CN103471544A - High-precision displacement deformation monitoring application system based on Beidou - Google Patents

Abstract

The invention discloses a high-precision displacement deformation monitoring application system based on the Beidou. The high-precision displacement deformation monitoring application system based on the Beidou comprises a satellite navigation system, a displacement deformation monitoring terminal and a displacement deformation monitoring center service station. The satellite navigation system comprises a Beidou satellite navigation system and a GPS navigation system. The displacement deformation monitoring terminal comprises a displacement sensor and a GPRS wireless communication module I, and the GPRS wireless communication module is connected with the displacement sensor and sends data transmitted by the displacement sensor to the displacement deformation monitoring center service station. The displacement deformation monitoring center service station comprises a data processing center, a database server and a data receiver. The data receiver comprises a GPRS wireless communication module II, a GPS chip and a Beidou chip. The high-precision displacement deformation monitoring application system is high in precision and high in safety reliability, lowers the dependency on a GPS, is not influenced by weather, and is capable of achieving all-weather automatic measuring and providing RTK in real time and achieving time synchronization of all measuring points.

Description

A kind of high precision displacement deformation monitoring application system based on the Big Dipper

Technical field

The present invention relates to the Displacement-deformation monitoring device of a kind of large scale structure or building, be specifically related to a kind of high precision displacement deformation monitoring application system based on the Big Dipper.

Background technology

Hydraulic engineering, heavy construction, mine, bridge etc. are the foundation structure of national economy, as the important connection of State Grid, transportation network, energy supply, are bringing into play very important effect in economic construction.Due to distortion or the damage in various degree that caused many hydraulic engineerings, bridge or mining area, geology to occur of normal and improper load, the health monitoring in therefore, hydraulic engineering, bridge, mining area has become that water conservancy, bridge, mineral products are normally runed and the main task of management phase.Along with the development of national economy, in order to meet electric power, resource application and the traffic operation demand day by day increased, need to build increasing water conservancy equipment, large bridge and mineral products.Thereby their safety will become the very important problem that all circles face, this has all improved renewal, higher requirement to high-precision displacement or deformation monitoring.

The data of hydraulic engineering and bridge state can be used to detect its potential deformation, displacement and damage and help the design of engineering from now on.Gather a large amount of, real-time and accurate operation of engineering projects status data (as the distortion of the geometric configuration of engineering and bridge, hydraulic engineering is in the deformation of huge hydraulic pressure, and bridge is real-time or approach real-time dynamic response etc. under the load changed) for the associated mechanisms of hydraulic engineering and bridge, be quite significant.

Engineering, bridge, geology etc. usually have distortion and the displacement of two kinds of features, as distortion or the displacement that causes long-term (forever) such as lax of the fracture due to foundation settlement, engineering face or bridge and Suo Li; Another kind is distortion or the displacement that motion due to the earth's crust, wind, temperature, morning and evening tides, earthquake, artificial and traffic etc. cause short-term.Long-term distortion or displacement are expendable, and the distortion of short-term or displacement can recover when external force disappears, and the distortion of short-term engineering, bridge when external force disappears can return to the state before external force that applies.

At present, traditional monitoring tool has displacement transducer, accelerometer, inclination sensor, laser interferometer, total powerstation, precision level etc., and these methods have certain effect but also have many weak points.For example, however accelerometer for high frequency is dynamic, measure comparatively accurately for engineering, bridge, geology because displacement and the large displacement under large wind effect that the factors such as temperature variation cause are just helpless; Inclination sensor must be used in conjunction with additive method, and this is with regard to the data fusion of having brought different sensors and the problem of time synchronized; The impact of laser interferometer, total powerstation and precision level climate is comparatively serious and sampling rate also is difficult to reach the requirement of kinetic measurement; In addition, following monitoring means all exists between each measuring point and is difficult to accomplish time synchronization problem, thereby brings difficulty to the analysis of the characteristic of successive projects, bridge, geology.

In recent years, although GPS has also carried out some researchs and exploration at deformation, displacement monitoring, because the autonomy of GPS rests in U.S.'s hand, still can't ensure its safety and efficacy.In China, along with the Big Dipper No. two networking commencements of commercial operation, especially RTK technology, the sampling rate of its receiver generally reaches 10-20HZ, and this makes it be applied to deformation and displacement monitoring becomes possibility.Yet just the inventor investigates, also do not have the product of the Displacement-deformation monitoring based on the Big Dipper of comparative maturity on market.

