Disaster monitoring type GNSS receiver and monitoring method thereof

Disaster monitoring type GNSS receiver and its monitoring method technical field

[0001] The present invention relates to the technical field of geological disaster monitoring, in particular to a disaster monitoring GNSS receiver and a monitoring method thereof.

Background technique

[0002] The construction of the Sichuan-Tibet Railway has a huge role in promoting the economic and social development of the Sichuan-Tibet area, and is of great significance to the countrys security and stability. However, the geological structure along the Sichuan-Tibet Railway is active, and there are frequent geological disasters such as landslides, collapses, and glacial debris flows. hair. In order to ensure the safe construction and operation of the Sichuan-Tibet Railway, it is necessary to monitor the geological disasters along the planned railway, obtain information on the deformation of the disaster body to issue early warning information, ensure the safety of the railway construction and operation process, protect the safety of personnel, and reduce property losses . Due to the existence of a large number of high-altitude extreme climates and harsh geological environments along the Sichuan-Tibet Railway, monitoring equipment cannot be deployed in many areas that need to be monitored. The deployed equipment cannot achieve long-term continuous monitoring due to insufficient power supply. A remotely deployed geological disaster monitoring device and monitoring method (patent application number 202011120304) solves the problem of GNSS equipment deployment in areas where monitoring equipment cannot be deployed.

[0003] However, existing GNSS equipment such as a real-time landslide monitoring Beidou receiver and its working method (patent application number: 2016101250234) have the following three main problems: first, high power consumption and difficult power supply. The equipment can only work continuously for 24 hours without interruption, resulting in high daily power consumption of the equipment, and most of the acquired data are redundant and similar monitoring data. The climatic conditions in the Sichuan-Tibet area are severe, continuous rainy weather and snow-covered environments for more than a few months are widespread. In traditional GNSS monitoring, a GNSS receiver with a power consumption of 4W is equipped with a 60Ah solar battery pack (lead-acid battery weighs 18kg). ), plus a 100W solar panel, to achieve 7.5 days of continuous observation in a non-light environment. Therefore, even areas where conventional monitoring equipment can be deployed face insufficient power supply for equipment under snow-covered conditions for more than a few months. The problem of interruption.

[0004] Second: Short life and high cost. In the GNSS disaster deformation monitoring, the equipment continues to work 24 hours a day, which further causes the positioning module and the communication module in the equipment to accelerate the loss, which shortens the life of the equipment. Therefore, in disaster monitoring, the equipment must be repaired or replaced during continuous GNSS monitoring for 3 to 4 years, and the stability of the equipment is greatly reduced due to the uninterrupted work of positioning chips, transmission modules, and electronic components in the later monitoring period, and frequent failures may occur.

[0005] Third: GNSS monitoring devices that are not suitable for remote deployment of drones are used in long-term continuous observation scenarios. In some special disaster scenarios that require real-time monitoring that cannot be reached by people such as remote landslides, glacier landslides, and dangerous mountain peaks, the use of researched and developed drones equipped with remotely deployed GNSS monitoring devices can solve the deployment problem of GNSS monitoring equipment, but no one The weight of the aircraft is limited, and the traditional power supply system is too heavy to be used in remotely deployed GNSS monitoring devices carried by drones. Therefore, traditional GNSS monitoring equipment cannot be integrated into remotely deployed GNSS monitoring devices. Realize long-term continuous observation of remote landslides and high mountain dangerous peak scenes.

[0006] Therefore, there is an urgent need for a disaster monitoring GNSS receiver capable of timing monitoring and automatically adjusting the monitoring interval. A receiver capable of long-term monitoring of disasters under continuous rainy weather (more than 30 days) and continuous months of snow-covered environment, and has a long service life, which can be mounted in remotely deployed GNSS monitoring devices for long-term monitoring. Ensure the long-term safety of construction and operation along the railway.

