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CN-121977433-A - Beidou GNSS deformation monitoring method for adjustment of multiple base stations and multiple measuring stations

CN121977433ACN 121977433 ACN121977433 ACN 121977433ACN-121977433-A

Abstract

The invention discloses a Beidou GNSS deformation monitoring method of a multi-base station multi-measuring station whole network adjustment, which belongs to the technical field of satellite navigation and engineering safety monitoring and comprises the following steps of S1, constructing a Beidou GNSS base station-monitoring station networking architecture, collecting original observation values and completing preprocessing, S2, constructing an observation equation based on Beidou multi-frequency original observation values, carrying out joint calibration on system errors, S3, completing whole-cycle ambiguity resolving and fixing based on non-combined original observation values by adopting a step-by-step strategy, S4, constructing a robust networking adjustment model with a reference station rigidity constraint and carrying out iterative resolving, S5, extracting the deformation of a monitoring station from adjustment results, carrying out significance checking and outputting monitoring results. By adopting the method, the Beidou multi-frequency signal is fully utilized, the ambiguity fixing rate and the adjustment precision are improved, millimeter-level deformation monitoring is realized, the engineering cost is reduced, and the reliability and the practicability are stronger.

Inventors

  • LIU YANYAN
  • ZHANG SHENG
  • WANG CHENHUI
  • JIANG JINCHENG
  • LIU ZIYUAN

Assignees

  • 深圳市智联时空科技有限公司

Dates

Publication Date
20260505
Application Date
20260311

Claims (10)

