CN107966717B - Multi-GNSS deformation monitoring data processing method of low-cost terminal - Google Patents
Multi-GNSS deformation monitoring data processing method of low-cost terminal Download PDFInfo
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- CN107966717B CN107966717B CN201711187106.7A CN201711187106A CN107966717B CN 107966717 B CN107966717 B CN 107966717B CN 201711187106 A CN201711187106 A CN 201711187106A CN 107966717 B CN107966717 B CN 107966717B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
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Abstract
The invention provides a Multi-GNSS deformation monitoring data processing method of a low-cost terminal, which comprises the following steps: firstly, strictly preprocessing Multi-GNSS data to give clean observation data for baseline processing; in order to accelerate the convergence time, namely, a high-precision solution is obtained by using short arc section data, and the observation data is corrected by using an ionosphere product in a high-precision region; based on Multi-GNSS data, the Multi-system data fusion characteristics are considered, ambiguity fixing is required to be supported, parameters to be estimated are reasonably set, a normal equation based on data layer fusion is formed, the normal equation is solved, posterior residual iterative analysis is carried out, gross errors are further eliminated, and the stability of a processing result is ensured; and finally, obtaining a high-precision stable monitoring result through an innovative ambiguity fixing process. The invention can meet the requirement of high-dimensional ambiguity and high-reliability fixation in the Multi-GNSS fusion processing process.
Description
Technical Field
The invention relates to the technical field of deformation monitoring, in particular to a Multi-GNSS deformation monitoring data processing method of a low-cost terminal.
Background
GNSS (Global navigation satellite system) deformation monitoring is an important technology concerning the safety of people's lives and properties, and has a great deal of applications in working conditions such as critical house monitoring, landslide monitoring, dam monitoring and the like. The traditional deformation monitoring is only used for solving the specific service development, a high-cost high-performance GNSS receiver is needed, and the monitoring point environment has higher requirements; in order to improve the monitoring precision, a longer data arc segment is required to be utilized for adjustment processing, and the distance between a monitoring point and a reference station is shorter; in order to improve the stability of monitoring, an ambiguity floating solution is generally adopted under the condition of sacrificing precision. However, with the deep popularization of GNSS applications, low-cost terminals are increasingly applied in complex and severe observation environments, such as power tower monitoring with severe shielding and electromagnetic interference; the requirement on deformation response time is faster and faster, and deformation needs to be rapidly detected and alarmed as monitoring on mountains along a railway in rainy seasons; the requirement on the accuracy of deformation monitoring is higher and higher, for example, the vertical accuracy of 2mm is required for the settlement monitoring of a high-speed railway subgrade. The traditional GNSS deformation monitoring data processing method can not meet the increasing business requirements, and has the following problems:
1. traditional GNSS deformation-based monitoring solutions require high cost and high performance GNSS receivers and have high requirements on the environment of the monitoring point.
2. In order to improve the repetition rate of a monitoring result, the traditional GNSS deformation monitoring needs to utilize a longer data arc section to carry out adjustment processing, and the distance between a monitoring point and a reference station is shorter.
3. With the application of the GNSS deformation monitoring technology in multiple fields, in order to meet the stability and reliability of monitoring results under multiple working conditions, Multi-GNSS observation data needs to be fully utilized, but the reliability is critical in data fusion processing.
Disclosure of Invention
The method solves the technical problems that the traditional GNSS deformation monitoring data processing algorithm cannot meet the requirements of deformation monitoring on longer baseline, lower cost, higher precision, higher stability, quicker response time and more complex monitoring environment, optimizes the GNSS deformation monitoring data processing algorithm and provides technical support for large-scale multi-scene GNSS deformation monitoring application and popularization.
The technical scheme adopted by the invention is as follows:
a Multi-GNSS (Multi-Global Navigation Satellite System, multimode Global positioning System) deformation monitoring data processing method of a low-cost terminal comprises the following steps:
step 1, strictly preprocessing Multi-GNSS data to give clean observation data for baseline processing;
step 2, obtaining a high-precision solution by using short arc section data, and correcting observation data by using an ionosphere product in an external high-precision area;
step 3, setting parameters to be estimated based on Multi-GNSS data, forming a normal equation based on data layer fusion, solving the normal equation, performing posterior residual iterative analysis, further eliminating gross errors and ensuring the stability of a processing result;
and 4, obtaining a high-precision stable monitoring result through the ambiguity fixing process.
Further, in the step 1, a GPS/BDS/GLONASS/Galileo single system is adopted to strictly pre-process the Multi-GNSS data.