Summary of the invention

[0007] The technical problem solved by the present invention is that traditional GNSS monitoring equipment cannot be integrated into a remotely deployed GNSS monitoring device, so as to realize long-term continuous observation of remote landslides and high mountain dangerous peak scenarios.

[0008] The technical scheme of the present invention is as follows:

[0009] A disaster monitoring type GNSS receiver, including:

[0010] As a microcontroller that is the core unit of control and decision-making during normal operation of the device, a counter is provided in the microcontroller,

[0011] A positioning module responsible for processing signals collected by a satellite antenna and outputting satellite observations, positioning data, and timing data in a certain format,

[0012] A 4G communication module responsible for uploading satellite observation data to the server and issuing control commands to the receiver. The 4G communication module is provided with two Socket channels for accessing the server or service program,

[0013] An electronic switch for powering on and off the positioning module and the 4G communication module,

[0014] A state indicating unit for indicating various working states of the receiver,

[0015] The first antenna interface used to increase the transmission gain and receiving sensitivity of the 4G communication module through an external signal gain antenna and is electrically connected to the 4G communication module,

[0016] The second antenna interface used to make the positioning module receive Beidou, GPS, GLONASS and Galileo satellite navigation system signals through an external satellite signal receiving antenna and electrically connect with the positioning module,

[0017] The Caster server used to receive the data stream returned by the receiver and communicate with the receiver in both directions through the Socket channel,

[0018] A Windows server for intelligently adjusting the monitoring interval of the receiver and two-way communication with the receiver through the Socket channel. The Windows server is installed with: a solution analysis software for solving the observation data of the GNSS receiver, obtaining the deformation point monitoring information and The monitoring configuration software that automatically adjusts the monitoring interval is used to store the GNSS deformation monitoring data obtained after processing by the solution analysis software and can be accessed by the monitoring configuration software.

[0019] Wherein, the positioning module, the 4G communication module, and the state indicating unit are electrically connected to the microcontroller.

[0020] Further, the receiver further includes: a USB interface for connecting a PC to realize device configuration and data output, and for converting a USB signal into a USRT signal that matches the microcontroller interface and is electrically connected to the USB interface. The receiver can obtain data through the USB interface. When the data cannot be obtained through the wireless network, the USB interface can serve as a temporary data input interface.

[0021] Further, the signal conversion unit is electrically connected to the microcontroller, and the signal conversion unit can transmit the converted data to the microcontroller.

[0022] Further, the receiver further includes: a power interface for connecting external power supply for converting the external power supply into a suitable power supply required by each module for the normal operation of the module and a DC-DC unit electrically connected to the power interface , The DC-DC unit is electrically connected to the microcontroller, and this design enables each module to obtain power supply support.

[0023] Further, the Caster server is a Linux server installed with NTRIP Caster service software, and the Windows server is a Windows server installed with monitoring configuration software, so that the receiver can access the Caster server through Caster authentication, and the Windows server can monitor the receiver in real time. Status and plan the receiver observation interval according to the acquired data.

[0024] A monitoring method for a disaster monitoring GNSS receiver includes the following steps:

[0025] S1: Set the receiver mount point name, observation data type, power-on time, monitoring interval, duration, Caster server IP address and port number, Windows server IP address and port number, Caster server authentication password,

Self-start parameters, and then deploy the receiver on the disaster body. After the receiver is powered on, it will enter the initialization. After the initialization is completed, configure it according to the above information;

[0026] S2: The receiver compares the current time with the predetermined time to determine whether data collection is performed at the current time. If not, the microcontroller controls the electronic switch to turn off and the device enters a sleep state; if so, the microcontroller keeps the electronic switch connected , To make the 4G communication module and positioning module work normally when the power is on, and after successful authentication with the Caster server, the observation data will be transmitted to the Caster server through the Socket channel;

[0027] S3: The Windows server installed with the solution analysis software receives the observation data sent back by the receiver from the Caster server in real time, performs high-precision positioning solution, and obtains the cumulative displacement, displacement rate, and acceleration of the disaster body in the current three-dimensional direction, and then Analyze and obtain the deformation stage, danger level, tangent angle, and vector angle of the area where the monitoring point is located, and store it in the database;

