiment 1.

[0121] The system for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions includes the following modules:

[0122] The terminal equipment data acquisition module is used to collect raw pseudorange and ephemeris data at the installation location using a GNSS receiver, and to collect GNSS observation data and broadcast ephemeris information within a continuous preset time period.

[0123] The satellite azimuth information calculation module is used to calculate the spatial coordinates of the satellite in the geocentric coordinate system. The receiver outputs the spatial coordinates and corresponding geodetic coordinates of the monitoring point; it converts the satellite coordinates into coordinates in the station-centered rectangular coordinate system with the monitoring point as the origin; and it calculates the azimuth information of all satellites, including the elevation angle and azimuth angle.

[0124] The cutoff elevation angle extraction module is used to extract the observable satellite azimuth range and the satellite azimuth information of the starting point of all satellite arcs from the azimuth information of all satellites, and to filter out the azimuth and elevation angles corresponding to the minimum elevation angle among the starting points;

[0125] The point formed by the minimum elevation angle and its corresponding azimuth and elevation angle information is the satellite cutoff elevation angle point; repeat the above satellite cutoff elevation angle point calculation process to obtain the satellite cutoff elevation angle points of all visible satellites;

[0126] The occlusion information extraction module is used to build a rectangular coordinate system with azimuth as the horizontal axis and elevation as the vertical axis, and to map the elevation angle and azimuth information corresponding to the obtained satellite cutoff elevation angle point onto this rectangular coordinate system;

[0127] Substitute the azimuth and elevation information of the satellite cutoff elevation angle points into the trigonometric function combination model to obtain the model coefficients of the trigonometric function combination model, i.e., the fitted curve function model; then use the fitted curve function model to perform smooth curve fitting on all satellite cutoff elevation angle points to obtain the smoothed curve.

[0128] And an obstruction rate calculation module, which uses the fitted curve function model to perform integral calculation on the obstructed part below the smoothed curve to obtain the obstruction area, and calculates the GNSS station obstruction rate based on the obstruction area.

[0129] It should be noted that any content not mentioned in the above-described functional modules of the system described in Embodiment 3 can be referred to the step description of the corresponding method in Embodiment 1 above, and will not be repeated in detail here.

[0130] Example 4

[0131] This embodiment 4 describes a computer device, which includes a memory and one or more processors. Executable code is stored in the memory. When the processor executes the executable code, it implements the steps of the method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions described in embodiment 1 above.

[0132] In this embodiment, the computer device can be any device or apparatus with data processing capabilities, and will not be described in detail here.

[0133] Example 5

[0134] This embodiment 5 describes a computer-readable storage medium storing a program that, when executed by a processor, is used to implement the steps of the method for quantifying the occlusion rate of a single Beidou deformation monitoring station under complex observation conditions in the above embodiment 1.

[0135] The computer-readable storage medium can be an internal storage unit of any device or apparatus with data processing capabilities, such as a hard disk or memory, or an external storage device of any device with data processing capabilities, such as a plug-in hard disk, smart media card (SMC), SD card, flash card, etc.

[0136] Of course, the above description is only a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. It should be noted that any equivalent substitutions or obvious modifications made by those skilled in the art under the guidance of this specification fall within the scope of this specification and should be protected by the present invention.

Claims

1. A method for quantifying the shielding rate of a single Beidou deformation monitoring station in a complex observation environment, characterized in that, Includes the following steps: Step 1. Use a GNSS receiver to collect raw pseudorange and ephemeris data at the installation location, and collect GNSS observation data and broadcast ephemeris information within a continuous preset time period; Step 2. Calculate the satellite's spatial coordinates in the geocentric coordinate system. The GNSS receiver outputs the spatial coordinates and corresponding geodetic coordinates of the monitoring point. Convert the satellite coordinates to coordinates in the station-centered rectangular coordinate system with the monitoring point as the origin. The azimuth information of all satellites is obtained through calculation, including elevation angle and azimuth angle; Step 3. Extract the observable satellite azimuth range and the satellite azimuth information of the starting point of all satellite arcs from the azimuth information of all satellites, and filter out the azimuth and elevation angles corresponding to the minimum elevation angle among the starting points; The point formed by the minimum elevation angle and its corresponding azimuth and elevation angle information is the satellite cutoff elevation angle point; repeat the above satellite cutoff elevation angle point calculation process to obtain the satellite cutoff elevation angle points of all visible satellites; Step 4. Construct a rectangular coordinate system with azimuth angle as the horizontal axis and elevation angle as the vertical axis, and map the satellite cutoff elevation angle points of all visible satellites to this rectangular coordinate system; Substitute the azimuth and elevation angle information of the satellite cutoff elevation angle points obtained in step 3 into the trigonometric function combination model to obtain the model coefficients of the trigonometric function combination model, i.e. the fitted curve function model; then use the fitted curve function model to perform smooth curve fitting on all satellite cutoff elevation angle points to obtain the smoothed curve. Step 5. Using the fitted curve function model, perform integral calculation on the part below the smoothed curve to obtain the obstruction area. Divide the obstruction area by the theoretical total area to further calculate the GNSS station obstruction rate.