  1. 1. The Beidou GNSS deformation monitoring method for the adjustment of the multi-base station multi-station whole network is characterized by comprising the following steps of: s1, constructing a Beidou GNSS base station-monitoring station networking architecture, acquiring an original observation value and finishing preprocessing; s2, constructing an observation equation based on the Beidou multi-frequency original observation value, and carrying out joint calibration on the system error; S3, based on the non-combined original observed value, completing whole-cycle ambiguity resolution and fixation by adopting a step-by-step strategy; s4, constructing a robust networking adjustment model with a reference station rigidity constraint and carrying out iterative solution; s5, extracting deformation of the monitoring station from the adjustment result, performing significance test, and outputting the monitoring result.
  2. 2. The method for monitoring Beidou GNSS deformation of multi-base station multi-station adjustment according to claim 1, wherein S1 specifically comprises the following steps: S11, arranging 3 or more reference stations to form a fully-connected netlike reference station subnet, wherein the reference station coordinates adopt a CGCS2000 coordinate system and obtain millimeter-level known coordinates through static joint measurement; s12, synchronously acquiring original pseudo-range, carrier phase observation values, satellite ephemeris and signal-to-noise ratio data of B1I, B, 2 and I, B I frequency points by using a Beidou three-frequency receiver by all reference stations and monitoring stations; s13, adopting MW combination and ionosphere residual combination to jointly detect cycle slip, introducing SNR weight constraint to reduce weight of a low-quality observed value, then detecting, and adopting polynomial fitting to repair the detected cycle slip; s14, adopting a 3 sigma criterion and an MAD method to jointly reject coarse differences, firstly calculating the median M and MAD of the observation value sequence, and then rejecting excess Is used for the observation of the (a), Is a scale factor; s15, initializing an observation value weight matrix, wherein the pseudo-range observation value weight is calculated And carrier phase observations weights The method comprises the following steps of: ; ; Wherein, the Is the standard deviation of the pseudorange observations, , As the standard deviation of the carrier phase observations, , For the pseudo-range nominal observation noise, For a nominal observed noise of the carrier phase, For a nominal signal-to-noise ratio, Is the measured signal to noise ratio.
  3. 3. The Beidou GNSS deformation monitoring method for the multi-base station multi-measuring station adjustment of the network is characterized in that base line lengths among base stations are all less than or equal to 30km, a Beidou three-frequency receiver adopts a continuous observation mode, and observation data are collected according to a preset sampling rate.
  4. 4. The Beidou GNSS deformation monitoring method of multi-base station multi-station adjustment according to claim 3, wherein S2 specifically comprises the following steps: s21, aiming at measuring station Satellite Frequency point Constructing a non-combined original observation equation, wherein the pseudo-range observation equation and the carrier phase observation equation are respectively as follows: ; ; Wherein, the 、 Respectively pseudo-range and carrier phase observations, For measuring station To satellite Is used for the geometric distance of (a), Is the speed of light in the vacuum, 、 Receiver clock error and satellite clock error, Is the frequency point Is used for the ionospheric bias delay, In order to provide a tropospheric slant delay, 、 The DCBs of the receiver and satellite respectively, 、 The phase deviations of the receiver and the satellite respectively, Is the frequency point Is used for the transmission of the carrier wave, For the carrier phase integer ambiguity, 、 Observing noise of pseudo range and carrier phase respectively; S22, calculating zenith statics delay by adopting a Saastamoinen model, projecting the zenith statics delay to an inclined path through a VMF1 global mapping function, and taking the zenith wet delay as a parameter to be estimated into a subsequent adjustment; S23, pre-calibration of Beidou satellite DCB product issued by adopting IGS Pre-calibration with IGS fractional cycle bias products Estimating and correcting DCB drift amount of the Beidou GEO satellite in real time by adopting a sliding window; s24, taking 1 reference station in the sub-network of the reference stations as the reference station, and solving all the reference stations by adopting the least square adjustment with MAD robust estimation through the single difference observation value among the reference stations And And is applied to the observation value correction of the monitoring station; S25, delaying the ionosphere of the reference frequency point B1I As a parameter to be estimated, other frequency point ionospheric delay passes And converting, wherein, Is the frequency of the frequency point of the B1I, Other frequency point frequencies.
  5. 5. The Beidou GNSS deformation monitoring method for the multi-base station multi-station adjustment, which is disclosed by claim 4, is characterized in that: S24, single-difference pseudo-range in single-difference observation value equation between reference stations And single difference carrier phase The method comprises the following steps of: ; ; Wherein, the 、 Two reference stations respectively 、 Single-difference pseudoranges and single-difference carrier-phase observations, Is that 、 To satellite Is defined by the difference in geometric distance between the two, Is that 、 Is a function of the receiver clock difference value of (c), Is that 、 Is a difference in ionospheric bias delay, Is that 、 Is provided for the difference in tropospheric slant delay, Is that 、 Is used for the DCB difference value of (c), Is that 、 Is used for the phase deviation difference value of (a), Is that 、 Is a carrier phase integer ambiguity difference of (c), 、 The observed noise is single-difference pseudo-range and single-difference carrier phase respectively.