[0028] S4: The monitoring configuration software installed on the Windows server uses the automatic mode for the software to automatically adjust according to the set adjustment monitoring interval parameters. When the monitoring configuration software detects that the receiver is online, it first reads the current deformation of the online device from the database Then adjust the configuration parameters of the monitoring interval with the preset point. If the next set threshold is reached, the configuration information will be automatically sent to change the receiver monitoring interval, otherwise no action will be taken. The software can be realized according to the monitoring point The current deformation information automatically adjusts the monitoring interval setting;

[0029] S5: The receiver performs information identification on the data from the Windows server, and after confirming that it is a configuration command, it saves the monitoring interval configuration information in the corresponding variables and memory. After completing this monitoring data collection, the receiver performs information based on the new configuration information Start the next observation.

[0030] Preferably, in step S2, the time acquisition of the receiver is achieved by a positioning module in the receiver, the positioning module obtains satellite observation data, and after processing, outputs the GGA information used to update the local time of the receiver and containing valid GPS time , The time update of the receiver is realized by superimposing the time value of the timer in the receiver microcontroller. This design eliminates the need for a time clock in the receiver and minimizes the cost and power consumption of the receiver.

[0031] Preferably, in step S4, the monitoring configuration software further includes a manual mode. The manual mode requires manual configuration and sending configuration commands each time the monitoring interval is adjusted. When the automatic mode does not conform to the actual situation, the manual mode can be used for regulation. Make the receiver have better environmental adaptability.

[0032] Preferably, in step S4, the automatic adjustment of the monitoring settings is specifically determined based on a single index or multiple indicators such as the current deformation rate, acceleration, tangent angle, risk probability, and warning level of the disaster body, and multiple single elements Makes Windows server have more reference basis for monitoring indicators.

[0033] Further preferably, the expression for adjusting the monitoring interval setting according to the deformation rate can be expressed as:

[0034] (T (0<%) D/2 (%<W 2.75%) Factory = T/4 (2.75^<^<5.67^)

T/8 (5.67^ <<11.43^), :L seconds (11.43V_a <"work+8)

[0035] The expression for adjusting the monitoring interval setting according to the deformation acceleration can be expressed as:

, 7 (0 <ai <aj)

T/2 (% <birth three 2tty)

[0036] Τ'=W/4<α; <ogle)

J seconds (3 < Work +8)

[0037] The expression for adjusting the monitoring interval setting according to the early warning level of the disaster body can be expressed as:

[0038]

[0039]

[0040]

[00411

Ύ (blue warning) T/3 (yellow warning) D/6 (orange warning) second (red warning) The expression for adjusting the monitoring interval setting according to the probability of risk occurrence can be expressed as: (T (0% V Pf W 5%) ,_ Bu/2 (5% <Pi <20%) D, j T/4 (20% <Pi <50%) seconds (50% <Pi <100%) where Τ'is the monitoring interval , Τ is the initial monitoring time interval when the disaster body is relatively stable, Vj is the deformation rate of the monitoring point at the current moment, Va is the deformation rate of this type of disaster body at the initial stage of uniform deformation according to experience, and% is the deformation acceleration at the current moment, % Is the speed experience threshold, Pi is the probability that the disaster occurs at the current moment. This design Windows server can set the monitored indicators according to a variety of single elements, especially when one of the data is wrong. Good error avoidance ability.

