CN111610308A - A double-layer landslide monitoring system and method based on RTK technology - Google Patents

Abstract

Translated fromChinese

本发明为一种基于RTK技术的双层滑坡监测系统及方法，系统包括：基准站、观测站和后台服务器，基准站和观测站设置在滑坡监测区内并接收导航定位卫星信号，基准站和观测站均设置有卫星数据处理模块和通信模块，基准站还与后台服务器相互通信，观测站围绕基准站设置。方法包括：接收卫星信号；进行基线解算；后台服务器根据基线解算结果判断是否发出滑坡预警信息。本发明的优点是：采用双层基线解算，将点型观测变为面型观测，提高了滑坡监测的准确度，避免了基准站和观测站同时偏移导致基线长度不变的漏警问题；观测站内主节点与辅节点间基线长度可调，使得系统可以适应复杂的滑坡情况；采用RTK技术，实现了高精度实时自动监测。

The invention is a double-layer landslide monitoring system and method based on RTK technology. The system includes: a reference station, an observation station and a background server. The reference station and the observation station are set in the landslide monitoring area and receive navigation and positioning satellite signals. The observation stations are equipped with satellite data processing modules and communication modules. The base station also communicates with the background server, and the observation stations are set around the base station. The method includes: receiving satellite signals; performing baseline calculation; and a background server judging whether to issue landslide warning information according to the baseline calculation result. The advantages of the invention are: adopting the double-layered baseline calculation, changing the point-type observation into the surface-type observation, improving the accuracy of landslide monitoring, and avoiding the problem of missing alarms that the baseline length remains unchanged due to the simultaneous offset of the reference station and the observation station ; The length of the baseline between the main node and the auxiliary node in the observation station is adjustable, so that the system can adapt to complex landslide conditions; RTK technology is used to realize high-precision real-time automatic monitoring.

Description

Translated fromChinese

一种基于RTK技术的双层滑坡监测系统及方法A double-layer landslide monitoring system and method based on RTK technology

技术领域technical field

本发明属于工程地质灾害防治领域，尤其涉及一种基于RTK技术的双层滑坡监测系统及方法。The invention belongs to the field of engineering geological disaster prevention, and in particular relates to a double-layer landslide monitoring system and method based on RTK technology.

背景技术Background technique

滑坡等地质灾害所带来的损失呈增长趋势，对人民的生命和财产安全产生了严重的威胁。据统计，世界各类地质灾害造成的损失平均每年约有1500亿美元，近80年来死于地质灾害的人数已经超过1000万。因此对于滑坡监测的研究近年来在不断深入开展。The losses caused by landslides and other geological disasters are on the rise, posing a serious threat to people's lives and property safety. According to statistics, the average annual loss caused by various geological disasters in the world is about 150 billion US dollars, and the number of people who died from geological disasters in the past 80 years has exceeded 10 million. Therefore, the research on landslide monitoring has been carried out continuously in recent years.

基于3S技术和地面变形监测台网建立了三峡库区滑坡监测系统，并通过GPS等空间技术获得滑坡形变区域分布状况，但由于在测量中直接使用基准点不方便或不合理，引入了工作点，在一定程度上增加了系统的复杂度。基于GIS技术进行滑坡分析，提出了切实可行的复杂滑坡分析模型和技术，给出了表现预测结果的直观的可视化的手段，但由于模型的通用性不强，不同的人预测结果具有很大差异，从而导致普适性不高。Based on 3S technology and ground deformation monitoring network, a landslide monitoring system in the Three Gorges Reservoir area was established, and the regional distribution of landslide deformation was obtained through GPS and other space technologies. , which increases the complexity of the system to a certain extent. Based on GIS technology for landslide analysis, a feasible and complex landslide analysis model and technology are proposed, and an intuitive visualization method for expressing the prediction results is given. , resulting in low universality.

现有对滑坡监测系统的研究多是对数据传输方式和监测方式的改进，对监测系统模型的优化还很欠缺，并且现有的滑坡检测系统只能告知该区域发生了滑坡，并不能起到预警，因此对滑坡区域的实时动态监测提出了考验。Most of the existing research on landslide monitoring systems is to improve the data transmission and monitoring methods, and the optimization of the monitoring system model is still lacking, and the existing landslide detection system can only inform the area that a landslide has occurred, and cannot play a role. Therefore, the real-time dynamic monitoring of the landslide area is tested.