  6. 6. The Beidou GNSS deformation monitoring method of the multi-base station multi-measuring station adjustment of claim 5 is characterized in that in S24, when 1 reference station in a sub-network of reference stations is taken as a reference station, DCB of the reference station is obtained And phase deviation Are all set to 0.
  7. 7. The method for monitoring the Beidou GNSS deformation of the multi-base station multi-station adjustment according to claim 6, wherein the step S3 specifically comprises the following steps: s31, performing inter-station-inter-satellite double difference on a reference station subnet, solving a double-difference ambiguity floating solution by combining a system error calibration result of S2, performing correlation reduction by using an LAMBDA algorithm, judging the fixation effectiveness by adopting a ratio test, fixing the MEO satellite ambiguity first, and fixing the IGSO and GEO satellite ambiguities by using the MEO satellite ambiguity as constraints; S32, constructing a single difference observation value equation between the monitoring station and the reference station by taking the fixed sub-network of the reference station as a reference, and solving a non-difference ambiguity floating solution of the monitoring station; S33, adopting an integer recovery clock model, combining the ambiguity fixed by a reference station, fixing the ambiguity of the B1I frequency point, and fixing the ambiguity of the B2I, B I frequency point according to the ionospheric proportion relation among the frequency points; S34, performing time sequence constraint by using the integer characteristic of ambiguity of adjacent epochs by adopting a forward-backward smoothing method on epochs with the ambiguity of which the ambiguity is failed to be fixed.
  8. 8. The method for monitoring the Beidou GNSS deformation of the multi-base station multi-station adjustment according to claim 7, wherein the step S4 specifically comprises the following steps: s41, constructing a full parameter vector: ; Wherein, the For measuring station Is provided with a plurality of three-dimensional coordinates, For the receiver clock-difference parameter, As the reference frequency point ionospheric delay parameter, As a zenith wet delay parameter, A fixed integer ambiguity constant for S3; S42, constructing a Gaussian-Markov error equation: ; Wherein, the As a residual vector of the signal, the signal is, In order to design the matrix, To subtract the known term from the observed value, Is a parameter vector; s43, adding the reference station coordinate rigidity constraint equation The formation of the constraint equation is: ; Wherein, the In the form of a matrix of normal equation coefficients, , Is a vector of constant terms of the normal equation, , To design a matrix Is used to determine the transposed matrix of (a), For the matrix of observations weights, In order to constrain the coefficient matrix, In the form of a co-coefficient vector, For the correction vector of the coordinate parameter, Is a constraint constant term vector; s44, iterating a solution algorithm equation by adopting a mode of combining IGGIII steady weight function and MAD outlier rejection, setting the IGGIII weight function according to a preset threshold, iterating until the errors in the unit weights tend to be stable and then converging, and the errors in the unit weights Parameter covariance matrix to be estimated , wherein, In order for the degree of freedom to be provided, Is the normal inverse matrix.
  9. 9. The method for monitoring the Beidou GNSS deformation of the multi-base station multi-station adjustment according to claim 8, wherein the step S5 specifically comprises the following steps: s51, calculating each epoch by taking the adjustment coordinates of the initial epoch of the monitoring station as a reference Three-dimensional deformation of (a) 、 、 Obtaining the three-dimensional deformation modulus value The method comprises the following steps: ; ; ; ; Wherein, the 、 、 For the initial epoch three-dimensional coordinates, 、 、 Is the first Three-dimensional coordinates of epoch; The random noise is eliminated by adopting sliding window Kalman filtering on the deformation time sequence; s52, adopting three-dimensional joint F test, specifically comprising the following steps: S521, the original assumption is that the monitoring station does not deform significantly, and the deformation is 0; s522, construction The test statistics are: ; Wherein, the Covariance matrix for deformation Is used for the inverse matrix of (a), Calculating a coordinate covariance matrix of the monitoring station obtained by the adjustment; s523, when > When the method is used, the original assumption is refused, the monitoring station is judged to generate obvious three-dimensional deformation, 3 times of polynomial fitting is adopted for obvious deformation time sequence, and a fitting model is as follows: ; Wherein, the In order to be a level of significance, As the critical value for the F test, For the first degree of freedom of the F-test, For the second degree of freedom of the F-test, For the time sequence fitting value of the three-dimensional deformation modulus value of the monitoring station, In order to be able to take time, 、 、 、 Is a polynomial coefficient.
  10. 10. The Beidou GNSS deformation monitoring method of the multi-base station multi-measuring station adjustment of claim 9 is characterized in that the output monitoring result further comprises early warning information, an early warning threshold is preset, and when the deformation or the deformation rate exceeds the early warning threshold, the early warning information is triggered and output.

