CN114280651B - A GNSS positioning method, an observation target positioning method, a micro-displacement monitoring method, a positioning device, and a micro-displacement monitoring device - Google Patents
A GNSS positioning method, an observation target positioning method, a micro-displacement monitoring method, a positioning device, and a micro-displacement monitoring device Download PDFInfo
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Abstract
The invention discloses a GNSS positioning method, an observation target positioning method, a micro-displacement monitoring method, a positioning device and a micro-displacement monitoring device, which relate to the positioning field and solve the problem that the existing micro-displacement observation device can not provide the position information of the monitoring target, and the technical scheme is as follows: after the detailed position coordinates of the reference station are obtained, the position coordinates of the observation target are obtained through the distance meter and the position relation between the distance meter and the observation target, and meanwhile, the accurate micro-displacement is obtained; the purpose of accurately positioning the reference station and observing the target is achieved.
Description
Technical Field
The present invention relates to a positioning method, and more particularly, to a GNSS positioning method, an observation target positioning method, a micro-displacement monitoring method, a positioning device, and a micro-displacement monitoring device.
Background
The micro-displacement monitoring device is mainly used for monitoring the micro-displacement variation of the mountain, and can realize early warning of landslide by analyzing the micro-displacement variation, and can be used for monitoring facilities such as buildings, bridges and the like in the same way. Currently, the main applications for micro-displacement monitoring are GNSS monitoring systems and micro-displacement radar detection systems. The micro-displacement radar monitoring system is characterized in that a radar system is arranged outside a monitoring area, and can be used for acquiring millimeter-level micro displacement change of a mountain body through radar scanning, and also can be used for detecting ground movement vehicles, machines and animals, but cannot provide ground coordinate values of observed targets, cannot accurately lock the positions of moving targets, cannot accurately measure the equivalent positions of an observation station and the observed targets and cannot be used in dynamic movement. In order to make up for the defects in the prior art, it is needed to provide a method for accurately positioning a monitoring device to monitor the target position and displacement in real time under the condition that a pseudo-range correction is acquired in the field without a reference station.
Disclosure of Invention
The invention aims to provide a GNSS positioning method, which achieves the aim of realizing accurate positioning under the condition that a pseudo-range correction is transmitted by a reference station in the field.
The technical aim of the invention is achieved by the following technical scheme that the GNSS positioning method comprises the following steps of obtaining a satellite positioning parameter set, eliminating ionization errors and atmospheric errors according to initial position coordinates and the satellite positioning parameter set, classifying and analyzing a line-of-sight channel and a non-line-of-sight channel by adopting a support vector machine classification algorithm, screening effective samples, and carrying out serial feature calculation on a function value required by a nonlinear function according to effective samples of spatial distribution of an original state to obtain accurate position coordinates.
In order to achieve accurate positioning, in the prior art, a reference station needs to be set, the position coordinates of the reference station are known, the reference station sends pseudo-range corrections to other receivers in real time, the receiver receives the position coordinates sent by satellites and can obtain accurate coordinates of the receiver through the correction of the pseudo-range corrections, and in the field, the pseudo-range corrections cannot be obtained due to the fact that no reference station exists nearby. By adopting the scheme, the purpose of accurate positioning can be realized under the condition that no reference station provides pseudo-range correction.
Further, a support vector machine classification algorithm is adopted to conduct classification analysis on the line-of-sight channel and the non-line-of-sight channel, and effective sampling screening comprises the steps of training a model by taking carrier-to-noise ratio and root mean square error as characteristics, solving to obtain super parameters, carrying sampling samples into a classification hyperplane formula to judge, and taking sampling samples with results larger than zero as effective sampling.
Further, the motion speed and acceleration of each coordinate axis direction of the geodetic coordinate system are calculated through time and position coordinate changes, and the instant position coordinate and instant speed are obtained through the initial motion speed and acceleration.
When the sampling time interval is small enough, the speed and the acceleration of the current object motion can be reflected more, and the current instant position coordinate and the instant speed can be solved through the speed and the acceleration.
The invention provides a positioning method of an observation target, which comprises the following steps of obtaining an instant position coordinate and an instant speed of a reference station by adopting the method, obtaining an observation distance between the reference station and the observation target, eliminating errors, obtaining an accurate relative distance between the reference station and the observation target, obtaining a relative speed between the observation target and the reference station, obtaining an earth coordinate axis angle of a connecting line of the observation target and the base station, and obtaining instant position coordinate and speed information of the observation target.