发明内容SUMMARY OF THE INVENTION

本发明主要解决了现有的滑坡监测方案普适性差，复杂度高，无法起到预警作用的问题，提供了一种能够实现高精度实时自动监测，并解决了基准站和观测站同时偏移导致基线长度不变的漏警问题的基于RTK技术的双层滑坡监测系统。The invention mainly solves the problems of poor universality, high complexity, and inability to play an early warning role in the existing landslide monitoring scheme, provides a high-precision real-time automatic monitoring, and solves the problem that the reference station and the observation station are offset at the same time. A double-layer landslide monitoring system based on RTK technology that leads to the problem of missing alarms with constant baseline length.

本发明解决其技术问题所采用的技术方案是，一种基于RTK技术的双层滑坡监测系统，包括基准站、观测站和后台服务器，所述基准站和观测站设置在滑坡监测区内并接收导航定位卫星信号，所述基准站和观测站均设置有用于处理卫星数据的卫星数据处理模块和用于基准站和观测站之间通信的通信模块，所述基准站还与后台服务器相互通信，所述观测站围绕基准站设置。The technical solution adopted by the present invention to solve the technical problem is that a double-layer landslide monitoring system based on RTK technology includes a reference station, an observation station and a background server, and the reference station and the observation station are set in the landslide monitoring area and receive Navigation and positioning satellite signals, the reference station and the observation station are both provided with a satellite data processing module for processing satellite data and a communication module for communication between the reference station and the observation station, and the reference station also communicates with the background server, The observation stations are arranged around the reference station.

基准站接收观测站发出的定位数据，基准站根据其自身及观测站的定位数据进行形变测量即基线长度解算后将基线长度解算结果发送给后台服务器，后台服务器根据基线长度解算结果进行预警。通过RTK(Real-time kinematic，实时动态)载波相位差分技术实现基准站、观测站主节点和观测站辅节点的实时动态定位，为滑坡的高精度实时自动监测提供数据基础。The base station receives the positioning data sent by the observation station, and the base station performs deformation measurement according to its own and the positioning data of the observation station. Warning. Real-time dynamic positioning of the base station, the main node of the observation station and the auxiliary node of the observation station is realized by RTK (Real-time kinematic, real-time dynamic) carrier phase difference technology, which provides a data basis for high-precision real-time automatic monitoring of landslides.

作为上述方案的一种优选方案，所述观测站包括一个主节点和多个辅节点，所述辅节点设有辅卫星信号接收模块和与主节点通信的辅通信模块，所述主节点设有主卫星信号接收模块和主通信模块，所述辅节点围绕主节点设置。辅通信模块将辅卫星信号接收模块接收的信息发送给主通信模块，主节点进行基线解算并通过主通信模块将基线解算信息发送给基准站；观测站内主节点与辅节点间基线长度可调，使得该系统可以适应复杂的滑坡情况。As a preferred solution of the above solution, the observation station includes a main node and a plurality of auxiliary nodes, the auxiliary node is provided with an auxiliary satellite signal receiving module and an auxiliary communication module for communicating with the main node, and the main node is provided with A main satellite signal receiving module and a main communication module, and the auxiliary nodes are arranged around the main node. The auxiliary communication module sends the information received by the auxiliary satellite signal receiving module to the main communication module, and the main node performs the baseline calculation and sends the baseline calculation information to the reference station through the main communication module; the length of the baseline between the main node and the auxiliary node in the observation station can be adjusted. adjustment, so that the system can adapt to complex landslide situations.