Description

Beidou GNSS deformation monitoring method for adjustment of multiple base stations and multiple measuring stations Technical Field The invention relates to the technical field of satellite navigation and engineering safety monitoring, in particular to a Beidou GNSS deformation monitoring method for adjustment of a multi-base-station multi-station whole network. Background GNSS (GlobalNavigationSatelliteSystem ) deformation monitoring is one of core technologies of current engineering safety monitoring, a mainstream scheme is based on a Beidou/GPS dual-frequency receiver, an IF (IFIonosphere-Free, ionosphere-Free) linear combination is adopted to eliminate ionosphere influence through synchronous observation of a reference station and a monitoring station, deformation identification is realized by extracting coordinate variation of the monitoring station after baseline calculation and network adjustment, wherein a wide lane/narrow lane combination method is adopted for whole-cycle ambiguity calculation, a classical least square algorithm is adopted for adjustment links, and systematic error correction mainly depends on a troposphere/ionosphere experience model; along with the completion of global networking of the third Beidou, the multi-frequency signal (B1I/B2I/B3I, B1C/B2 a) provides a data basis for high-precision deformation monitoring, but the prior art fails to fully exert the advantages of the Beidou multi-frequency signal, has obvious short precision and reliability, is particularly characterized in that an ionosphere-Free linear combination model is easy to amplify and observe noise, is incomplete in system error correction (ignoring DCB (differential code deviation, DIFFERENTIAL CODE BIAS) and phase deviation at a satellite end and a receiver end), and is difficult to meet the actual engineering requirements of millimeter-level deformation monitoring due to poor suitability of Beidou GEO (GeostationaryEarthOrbit, geostationary orbit)/IGSO (InclinedGeosynchronousOrbit )/MEO (MediumEarthOrbit, middle-earth orbit). Disclosure of Invention The invention aims to provide a Beidou GNSS deformation monitoring method for the adjustment of multiple base stations and multiple measuring stations, and solves the technical problems. In order to achieve the above purpose, the invention provides a Beidou GNSS deformation monitoring method for the adjustment of a multi-base station multi-station whole network, which comprises the following steps: s1, constructing a Beidou GNSS base station-monitoring station networking architecture, acquiring an original observation value and finishing preprocessing; s2, constructing an observation equation based on the Beidou multi-frequency original observation value, and carrying out joint calibration on the system error; S3, based on the non-combined original observed value, completing whole-cycle ambiguity resolution and fixation by adopting a step-by-step strategy; s4, constructing a robust networking adjustment model with a reference station rigidity constraint and carrying out iterative solution; s5, extracting deformation of the monitoring station from the adjustment result, performing significance test, and outputting the monitoring result. Preferably, S1 specifically includes: S11, arranging 3 or more reference stations to form a fully-connected netlike reference station subnet, wherein the reference station coordinates adopt a CGCS2000 coordinate system and obtain millimeter-level known coordinates through static joint measurement; s12, synchronously acquiring original pseudo-range, carrier phase observation values, satellite ephemeris and signal-to-noise ratio data of B1I, B, 2 and I, B I frequency points by using a Beidou three-frequency receiver by all reference stations and monitoring stations; s13, adopting MW combination and ionosphere residual combination to jointly detect cycle slip, introducing SNR weight constraint to reduce weight of a low-quality observed value, then detecting, and adopting polynomial fitting to repair the detected cycle slip; s14, adopting a 3 sigma criterion and an MAD method to jointly reject coarse differences, firstly calculating the median M and MAD of the observation value sequence, and then rejecting excess Is used for the observation of the (a),Is a scale factor; s15, initializing an observation value weight matrix, wherein the pseudo-range observation value weight is calculated And carrier phase observations weightsThe method comprises the following steps of: ; ; Wherein, the Is the standard deviation of the pseudorange observations,,As the standard deviation of the carrier phase observations,,For the pseudo-range nominal observation noise,For a nominal observed noise of the carrier phase,For a nominal signal-to-noise ratio,Is the measured signal to noise ratio. Preferably, the length of a base line between the reference stations is less than or equal to 30km, a Beidou three-frequency receiver adopts a continuous observation mode