By the scheme, accurate instant position coordinates and instant speed information of the observation target can be obtained, and a GNSS positioning device does not need to be installed on the observation target. The reference station refers to a device with a ranging function. Such as laser rangefinders, radar rangefinders, etc.
Further, the observation distance from the reference station to the observation target is obtained through a photoelectric sensor.
Further, eliminating errors, and obtaining the accurate distance between the reference station and the observation target, comprising the following steps of calculating a first atmospheric compensation coefficient; and obtaining the accurate relative distance by calculating the sum of the atmospheric compensation coefficient and the corrected observation distance.
The first atmospheric compensation coefficient is a compensation coefficient after errors are generated due to the influences of atmospheric temperature, impurities and the like when the distance of an observation target is measured, namely, the atmospheric compensation coefficient of the photoelectric ranging system.
Further, the relative speed of the observation target and the reference station is obtained, and the relative distance change and the time are adopted for obtaining.
Further, the instant position coordinate acquisition step of the observation target comprises the steps of calculating the relative distance between the observation target and the reference station coordinate on the coordinate axis of the geodetic coordinate system through the relative distance and the geodetic coordinate axis angle, and calculating the position coordinate of the observation target on the coordinate axis of the geodetic coordinate system through the relative distance.
Further, the speed information of the observation target is obtained by obtaining the relative speed of the observation target and the reference station by adopting the relative distance change and time, calculating the relative speed of the observation target and the reference station on the coordinate axis of the geodetic coordinate system by the relative speed and the geodetic coordinate axis angle, and calculating the speed information of the observation target on the coordinate axis of the geodetic coordinate system by the relative speed.
The invention further provides a micro-displacement monitoring method, which comprises the steps of obtaining accurate relative distance between an observation target and a reference station and instant position coordinates and speed information of the observation target by adopting the method, calculating a second atmospheric compensation coefficient according to the accurate distance, obtaining the observed micro-displacement of the observation target through a micro-displacement radar detection system, obtaining corrected observed micro-displacement through self-adaptive filtering, and obtaining accurate micro-displacement through the second atmospheric compensation coefficient and the corrected observed micro-displacement.
The method can acquire accurate micro-displacement of the observation target, and can acquire the real-time coordinate position, speed information and micro-displacement of the observation target. The second atmospheric compensation coefficient is a compensation coefficient which is introduced when the radar electromagnetic wave passes through the atmosphere and generates errors, namely the atmospheric compensation coefficient of the micro-displacement detection system.
Further, the method further comprises the step of transmitting the position coordinates, the speed information and the micro-displacement of the observation target.
Through the scheme, the information can be sent to a monitoring system, and the information can be analyzed and then reacted.
In a fourth aspect, the present invention further provides a GNSS positioning apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the above GNSS positioning method when executing the computer program.
The invention also provides an observation target positioning device which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the steps of the observation target positioning method.
The invention also provides a micro-displacement monitoring device which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes one of the micro-displacement monitoring methods when executing the computer program.
In a fifth aspect, a computer readable storage medium stores a computer program which, when executed by a processor, implements the steps of the GNSS positioning method described above.
A computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the observed target positioning method described above.
A computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the micro-displacement monitoring method described above.
In a sixth aspect, the invention further provides a positioning device, which comprises a satellite positioning parameter acquisition module, an error elimination module, a classification analysis module and a coordinate calculation module, wherein the satellite positioning parameter acquisition module is used for acquiring a satellite positioning parameter set, the error elimination module is used for eliminating ionization errors and atmospheric errors according to the satellite positioning parameter set, the classification analysis module is used for classifying and analyzing a line-of-sight channel and a non-line-of-sight channel by adopting a support vector machine classification algorithm, screening effective samples, and the coordinate calculation module is used for carrying out series characteristic calculation on a function value required by a nonlinear function according to effective samples of spatial distribution of an original state, so that accurate position coordinates of the positioning device are obtained.
The device can realize the accurate positioning method without the reference station.