作为上述方案的一种优选方案，所述服务器包括参数设置模块、采集存储模块、数据及曲线显示模块和预警及报警模块，后台服务器将基准站发出的数据存储到采集存储模块中并进行处理分析，通过数据及曲线显示模块显示滑坡区域状况，同时根据参数设置模块中预设的阈值及数据处理分析结果判断是否通过预警及报警模块发出滑坡预警信息。采集存储主要包括将传来的多个天线间的基线数据放入后台服务器的既定位置，从而实现基线数据与实际测试区域的一一对应。数据及曲线显示可以直观地看出各基线长度变化趋势。As a preferred solution of the above scheme, the server includes a parameter setting module, a collection and storage module, a data and curve display module, and an early warning and alarm module, and the background server stores the data sent by the reference station in the collection and storage module and performs processing and analysis. , through the data and curve display module to display the situation of the landslide area, and at the same time according to the preset threshold in the parameter setting module and the data processing and analysis results to determine whether to issue the landslide warning information through the early warning and alarm module. The acquisition and storage mainly includes placing the transmitted baseline data between multiple antennas into the predetermined position of the background server, so as to realize the one-to-one correspondence between the baseline data and the actual test area. Data and curve display can visually see the change trend of each baseline length.

作为上述方案的一种优选方案，所述基准站发出的数据包括ID识别号、基准站内卫星信号接收模块与观测站主卫星信号接收模块的X轴、Y轴、Z轴及空间距离和同一观测站内主卫星信号接收模块与辅卫星信号接收模块的X轴、Y轴、Z轴及空间距离。As a preferred solution of the above scheme, the data sent by the reference station includes the ID identification number, the X-axis, Y-axis, Z-axis and spatial distance of the satellite signal receiving module in the reference station and the main satellite signal receiving module of the observation station, and the spatial distance and the same observation The X-axis, Y-axis, Z-axis and spatial distance between the main satellite signal receiving module and the auxiliary satellite signal receiving module in the station.

对应的，本发明还提供一种基于RTK技术的双层滑坡监测方法，采用上述基于RTK技术的双层滑坡监测系统，包括以下步骤：Correspondingly, the present invention also provides a double-layer landslide monitoring method based on RTK technology, adopting the above-mentioned double-layer landslide monitoring system based on RTK technology, comprising the following steps:

S1：基准站及观测站接收卫星信号并进行数据信息格式转换；S1: The base station and the observation station receive satellite signals and convert the data information format;

S2：观测站主节点进行第一层基线解算后将结果发送给基准站，基准站进行第二层基线解算并将第一层基线解算结果和第二层基线解算结果发送给后台服务器；S2: The master node of the observatory station performs the first-layer baseline calculation and sends the result to the base station. The base station performs the second-layer baseline calculation and sends the first-layer baseline calculation result and the second-layer baseline calculation result to the background. server;

S3：后台服务器接收第一层基线解算和第二层基线解算的结果判断是否发出滑坡预警信息。S3: The background server receives the results of the first-layer baseline solution and the second-layer baseline solution to determine whether to issue landslide warning information.

采用双层基线解算，解决了基准站和观测站同时偏移导致基线长度不变出现漏警的问题，提高了滑坡监测的精确度。The double-layer baseline solution is adopted to solve the problem of missing alarms due to the simultaneous offset of the base station and the observation station, which leads to the constant baseline length, and improves the accuracy of landslide monitoring.

作为上述方案的一种优选方案，所述第一层基线解算采用基准站和观测站主节点的数据；所述第二层基线解算采用观测站主节点和辅节点的数据。As a preferred solution of the above solution, the first layer of baseline calculation uses the data of the reference station and the main node of the observation station; the second layer of baseline calculation uses the data of the main node and the auxiliary node of the observation station.

作为上述方案的一种优选方案，所述第一层基线解算和第二层基线解算均包括以下步骤：As a preferred solution of the above scheme, the first-layer baseline calculation and the second-layer baseline calculation include the following steps:

S21：建立双差观测方程；S21: Establish a double-difference observation equation;

S22：求解双差观测方程的浮点解及协方差矩阵；S22: Solve the floating-point solution and covariance matrix of the double-difference observation equation;

S23：对整周模糊的进行固定获取固定基线解；S23: Fix the blurred whole week to obtain a fixed baseline solution;

S24：对获取的固定基线解进行有效性验证。S24: Verify the validity of the obtained fixed baseline solution.