Further, the step 1 specifically includes the following steps:
step 11, performing cycle slip detection by using a cycle slip detection algorithm, and performing primary data screening according to a detection result;
step 12, performing gross error detection by using single-point positioning and cleaning data according to residual error information;
and step 13, preprocessing data by utilizing a three-difference method, editing posterior residual errors according to the three-difference method residual errors, and further removing gross errors to obtain clean observation data.
Further, the cycle-jump detection algorithm in step 11 is a high-order difference method, a multipath-based method or an ionosphere rate-of-change method.
Further, in the step 11, preliminary data screening is performed according to the minimum continuous observation time and the maximum interval time.
Further, the step 3 specifically includes the following steps:
step 31, performing double-difference cycle slip detection on each frequency of each single system respectively based on clean Multi-GNSS observation data obtained by strict data preprocessing, and further performing data cleaning;
step 32, generating double-difference observation equations of each single system and each frequency based on the global mode for fully utilizing the observation data, and generating a Multi-GNSS fused normal equation on the observation value level according to the weight;
step 33, solving a normal equation by using a least square algorithm, performing posterior residual iterative analysis, and further performing gross error detection;
and step 34, finally obtaining a fusion floating solution of the Multi-GNSS observation value layer.
Further, in the step 4, a single-system ambiguity gradual fixing method is adopted based on a Multi-GNSS observation value level fusion floating solution, and if the single-system Ratio value check fails, partial ambiguity fixing processing is performed; after one system ambiguity is successfully fixed each time, updating and solving a normal equation; and finally, obtaining a fusion fixation solution of the Multi-GNSS observation value layer.
Further, the step 4 specifically includes the following steps:
step 41, fusing floating solutions based on a Multi-GNSS observation value layer, fixing the ambiguity of a GPS single system, and if the detection of the Ratio value of the GPS single system fails, fixing the ambiguity partially; after the GPS single system ambiguity is successfully fixed, carrying out normal equation updating and solving;
step 42, fixing the single system ambiguity of the BDS, and if the single system Ratio value of the BDS fails to pass the test, fixing the partial ambiguity; after the BDS single-system ambiguity is successfully fixed, carrying out normal equation updating and solving;
step 43, fixing the Galileo single-system ambiguity, and if the Galileo single-system Ratio value check fails, fixing the partial ambiguity; after the Galileo single-system ambiguity is successfully fixed, updating and solving a normal equation;
step 44, fixing the ambiguity of the GLONASS single system, and if the value of the Ratio of the GLONASS single system fails to pass the test, fixing the partial ambiguity; and obtaining a fusion fixation solution of the Multi-GNSS observation value level after the GLONASS single system ambiguity is successfully fixed.
The invention has the following beneficial effects:
1. the invention provides a set of complete Multi-GNSS data quality control algorithm, can avoid the influence of poor quality data on precision and reliability, can meet the deformation monitoring precision requirements of most low-cost terminals on the market and under complex environments, and is beneficial to popularization of the deformation monitoring application of the GNSS technology under multiple fields and multiple working conditions.
2. The invention provides a rapid static data processing algorithm based on external real-time ionosphere correction information, which can meet deformation monitoring service with a rapid response requirement, reduce the response time to deformation, and meet the monitoring working conditions of a short arc section (2 hours) and a long baseline (15 kilometers).
3. The invention innovatively provides a high-reliability ambiguity fixing algorithm, and can meet the requirement of high-reliability fixation of high-dimensional ambiguity in a Multi-GNSS fusion processing process.
Drawings
FIG. 1 is a general flow chart of the Multi-GNSS deformation monitoring data processing of the present invention.
FIG. 2 is a flow chart of the rigorous data preprocessing of the invention.
FIG. 3 is a flowchart of multi-system multi-band global double difference data processing based on an observation level according to the present invention.
FIG. 4 is a flow chart of the high-dimensional ambiguity processing of the present invention.
Detailed Description
The invention provides a high-precision quick-response Multi-GNSS deformation monitoring data processing method which is suitable for a low-cost terminal, can obtain a stable and reliable high-precision monitoring result by using low-cost equipment in a severe observation environment, and can be used as an important technical basis for wide application of GNSS deformation monitoring. The invention is further illustrated below with reference to the figures and examples.
