CN115290013B - Beidou-based high-risk abrupt slope deformation monitoring data processing method - Google Patents
Beidou-based high-risk abrupt slope deformation monitoring data processing method Download PDFInfo
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Abstract
The invention provides a Beidou-based high-risk abrupt slope deformation monitoring data processing method, and belongs to the technical field of high-risk abrupt slope deformation monitoring data processing. The method comprises the following steps: s1, pseudo-range single-point positioning is carried out on satellites capable of observing pseudo-range observation values, and whether estimation of the position and time correction parameters of a receiver is converged or not is judged; s2, an original two-dimensional array comprising satellite numbers and corresponding altitude angles is established, and the satellite numbers are ordered from low altitude angles to high altitude angles; and S3, performing single-point positioning by removing from the satellite. The invention solves the problems of great amount of waste of calculation resources and waste of observation data in the existing constant setting method and greatly reduces the Beidou deformation monitoring efficiency, and has the advantages of rapid convergence of position and time correction parameters and rapid restoration of positioning data.
Description
Technical Field
The invention relates to the technical field of high-risk abrupt slope deformation monitoring data processing, in particular to a Beidou-based high-risk abrupt slope deformation monitoring data processing method.
Background
BDS technology has become one of the important technical means for disaster prevention and reduction of high-steep slopes. In actual monitoring, the observed environment, electromagnetic environment and topographic environment signals are easy to deteriorate. Currently, a constant is generally set for convergence judgment, for example, the correction of the estimated parameters is less than 1E within 10 times of meeting the maximum iteration -4 When the convergence is exited, the method can meet the needs of most scenes, but a large number of resolving epochs (moments) are easy to solve normally. Therefore, the method cannot meet the requirement of quickly and reliably obtaining the complete deformation monitoring result.
Currently, convergence is aimed atThe determination of (2) is generally carried out by a constant setting method, such as a correction of less than 1E for the estimated parameters within 10 times of maximum iteration -4 And then exit the convergence. The constant method is set to cause a great deal of calculation resource waste, if the iteration cannot still meet the convergence condition after 10 iterations, the iteration is stopped, the next epoch is solved, meanwhile, the waste of observation data is caused, and the Beidou deformation monitoring efficiency is greatly reduced.
Disclosure of Invention
The invention solves the technical problems that: the existing constant setting method is used for greatly wasting calculation resources and observation data, and greatly reducing the Beidou deformation monitoring efficiency.
In order to solve the problems, the technical scheme of the invention is as follows:
a Beidou-based high-risk abrupt slope deformation monitoring data processing method comprises the following steps:
s1, performing pseudo-range single-point positioning on satellites in each epoch in a Beidou system, which can observe pseudo-range observation values, judging whether estimation of the position and time correction parameters of a receiver is converged, if so, entering the next epoch after finishing iteration limiting times, and returning to the step S1 again, otherwise, entering the step S2, and specifically comprising the following steps:
s1-1, through all satellite pseudo-range observed values in an observed epoch output by a receiver, establishing a relation formula of the pseudo-range observed values, the position and the time correction parameters as follows:
in the above, p k A pseudorange observation value representing a kth satellite, k representing a satellite serial number,
representing the distance of the receiver from the kth satellite, c being used to represent the signal transmission speed, i.e. the speed of light, X 0 Representing the position value of the initial position of the receiver along the X-axis direction of the ground fixed coordinate system, Y 0 A position value Z representing the initial position of the receiver along the Y-axis direction of the ground fixed coordinate system 0 Position value, X, representing the initial position of the receiver along Z-axis direction of the ground fixed coordinate system k Representing the position value of the kth satellite along the X-axis direction of a ground fixed coordinate system, Y k Representing the position value of the kth satellite along the Y-axis direction of a ground fixed coordinate system, Z k The method comprises the steps of representing the position value of a kth satellite along the Z axis direction of a ground fixed coordinate system, wherein δX, δY, δZ and δT are position and time correction parameters, δX represents the correction parameter of the position to be solved of a deformation monitoring point along the X axis direction of the ground fixed coordinate system, δY represents the correction parameter of the position to be solved of the deformation monitoring point along the Y axis direction of the ground fixed coordinate system, δZ represents the correction parameter of the position to be solved of the deformation monitoring point along the Z axis direction of the ground fixed coordinate system, δT represents the clock correction parameter of a receiver corresponding to the deformation monitoring point>