2. The method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions according to claim 1, characterized in that, In step 2, the spatial coordinates of the satellite in the geocentric-ground-fixed coordinate system are defined as follows: ;in , , These are the three components of the satellite's spatial coordinates in the geocentric-geocentric coordinate system; Define the spatial coordinates of the receiver output monitoring point. and corresponding geodetic coordinates ;in , , These are the three components of the spatial coordinates of the monitoring point. Longitude, Latitude of the earth For the earth's height; Convert the satellite coordinates to a station-centered rectangular coordinate system with the monitoring point as the origin. ,in , , These represent the three orthogonal directions: East, North, and Sky. The coordinate transformation process is as follows: First, calculate the difference between the satellite and the monitoring station in the geocentric coordinate system, using the following formula: (1) in Let the geocentric relative vector be the vector; then, the geocentric relative vector is transformed using a rotation matrix. Convert to station center coordinates The rotation formula is expressed in matrix form as follows: (2) Finally, the satellite's elevation and azimuth angles are calculated using the following formulas: (3) (4) In the formula: For satellite azimuth, denoted as the satellite elevation angle, and arctan is the arctangent function.

3. The method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions according to claim 1, characterized in that, In step 3, apart from the receiver power-on record and power-off record, the continuous observation results at the same satellite time are regarded as the same arc segment, and the satellite azimuth information of the starting point of all satellite arc segments is extracted.

4. The method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions according to claim 1, characterized in that, In step 4, the formula for the trigonometric function combination model is expressed as follows: (5) in For satellite azimuth, For the satellite elevation angle, , , The coefficients to be fitted are... It is the order of the Fourier series.

5. The method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions according to claim 1, characterized in that, In step 5, the process of calculating the area of ​​the portion below the smoothed curve is as follows: The occluded portion is calculated by integrating the smoothed curve function model, as shown in the following formula: (6) Formula (6) calculates the area obscured by the azimuth angle between 0 and 360 degrees through integration; in , This represents the smoothed curve function model. The integral variable represents the satellite azimuth information, and its value range is... , This represents the change in the integral. This indicates the boundary of the integral along the horizontal axis.

6. The method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions according to claim 5, characterized in that, In step 5, the GNSS station obstruction rate calculation process is as follows: definition Indicates the occlusion rate, then Represented as: (7) Formula (7) is obtained by dividing Formula (6) by the theoretical area under unobstructed observation, i.e., 90×360. This refers to the occlusion rate, where 90% of the theoretical area represents the maximum range of the azimuth angle, and 360% represents the maximum value of the azimuth angle.

7. The method for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions according to claim 1, characterized in that, Following step 5, the following steps are also included: Step 6. Set the environmental level scoring threshold. Compare the GNSS station obstruction rate calculated in Step 5 with the preset environmental level scoring threshold to achieve a graded assessment of the station's observation environment.

8. A system for quantifying the occlusion rate of a single BeiDou deformation monitoring station under complex observation conditions, characterized in that, Includes the following modules: The terminal equipment data acquisition module is used to collect raw pseudorange and ephemeris data at the installation location using a GNSS receiver, and to collect GNSS observation data and broadcast ephemeris information within a continuous preset time period. The satellite azimuth information calculation module is used to calculate the spatial coordinates of the satellite in the geocentric coordinate system. The receiver outputs the spatial coordinates and corresponding geodetic coordinates of the monitoring point; it converts the satellite coordinates into coordinates in the station-centered rectangular coordinate system with the monitoring point as the origin; and it calculates the azimuth information of all satellites, including the elevation angle and azimuth angle. The cutoff elevation angle extraction module is used to extract the observable satellite azimuth range and the satellite azimuth information of the starting point of all satellite arcs from the azimuth information of all satellites, and to filter out the azimuth and elevation angles corresponding to the minimum elevation angle among the starting points; The point formed by the minimum elevation angle and its corresponding azimuth and elevation angle information is the satellite cutoff elevation angle point; repeat the above satellite cutoff elevation angle point calculation process to obtain the satellite cutoff elevation angle points of all visible satellites; The occlusion information extraction module is used to build a rectangular coordinate system with azimuth as the horizontal axis and elevation as the vertical axis, and to map the elevation angle and azimuth information corresponding to the obtained satellite cutoff elevation angle point onto this rectangular coordinate system; Substitute the azimuth and elevation information of the satellite cutoff elevation angle points into the trigonometric function combination model to obtain the model coefficients of the trigonometric function combination model, i.e., the fitted curve function model; then use the fitted curve function model to perform smooth curve fitting on all satellite cutoff elevation angle points to obtain the smoothed curve. And an obstruction rate calculation module, which uses the fitted curve function model to perform integral calculation on the obstructed part below the smoothed curve to obtain the obstruction area, and calculates the GNSS station obstruction rate based on the obstruction area.

9. A computer device, comprising a memory and one or more processors; characterized in that, The memory stores executable code, which, when executed by the processor, is used to implement the method for quantifying the occlusion rate of a single Beidou deformation monitoring station under complex observation conditions as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a program stored thereon; characterized in that, When executed by the processor, the program is used to implement the method for quantifying the occlusion rate of a single Beidou deformation monitoring station under complex observation conditions as described in any one of claims 1 to 7.

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