CN111796311B - Method and device for monitoring state of target object and computer readable medium - Google Patents
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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
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Abstract
The invention relates to the technical field of monitoring a target object state by utilizing satellite positioning related data, and mainly discloses a method for monitoring the target object state, which comprises the following steps: acquiring observation data of a positioning antenna installed on the target object, wherein the observation data is derived from satellite signals received by the positioning antenna; the positioning antenna has a known relative positional relationship with the target object; obtaining visible critical range data of the positioning antenna; obtaining the position coordinates of the positioning antenna and the motion trail of the visible satellite according to the observation data; and obtaining state data of the target object according to the position coordinates, the motion trail, the visible critical range data and the relative position relation, wherein the state data comprises azimuth angle information. Some technical effects of the present disclosure are: the state data of the target object is obtained by processing the observation data of the positioning antenna, and the processing process is convenient and high in accuracy.
Description
Technical Field
The present disclosure relates to the field of monitoring a target object state using satellite positioning related data, and in particular, to a monitoring method, apparatus, and computer readable medium thereof.
Background
In many fields it is necessary to monitor the (position) state of a target object. For example, the state of a communication antenna of the communication base station is monitored, and whether the communication antenna has abnormal problems (such as deviation of orientation, deviation of position and the like) is judged, so that maintenance personnel can quickly locate the problems and develop subsequent maintenance work; for example, whether the position or the inclination angle of the building is changed or not is monitored, so that potential safety hazards can be found in time; such as monitoring the position status of the high voltage line tower, is also advantageous for preventing faults etc. There are many kinds of these objects, and they are not listed here.
Traditional monitoring methods for the states of these target objects include using a mechanical compass, an electronic compass, manual observation, etc., and because workers are required to measure at high altitudes in many times, potential safety hazards exist and measurement errors are generally large.
At present, a double GPS differential direction finding scheme is adopted, and although the technology is mature, the method is widely applied to course measurement of aircrafts and ships, and is difficult to obtain wider application due to high complexity, large size and high cost of a system.
Disclosure of Invention
To solve at least one of the foregoing technical problems, the present disclosure proposes, in a first aspect, a method for monitoring a state of a target object, including the steps of:
acquiring observation data of a positioning antenna installed on the target object, wherein the observation data is derived from satellite signals received by the positioning antenna; the positioning antenna has a known relative positional relationship with the target object; obtaining visible critical range data of the positioning antenna; obtaining the position coordinates of the positioning antenna and the motion trail of the visible satellite according to the observation data; and obtaining state data of the target object according to the position coordinates, the motion trail, the visible critical range data and the relative position relation, wherein the state data comprises azimuth angle information.
Preferably, the step of obtaining the motion trajectory includes: obtaining position data of the visible satellite according to ephemeris data in the observation data; and selecting the position data in a preset observation time length to obtain the motion trail.
Preferably, the selecting the position data within the preset observing duration and obtaining the motion trail includes the following steps: and processing the position data, and selecting a position point with continuity in each piece of the position data as the motion trail.
Preferably, the motion trail comprises a first endpoint and a second endpoint; the satellite height angle corresponding to the first endpoint is larger than the satellite height angle corresponding to the second endpoint; obtaining observation critical plane data of the positioning antenna according to the first endpoints of the plurality of motion tracks; and according to the observation critical plane data, combining the position coordinates, the motion trail, the visible critical range data and the relative position relation to obtain the state data.
Preferably, the number of the positioning antennas is two; "obtaining the state data according to the position coordinates, the movement track, the visual critical range data, and the relative positional relationship" includes the steps of: acquiring the pointing information of a base line formed by the positioning antenna according to the position coordinates, the motion trail and the visible critical range data; and obtaining the state data according to the pointing information and the relative position relation.
Preferably, the target object is a communication antenna of a base station; the positioning antenna is fixed to the housing of the communication antenna.
Preferably, the status data further includes longitude, latitude and elevation information of the target object.
Preferably, judging whether the early warning condition is met according to the obtained state data; and when the information is met, generating early warning information.
The present disclosure proposes in a second aspect a monitoring device of a target object state, comprising:
the observation data acquisition module is used for acquiring observation data of a positioning antenna installed on the target object, wherein the observation data is derived from satellite signals received by the positioning antenna; the positioning antenna has a known relative positional relationship with the target object;
the priori parameter acquisition module is used for acquiring the visible critical range data of the positioning antenna;
the motion trail acquisition module is used for acquiring the position coordinates of the positioning antenna and the motion trail of the visible satellite according to the observation data;
and the state data acquisition module is used for acquiring state data of the target object according to the position coordinates, the motion trail, the visible critical range data and the relative position relation, wherein the state data comprises azimuth angle information.
The present disclosure proposes in a third aspect a computer readable medium having stored therein a computer program to be loaded and executed by a processing module for carrying out the steps of the monitoring method.
Some technical effects of the present disclosure are: the state data of the target object is obtained by processing the observation data of the positioning antenna, and the processing process is convenient and high in accuracy.