S1-2, estimating the position and time correction parameters by a least square estimation method on the basis of a formula (1), and realizing accurate estimation of the position by adopting multiple iterations, wherein the method specifically comprises the following steps:
and calculating pseudo-range residuals of the receiver and each satellite, wherein the calculation formula of the pseudo-range residuals is as follows:
calculating a residual square sum of pseudo-range residual errors of each satellite, wherein the calculation formula of the residual square sum is as follows:
in the above, V k (j) Pseudo-range residual representing the kth satellite after the jth iteration, P k Pseudo-range observation value of kth satellite output by receiver, j represents iteration times and j is more than or equal to 1, n represents number of satellites, VV j The pseudo-range residual of the kth satellite is represented by the sum of squares of residual obtained after the jth iteration, X (j) represents the position value of the initial position of the receiver along the X-axis direction of the ground fixed coordinate system after the jth iteration, and Y (j) represents the position value of the initial position of the receiver along the ground fixed coordinate system after the jth iterationThe Y-axis direction position value, Z (j) represents the position value of the initial position of the receiver along the Z-axis direction of the ground fixed coordinate system after the jth iteration, T (j) represents the corresponding receiver clock of the deformation monitoring point after the jth iteration, delta X (j) represents the correction parameter of the position to be solved of the deformation monitoring point along the X-axis direction of the ground fixed coordinate system after the jth iteration, delta Y (j) represents the correction parameter of the position to be solved of the deformation monitoring point along the Y-axis direction of the ground fixed coordinate system after the jth iteration, delta Z (j) represents the correction parameter of the position to be solved of the deformation monitoring point along the Z-axis direction of the ground fixed coordinate system after the jth iteration, delta T (j) represents the clock error correction parameter of the corresponding receiver of the deformation monitoring point after the jth iteration, and the parameters of the jth iteration are calculated through the j-1 th iteration,
s1-3, jumping out iteration when the residual square sum meets the iteration judgment condition, wherein the iteration judgment condition of the residual square sum is as follows:
1≤j≤10 (10)
in the above, VV j The sum of squares of the residuals obtained after the jth iteration of the pseudo-range residual representing the kth satellite, VV 0 ＝0，VV j-1 The square sum of residual errors obtained after the j-1 th iteration of the pseudo-range residual error of the kth satellite is represented, j represents the iteration times,
s1-4, when residual VV j -VV j-1 When the satellite observation value residual error is not small and large after iteration is not equal to or larger than 0, the iteration failure is proved, the position and time correction parameter estimation of each satellite pseudo-range single point of the epoch is judged to be not converged at the moment, namely, the positioning of the Beidou system is inaccurate in the epoch, satellite observation values with larger errors exist in all satellites participating in the positioning calculation, and the step S2 is carried out;
s2, an original two-dimensional array comprising satellite numbers and corresponding altitude angles is established, and the satellite numbers are ordered from low altitude angles to high altitude angles;
s3, performing single-point positioning by removing from satellites, wherein the method specifically comprises the following steps of:
s3-1, setting w as the number of satellites removed each time, assigning w as 1,
s3-2, removing data corresponding to w satellites from the original two-dimensional array each time according to the sequence of the height angle from low to high to obtain a removed two-dimensional array with the length of n-w, carrying out single-point positioning on the removed two-dimensional array until the traversal of the original two-dimensional array is completed,
s3-3, when single-point positioning judgment positioning accuracy does not appear in the process, w is increased by 1, when n-w is more than or equal to the number of position and time correction parameters, the step returns to the step S3-2, otherwise, the judgment positioning is failed, the next epoch is entered, and the operation is continuously circulated.