[0042] The beneficial effects of the present invention:

[0043] 1. The present invention realizes sparse monitoring when the disaster body is in a stable state, and encrypted monitoring when the destruction is accelerated, which maximizes the reduction of the equipments daily power consumption, increases the equipments service life, and reduces the average annual cost of the equipment. Under the premise of power supply, the number of monitoring days can be increased by up to 30 times, the life span can be doubled, and the average annual cost can be reduced by half;

[0044] 2. The present invention provides a method for automatically adjusting the receiver monitoring interval according to the deformation information acquired by the GNSS receiver's own monitoring;

[0045] 3. Developed a GNSS receiver that can be used in a remotely deployed geological disaster monitoring device to achieve long-term monitoring of regional disasters where personnel cannot reach the site to deploy equipment, and to achieve continuous rainy weather scenarios, Long-term monitoring of the monitoring equipment in the scenario of snow-covered scenes for more than a few months and personnel unable to reach the scene to deploy equipment, remote deployment of GNSS monitoring devices through drones.

Description of the drawings

[0046] FIG. 1 is a frame diagram of the GNSS receiver of the present invention;

[0047] FIG. 2 is a flowchart of the method for automatically adjusting the monitoring interval of the GNSS receiver of the present invention

[0048] FIG. 3 is a signal conversion unit of the present invention;

[0049] FIG. 4 is a circuit diagram of the electronic switch of the present invention;

[0050] FIG. 5 is a physical diagram of the device of the present invention;

[0051] Among them, 1-first antenna interface, 2-4G communication module, 3-state indicating unit, 4-microcontroller, 5-signal conversion unit, 6-USB interface, 7-power interface, 8-DC- DC unit, 9-positioning module, 10-second antenna interface, 11-electronic switch, 12-Windows server, 13-Caster server, 14-database, 15-solution analysis software, 16-monitoring configuration software.

Detailed ways

Example 1

[0053] As shown in FIGS. 1 and 5, a disaster monitoring GNSS receiver includes:

[0054] The microcontroller 4, which is the core unit of control and decision-making during normal operation of the device, has a counter inside the microcontroller 4,

[0055] A positioning module 9 for processing signals collected by a satellite antenna and outputting satellite observations and single-point positioning data and timing data in a certain format,

[0056] The 4G communication module 2 responsible for uploading satellite observation data to the server and issuing control commands to the receiver. The 4G communication module 2 is provided with two Socket channels for accessing the server or service program,

[0057] As shown in FIG. 4, an electronic switch 11 for powering on and off the positioning module 9 and the 4G communication module 2,

[0058] A state indicating unit 3 for indicating various working states of the receiver,

[0059] The USB interface 6 is used to connect to a PC for device configuration and data output. The USB interface adopts the Micro USB standard. Like most of the mobile phone interfaces of Android systems, the data connection line is available everywhere and can better adapt to the field configuration operation.

[0060] As shown in FIG. 3, a signal conversion unit 5 for converting a USB signal into a USRT signal that matches the interface of the microcontroller 4 and is electrically connected to the USB interface 6,

[0061] The power interface 7 for connecting external power supply, the external power received by the power interface 7 is a DC power supply of 12V 0.5A,

[0062] The DC-DC unit 8 used to convert the external power supply into the appropriate power required by each module for the normal operation of the module and electrically connected to the power interface 7,

[0063] The first antenna interface 1 used to increase the transmission gain and receiving sensitivity of the 4G communication module 2 through an external signal gain antenna and is electrically connected to the 4G communication module 2,

[0064] The second antenna interface 10 for making the positioning module 9 receive Beidou, GPS, GLONASS, and Galileo satellite navigation system signals through an external satellite signal receiving antenna and electrically connecting with the positioning module 9,

[0065] The Caster server 13 loaded with the solution analysis software 15 is used to receive the data stream returned by the receiver and communicate with the receiver through the Socket channel bidirectionally. The Caster server 13 is a Linux server installed with the NTRIP Caster service software,

[0066] A Windows server 12 for intelligently adjusting the monitoring interval of the receiver and two-way communication with the receiver through the Socket channel. The Windows server 12 is installed with: a solution analysis software 15 for solving the observation data of the GNSS receiver to obtain the deformation point The monitoring configuration software 16 that monitors information and automatically adjusts the monitoring interval is used to store the GNSS deformation monitoring data obtained after processing by the solution analysis software 15 and is a database 14 that can be accessed by the monitoring configuration software 16.