作为上述方案的一种优选方案，所述步骤S24中，固定基线解有效性验证条件如下：若

保留，反之，忽略，其中b为解算的基线矢量，l为实测基线长度，即基准站与观测站主节点的距离或观测站主节点与辅节点的距离，γ为基于l设定的阈值。As a preferred solution of the above scheme, in the step S24, the validity verification conditions of the fixed baseline solution are as follows:

Retain, otherwise, ignore, where b is the calculated baseline vector, l is the measured baseline length, that is, the distance between the base station and the main node of the observation station or the distance between the main node and the auxiliary node of the observation station, γ is the threshold set based on l .

作为上述方案的一种优选方案，所述双差观测方程如下：As a preferred solution of the above solution, the double-difference observation equation is as follows:

其中，

表示在t时刻两颗卫星i、j和参考站A、参考站B之间的双差载波相位观测值；λ表示载波波长；

表示在t时刻两颗卫星i、j和参考站A、参考站B之间的双差伪距值；

表示在t时刻两颗卫星i、j和参考站A、参考站B之间的双差整周模糊度；

表示观测噪声，在第一层基线解算中参考站A为基准站、参考站B为观测站主节点，在第二层基线解算中参考站A为观测站主节点、参考站B为观测站辅节点。in,

represents the double-difference carrier phase observations between two satellites i, j and reference station A and reference station B at time t; λ represents the carrier wavelength;

Represents the double-difference pseudorange value between two satellites i, j and reference station A and reference station B at time t;

represents the double-difference integer ambiguity between two satellites i, j and reference station A and reference station B at time t;

Indicates observation noise. In the first layer of baseline calculation, reference station A is the reference station, and reference station B is the main node of the observation station. In the second layer of baseline calculation, reference station A is the main node of the observation station, and reference station B is the observation station. Auxiliary node.

本发明的有益效果是：采用双层基线解算，通过第二层基线解算将点型观测变为面型观测，提高了滑坡监测的准确度，同时避免了基准站和观测站同时偏移导致基线长度不变的漏警问题；观测站内主节点与辅节点间基线长度可调，使得该系统可以适应复杂的滑坡情况；采用RTK技术，实现了高精度、实时、自动监测。The beneficial effects of the present invention are: adopting the double-layer baseline calculation, changing the point-type observation into the surface-type observation through the second-layer baseline calculation, improving the accuracy of landslide monitoring, and avoiding the simultaneous offset of the reference station and the observation station It leads to the problem of missing alarms that the length of the baseline remains unchanged; the length of the baseline between the main node and the auxiliary node in the observation station is adjustable, so that the system can adapt to complex landslide situations; RTK technology is used to achieve high-precision, real-time, and automatic monitoring.

附图说明Description of drawings

图1为实施例中基于RTK技术的双层滑坡监测系统的一种结构示意图。FIG. 1 is a schematic structural diagram of a double-layer landslide monitoring system based on RTK technology in an embodiment.

图2为实施例中基于RTK技术的双层滑坡监测方法的一种流程示意图。FIG. 2 is a schematic flowchart of a double-layer landslide monitoring method based on RTK technology in an embodiment.

1-基准站 2-观测站 3-后台服务器 4-主节点 5-辅节点。1-Base station 2-Observation station 3-Background server 4-Master node 5-Secondary node.

具体实施方式Detailed ways

下面通过实施例，并结合附图，对本发明的技术方案作进一步的说明。The technical solutions of the present invention will be further described below through examples and in conjunction with the accompanying drawings.

实施例：Example:

本实施例一种基于RTK技术的双层滑坡监测系统，如图1所示，包括基准站1、观测站2和后台服务器3，基准站1和观测站2设置在滑坡监测区内,基准站1设置在坡顶，观测站2设置在坡面上，观测站包括一个主节点4和多个辅节点5，辅节点5围绕主节点4设置，观测站2与基准站1的距离及主节点4与辅节点5的距离可根据现场地形进行调整，在基准站上设有基准站卫星数据接收模块、基准站数据处理模块、LoRa无线通信模块和TEL模块，在观测站主节点上设有主卫星信号接收模块、主卫星数据处理模块和主LoRa无线通信模块，在观测站辅节点上设有辅卫星信号接收模块、辅卫星数据处理模块和辅LoRa无线通信模块。In this embodiment, a double-layer landslide monitoring system based on RTK technology, as shown in Figure 1, includes a reference station 1, an observation station 2 and abackground server 3. The reference station 1 and the observation station 2 are set in the landslide monitoring area, and the reference station 1 is set on the top of the slope, and the observation station 2 is set on the slope. The observation station includes amain node 4 and a plurality ofauxiliary nodes 5. Theauxiliary nodes 5 are arranged around themain node 4. 4. The distance from theauxiliary node 5 can be adjusted according to the on-site terrain. The base station is equipped with a base station satellite data receiving module, a base station data processing module, a LoRa wireless communication module and a TEL module. The satellite signal receiving module, the main satellite data processing module and the main LoRa wireless communication module are provided with the auxiliary satellite signal receiving module, the auxiliary satellite data processing module and the auxiliary LoRa wireless communication module on the auxiliary node of the observation station.