In the method, step S1 is used for determining whether the positioning data of the current epoch Beidou system is accurate, step S2 is used for collecting and sorting all satellites under the condition that step S1 is used for determining that the positioning data of the system is inaccurate, step S3 is used for finding out the satellites with inaccurate positioning in an investigation mode, then obtaining accurate positioning through the rest satellites, specifically, eliminating one satellite each time, determining whether the position and time correction parameters are converged or not in an iterative mode by combining the least square method in step S1-2, determining whether the obtained positioning is correct or not through convergence, and limiting the positioning accuracy through residual square sum, thereby finally obtaining the accurate positioning data.
Therefore, the method aims to repair the positioning data under the condition that the positioning data are inaccurate, specifically, find out satellites with inaccurate positioning and reject the satellites, and obtain qualified and accurate positioning data according to the satellites with accurate remaining positioning.
Further, in step S1, the distance from the receiver to the kth satellite
The calculation formula of (2) is as follows:
in the above, X k Representing the position value of the kth satellite along the X axis, Y k Representing the kth satellitePosition value along Y-axis, Z k Representing the position value of the kth satellite along the Z axis, X 0 A position value representing the initial position of the receiver along the X-axis, Y 0 A position value representing the initial position of the receiver along the Y-axis, Z 0 A position value representing the initial position of the receiver along the Z-axis.
Further, in step S1-2, the precondition for estimating the correction parameter by the least squares estimation method is as follows: the number of satellites is greater than or equal to the number of correction parameters.
Further, in step S1-2, the calculation formula of the parameters calculated by the j-1 th iteration and the parameters calculated by the j-1 th iteration is:
X(j)＝X(j-1)+δX(j-1) (5)
Y(j)＝Y(j-1)+δY(j-1) (6)
Z(j)＝Z(j-1)+δZ(j-1) (7)
T(j)＝T(j-1)+δT(j-1) (8)
in the above formula, X (j-1) represents a position value of the initial position of the receiver along the X axis direction of the ground fixed coordinate system after the j-1 th iteration, Y (j-1) represents a position value of the initial position of the receiver along the Y axis direction of the ground fixed coordinate system after the j-1 th iteration, Z (j-1) represents a position value of the initial position of the receiver along the Z axis direction of the ground fixed coordinate system after the j-1 th iteration, T (j-1) represents a corresponding receiver clock of the deformation monitoring point after the j-1 th iteration, δX (j-1) represents a correction parameter of the deformation monitoring point to be solved position along the X axis direction of the ground fixed coordinate system after the j-1 th iteration, δY (j-1) represents a correction parameter of the deformation monitoring point to be solved position along the Y axis direction of the ground fixed coordinate system after the j-1 th iteration, and δZ (j-1) represents a correction parameter of the deformation monitoring point to be solved position along the Z axis direction of the ground fixed coordinate system after the j-1 th iteration.
Further, in step S3-2, the single point location specifically includes the following:
based on the satellite data with the two-dimensional array removed, performing iterative estimation on the position and time correction parameters through the step S1-2, and acquiring the VV obtained by iterative estimation after each iterative estimation j 、δX(j)、δY(j)、δZ(j)、δT(j)，
When VV j -VV j-1 When the number of the single point positioning is more than or equal to 0 or j is more than 10, judging that the position and time correction parameter estimation is not converged, ending the single point positioning,
when VV j -VV j-1 < 0 and
when the position and time correction parameter estimation converges, and judging that all satellite positioning corresponding to the current single-point positioning and excluding the two-dimensional array is accurate, ending all single-point positioning, and outputting positioning data of the current iteration,/the method comprises the steps of>
Otherwise, returning to the step S1-2 to continue iterative estimation.
Still further, the positioning data of the current iteration includes: δx (j) +x (j), δy (j) +y (j), δz (j) +z (j), δt (j) +t (j), where δx (j) +x (j) represents a position value of the deformation monitoring point to be found along the X-axis direction of the ground fixed coordinate system, δy (j) +y (j) represents a position value of the deformation monitoring point to be found along the Y-axis direction of the ground fixed coordinate system, δz (j) +z (j) represents a position value of the deformation monitoring point to be found along the Z-axis direction of the ground fixed coordinate system, and δz (j) +z (j) represents a clock error of the deformation monitoring point to be found position corresponding receiver.