Fig. 1 is a general flow chart of Multi-GNSS deformation monitoring data processing of the present invention, which includes the following steps:
step 1, strictly preprocessing Mulit-GNSS data to give clean observation data for baseline processing;
step 2, in order to accelerate the convergence time, namely, the short arc section data is utilized to obtain a high-precision solution, and the ionosphere product in a high-precision area is utilized to correct the observation data;
step 3, on the basis of Mulit-GNSS data, considering the multi-system data fusion characteristics and needing to support fuzzy degree fixation, reasonably setting parameters to be estimated, forming a normal equation based on data level fusion, solving the normal equation, performing posterior residual iterative analysis, further eliminating gross errors and ensuring the stability of a processing result;
and 4, obtaining a high-precision stable monitoring result through an innovative ambiguity fixing process.
Because the data observation qualities of different satellite systems are inconsistent, in order to avoid that a certain system or a certain satellite has poor data quality and cannot effectively perform gross error detection on the Multi-GNSS data to avoid pollution, and improve the applicability of a low-cost terminal in a complex environment, the invention adopts a GPS/BDS/GLONASS/Galileo single system to perform data preprocessing operation, and as shown in FIG. 2, the method specifically comprises the following steps:
step 11, performing cycle slip detection by using a traditional high-order difference method, a multipath method and an ionosphere change rate method, and performing primary data screening according to indexes such as minimum continuous observation time, maximum interval time and the like;
step 12, performing gross error detection by using single-point positioning, and cleaning data according to residual error information;
and step 13, performing Triple Difference (TD) data processing based on single-system single-frequency section data, editing according to the posterior residual error, and further eliminating gross error to obtain clean observation data.
In order to improve the stability of the deformation monitoring result and fully utilize observation data, the invention innovatively adopts Multi-GNSS Multi-frequency non-combined Double Difference (DD, Double Difference) observation values to construct a fusion method equation (as shown in FIG. 3), and utilizes a global method to construct a method equation, and the method specifically comprises the following steps:
step 31, performing double-difference cycle slip detection and further data cleaning on each frequency of each system based on clean Multi-GNSS observation data obtained by strict data preprocessing;
step 32, generating double-difference observation equations of each system and each frequency based on the global mode for fully utilizing the observation data, and generating a Multi-GNSS fusion method equation on the observation value level according to the weight;
step 33, solving a normal equation by using a least square algorithm, and further performing gross error detection by using an a posteriori residual iteration technology;
and step 34, finally obtaining a Multi-GNSS observation value fusion floating point solution with high precision and high reliability.
In order to accelerate the response time and enlarge the baseline action range, the invention corrects the multifrequency non-combined observation data based on the external high-precision ionosphere product, and can obviously improve the precision of the short arc section static post-processing.
In order to solve the problem of high-dimensional ambiguity fixation in the Multi-GNSS fusion processing process and improve the precision and reliability of deformation monitoring results, the invention innovatively provides a high-reliability ambiguity fixation algorithm, adopts a strategy of gradually fixing subsystems, and performs partial ambiguity fixation processing if single-system Ratio value inspection fails; after one system ambiguity is successfully fixed each time, updating and solving a normal equation; and finally, obtaining a fusion fixation solution of the Multi-GNSS observation value layer.
Fig. 4 shows a preferred embodiment of high-dimensional ambiguity processing in the Multi-GNSS fusion process, which specifically includes the following steps:
step 41, fusing a floating solution based on a Multi-GNSS observation value level, fixing the single-System ambiguity of a GPS (Global Positioning System), and if the single-System ambiguity of the GPS fails to pass the detection, fixing the partial ambiguity; after the GPS single system ambiguity is successfully fixed, carrying out normal equation updating and solving;
step 42, fixing single System ambiguity of a BDS (BeiDou Navigation Satellite System, Beidou Satellite Navigation System), and if the single System Ratio value of the BDS does not pass the test, fixing partial ambiguity; after the BDS single-system ambiguity is successfully fixed, carrying out normal equation updating and solving;
step 43, performing Galileo single system ambiguity fixing, and if the Galileo single system Ratio value check fails, performing partial ambiguity fixing processing; after the Galileo single-system ambiguity is successfully fixed, updating and solving a normal equation;
step 44, fixing the single system ambiguity of GLONASS (Glonass), and if the single system ambiguity value of GLONASS fails to pass the test, fixing the partial ambiguity; and obtaining a fusion fixation solution of the Multi-GNSS observation value level after the GLONASS single system ambiguity is successfully fixed.
The invention can well support the deformation monitoring service with low cost, quick response and complex environment. Each type of low-cost terminal is within a 15-kilometer baseline range, the monitoring precision level is 2mm, the monitoring precision level is vertical to 4mm, and the response time is 2 hours at the fastest speed.