基准站及观测站中的主节点和辅节点通过各自的卫星信号接收模块接收卫星定位信息，基准站和观测站同时接收BDS卫星数据和GPS卫星数据，同一观测站内的辅节点将卫星定位信号发送给主节点，各个观测站中的辅节点其接收的卫星定位信号发送给主节点，主节点进行第一层基线解算并将结果发送给基准站，基准站根据自身的卫星定位信号及接收到的观测站主节点的卫星定位信号进行第二层基线解算并通过LET模块将第一层基线解算结果和第二层基线解算结果发送到后台服务器中，基准站发出的数据包括各个LoRa无线通信模块的ID识别号、基准站内卫星信号接收模块与观测站主卫星信号接收模块的X轴、Y轴、Z轴及空间距离和同一观测站内主卫星信号接收模块与辅卫星信号接收模块的X轴、Y轴、Z轴及空间距离。The primary and secondary nodes in the base station and the observation station receive satellite positioning information through their respective satellite signal receiving modules. The base station and the observation station receive BDS satellite data and GPS satellite data at the same time, and the secondary nodes in the same observation station send satellite positioning signals. To the master node, the satellite positioning signals received by the auxiliary nodes in each observation station are sent to the master node, and the master node performs the first-level baseline calculation and sends the results to the base station. The satellite positioning signal of the main node of the observatory station performs the second-layer baseline calculation and sends the first-layer baseline calculation result and the second-layer baseline calculation result to the background server through the LET module. The data sent by the base station includes each LoRa The ID number of the wireless communication module, the X-axis, Y-axis, Z-axis and spatial distance between the satellite signal receiving module in the base station and the main satellite signal receiving module in the observation station, and the distance between the main satellite signal receiving module and the auxiliary satellite signal receiving module in the same observation station. X-axis, Y-axis, Z-axis and spatial distance.

服务器3包括参数设置模块、采集存储模块、数据及曲线显示模块和预警及报警模块，后台服务器将基准站发出的数据存储到采集存储模块中并进行处理分析，通过数据及曲线显示模块显示滑坡区域状况，同时根据参数设置模块中预设的阈值及数据处理分析结果判断是否通过预警及报警模块发出滑坡预警信息。Theserver 3 includes a parameter setting module, a collection and storage module, a data and curve display module, and an early warning and alarm module. The background server stores the data sent by the base station into the collection and storage module for processing and analysis, and displays the landslide area through the data and curve display module. At the same time, according to the preset threshold in the parameter setting module and the data processing and analysis results, it is judged whether to send out the landslide warning information through the warning and alarm module.

对应的，本实施例还提供一种基于RTK技术的双层滑坡监测方法，采用本实施例中基于RTK技术的双层滑坡监测系统，如图2所示，包括以下步骤：Correspondingly, the present embodiment also provides a double-layer landslide monitoring method based on RTK technology, using the double-layer landslide monitoring system based on RTK technology in this embodiment, as shown in FIG. 2 , including the following steps:

S1：基准站及观测站接收卫星信号，根据卫星数据标准RINEX_3.02格式，将原始接收数据进行格式转换；S1: The base station and the observation station receive satellite signals, and format the original received data according to the satellite data standard RINEX_3.02 format;