Summary of the invention

The object of the invention is to for the deficiencies in the prior art, provide a kind of safe reliability high, reduce to the foreign GPS dependence, can hi-Fix the displacement monitoring application system based on the Big Dipper.This system is the impact of climate not, can round-the-clock automatic measurement, and can provide in real time fixed to result (RTK), and can realize easily the time synchronized of each measuring point.

To achieve these goals, the present invention has adopted following technical scheme:

A kind of high precision displacement deformation monitoring application system based on the Big Dipper, comprise satellite navigation system, Displacement-deformation monitoring terminal, Displacement-deformation monitoring center service station; Wherein:

Described satellite navigation system comprises Beidou satellite navigation system and GPS navigation system;

Described Displacement-deformation monitoring terminal comprises displacement transducer and GPRS wireless communication module I, and described GPRS wireless communication module is connected with displacement transducer, and the data that displacement transducer is transmitted send to Displacement-deformation monitoring center service station;

Described Displacement-deformation monitoring center service station comprises data processing centre (DPC) and the database server be connected with data processing centre (DPC) respectively and data receiver; Described data receiver comprises GPRS wireless communication module II, GPS chip and Big Dipper chip, and the GPRS wireless communication module I of described GPRS wireless communication module II and Displacement-deformation monitoring terminal carries out the Mobile data wireless transmission; Described GPS chip receives the satellite information data I that the GPS navigation system is sent, described Big Dipper chip receives the satellite information data I I that Beidou satellite navigation system sends, and described satellite data information I and satellite data information II include and export pseudorange, carrier phase observation data and satellite ephemeris parameter per epoch of observation; After described data processing centre (DPC) receives the satellite information data that GPS chip and Big Dipper chip transmit, adopt carrier phase difference equation to calculate the integer ambiguity parameter, the data analysis collected in conjunction with displacement transducer is again processed, realize hi-Fix, geology Displacement-deformation situation is monitored; The result data obtained after the data that data processing centre (DPC) collects displacement transducer simultaneously, satellite data information I, satellite data information II and analyzing and processing is transferred to database server and is stored.

As further supplementary notes of the present invention, above-described carrier phase difference equation is that double-differential carrier phase divides observation equation

in formula, the two poor integer ambiguity parameters of two survey station two inter-satellites,

the two poor carrier phases of two survey station two inter-satellites,

the two poor star stop spacings of two survey station two inter-satellites from, ε is for measuring noise, f is signal frequency, c is the light velocity in vacuum.

In the present invention, in data processing centre (DPC), adopt carrier phase difference equation to calculate being specially of integer ambiguity parameter:

At first one of them that set in the baseline two-end-point stood as reference, and another end points is as station undetermined.Reference station is also referred to as fixed station, and its three-dimensional coordinate is made given value and occurred in positioning equation; Station undetermined is also referred to as rover station, and its three-dimensional coordinate occurs as unknown number.The absolute figure of the station coordinates undetermined solved is relatively with fixed station.Survey station means by subscript 1.Satellite means with subscript i.Carrier phase observation equation for survey station 1 satellite I:

${\mathrm{\Φ}}_1^i=N_1^i+\frac{f}{c}{\mathrm{\ρ}}_1^i+f{\mathrm{\δt}}_1+{\mathrm{f\δt}}^i+\frac{f}{c}{\mathrm{\ρ}}_{1\mathrm{trop}}^i+\frac{f}{c}{\mathrm{\ρ}}_{1\mathrm{ion}}^i+\mathrm{\ϵ}$

${\mathrm{\ρ}}_1^i=\sqrt{{(x^i-x_1)}^2+{(y^i-y_1)}^2+{(z^i-z_1)}^2}$

In formula, φ is carrier phase observation data, and N is integer ambiguity,

for signal corrects by troposphere and ionospheric delay; [x ⁱ, y ⁱ, z ⁱ] be the instantaneous geocentric coordinate of satellite I, can in the satellite ephemeris text, obtain; [x ₁, y ₁, z ₁] be the geocentric coordinate of receiver antenna, be unknown quantity; ε is for measuring noise.