[0067] Among them, the positioning module 9, the 4G communication module 2, the state indicating unit 3, the DC-DC unit 8, the signal conversion unit 5 and the microcontroller 4 are electrically connected, and the 4G communication module 2, the microcontroller 4, the signal conversion The unit 5, the USB interface 6, the power supply is connected to DT, the DC-DC unit 8, the positioning module 9, the first antenna interface 1, and the second antenna interface 10 are all existing technologies.

[0068] The monitoring method of this embodiment includes the following steps:

[0069] S1: Set the receiver mount point name, observation data type, power-on time, monitoring interval, duration, IP address and port number of the Caster server 13, IP address and port number of the Windows server 12, and authentication of the Caster server 13 Password, self-starting parameters, and then deploy the receiver on the disaster body. After the receiver is powered on, it will enter the initialization. After the initialization is completed, configure it according to the above information;

[0070] S2: The receiver compares the current time with the predetermined time to determine whether data collection is performed at the current time. If not, the microcontroller 4 controls the electronic switch 11 to turn off, and the device enters a sleep state; if it is, the microcontroller 4 keeps electronic

The switch 11 is connected, so that the 4G communication module 2 and the positioning module 9 work normally in the power-on state, and after successful authentication with the Caster server 13, the observation data is transmitted to the Caster server 13 through the Socket channel;

[0071] S3: The Windows server 12 installed with the solution analysis software 15 receives the observation data sent back by the receiver from the Caster server 13 in real time, performs high-precision positioning solution, and obtains the cumulative displacement, the displacement rate, and the current three-dimensional direction of the disaster body. Acceleration, and then analyze and obtain the deformation stage, danger level, tangent angle, and vector angle of the area where the monitoring point is located, and store it in the database 14;

[0072] S4: As shown in FIG. 2, the monitoring configuration software 16 installed on the Windows server 12 automatically adjusts the software according to the set adjustment monitoring interval parameters through the automatic mode. When the monitoring configuration software 16 detects that the receiver is online, first Read the current deformation information of the online device in the database 14, and then adjust the configuration parameters of the monitoring interval compared to the preset point. If the next set threshold is reached, the configuration information will be automatically sent to change the receiver monitoring interval, otherwise it will not By taking any operation, the software can automatically adjust the monitoring interval setting according to the current deformation information of the monitoring point. The automatic adjustment of the monitoring setting is specifically determined according to the current deformation rate index of the disaster body. The expression for adjusting the monitoring interval setting according to the deformation rate can be Expressed as:

T/2 [0073] corpse = "T/4 D/8 seconds (ο y) (% <2.75%) (2.75 <5.67%) (5.67% <Vi< 11.4314) (11,43V_a <Vj <)

[0074] Wherein, T'is the monitoring interval, T is the initial monitoring time interval when the disaster body is relatively stable, Vj is the deformation rate of the monitoring point at the current moment, and Va is the uniform deformation stage of the initial development of this type of disaster body based on experience. Deformation rate; [0075] S5: The receiver performs information identification on the data from the Windows server 12, and after confirming it as a configuration command, it saves the monitoring interval configuration information in the corresponding variables and memory. After the completion of this monitoring data collection, the receiver is based on The new configuration information starts the next observation.

[0076] Therefore, the observation interval automatically set by the software is T hours/time, when 0<Vj<Va, the receiver maintains the original observation interval; when Va<V<2.75Va, the receiver observation interval is T/2 Hour/time; when 2.75V/VX5.67Va, the receiver observation interval is T/4 hours/time; when 5.67Va<Vj<l 1.42Va, the receiver observation interval is T/8 hours/time; when deformed When the rate exceeds 11.43Va, the GNSS receiver starts to observe continuously for 24 hours without interruption, once every second, to obtain a deformation monitoring result.