S2：同一观测站内的主节点接收辅节点发送的卫星定位信息进行第一层基线解算后将结果发送给基准站，基准站进行第二层基线解算并将第一层基线解算结果和第二层基线解算结果发送给后台服务器，第一层基线解算采用观测站主节点和辅节点的数据；所述第二层基线解算采用基准站和观测站主节点的数据；第一层基线解算和第二层基线解算包括以下步骤：S2: The master node in the same observation station receives the satellite positioning information sent by the secondary node, performs the first-layer baseline calculation, and sends the result to the base station. The base station performs the second-layer baseline calculation and combines the first-layer baseline calculation result with The second-layer baseline calculation result is sent to the background server, and the first-layer baseline calculation adopts the data of the main node and the auxiliary node of the observation station; the second-layer baseline calculation adopts the data of the reference station and the main node of the observation station; The layer baseline solution and the second layer baseline solution include the following steps:

S21：建立双差观测方程S21: Establish a double-difference observation equation

其中，

表示在t时刻两颗卫星i、j和参考站A、参考站B之间的双差载波相位观测值；λ表示载波波长；

表示在t时刻两颗卫星i、j和参考站A、参考站B之间的双差伪距值；

表示在t时刻两颗卫星i、j和参考站A、参考站B之间的双差整周模糊度；

表示观测噪声，在第一层基线解算中参考站A为基准站、参考站B为观测站主节点，在第二层基线解算中参考站A为观测站主节点、参考站B为观测站辅节点，卫星i、j分别为BDS卫星和GPS卫星；in,

represents the double-difference carrier phase observations between two satellites i, j and reference station A and reference station B at time t; λ represents the carrier wavelength;

Represents the double-difference pseudorange value between two satellites i, j and reference station A and reference station B at time t;

represents the double-difference integer ambiguity between two satellites i, j and reference station A and reference station B at time t;

Indicates observation noise. In the first layer of baseline calculation, reference station A is the reference station, and reference station B is the main node of the observation station. In the second layer of baseline calculation, reference station A is the main node of the observation station, and reference station B is the observation station. Station auxiliary node, satellites i and j are BDS satellites and GPS satellites respectively;

S22：采用最小二乘估计法求解双差观测方程的浮点解及协方差矩阵；S22: Use the least squares estimation method to solve the floating-point solution and covariance matrix of the double-difference observation equation;

S23：采用改进蚁群算法进行整周模糊度的搜索与固定获取固定基线解并对固定基线解进行有效性检验，固定基线解进行有效性验证条件如下：若

保留，反之，忽略，其中b为解算的基线矢量，l为实测基线长度，即基准站与观测站主节点的距离或观测站主节点与辅节点的距离，γ为基于l设定的阈值，本实施例中γ设为实测基线长度的5％；S23: Use the improved ant colony algorithm to search and fix the ambiguity of the whole week to obtain a fixed baseline solution and test the validity of the fixed baseline solution. The validity verification conditions of the fixed baseline solution are as follows: if

Retain, otherwise, ignore, where b is the calculated baseline vector, l is the measured baseline length, that is, the distance between the base station and the main node of the observation station or the distance between the main node and the auxiliary node of the observation station, γ is the threshold set based on l , in this embodiment, γ is set to 5% of the measured baseline length;

S3：后台服务器接收基准站发送的信息，基准站发送的信息包括各个LoRa无线通信模块的ID识别号、基准站内卫星信号接收模块与观测站主卫星信号接收模块的X轴、Y轴、Z轴及空间距离和同一观测站内主卫星信号接收模块与辅卫星信号接收模块的X轴、Y轴、Z轴及空间距离，后台服务器中的采集存储模块主要将传来的多个基线数据即空间距离按照ID识别号放入后台服务器的既定位置，实现基线数据与实际测试区域的一一对应，后台服务器中的数据及曲线显示模块可以直观地看出各基线长度变化趋势，根据参数设置模块中预设的阈值及数据处理分析结果判断是否通过预警及报警模块发出滑坡预警信息。S3: The background server receives the information sent by the base station. The information sent by the base station includes the ID identification number of each LoRa wireless communication module, the X-axis, Y-axis, and Z-axis of the satellite signal receiving module in the base station and the main satellite signal receiving module of the observation station. and the spatial distance and the X-axis, Y-axis, Z-axis and spatial distance between the main satellite signal receiving module and the auxiliary satellite signal receiving module in the same observation station. According to the ID number, put it into the predetermined position of the background server, and realize the one-to-one correspondence between the baseline data and the actual test area. The data and curve display module in the background server can intuitively see the change trend of each baseline length. The set threshold value and the data processing and analysis results determine whether to issue landslide warning information through the early warning and alarm module.