Azimuth zeroset divides relative location at least to want two survey stations, supposes on 1,2 two survey station and settles respectively receiver to observe simultaneously, and two carrier phase observation equations are respectively:

${\mathrm{\Φ}}_1^i=N_1^i+\frac{f}{c}{\mathrm{\ρ}}_2^i+f{\mathrm{\δt}}_1+{\mathrm{f\δt}}^i+\frac{f}{c}{\mathrm{\ρ}}_{1\mathrm{trop}}^i+\frac{f}{c}{\mathrm{\ρ}}_{1\mathrm{ion}}^i+\mathrm{\ϵ}$

${\mathrm{\Φ}}_2^i=N_2^i+\frac{f}{c}{\mathrm{\ρ}}_2^i+f{\mathrm{\δt}}_2+{\mathrm{f\δt}}^i+\frac{f}{c}{\mathrm{\ρ}}_{2\mathrm{trop}}^i+\frac{f}{c}{\mathrm{\ρ}}_{2\mathrm{ion}}^i+\mathrm{\ϵ}$

In formula, above be designated as satellite number, under be designated as survey station number.For the baseline relative positioning, for our unconcerned unknown parameter of cancellation.We make calculus of differences to top two formulas:

${\mathrm{\Δ\Φ}}_{12}^i={\mathrm{\ΔN}}_{12}^i+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12}^i+f{\mathrm{\Δ\δt}}_{12}+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^i+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^i+\mathrm{\Δ\ϵ}$

In formula, be the difference of the carrier phase observation data of same satellite i of two receiver observations:

$\mathrm{\Δ}{\mathrm{\Φ}}_{12}^i={\mathrm{\Φ}}_1^i-{\mathrm{\Φ}}_2^i$

The difference of the Phase integer ambiguity of same satellite i of two receiver observations:

$\mathrm{\Δ}{N}_{12}^i=N_1^i-N_2^i$

The difference of two receivers to the distance of same satellite i:

$\mathrm{\Δ}{\mathrm{\ρ}}_{12}^i={\mathrm{\ρ}}_1^i-{\mathrm{\ρ}}_2^i$

The difference of the clock correction of two receivers:

$\mathrm{\Δ}{\mathrm{\δt}}_{12}^i={\mathrm{\δt}}_1^i-{\mathrm{\δt}}_2^i$

The difference of two receivers to the troposphere time delay of same satellite i:

$\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^i={\mathrm{\ρ}}_{1\mathrm{trop}}^i-{\mathrm{\ρ}}_{2\mathrm{trop}}^i$

The difference of two receivers to the ionospheric delay of same satellite i:

$\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^i={\mathrm{\ρ}}_{1\mathrm{ion}}^i-{\mathrm{\ρ}}_{2\mathrm{ion}}^i$

For the satellite far away from outside 36000km, if two survey stations are not far from one another, it is basic identical that satellite-signal arrives the path that two survey stations pass through.In other words, to arrive ionosphere and the tropospheric delay of two receivers be essentially identical to same satellite-signal.Relatively, in base measurement, the observed quantity of two survey station synchronizations is subtracted each other, just can major part eliminate the error that ionosphere and tropospheric delay are brought, the while has also eliminated in difference equation Satellite clock correction.Because the not high error of bringing of trajectory accuracy also slackens greatly.

In single poor observation equation, except 3 coordinate components, if observe n satellite, n ambiguity of carrier phase unknown number just arranged.Integer ambiguity occurs with difference form.But number does not increase.Also have a receiver clock correction unknown number also to occur with difference form.

The clock that receiver adopts is general crystal oscillator, and in single difference observation equation, receiver clock correction occurs with difference form.Clock correction must be introduced a unknown number and estimated epoch of observation each.In order at Data processing, receiver clock correction to be eliminated.For this reason, by two different satellite i of synchronization observation, single eikonal equation formula of j asks poor, obtains two poor observation equations.