The core processing code of the invention utilizes C/C + +, and the automatic control utilizes Java language.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (7)
1. A Multi-GNSS deformation monitoring data processing method of a low-cost terminal is characterized in that,
the method comprises the following steps:
step 1, strictly preprocessing Multi-GNSS data to give clean observation data for baseline processing;
step 2, obtaining a high-precision solution by using short arc section data, and correcting observation data by using an ionosphere product in an external high-precision area;
step 3, setting parameters to be estimated based on Multi-GNSS data, forming a normal equation based on data layer fusion, solving the normal equation, performing posterior residual iterative analysis, further eliminating gross errors and ensuring the stability of a processing result;
step 4, obtaining a high-precision stable monitoring result through a ambiguity fixing process;
the step 3 specifically comprises the following steps:
step 31, performing double-difference cycle slip detection on each frequency of each single system respectively based on clean Multi-GNSS observation data obtained by strict data preprocessing, and further performing data cleaning;
step 32, generating double-difference observation equations of each single system and each frequency based on the global mode for fully utilizing the observation data, and generating a Multi-GNSS fused normal equation on the observation value level according to the weight;
step 33, solving a normal equation by using a least square algorithm, performing posterior residual iterative analysis, and further performing gross error detection;
and step 34, finally obtaining a fusion floating solution of the Multi-GNSS observation value layer.
2. The method as claimed in claim 1, wherein in the step 1, the Multi-GNSS deformation monitoring data is strictly preprocessed by using a GPS/BDS/GLONASS/Galileo single system.
3. The Multi-GNSS deformation monitoring data processing method of the low-cost terminal according to claim 2, wherein the step 1 specifically includes the steps of:
step 11, performing cycle slip detection by using a cycle slip detection algorithm, and performing primary data screening according to a detection result;
step 12, performing gross error detection by using single-point positioning and cleaning data according to residual error information;
and step 13, preprocessing data by utilizing a three-difference method, editing posterior residual errors according to the three-difference method residual errors, and further removing gross errors to obtain clean observation data.
4. The Multi-GNSS deformation monitoring data processing method of the low-cost terminal according to claim 3, wherein the cycle-hopping detection algorithm in the step 11 is a high-order difference method, a multipath-based method or an ionospheric rate of change method.
5. The Multi-GNSS deformation monitoring data processing method of the low-cost terminal as claimed in claim 3, wherein the preliminary data screening is performed according to the minimum continuous observation time and the maximum interval time in the step 11.
6. The Multi-GNSS deformation monitoring data processing method of a low-cost terminal according to claim 1, wherein in the step 4, a method of gradually fixing the single-system ambiguity is adopted based on a fusion floating solution of a Multi-GNSS observation value level, and if the single-system Ratio value check fails, partial ambiguity fixing processing is performed; after one system ambiguity is successfully fixed each time, updating and solving a normal equation; and finally, obtaining a fusion fixation solution of the Multi-GNSS observation value layer.
7. The Multi-GNSS deformation monitoring data processing method of the low-cost terminal according to claim 6, wherein the step 4 specifically includes the following steps:
step 41, fusing floating solutions based on a Multi-GNSS observation value layer, fixing the ambiguity of a GPS single system, and if the detection of the Ratio value of the GPS single system fails, fixing the ambiguity partially; after the GPS single system ambiguity is successfully fixed, carrying out normal equation updating and solving;
step 42, fixing the single system ambiguity of the BDS, and if the single system Ratio value of the BDS fails to pass the test, fixing the partial ambiguity; after the BDS single-system ambiguity is successfully fixed, carrying out normal equation updating and solving;
step 43, fixing the Galileo single-system ambiguity, and if the Galileo single-system Ratio value check fails, fixing the partial ambiguity; after the Galileo single-system ambiguity is successfully fixed, updating and solving a normal equation;
step 44, fixing the ambiguity of the GLONASS single system, and if the value of the Ratio of the GLONASS single system fails to pass the test, fixing the partial ambiguity; and obtaining a fusion fixation solution of the Multi-GNSS observation value level after the GLONASS single system ambiguity is successfully fixed.
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| CN111947562B (en) * | 2020-06-30 | 2021-05-04 | 深圳大学 | Method for integrally monitoring internal and external deformation of rock-fill dam |
| CN118031787B (en) * | 2024-02-21 | 2024-09-24 | 无锡卡尔曼导航技术有限公司南京技术中心 | GNSS deformation monitoring method |
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