In a sixth aspect, the present invention further provides a micro-displacement monitoring device, including the positioning device, and further including:
the environment monitoring module is used for acquiring environment information, including temperature and air pressure information;
The distance measurement module is used for obtaining the observation distance by measuring the distance of the observation target;
the azimuth acquisition module is used for acquiring the geodetic coordinate axis angle of the connection line of the observation target and the device;
The micro-displacement acquisition module is used for acquiring the micro-displacement of the observation target;
The central processing unit is used for correcting and calculating the information of the positioning device, the environment monitoring module, the distance measuring module, the azimuth acquisition module and the micro-displacement acquisition module to acquire the accurate relative distance and relative speed of the observation target, and the position coordinates, the speed information and the accurate micro-displacement of the observation target.
The method of GNSS positioning in the present invention can be implemented in any device or apparatus that requires positioning.
The satellite positioning parameter acquisition module can aim at least one of a Beidou satellite positioning system, a GPS positioning system and a Galileo positioning system.
The environmental monitoring module can acquire environmental information by adopting equipment such as a temperature sensor, a humidity sensor, an air pressure sensor and the like.
The distance measuring module can adopt an electro-optical distance measuring sensor as a distance measuring device.
The azimuth acquisition module can adopt the north seeker and the encoder, the north seeker provides true north reference, and the encoder is matched to generate turntable direction data, so that the included angle between the connection line of the observation target and the device and each coordinate axis of the geodetic coordinate system is obtained.
The micro-displacement acquisition module in the invention can be a continuous wave radar.
The position coordinate according to the present invention may be referred to as a position coordinate in a WGS-84 coordinate system, and the geodetic coordinate system may be referred to as a WGS-84 coordinate system.
The velocity information of the present invention may refer to velocity information in the WGS-84 coordinate system in the directions of the coordinate axes.
In summary, the invention has at least one of the following advantages:
1. The invention can realize accurate positioning under the condition that no reference station acquires pseudo-range correction.
2. The invention not only can realize accurate positioning, but also can acquire the current speed information at the same time of positioning.
3. According to the invention, at least one item of position coordinates and speed information of the monitoring target can be acquired without arranging a positioning device on the monitoring target.
4. The micro-displacement detection device obtained by the invention can be arranged on a movable platform, such as an automobile, and the adaptability of the device is greatly improved.
5. The invention can monitor not only the micro-displacement of mountain, building and dam, but also the targets of unmanned plane, automobile, animal, etc. in motion.
Drawings
FIG. 1 is a flowchart illustrating a GNSS positioning method according to an embodiment
FIG. 2 is a flow chart of an observation target positioning method according to an embodiment
FIG. 3 is a flow chart of a micro-displacement monitoring method according to an embodiment
FIG. 4 is a schematic diagram of a positioning device according to an embodiment
FIG. 5 is a schematic view of a second positioning device according to the embodiment
FIG. 6 is a schematic diagram of a micro-displacement monitoring device according to an embodiment
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly or indirectly connected to the other element, the "connection" is not limited to a fixed connection or a movable connection, and a specific connection manner should be determined according to a specific technical problem to be solved.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Examples:
In a first aspect, the present embodiment provides a GNSS positioning method, including the following steps:
A1. acquiring a satellite positioning parameter set, wherein the satellite positioning parameter set comprises carrier phase difference technical parameters;
In step A1, the satellite positioning parameter set includes a positioning parameter set of a plurality of satellites, and in actual operation, at least four satellites are required to provide relevant parameters.
A2. according to the initial position coordinates and the satellite positioning parameter set, ionization errors and atmospheric errors are eliminated;
the principle of the step A2 is as follows:
Establishing a pseudo-range equation according to a satellite positioning principle:
the corresponding carrier phase dynamics equation can be derived as follows:
wherein: pseudo-range for the receiver to the ith satellite; A dynamic phase measurement pseudo range at the time t; The method comprises the steps of obtaining the true distance from a receiver to an ith satellite, wherein δt m is the receiver clock error, δt i is the clock error of the δt i th satellite, c (δt m-δti) is the ranging error caused by the clock error, and c· [ δt m(t)-δti (t) ] is the dynamic clock error at the time t; Is an ionospheric error; The dynamic ionosphere error at time t; Is an atmospheric error; the dynamic atmospheric error at the time t; is ephemeris error; diffraction path errors caused by propagation of a non-line-of-sight channel of an ith satellite; Is the noise error in the calculation process.