Single eikonal equation to satellite i:

${\mathrm{\Δ\Φ}}_{12}^i={\mathrm{\ΔN}}_{12}^i+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12}^i+f{\mathrm{\Δ\δt}}_{12}+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^i+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^i+\mathrm{\Δ\ϵ}$

Single eikonal equation to satellite j:

${\mathrm{\Δ\Φ}}_{12}^j={\mathrm{\ΔN}}_{12}^j+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12}^j+f{\mathrm{\Δ\δt}}_{12}+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^j+\frac{f}{c}\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^j+\mathrm{\Δ\ϵ}$

Above two formulas make calculus of differences, to satellite i, two eikonal equations of j:

$\▿{\mathrm{\Δ\Φ}}_{12}^{\mathrm{ij}}={\▿\mathrm{\ΔN}}_{12}^{\mathrm{ij}}+\frac{f}{c}\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12}^{\mathrm{ij}}+\frac{f}{c}\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^{\mathrm{ij}}+\frac{f}{c}\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^{\mathrm{ij}}+\mathrm{\Δ\ϵ}$

The two poor carrier phases of two survey station two inter-satellites in formula:

$\▿\mathrm{\Δ}{\mathrm{\Φ}}_{12}^{\mathrm{ij}}={\mathrm{\Δ\Φ}}_{12}^i-{\mathrm{\Δ\Φ}}_{12}^j$

The two poor integer ambiguities of two survey station two inter-satellites:

$\▿\mathrm{\Δ}{N}_{12}^{\mathrm{ij}}={\mathrm{\ΔN}}_{12}^i-{\mathrm{\ΔN}}_{12}^j$

The two poor star stop spacings of two survey station two inter-satellites from:

$\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12}^{\mathrm{ij}}={\mathrm{\Δ\ρ}}_{12}^i-{\mathrm{\Δ\ρ}}_{12}^j$

The two poor troposphere of two survey station two inter-satellites time delay:

$\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{trop}}^{\mathrm{ij}}={\mathrm{\Δ\ρ}}_{12\mathrm{trop}}^i-{\mathrm{\Δ\ρ}}_{12\mathrm{trop}}^j$

The two poor troposphere of two survey station two inter-satellites time delay:

$\▿\mathrm{\Δ}{\mathrm{\ρ}}_{12\mathrm{ion}}^{\mathrm{ij}}={\mathrm{\Δ\ρ}}_{12\mathrm{ion}}^i-{\mathrm{\Δ\ρ}}_{12\mathrm{ion}}^j$

Two eikonal equations, on the basis of single eikonal equation, remake calculus of differences between two different satellites.Generally we select satellite that elevation of satellite is the highest as proper star, and other satellites are with making calculus of differences between proper star.In the double-differential carrier phase observation equation, receiver clock correction item has been eliminated owing to asking poor between different satellites.Unknown number, except 3 coordinate components, also has ambiguity of carrier phase, and integer ambiguity occurs with two difference form.If observe t+1 satellite, two difference integer ambiguity unknown numbers only have t.

From top difference equation analysis, if rely on current three Big Dipper generation satellites, only obtain two two eikonal equations, in the ignorant situation of integer ambiguity, can't resolve three coordinate unknown numbers, if known integer ambiguity, also want the known base line distance, could determine two base direction angle unknown numbers.If the Big Dipper and gps satellite combine, the combination satellite number likely is greater than 8 satellites, by long-time observation, obtains abundant observation equation, can decide the integer ambiguity unknown number.

Advantage of the present invention:

1. precision is high, safe reliability is high, reduced the dependence to GPS.The present invention has adopted the Beidou satellite navigation system with independent intellectual property right, is not subject to the restriction of external satellite navigation system, can carry out the building health examination of continuous and effective, especially, under extreme natural environment and political setting, can not cause the interruption of monitoring; And, owing to adopting carrier phase difference equation to calculate the integer ambiguity parameter, in order further to improve positioning precision, the present invention also has been combined with GPS.

2. function is more comprehensive; In case of emergency, Beidou satellite navigation system can send to relevant information with the short message form command control terminal of data processing centre's appointment, so that the related personnel can carry out commanding and decision-making timely and effectively, thereby the destructions such as casualties of avoiding disaster to cause.

The accompanying drawing explanation

Fig. 1 is the structural framing figure of application system of the present invention.

Fig. 2 is the structural framing figure of displacement deformation monitoring service center in the present invention.

Embodiment

Below in conjunction with accompanying drawing, the present invention is further described.