本文中所描述的具体实施例仅仅是对本发明精神作举例说明。本发明所属技术领域的技术人员可以对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代，但并不会偏离本发明的精神或者超越所附权利要求书所定义的范围。The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention pertains can make various modifications or additions to the described specific embodiments or substitute in similar manners, but will not deviate from the spirit of the present invention or go beyond the definitions of the appended claims range.

Claims (9)

Translated fromChinese

1.一种基于RTK技术的双层滑坡监测系统，其特征是：包括基准站(1)、观测站(2)和后台服务器(3)，所述基准站和观测站设置在滑坡监测区内并接收导航定位卫星信号，所述基准站和观测站均设置有用于处理卫星数据的卫星数据处理模块和用于基准站和观测站之间通信的通信模块，所述基准站还与后台服务器相互通信，所述观测站围绕基准站设置。1. a double-layer landslide monitoring system based on RTK technology, is characterized in that: comprise reference station (1), observation station (2) and background server (3), and described reference station and observation station are arranged in the landslide monitoring area And receive navigation and positioning satellite signals, the reference station and the observation station are both provided with a satellite data processing module for processing satellite data and a communication module for communication between the reference station and the observation station, and the reference station also communicates with the background server. Communication, the observation station is arranged around a reference station.2.根据权利要求1所述的一种基于RTK技术的双层滑坡监测系统，其特征是：所述观测站(2)包括一个主节点(4)和多个辅节点(5)，所述辅节点设有辅卫星信号接收模块和与主节点通信的辅通信模块，所述主节点设有主卫星信号接收模块和主通信模块，所述辅节点围绕主节点设置。2. A double-layer landslide monitoring system based on RTK technology according to claim 1, characterized in that: the observation station (2) comprises a main node (4) and a plurality of auxiliary nodes (5), the The auxiliary node is provided with an auxiliary satellite signal receiving module and an auxiliary communication module communicating with the main node, the main node is provided with a main satellite signal receiving module and a main communication module, and the auxiliary node is arranged around the main node.3.根据权利要求1所述的一种基于RTK技术的双层滑坡监测系统，其特征是：所述服务器(3)包括参数设置模块、采集存储模块、数据及曲线显示模块和预警及报警模块，后台服务器将基准站发出的数据存储到采集存储模块中并进行处理分析，通过数据及曲线显示模块显示滑坡区域状况，同时根据参数设置模块中预设的阈值及数据处理分析结果判断是否通过预警及报警模块发出滑坡预警信息。3. a kind of double-layer landslide monitoring system based on RTK technology according to claim 1, is characterized in that: described server (3) comprises parameter setting module, acquisition storage module, data and curve display module and early warning and alarm module , the backend server stores the data sent by the base station into the acquisition and storage module for processing and analysis, displays the landslide area status through the data and curve display module, and at the same time judges whether the early warning is passed according to the preset threshold in the parameter setting module and the data processing and analysis results. And the alarm module sends out landslide warning information.4.根据权利要求3所述的一种基于RTK技术的双层滑坡监测系统，其特征是：所述基准站发出的数据包括ID识别号、基准站内卫星信号接收模块与观测站主卫星信号接收模块的X轴、Y轴、Z轴及空间距离和同一观测站内主卫星信号接收模块与辅卫星信号接收模块的X轴、Y轴、Z轴及空间距离。4. a kind of double-layer landslide monitoring system based on RTK technology according to claim 3, is characterized in that: the data that described reference station sends comprises ID identification number, satellite signal receiving module in reference station and observation station main satellite signal reception The X-axis, Y-axis, Z-axis and spatial distance of the module and the X-axis, Y-axis, Z-axis and spatial distance of the main satellite signal receiving module and the auxiliary satellite signal receiving module in the same observation station.5.一种基于RTK技术的双层滑坡监测方法，采用权利要求1-4任一项所述的系统，其特征是：包括以下步骤：5. a double-layer landslide monitoring method based on RTK technology, adopts the system described in any one of claims 1-4, it is characterized in that: comprise the following steps:S1：基准站及观测站接收卫星信号并进行数据信息格式转换；S1: The base station and the observation station receive satellite signals and convert the data information format;S2：观测站主节点进行第一层基线解算后将结果发送给基准站，基准站进行第二层基线解算并将第一层基线解算结果和第二层基线解算结果发送给后台服务器；S2: The master node of the observatory station performs the first-layer baseline calculation and sends the result to the base station. The base station performs the second-layer baseline calculation and sends the first-layer baseline calculation result and the second-layer baseline calculation result to the background. server;S3：后台服务器接收第一层基线解算和第二层基线解算的结果判断是否发出滑坡预警信息。S3: The background server receives the results of the first-layer baseline solution and the second-layer baseline solution to determine whether to issue landslide warning information.6.根据权利要求5所述的一种基于RTK技术的双层滑坡监测方法，其特征是：所述第一层基线解算采用观测站主节点和辅节点的数据；所述第二层基线解算采用基准站和观测站主节点的数据。6. a kind of double-layer landslide monitoring method based on RTK technology according to claim 5, is characterized in that: described first-layer baseline solution adopts the data of observation station main node and auxiliary node; Described second-layer baseline The solution uses the data of the base station and the master node of the observatory.7.根据权利要求5或6所述的一种基于RTK技术的双层滑坡监测方法，其特征是：所述第一层基线解算和第二层基线解算均包括以下步骤：7. a kind of double-layer landslide monitoring method based on RTK technology according to claim 5 or 6 is characterized in that: described first layer baseline solution and second layer baseline solution all comprise the following steps:S21：建立双差观测方程；S21: Establish a double-difference observation equation;S22：求解双差观测方程的浮点解及协方差矩阵；S22: Solve the floating-point solution and covariance matrix of the double-difference observation equation;S23：对整周模糊的进行固定获取固定基线解；S23: Fix the blurred whole week to obtain a fixed baseline solution;S24：对获取的固定基线解进行有效性验证。S24: Verify the validity of the obtained fixed baseline solution.8.根据权利要求7所述的一种基于RTK技术的双层滑坡监测方法，其特征是：所述步骤S24中，固定基线解进行有效性验证条件如下：若