When in actual observation, the moment is certain, the pseudo-range equation and the carrier phase equation are solved in a combined way, and the ionosphere error term can be eliminated;
And further observing the j satellite, and eliminating atmospheric errors through multi-satellite observation joint solution, wherein the noise errors are combined into a pseudo-range equation:
R=r+δt+0.5Nλ+Dnlos+ε
Through the above steps, the errors in the pseudo-range include systematic errors such as the clock error δt, the wavelength error nλ, the noise error epsilon, and the non-line-of-sight signal error D nlos. After the system error is corrected, the system error can be regarded as a fixed value, and the subsequent calculation can be directly carried in.
In order to further eliminate non-line-of-sight signal errors, effective samples without non-line-of-sight signal errors are screened out and the next step is entered.
A3. classifying and analyzing the line-of-sight channel and the non-line-of-sight channel by adopting a support vector machine classification algorithm, and screening effective samples;
the steps principle and method are as follows:
the classification targets are nonlinear separable, a Gaussian kernel function is adopted to carry out high-dimensional space mapping to obtain an optimal hyperplane model, and the kernel function is as follows:
x, x': maximum and minimum of samples);
The model is trained by taking the characteristic of super-parameters, the unique super-parameters of Gaussian kernel functions, overload noise ratio, root mean square error and the like, and the super-parameters are obtained through solving.
The I x-x' I represents the norm of the vector and can be understood as the modulus of the vector, the relation between the two vectors is represented, and the result is a specific value;
Assuming that w is a normal vector, determining the direction of the hyperplane, b is a displacement, and determining the distance between the hyperplane and the origin, the only hyperplane that w and b can determine in space is wx+b=0. The classification hyperplane formula is available as:
and training the model by taking the carrier-to-noise ratio, root mean square error and the like as characteristics, and solving to obtain the super parameter gamma. When f (x) >0, the samples belong to line of sight signals (LOS), otherwise non-line of sight signals (NLOS). Similarly, the sight distance signal samples on the y axis and the z axis of the geodetic coordinate system can be screened.
By the scheme, samples belonging to the vision distance signals can be screened, non-vision distance signal samples are removed, and diffraction errors of the non-vision distance signals are eliminated.
A4. and (3) according to effective sampling of the spatial distribution of the original state, performing series characteristic calculation on the function value required by the nonlinear function to obtain accurate position coordinates.
According to the foregoing principle, the j-th line-of-sight channel pseudorange equation can be obtained as:
Rj＝rj+δtj+0.5Njλ+εj
further obtaining a pseudo-range correction equation after the observation of the j satellite:
δt u+εj can be regarded as a constant by calibration.
And effectively sampling according to the spatial distribution of the original state, so that various characteristic values of sampling points, particularly the mean value and the covariance, are effectively ensured to be consistent with the original state. And then carrying out series characteristic calculation on the function value required by the nonlinear function, thereby realizing precise positioning.
Furthermore, the motion speed and the acceleration of each coordinate axis direction of the geodetic coordinate system can be calculated through time and position coordinate changes, so that the instant position coordinate and the instant speed are obtained.
The principle is as follows:
According to the dynamic relation, establishing a distance coordinate equation under the motion state as follows:
D(k+1)＝D(k)+vTs+0.5aTs 2
Wherein D is the distance coordinate of the geodetic coordinate system and the origin, k is the epoch time, T s is the epoch interval time, v is the velocity, and a is the acceleration. Taking the position coordinates and speed in the longitude and latitude directions as state quantities, the state vector can be expressed as:
let the coordinates be (x D,yD,zD), a linear state equation can be further established as:
wherein:
is acceleration in the x-axis direction of the geodetic coordinate system, wherein For the acceleration of the device in the y-axis of the geodetic coordinate system, whereinIs the acceleration of the device in the z-axis direction of the geodetic coordinate system.
By the aid of the scheme, accurate instant position coordinates and instant speed can be accurately obtained. The problem of millimeter-level accurate positioning under the condition that no reference station acquires pseudo-range correction is solved. Meanwhile, the current speed information can be acquired.
In a second aspect, the present embodiment provides a positioning method of an observation target,
B1. The method is adopted to acquire the instant position coordinates and the instant speed of the reference station.
The reference station is an entity device for determining the positioning of an observation target, and can be an electro-optical distance meter, a radar distance meter, a laser distance meter and the like. In this embodiment an electro-optical distance meter is used.
B2. Obtaining the observation distance from a reference station to an observation target;
And obtaining the observation distance from the reference station to the observation target through the electro-optical distance meter.
