基于北斗的GNSS高边坡实时监测系统开发与应用研究

论文总字数：37791字

摘 要

近年来，我国的高速公路建设飞速发展。受自然环境的影响以及为满足公路线性的需要，不可避免地在建设中会形成高边坡，而边坡失稳轻则造成财产损失，重则会对人身安全构成严重威胁。因此，高边坡安全监测系统是防灾减灾、保障高速公路畅通的迫切需求。

目前常用的监测手段是GNSS测量。GNSS测量具有高精度、全天候实时监测、工作效率高、测站间无需通视、可提供全球统一的三维地心坐标等特点。在GNSS高精度定位中基线解算是一项十分重要的环节，随着全球各大系统的建设与完善，多系统组合定位成为热点。其中，北斗三号系统已经完成基本系统建设，并向全球提供服务。本文采用北斗与GPS组合定位，初步完成高边坡实时监测系统的设计和数据处理。结果表明，该方案能提高定位精度、改善单系统观测条件较差时定位的稳定性和可靠性。

论文主要内容及结论如下：

（1）阐述了基线解算过程中涉及到的数据处理的基本理论。首先介绍了卫星坐标计算流程，其次介绍了周跳探测所采用的电离层残差法和伪距辅助检测法，最后分析了卫星定位过程中需要注意的各项误差。

（2）介绍了基线解算中的GPS和BDS的组合定位模型和权值确定方案。分析比较了GPS和BDS的时空差异、信号差异，阐述了使用LAMBDA进行模糊度固定的流程和算法以及检核条件。

（3）初步设计了高边坡实时监测系统的监测方案。内容包括设计原则和依据、监测内容、实时监测的技术手段和系统的软硬件组成。本系统预期能够进行无人监测化数据采集与传输、实时进行基线解算和网平差、实时提供监测点的变化信息、建立并分析时间序列模型，并进行灾害预警、预报。

（4）对自编基线解算软件的解算质量进行了分析。5公里以内的基线解算结果与真值相比，多历元解算平面误差在4mm以内，高程方向误差在6mm以内，单历元解算误差在模糊度固定后也能达到相应水平。

（5）对GPS和BDS系统的解算结果进行了分析。分析得出：GPS/BDS组合定位精度高于单GPS的定位精度，尤其是某系统可观测卫星数量较少时，提升幅度尤为明显；GPS系统比BDS-2系统定位精度更高；BDS-3相对于BDS-2的定位精度提升幅度较为明显，在30%以上；BDS-2 BDS-3系统可到达与GPS相当的精度水平。

（6）对北斗三号卫星在高边实时监测中的应用进行了探讨。多系统融合显著提高了变形监测的精度和快速反应能力。尤其是在特殊情况下，难以使用国外的卫星导航定位系统时，北斗系统完全有能力进行替代服务。

关键词：GNSS；北斗三号；多系统；基线解算；边坡监测

ABSTRACT

In recent years, China's expressway construction has developed rapidly. Affected by the natural environment and the need to meet the linearity of the road, it is inevitable that high slopes will be formed during construction, while the instability of the slope will result in property losses, which will pose a serious threat to personal safety. Therefore, the high slope safety monitoring system is an urgent need for disaster prevention and mitigation and ensuring the smooth flow of highways.

The currently used monitoring method is GNSS measurement. GNSS measurement has high-precision, all-weather real-time monitoring, high work efficiency, no need to look through the station, and can provide global unified three-dimensional geocentric coordinates. In the high-precision positioning of GNSS, the baseline solution is a very important link. With the construction and improvement of major systems around the world, multi-system combination positioning has become a hot spot. Among them, the BDS-3 system has completed the basic system construction and provided services to the whole world. This paper adopts the combination of Beidou and GPS to initially complete the design and data processing of the high-slope real-time monitoring system. The results show that the proposed scheme can improve the positioning accuracy and improve the stability and reliability of positioning when the observation conditions of single system are poor.

The main contents and conclusions of the paper are as follows:

(1) Explain the basic theory of data processing involved in the baseline solution process. Firstly, the satellite coordinate calculation process is introduced. Secondly, the ionospheric residual method and pseudorange assisted detection method used in the cycle slip detection are introduced. Finally, the errors that need attention in the satellite positioning process are analyzed.

(2) The combined positioning model and weight determination scheme of GPS and BDS in baseline solution are introduced. The time-space difference and signal difference between GPS and BDS are analyzed and compared. The process and algorithm for fixing ambiguity using LAMBDA and the checking conditions are expounded.

(3) The monitoring plan of the high slope real-time monitoring system was preliminarily designed. The content includes design principles and basis, monitoring content, technical means of real-time monitoring and software and hardware components of the system. The system is expected to be capable of unattended data collection and transmission, real-time baseline solution and network adjustment, real-time monitoring of change information, establishment and analysis of time series models, and disaster warning and forecasting.

(4) Analyze the solution quality of the self-programming baseline solution software. The baseline solution result within 5 km is compared with the true value. The multi-epoch solution plane error is within 4 mm, and the elevation direction error is within 6 mm. The single epoch solution error can reach the corresponding level after the ambiguity is fixed.

(5) The solution results of GPS and BDS systems were analyzed. The analysis shows that the GPS/BDS combined positioning accuracy is higher than the single GPS positioning accuracy, especially when the number of observable satellites in a system is small, the lifting range is especially obvious; the GPS system has higher positioning accuracy than the BDS-2 system; BDS-3 Compared with the BDS-2, the positioning accuracy is more obvious, more than 30%; the BDS-2 BDS-3 system can reach the level of accuracy comparable to GPS.

(6) The application of BDS-3 satellite in high-side real-time monitoring is discussed. Multi-system fusion significantly improves the accuracy and rapid response of deformation monitoring. Especially in special circumstances, when it is difficult to use a foreign satellite navigation and positioning system, the Beidou system is fully capable of performing alternative services.

KEY WORDS: GNSS; BDS-3; multiple systems; Baseline Solution; Slope monitoring

目 录

摘要 I

ABSTRACT II

第一章 绪论 1

1.1 选题背景及意义 1

1.1.1 选题背景 1

1.1.2 研究意义 1

1.2 国内外研究现状 2

1.2.1 GNSS各系统发展现状 2

1.2.2 北斗三号研究现状 3

1.2.3 边坡实时变形监测系统研究现状 4

1.3 主要内容及章节安排 5

1.3.1 主要研究内容 5

1.3.2 论文的章节安排 5

第二章 GNSS定位基本原理和误差分析 7

2.1 卫星坐标计算 7

2.2 周跳探测 9

2.2.1 电离层残差法 9

2.2.2 伪距辅助检测法 9

2.3 GNSS定位误差分析 10

2.3.1 卫星端误差 10

2.3.2 信号传播过程中的误差 10

2.3.3 接收机端误差 12

2.3.4 其它误差 13

第三章 GPS/BDS组合基线解算 14

3.1 GPS/BDS组合定位模型 14

3.1.1 观测方程 14

3.1.2 组合定位模型 14

3.1.3 双差观测值权的确定 15

3.2 GPS和BDS的差异分析 15

3.2.1 时间差异 15

3.2.2 空间差异 16

3.2.3 信号差异 16

3.3 模糊度解算与校核 17

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