The beneficial effects of the invention are as follows:
according to the invention, the convergence of single-point pseudo-range positioning of a key part of Beidou positioning data processing is rapidly verified through typical characteristics of convergence, and the data preprocessing result can be recovered through a satellite-by-satellite traversal method, so that the data utilization rate and the positioning efficiency are effectively improved, the strut support is provided for Beidou deformation monitoring application, and the problems of rapid convergence and rapid recovery and calculation in pseudo-range positioning data processing are creatively solved.
Drawings
Fig. 1 is a flowchart of a method for processing high-risk steep slope deformation monitoring data based on Beidou according to embodiment 1;
FIG. 2 is a comparison of the positioning data before and after repair as verified for the method of example 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two.
Example 1
The embodiment is a Beidou-based high-risk steep slope deformation monitoring data processing method, as shown in fig. 1, comprising the following steps:
s1, performing pseudo-range single-point positioning on satellites in each epoch in a Beidou system, which can observe pseudo-range observation values, judging whether estimation of the position and time correction parameters of a receiver is converged, if so, entering the next epoch after finishing iteration limiting times, and returning to the step S1 again, otherwise, entering the step S2, and specifically comprising the following steps:
s1-1, through all satellite pseudo-range observed values in an observed epoch output by a receiver, establishing a relation formula of the pseudo-range observed values, the position and the time correction parameters as follows:
in the above, p k A pseudorange observation value representing a kth satellite, k representing a satellite serial number,
representing the distance of the receiver from the kth satellite, c being used to represent the signal transmission speed, i.e. the speed of light, X 0 Representation ofPosition value of initial position of receiver along X-axis direction of ground fixed coordinate system, Y 0 A position value Z representing the initial position of the receiver along the Y-axis direction of the ground fixed coordinate system 0 Position value, X, representing the initial position of the receiver along Z-axis direction of the ground fixed coordinate system k Representing the position value of the kth satellite along the X-axis direction of a ground fixed coordinate system, Y k Representing the position value of the kth satellite along the Y-axis direction of a ground fixed coordinate system, Z k The position value of the kth satellite along the Z axis direction of the ground fixed coordinate system is represented, δX, δY, δZ and δT are position and time correction parameters, wherein δX represents the correction parameter of the position to be solved of the deformation monitoring point along the X axis direction of the ground fixed coordinate system, δY represents the correction parameter of the position to be solved of the deformation monitoring point along the Y axis direction of the ground fixed coordinate system, δZ represents the correction parameter of the position to be solved of the deformation monitoring point along the Z axis direction of the ground fixed coordinate system, δT represents the clock error correction parameter of the corresponding receiver of the deformation monitoring point,
distance of receiver from kth satellite
The calculation formula of (2) is as follows:
in the above, X k Representing the position value of the kth satellite along the X axis, Y k Representing the position value of the kth satellite along the Y-axis, Z k Representing the position value of the kth satellite along the Z axis, X 0 A position value representing the initial position of the receiver along the X-axis, Y 0 A position value representing the initial position of the receiver along the Y-axis, Z 0 A position value representing the initial position of the receiver along the Z-axis,
s1-2, estimating the position and time correction parameters by a least square estimation method on the basis of a formula (1), and adopting a plurality of iterations to realize accurate estimation of the position, wherein the premise of estimating the position and time correction parameters by the least square estimation method is as follows: the number of satellites is equal to or greater than the number of position and time correction parameters, in this embodiment, the number of position and time correction parameters is 4, so the number of satellites needs to be equal to or greater than 4, and specifically includes the following contents:
calculating pseudo-range residual errors of the receiver and each satellite, wherein the residual errors are differences between observed values and least square fitting values, and the calculation formula of the pseudo-range residual errors is as follows:
calculating a residual square sum of pseudo-range residual errors of each satellite, wherein the calculation formula of the residual square sum is as follows:
in the above, V k (j) Pseudo-range residual representing the kth satellite after the jth iteration, P k Pseudo-range observation value of kth satellite output by receiver, j represents iteration times and j is more than or equal to 1, n represents number of satellites, VV j The pseudo-range residual of the kth satellite is represented by the sum of squares of residual obtained after the jth iteration, X (j) represents a position value of an initial position of the receiver along an X-axis direction of a ground fixed coordinate system after the jth iteration, Y (j) represents a position value of the initial position of the receiver along the Y-axis direction of the ground fixed coordinate system after the jth iteration, Z (j) represents a position value of the initial position of the receiver along a Z-axis direction of the ground fixed coordinate system after the jth iteration, T (j) represents a corresponding receiver clock of the deformation monitoring point after the jth iteration, δX (j) represents a correction parameter of a position to be solved of the deformation monitoring point along the X-axis direction of the ground fixed coordinate system after the jth iteration, δY (j) represents a correction parameter of the position to be solved of the deformation monitoring point along the Y-axis direction of the ground fixed coordinate system after the jth iteration, δZ (j) represents a difference correction parameter of the corresponding receiver clock after the jth iteration,
meanwhile, the parameters of the jth iteration and the parameters of the jth iteration are calculated through the parameters of the jth iteration and the parameters of the jth iteration, and the calculation formula is as follows:
X(j)＝X(j-1)+δX(j-1) (7)
Y(j)＝Y(j-1)+δY(j-1) (8)
Z(j)＝Z(j-1)+δZ(j-1) (9)
T(j)＝T(j-1)+δT(j-1) (10)
in the above formula, X (j-1) represents a position value of the initial position of the receiver along the X axis direction of the ground fixed coordinate system after the jth-1 iteration, Y (j-1) represents a position value of the initial position of the receiver along the Y axis direction of the ground fixed coordinate system after the jth-1 iteration, Z (j-1) represents a position value of the initial position of the receiver along the Z axis direction of the ground fixed coordinate system after the jth-1 iteration, T (j-1) represents a corresponding receiver clock of the deformation monitoring point after the jth-1 iteration, δX (j-1) represents a correction parameter of the deformation monitoring point to be solved position along the X axis direction of the ground fixed coordinate system after the jth-1 iteration, δY (j-1) represents a correction parameter of the deformation monitoring point to be solved position along the Y axis direction of the ground fixed coordinate system after the jth-1 iteration, δZ (j-1) represents a correction parameter of the deformation monitoring point to be solved position along the Z axis direction of the ground fixed coordinate system after the jth-1 iteration,
s1-3, jumping out iteration when the residual square sum meets the iteration judgment condition, wherein the iteration judgment condition of the residual square sum is as follows:
1≤j≤10 (10)
in the above, VV j The sum of squares of the residuals obtained after the jth iteration of the pseudo-range residual representing the kth satellite, VV 0 ＝0，VV j-1 The square sum of residual errors obtained after the j-1 th iteration of the pseudo-range residual error of the kth satellite is represented, j represents the iteration times,
s1-4, when residual VV j -VV j-1 When the parameter is more than or equal to 0, namely, the observation value residual error after iteration is not small and is not large, the iteration failure is proved, and the position and time correction parameter estimation of each satellite pseudo-range single point of the epoch is determined to be not converged at the moment, namely, the Beidou system in the epochThe positioning of the system is inaccurate, satellite observation values with larger errors exist in all satellites participating in the positioning calculation, and the step S2 is carried out;
s2, an original two-dimensional array comprising satellite numbers and corresponding altitude angles is established, and the satellite numbers are ordered from low altitude angles to high altitude angles;