B3. Eliminating error, obtaining accurate relative distance between the reference station and the observed target, and the steps are as follows:
B31. calculating a first atmospheric compensation coefficient;
according to the photoelectric meteorology principle, a calculation formula of a first atmospheric compensation coefficient of the photoelectric distance meter is established:
wherein, K is the atmospheric compensation coefficient of the electro-optical ranging system, K r、kp is the instrument coefficient of the electro-optical ranging system, P is the average air pressure on the optical path, and T is the average temperature on the optical path.
B32. Correcting the observation distance by adopting an adaptive filtering method to obtain a corrected observation distance;
Because of the large distance between the base station and the observed object in actual use, dynamic disturbance temperature and air pressure errors exist on the observed line, which leads to disturbance of the measured distance value. Therefore, the measured distance value R is further corrected by an adaptive filtering method. The specific method comprises the steps of carrying out Fourier transform on last scanning data to obtain a frequency domain curve, obtaining a frequency value of a maximum distribution point, obtaining a disturbance period of the maximum distribution probability, obtaining the sampling number n in the disturbance period by dividing the disturbance period by a ranging scanning frequency, setting an actual measurement distance value as L, setting a filtered distance value as R, and setting a corrected accurate ranging value as D, wherein the method comprises the following steps of:
Di＝Ri+Ki
B4. Acquiring the relative speed between an observation target and a reference station;
Let the moving speed of the object be v, there is a relative speed of the observation object and the reference station at the time i:
The above-described relative speed reflects the speed of change in the distance between the reference station and the observation target.
B5. acquiring a geodetic coordinate axis angle of a connection line between an observation target and a base station;
In this embodiment, the north seeker on the reference station can construct a coordinate system with the reference station as the origin through the north seeker, and the x, y and z axes are respectively the same as the x, y and z axes of the geodetic coordinate system. The photoelectric range finder of the reference station can adjust the horizontal direction and the pitching angle through the motor, and the horizontal angle and the pitching angle adjusted through the motor can be obtained through the encoder. And solving the geodetic coordinate axis angle theta x、θy、θz of the connection line of the observation target and the base station from the north horizontal angle and the pitch angle.
B5. And acquiring instant position coordinates and speed information of the observation target.
B51. Calculating the relative distance between the observation target and the coordinate of the reference station on the coordinate axis of the geodetic coordinate system through the relative distance and the geodetic coordinate axis angle;
Wherein x l is the relative distance between the reference station and the observed object on the x axis of the geodetic coordinate system, The relative speed of the reference station and the observation target on the x axis of the geodetic coordinate system is given;
y l is the relative distance between the reference station and the observed object on the y-axis of the geodetic system, The relative speed of the reference station and the observation target on the y axis of the geodetic coordinate system is given;
z l is the relative distance between the reference station and the observed object in the x-axis of the geodetic system, Is the relative velocity of the reference station and the observed object on the y-axis of the geodetic coordinate system.
B52. And calculating the speed information of the observation target on the coordinate axis of the geodetic coordinate system through the relative speed.
On the basis of the known reference station state vector X, the following are given as (X, y, z) observation target coordinates:
v x is the speed of the observed object in the x-axis, v y is the speed of the observed object in the y-axis, and v z is the speed of the observed object in the z-axis.
According to the scheme, the position coordinates and the speed information of the observation target can be obtained without arranging a positioning device on the observation target.
By the scheme, the reference station can acquire the millimeter-level instant position coordinates and speed information of the observation target in a moving state. So that the reference station can be deployed on the mobile device.
In a third aspect, the present embodiment provides a micro-displacement monitoring method,
C1. by adopting the scheme, the accurate relative distance between the observation target and the reference station, and the instant position coordinate and speed information of the observation target are acquired.
C2. Calculating a second atmospheric compensation coefficient according to the accurate distance
The propagation of radar waves in air is affected by changes in atmospheric characteristics. The calculation formula for establishing the atmospheric compensation coefficient of the micro-displacement measurement system is as follows:
In the present calculation formula:
P is the barometric pressure (hPa), T is the temperature (K), e is the barometric pressure of water (hPa), D is the exact distance between the target and the sensor, and r is the unit distance length. The first part of the equation is still water or dry ingredients and the second part is wet ingredients. Typically, the weather station observes relative humidity h, rather than the relative pressure differential of water vapor. The relationship of e and h is as follows:
Saturated vapor pressure at T temperature
C3. Obtaining corrected observed micro-displacement through self-adaptive filtering;
in the scheme, the observed micro-displacement is obtained through a micro-displacement radar monitoring system.