保留，反之，忽略，其中b为解算的基线矢量，l为实测基线长度，即基准站与观测站主节点的距离或观测站主节点与辅节点的距离，γ为基于l设定的阈值。8. a kind of double-layer landslide monitoring method based on RTK technology according to claim 7, is characterized in that: in described step S24, fixed baseline solution carries out validity verification condition as follows: if

Retain, otherwise, ignore, where b is the calculated baseline vector, l is the measured baseline length, that is, the distance between the base station and the main node of the observation station or the distance between the main node and the auxiliary node of the observation station, γ is the threshold set based on l .9.根据权利要求7所述的一种基于RTK技术的双层滑坡监测方法，其特征是：所述双差观测方程如下：9. a kind of double-layer landslide monitoring method based on RTK technology according to claim 7, is characterized in that: described double difference observation equation is as follows:

其中，

表示在t时刻两颗卫星i、j和参考站A、参考站B之间的双差载波相位观测值；λ表示载波波长；

表示在t时刻两颗卫星i、j和参考站A、参考站B之间的双差伪距值；

表示在t时刻两颗卫星i、j和参考站A、参考站B之间的双差整周模糊度；

表示观测噪声，在第一层基线解算中参考站A为基准站、参考站B为观测站主节点，在第二层基线解算中参考站A为观测站主节点、参考站B为观测站辅节点。in,

represents the double-difference carrier phase observations between two satellites i, j and reference station A and reference station B at time t; λ represents the carrier wavelength;

Represents the double-difference pseudorange value between two satellites i, j and reference station A and reference station B at time t;

represents the double-difference integer ambiguity between two satellites i, j and reference station A and reference station B at time t;

Indicates observation noise. In the first layer of baseline calculation, reference station A is the reference station, and reference station B is the main node of the observation station. In the second layer of baseline calculation, reference station A is the main node of the observation station, and reference station B is the observation station. Auxiliary node.

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