Embodiment:

As shown in accompanying drawing 1,2, a kind of high precision displacement deformation monitoring application system based on the Big Dipper, comprise satellite navigation system, Displacement-deformation monitoring terminal, Displacement-deformation monitoring center service station; Wherein,

Described satellite navigation system comprises Beidou satellite navigation system and GPS navigation system;

Described Displacement-deformation monitoring terminal comprises displacement transducer and GPRS wireless communication module I, and described GPRS wireless communication module is connected with displacement transducer, and the data that displacement transducer is transmitted send to Displacement-deformation monitoring center service station;

Described Displacement-deformation monitoring center service station comprises data processing centre (DPC) and the database server be connected with data processing centre (DPC) respectively and data receiver; Described data receiver comprises GPRS wireless communication module II, GPS chip and Big Dipper chip, and the GPRS wireless communication module I of described GPRS wireless communication module II and Displacement-deformation monitoring terminal carries out the Mobile data wireless transmission; Described GPS chip receives the satellite information data I that the GPS navigation system is sent, described Big Dipper chip receives the satellite information data I I that Beidou satellite navigation system sends, and described satellite data information I and satellite data information II include and export pseudorange, carrier phase observation data and satellite ephemeris parameter per epoch of observation; After described data processing centre (DPC) receives the satellite information data that GPS chip and Big Dipper chip transmit, adopt carrier phase difference equation to calculate the integer ambiguity parameter, the data analysis collected in conjunction with displacement transducer is again processed, realize hi-Fix, geology Displacement-deformation situation is monitored; The result data obtained after the data that data processing centre (DPC) collects displacement transducer simultaneously, satellite data information I, satellite data information II and analyzing and processing is transferred to database server and is stored.

Above-mentioned carrier phase difference equation is that double-differential carrier phase divides observation equation

in formula,

the two poor integer ambiguity parameters of two survey station two inter-satellites,

the two poor carrier phases of two survey station two inter-satellites, the two poor star stop spacings of two survey station two inter-satellites from, ε is for measuring noise, f is signal frequency, c is the light velocity in vacuum.

Claims (2)

1. the high precision displacement deformation monitoring application system based on the Big Dipper, comprise satellite navigation system, Displacement-deformation monitoring terminal, Displacement-deformation monitoring center service station; It is characterized in that:

Described satellite navigation system comprises Beidou satellite navigation system and GPS navigation system;

Described Displacement-deformation monitoring terminal comprises displacement transducer and GPRS wireless communication module I, and described GPRS wireless communication module is connected with displacement transducer, and the data that displacement transducer is transmitted send to Displacement-deformation monitoring center service station;

Described Displacement-deformation monitoring center service station comprises data processing centre (DPC) and the database server be connected with data processing centre (DPC) respectively and data receiver; Described data receiver comprises GPRS wireless communication module II, GPS chip and Big Dipper chip, and the GPRS wireless communication module I of described GPRS wireless communication module II and Displacement-deformation monitoring terminal carries out the Mobile data wireless transmission; Described GPS chip receives the satellite information data I that the GPS navigation system is sent, described Big Dipper chip receives the satellite information data I I that Beidou satellite navigation system sends, and described satellite data information I and satellite data information II include and export pseudorange, carrier phase observation data and satellite ephemeris parameter per epoch of observation; After described data processing centre (DPC) receives the satellite information data that GPS chip and Big Dipper chip transmit, adopt carrier phase difference equation to calculate the integer ambiguity parameter, the data analysis collected in conjunction with displacement transducer is again processed, realize hi-Fix, geology Displacement-deformation situation is monitored; The result data obtained after the data that data processing centre (DPC) collects displacement transducer simultaneously, satellite data information I, satellite data information II and analyzing and processing is transferred to database server and is stored.

2. the high precision displacement deformation monitoring application system based on the Big Dipper according to claim 1, it is characterized in that: described carrier phase difference equation is that double-differential carrier phase divides observation equation

in formula,

the two poor integer ambiguity parameters of two survey station two inter-satellites,

the two poor carrier phases of two survey station two inter-satellites,

the two poor star stop spacings of two survey station two inter-satellites from, ε is for measuring noise, f is signal frequency, c is the light velocity in vacuum.

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