The r value of the direct measurement of the micro displacement is subjected to self-adaptive filtering, and the adopted method is the same as the filtering method of the distance measurement, namely, at the moment i:
R' i is the filtered micrometric displacement value.
C4. Obtaining accurate micro-displacement through the second atmospheric compensation coefficient and the corrected observed micro-displacement, namely
mi＝R'i+K'i
M i is the exact micro-displacement.
C5. And sending the position coordinates, the speed information and the micro-displacement of the observation target.
And sending the monitoring data set of the observation target to other terminals or servers. The data set is:
S={x,vx,y,vy,z,vz,m}
the micro-displacement radar monitoring system can realize opposite micro-displacement monitoring, so that the monitoring breadth is improved. Meanwhile, compared with the existing micro-displacement radar monitoring system, the device can provide implementation position information and speed information of an observation target. More reference data can be provided for background judgment of monitoring states. Enabling the inventive method to use more scenarios. Such as aircraft monitoring, landslide monitoring, building settlement monitoring, and the like.
In a fourth aspect, the present embodiment provides a positioning device. The positioning device comprises a satellite positioning parameter acquisition module 101 for acquiring a satellite positioning parameter set, and a satellite positioning parameter acquisition module comprising a GNSS antenna for receiving satellite signals. The system further comprises a GNSS positioning unit, wherein the GNSS positioning unit comprises an error elimination module 102 for eliminating ionization errors and atmospheric errors according to satellite positioning parameter sets, a classification analysis module 103 for classifying and analyzing the line-of-sight channels and the non-line-of-sight channels by adopting a support vector machine classification algorithm and screening effective samples, and a coordinate calculation module 104 for carrying out series characteristic calculation on function values required by nonlinear functions according to the effective samples of the spatial distribution of the original state to obtain accurate position coordinates of the positioning device.
Specific implementation methods refer to the first aspect, and are not described herein.
The positioning device can realize the function of accurate positioning under the condition that the micro-displacement monitoring device does not provide pseudo-range correction by a reference station.
In other possible embodiments, a second positioning device is provided, which comprises a GNSS antenna, a memory 202 and a processor 201. The GNSS antenna is for receiving satellite signals and the memory 202 is for storing corresponding computer programs. The steps described in the first aspect of the present embodiment may be implemented by the processor 201 calling the computer program.
In a fifth aspect, the present embodiment provides a micro-displacement monitoring device including a positioning device provided in the fourth portion, and further including:
the environment monitoring module is used for acquiring environment information including temperature, air pressure information and humidity information, and comprises a temperature sensor, a humidity sensor and an air pressure sensor.
The distance measuring module is used for measuring the distance of an observation target to obtain the observation distance, and the distance measuring module adopts an optoelectronic distance measuring sensor.
And the turntable control module is used for controlling the pitching rotation motor and the horizontal rotation motor.
The azimuth acquisition module is used for acquiring the geodetic coordinate axis angle of the connection line of the observation target and the device, wherein the azimuth acquisition module comprises a north seeker and an encoder, the north seeker provides north-positive reference, and the north seeker is matched with the encoder to generate turntable data. The encoder may obtain steering data for the turntable control module.
And the micro-displacement acquisition module comprises a continuous wave radar and is used for acquiring the micro-displacement of the observed target.
The storage module is configured to store a computer program implementing the first to third aspects of the present embodiment, and further includes a data storage module configured to store a data file including the generated data set in the third portion in the present embodiment.
The central processing unit invokes a computer program in the storage module and is used for correcting and calculating the information of the positioning device, the environment monitoring module, the distance measuring module, the azimuth acquisition module and the micro-displacement acquisition module to acquire the accurate relative distance and the accurate relative speed of the observation target, and the position coordinates, the speed information and the accurate micro-displacement of the observation target.
And the communication module comprises a communication antenna and is used for transmitting the data files including the data set.