s3, performing single-point positioning by removing from satellites, wherein the method specifically comprises the following steps of:
s3-1, setting w as the number of satellites removed each time, assigning w as 1,
s3-2, removing data corresponding to w satellites from the original two-dimensional array each time according to the sequence of the height angle from low to high to obtain a removed two-dimensional array with the length of n-w, and performing single-point positioning on the removed two-dimensional array until the traversal of the original two-dimensional array is completed, wherein the single-point positioning specifically comprises the following steps:
based on the satellite data with the two-dimensional array removed, performing iterative estimation on the position and time correction parameters through the step S1-2, and acquiring the VV obtained by iterative estimation after each iterative estimation j 、δX(j)、δY(j)、δZ(j)、δT(j)，
When VV j -VV j-1 = 0 or j>10, judging that the position and time correction parameter estimation is not converged, ending the single point positioning,
when VV j -VV j-1 < 0 and
when the position and time correction parameter estimation converges, and all satellite positioning accuracy of the two-dimensional array is judged to be removed corresponding to the current single-point positioning, all single-point positioning is finished, positioning data of the current iteration is output, and the positioning data of the current iteration comprises: δx (j) +x (j), δy (j) +y (j), δz (j) +z (j), δt (j) +t (j), wherein δx (j) +x (j) represents a position value of the deformation monitoring point to be found along the X-axis direction of the ground fixed coordinate system, δy (j) +y (j) represents a position value of the deformation monitoring point to be found along the Y-axis direction of the ground fixed coordinate system, δz (j) +z (j) represents a position value of the deformation monitoring point to be found along the Z-axis direction of the ground fixed coordinate system, δz (j) +z (j) represents a corresponding receiver of the deformation monitoring point to be foundIs used for the time-lapse of (1),
otherwise, returning to the step S1-2 to continue iterative estimation,
s3-3, when single-point positioning judgment positioning accuracy does not appear in the process, w is increased by 1, when n-w is more than or equal to the number of position and time correction parameters, the step returns to the step S3-2, otherwise, the judgment positioning is failed, the next epoch is entered, and the operation is continuously circulated.
In the method, step S1 is used for determining whether the positioning data of the current epoch Beidou system is accurate, step S2 is used for collecting and sorting all satellites under the condition that step S1 is used for determining that the positioning data of the system is inaccurate, step S3 is used for finding out the satellites with inaccurate positioning in an investigation mode, then obtaining accurate positioning through the rest satellites, specifically, eliminating one satellite each time, determining whether the position and time correction parameters are converged or not in an iterative mode by combining the least square method in step S1-2, determining whether the obtained positioning is correct or not through convergence, and limiting the positioning accuracy through residual square sum, thereby finally obtaining the accurate positioning data.
Example 2
The embodiment is a Beidou-based high-risk steep slope deformation monitoring data processing method, and is different from embodiment 1 in that:
s4, based on the number of satellite observation values, final checking is carried out on the reliability of the positioning data of the current iteration output in the step S3-2 by using chi-square test, and if the reliability is met, the positioning result is reliable.
Experimental example
Based on the data verification of the embodiment 1, the real data of the Beidou receiver of the high and steep side slopes of 5 stations are collected, statistics are carried out on the successful epoch numbers of the pseudo-range positioning before and after the repairing by adopting the method of the embodiment 1, and the result is given in a form of a bar graph as shown in fig. 2.
Statistics show that the pseudo-range positioning repair rates of the method of the embodiment to 5 monitoring stations are respectively 90.55%, 92.93%, 89.81%, 100% and 90.06, and the average is 92.68%, compared with the failure epoch successful positioning before repair, the pseudo-range positioning repair rate is 92.68%, and the pseudo-range positioning repair rate can enter a precise data processing part. Therefore, the invention can effectively improve the data utilization rate and the monitoring efficiency in the high and steep side slope environment.