Example 2

[0078] The difference between this embodiment and Embodiment 1 is that in the S4 step of the monitoring method of this embodiment, the automatic adjustment of the monitoring settings is specifically determined according to the current deformation acceleration index of the disaster body, and the monitoring is performed according to the deformation acceleration. The expression for adjusting the interval setting can be expressed as:. T (0 <α; <α;)

T/2 (aj <<2)

[0079] Τ'-< ₇y4 q% <electrician 3%)

J seconds (3% <birth<< +8)

[0080] Wherein, T'is the monitoring interval, T is the initial monitoring time interval when the disaster body is relatively stable, and l is the current time deformation acceleration is the speed experience threshold.

[0081] For example, the observation interval automatically set by the software is T=24 hours, and the receiver observes once every 24 hours, when 0<%<%

[0084]

[0085]

[00861, the receiver maintains the original observation interval; at that time, the receiver observation interval is 12 hours/time; when 2%<%<3%, the receiver observation interval is 6 hours/time; when Ha 3%, The GNSS receiver began to observe continuously for 24 hours without interruption, once every second, to obtain a deformation monitoring result. ο

Embodiment 3

[0083] The difference between this embodiment and Embodiment 1 is that in the S4 step of the monitoring method of this embodiment, the automatic adjustment of monitoring settings is specifically determined according to the current warning level index of the disaster body, and the monitoring is performed according to the warning level. The expression for adjusting the interval setting can be expressed as:

Ύ (blue warning) _r= ] Ding/3 (yellow warning)

-| T/6 (orange warning) seconds (red warning) where τ'is the monitoring interval, and τ is the initial monitoring time interval when the disaster body is relatively stable.

For example, the observation interval automatically set by the software is τ = 24 hours. When the current warning situation of the disaster body is blue warning, the receiver keeps the original observation interval; when the current warning situation of the disaster body is yellow warning, the receiver observation interval 8 hours/time; when the disaster bodys current warning situation is orange warning, the receiver observation interval is 4 hours/time; when the disaster bodys current warning situation is red warning, the GNSS receiver starts uninterrupted 24-hour continuous Observe, observe once every second to obtain a deformation monitoring result.

Example 4

[0088] The difference between this embodiment and Embodiment 1 is that in the S4 step of the monitoring method of this embodiment, the automatic adjustment of the monitoring settings is specifically determined according to the current risk occurrence probability index of the disaster body, and according to the risk occurrence probability The expression for adjusting the monitoring interval setting can be expressed as: (Τ (0% <Pf W 5%) _f_ Ιτ/3 (5% <P; <20%) [0089] Τ'= j ₇y6 (20% <Pt <50%) seconds (50% <Pt <100%)

[0090] Wherein, D is the monitoring interval, T is the initial monitoring time interval when the disaster is relatively stable, and Pi is the probability of the disaster at the current moment.

[0091] For example, the observation interval T=24 hours automatically set by the software, when 0%<Pi<5%, the receiver keeps the original observation interval; when 5%<Pi<20%, the receiver observation interval is 12 Hour/time; when 20%<Pi<50%, the receiver observation interval is 6 hours/time; when 50%<Pi<100%, the GNSS receiver starts uninterrupted 24-hour continuous observation, observation every second Obtain one deformation monitoring result at a time.

Example 5

[0093] The difference between this embodiment and Embodiment 1 is that in the S4 step of the monitoring method of this embodiment, the monitoring setting uses the manual mode, and the manual mode requires manual configuration and sending configuration commands each time the monitoring interval is adjusted. When the automatic mode cannot meet the fast-changing harsh environment, the manual mode can greatly reduce the loss of the receiver's observation data caused by the insufficient response of the automatic mode.

[0094] It should be noted that the above embodiments include, but are not limited to, landslide monitoring, continuous monitoring of crustal plate movement, highway and railway slope monitoring, ground subsidence monitoring, bridges, building deformation monitoring, and other building deformation monitoring.