And the power supply module is used for supplying power to the micro-displacement monitoring device.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (5)
1. A micro-displacement monitoring method is characterized by comprising the following steps of
Acquiring an instant position coordinate and an instant speed of a reference station;
acquiring the accurate relative distance between an observation target and a reference station, and acquiring instant position coordinates and speed information of the observation target;
calculating a second atmospheric compensation coefficient according to the accurate distance;
Acquiring the observed micro-displacement of an observed target through a micro-displacement radar detection system;
Obtaining corrected observed micro-displacement through self-adaptive filtering;
Obtaining accurate micro-displacement through the second atmospheric compensation coefficient and the corrected observed micro-displacement;
the reference station instant position coordinate and instant speed acquisition method comprises the following steps:
the accurate position coordinates of the reference station are obtained, and the movement speed and the acceleration in the directions of all coordinate axes of the geodetic coordinate system are calculated through time and position coordinate changes;
The method for acquiring the accurate position coordinates of the reference station comprises the following steps:
acquiring a satellite positioning parameter set, wherein the satellite positioning parameter set comprises carrier phase difference technical parameters;
according to the initial position coordinates and the satellite positioning parameter set, ionization errors and atmospheric errors are eliminated;
classifying and analyzing the line-of-sight channel and the non-line-of-sight channel by adopting a support vector machine classification algorithm, and screening effective samples;
According to effective sampling of the spatial distribution of the original state, performing series characteristic calculation on the function value required by the nonlinear function to obtain accurate position coordinates;
The method for acquiring the instant position coordinates and the speed information of the observation target comprises the following steps:
Obtaining the observation distance from a reference station to an observation target;
eliminating errors, and acquiring accurate relative distance from a reference station to an observation target;
Acquiring the relative speed between an observation target and a reference station;
acquiring a geodetic coordinate axis angle of a connection line between an observation target and a base station;
and acquiring instant position coordinates and speed information of the observation target.
2. The method for monitoring micro-displacement as claimed in claim 1, further comprising the steps of:
and sending the position coordinates, the speed information and the micro-displacement of the observation target.
3. The method for monitoring micro-displacement according to claim 1, wherein the step of classifying and analyzing the line-of-sight channel and the non-line-of-sight channel by using a support vector machine classification algorithm, and the step of screening effective samples comprises the steps of:
training the model by taking the characteristic of the overload-to-noise ratio and the root mean square error, and solving to obtain the super-parameters;
and carrying the sampling sample into a classification hyperplane formula to judge, and taking the sampling sample with the result larger than zero as effective sampling.
4. A micro-displacement monitoring method as claimed in claim 1, wherein,
The observation distance from the reference station to the observation target is obtained through a photoelectric sensor;
eliminating errors, and obtaining the accurate distance between the reference station and the observation target, comprising the following steps:
Calculating a first atmospheric compensation coefficient;
Correcting the observation distance by adopting an adaptive filtering method to obtain a corrected observation distance;
Obtaining an accurate relative distance by calculating the sum of the atmospheric compensation coefficient and the corrected observation distance;
Acquiring the relative speed between the observation target and the reference station by adopting the relative distance change and time;
the real-time position coordinate acquisition step of the observation target is as follows:
calculating the relative distance between the observation target and the coordinate of the reference station on the coordinate axis of the geodetic coordinate system through the relative distance and the geodetic coordinate axis angle;
Calculating the position coordinates of the observation target on the coordinate axis of the geodetic coordinate system through the relative distance;
the speed information of the observation target is obtained as follows:
acquiring the relative speed of the observation target and the reference station by adopting the relative distance change and time;
Calculating the relative speed of the observation target and the reference station on the coordinate axis of the geodetic coordinate system through the relative speed and the geodetic coordinate axis angle;
And calculating the speed information of the observation target on the coordinate axis of the geodetic coordinate system through the relative speed.
5. The micro-displacement monitoring device comprises a positioning device, wherein the positioning device is used for real-time coordinates of the micro-displacement monitoring device, and is characterized by further comprising:
the environment monitoring module is used for acquiring environment information, including temperature and air pressure information;
The distance measurement module is used for obtaining the observation distance by measuring the distance of the observation target;
the azimuth acquisition module is used for acquiring the geodetic coordinate axis angle of the connection line of the observation target and the device;
a micro-displacement acquisition module for implementing the micro-displacement monitoring method of claim 1 to acquire the micro-displacement of the observation target;
The central processing unit is used for correcting and calculating the information of the positioning device, the environment monitoring module, the distance measuring module, the azimuth acquisition module and the micro-displacement acquisition module to acquire the accurate relative distance and relative speed of the observation target, and the position coordinates, the speed information and the accurate micro-displacement of the observation target.
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