Claims (5)
1. The Beidou-based high-risk abrupt slope deformation monitoring data processing method is characterized by comprising the following steps of:
s1, performing pseudo-range single-point positioning on satellites in each epoch in a Beidou system, which can observe pseudo-range observation values, judging whether estimation of the position and time correction parameters of a receiver is converged, if so, entering the next epoch after finishing iteration limiting times, and returning to the step S1 again, otherwise, entering the step S2, and specifically comprising the following steps:
s1-1, through all satellite pseudo-range observed values in an observed epoch output by a receiver, establishing a relation formula of the pseudo-range observed values, the position and the time correction parameters as follows:
in the above, p k A pseudorange observation value representing a kth satellite, k representing a satellite serial number,
representing the distance of the receiver from the kth satellite, c being used to represent the signal transmission speed, i.e. the speed of light, X 0 Representing the position value of the initial position of the receiver along the X-axis direction of the ground fixed coordinate system, Y 0 A position value Z representing the initial position of the receiver along the Y-axis direction of the ground fixed coordinate system 0 Position value, X, representing the initial position of the receiver along Z-axis direction of the ground fixed coordinate system k Representing the position value of the kth satellite along the X-axis direction of a ground fixed coordinate system, Y k Representing the position value of the kth satellite along the Y-axis direction of a ground fixed coordinate system, Z k The position value of the kth satellite along the Z-axis direction of the ground fixed coordinate system is represented, delta X, delta Y, delta Z and delta T are position and time correction parameters, wherein delta X represents the correction parameter of the position to be solved of the deformation monitoring point along the X-axis direction of the ground fixed coordinate system, and delta Y represents the position to be solved of the deformation monitoring point along the ground fixed coordinate systemIs a correction parameter in the Y-axis direction, delta Z represents a correction parameter of the position to be solved of the deformation monitoring point along the Z-axis direction of the ground fixed coordinate system, delta T represents a clock error correction parameter of a receiver corresponding to the deformation monitoring point,
s1-2, estimating the position and time correction parameters by a least square estimation method on the basis of a formula (1), and realizing accurate estimation of the position by adopting multiple iterations, wherein the method specifically comprises the following steps:
and calculating pseudo-range residuals of the receiver and each satellite, wherein the calculation formula of the pseudo-range residuals is as follows:
calculating a residual square sum of pseudo-range residual errors of each satellite, wherein the calculation formula of the residual square sum is as follows:
in the above, V k (j) Pseudo-range residual representing the kth satellite after the jth iteration, P k Pseudo-range observation value of kth satellite output by receiver, j represents iteration times and j is more than or equal to 1, n represents number of satellites, VV j The method comprises the steps of representing a sum of squares of residual errors obtained after a jth iteration of a pseudo-range residual error of a kth satellite, wherein X (j) represents a position value of an initial position of a receiver along an X-axis direction of a ground fixed coordinate system after the jth iteration, Y (j) represents a position value of the initial position of the receiver along the Y-axis direction of the ground fixed coordinate system after the jth iteration, Z (j) represents a position value of the initial position of the receiver along a Z-axis direction of the ground fixed coordinate system after the jth iteration, T (j) represents a corresponding receiver clock of a deformation monitoring point after the jth iteration, δX (j) represents a correction parameter of a deformation monitoring point to be solved position along the X-axis direction of the ground fixed coordinate system after the jth iteration, δY (j) represents a correction parameter of the deformation monitoring point to be solved position along the Y-axis direction of the ground fixed coordinate system after the jth iterationThe parameter delta T (j) represents the clock error correction parameter of the receiver corresponding to the deformation monitoring point after the jth iteration, and the parameter of the jth iteration is calculated through the parameter of the jth-1 iteration,
s1-3, jumping out iteration when the residual square sum meets the iteration judgment condition, wherein the iteration judgment condition of the residual square sum is as follows:
1≤j≤10 (10)
in the above, VV j The sum of squares of the residuals obtained after the jth iteration of the pseudo-range residual representing the kth satellite, VV 0 ＝0，VV j-1 The square sum of residual errors obtained after the j-1 th iteration of the pseudo-range residual error of the kth satellite is represented, j represents the iteration times,
s1-4, when VV j -VV j-1 When the satellite observation value residual error is not small and large after iteration is not equal to or larger than 0, the iteration failure is proved, the position and time correction parameter estimation of each satellite pseudo-range single point of the epoch is judged to be not converged at the moment, namely, the positioning of the Beidou system is inaccurate in the epoch, satellite observation values with larger errors exist in all satellites participating in the positioning calculation, and the step S2 is carried out;
s2, an original two-dimensional array comprising satellite numbers and corresponding altitude angles is established, and the satellite numbers are ordered from low altitude angles to high altitude angles;
s3, performing single-point positioning by removing from satellites, wherein the method specifically comprises the following steps of:
s3-1, setting w as the number of satellites removed each time, assigning w as 1,
s3-2, removing data corresponding to w satellites from the original two-dimensional array each time according to the sequence of the height angle from low to high to obtain a removed two-dimensional array with the length of n-w, carrying out single-point positioning on the removed two-dimensional array until the traversal of the original two-dimensional array is completed,
s3-3, when single-point positioning judgment positioning accuracy does not appear in the process, w is increased by 1, when n-w is more than or equal to the number of position and time correction parameters, the step returns to the step S3-2, otherwise, the judgment positioning is failed, the next epoch is entered, and the operation is continuously circulated.
2. The method for processing high-risk steep slope deformation monitoring data based on Beidou according to claim 1, wherein in the step S1, the distance from the receiver to the kth satellite is
The calculation formula of (2) is as follows:
in the above, X k Representing the position value of the kth satellite along the X axis, Y k Representing the position value of the kth satellite along the Y-axis, Z k Representing the position value of the kth satellite along the Z axis, X 0 A position value representing the initial position of the receiver along the X-axis, Y 0 A position value representing the initial position of the receiver along the Y-axis, Z 0 A position value representing the initial position of the receiver along the Z-axis.
3. The method for processing high-risk steep slope deformation monitoring data based on Beidou according to claim 1, wherein in the step S1-2, the premise of estimating the position and time correction parameters by a least squares estimation method is as follows: the number of satellites is greater than or equal to the number of position and time correction parameters.
4. The method for processing high-risk steep slope deformation monitoring data based on Beidou according to claim 1, wherein in the step S1-2, a calculation formula of parameters calculated through a j-1 th iteration and parameters calculated through the j-1 th iteration is as follows:
X(j)＝X(j-1)+δX(j-1) (5)
Y(j)＝Y(j-1)+δY(j-1) (6)
Z(j)＝Z(j-1)+δZ(j-1) (7)
T(j)＝T(j-1)+δT(j-1) (8)
in the above formula, X (j-1) represents a position value of the initial position of the receiver along the X axis direction of the ground fixed coordinate system after the j-1 th iteration, Y (j-1) represents a position value of the initial position of the receiver along the Y axis direction of the ground fixed coordinate system after the j-1 th iteration, Z (j-1) represents a position value of the initial position of the receiver along the Z axis direction of the ground fixed coordinate system after the j-1 th iteration, T (j-1) represents a corresponding receiver clock of the deformation monitoring point after the j-1 th iteration, δX (j-1) represents a correction parameter of the deformation monitoring point to be solved position along the X axis direction of the ground fixed coordinate system after the j-1 th iteration, δY (j-1) represents a correction parameter of the deformation monitoring point to be solved position along the Y axis direction of the ground fixed coordinate system after the j-1 th iteration, and δZ (j-1) represents a correction parameter of the deformation monitoring point to be solved position along the Z axis direction of the ground fixed coordinate system after the j-1 th iteration.
5. The method for processing high-risk steep slope deformation monitoring data based on Beidou according to claim 1, wherein in the step S3-2, the single-point positioning specifically comprises the following steps:
based on the satellite data with the two-dimensional array removed, performing iterative estimation on the position and time correction parameters through the step S1-2, and acquiring the VV obtained by iterative estimation after each iterative estimation j 、δx(j)、δY(j)、δZ(j)、δT(j)，
When VV j -VV j-1 Not less than 0 or j>10, judging that the position and time correction parameter estimation is not converged, ending the single point positioning,
when VV j -VV j-1 <0 and 0
When the position and time correction parameter estimation converges, and judges that all satellite positioning of the two-dimensional array is accurate corresponding to the current single-point positioning, and ends all single-point positioning, outputs the positioning data of the current iteration,
otherwise, returning to the step S1-2 to continue iterative estimation.
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