Drawings
For a better understanding of the technical solutions of the present disclosure, reference may be made to the following drawings for aiding in the description of the prior art or embodiments. The drawings will selectively illustrate products or methods involved in the prior art or some embodiments of the present disclosure. The basic information of these figures is as follows:
FIG. 1 is a schematic diagram of a plurality of motion positions corresponding to satellites in an embodiment;
FIG. 2 is a schematic diagram of a motion trajectory corresponding to a satellite in an embodiment;
FIG. 3 is a simplified cross-sectional view of the visible critical range of a positioning antenna, in one embodiment;
FIG. 4 is a schematic diagram of a boundary of a visual critical range in one embodiment;
FIG. 5 is a schematic diagram of an observation critical plane of a visual critical range in one embodiment.
In the above figures, the reference numerals and the corresponding technical features are as follows:
1-positioning antenna, 21-first boundary, 22-second boundary, 31-first satellite position, 32-second satellite position, 4-observation critical plane, 41-critical satellite position.
Detailed Description
Further technical means or technical effects to which the present disclosure relates will be described below, and it is apparent that examples (or embodiments) provided are only some embodiments, but not all, which are intended to be covered by the present disclosure. All other embodiments that can be made by those skilled in the art without the exercise of inventive faculty, based on the embodiments in this disclosure and the explicit or implicit presentation of the drawings, are intended to be within the scope of the present disclosure.
The present disclosure proposes in a first aspect a method of monitoring a state of a target object, comprising the steps of:
acquiring observation data of a positioning antenna installed on the target object, wherein the observation data is derived from satellite signals received by the positioning antenna; the positioning antenna has a known relative positional relationship with the target object;
obtaining visible critical range data of the positioning antenna;
obtaining the position coordinates of the positioning antenna and the motion trail of the visible satellite according to the observation data;
and obtaining state data of the target object according to the position coordinates, the motion trail, the visible critical range data and the relative position relation, wherein the state data comprises azimuth angle information.
The main objects or relationships involved in the above steps are described below. Where not specifically stated, it is to be reasonably inferred with reference to related content of the prior art, other related descriptions herein or the inventive intent.
It should be emphasized that the method for monitoring the state of a target object described herein can be generally applied as a few links to such a scenario: a satellite signal receiver with a positioning antenna is arranged on a target object, satellite signals received by the positioning antenna are collected, the satellite signals are processed (mainly comprising the processes of radio frequency front end processing, baseband digital signal processing, positioning resolving and the like), observation data are obtained, and state parameters of the target object are obtained by processing the observation data obtained by continuously observing for a plurality of hours. The processing of satellite signals and the processing of observed data can be performed on a receiver, a background server, a receiver or a background server. More commonly, the receiver processes the satellite signals to obtain observation data, and then sends the observation data to a background server through a network, and the background server completes subsequent processing steps.
With respect to the target object. It may be embodied in various types such as a building (building, observation station, etc.), municipal facilities (large street lamp, exhibition frame, etc.), or outdoor facilities of enterprises (communication base station, communication antenna, iron tower, etc.), etc., and it is necessary to monitor the position state of the target object in order to avoid collapse, unnecessary displacement of the target object, or to acquire accurate position information of the target object to make better adjustment. The monitoring method proposed in the present disclosure will be explained below with more examples of the target object being a communication antenna (e.g. 4G antenna, 5G antenna), and in fact, the monitoring method may be applicable to other types of target objects.
With respect to positioning antennas. The satellite signal receiving device is mainly used for receiving satellite signals and is arranged on a target object so as to enable the satellite signal receiving device to have a known relative position relationship (such as a known distance and azimuth relationship) with the target object. Thus, when the position state of the target object changes (for example, the azimuth angle changes, the position deviates from the original position, etc.), the position state of the positioning antenna correspondingly changes, and the position change amount of the target object can be calculated by calculating the position change amount of the positioning antenna.
With respect to visual critical range data. The visual range of the positioning antenna is also understood as the visual area or field of view, which is three-dimensional, and its boundary is the visual critical range. Fig. 3 shows briefly a section of the visible critical range of the positioning antenna, point a being the phase center of the positioning antenna, and satellites in the sky appearing in a sector-shaped field of view corresponding to the arc BC segment, the satellite signals of which will be received by the positioning antenna. The degree, orientation, etc. of the angle ABC may be used as the visual critical range data. When the position of the satellite is out of the visible critical range, the positioning antenna cannot normally receive the satellite signal corresponding to the satellite.
With respect to the observed data. The observation data typically includes ephemeris data, pseudorange observations, and the like. By using the observation data, the position coordinates (the specific expression form is depending on the coordinate system adopted, and the specific expression form can be generally expressed as longitude and latitude) of the positioning antenna, the motion track of the visible satellite and other data can be obtained.
With respect to the status parameters. The state parameter is used to represent the position state (e.g., spatial coordinates of a location, azimuth orientation, etc.) of the target object, and includes, but is not limited to, one of the following data: azimuth angle of the target object, longitude and latitude of the target object, and elevation of the target object. As shown in fig. 4, the first boundary 21 and the second boundary 22 are two virtual boundaries. The position of the first boundary 21 is determined from the first satellite position 31 which appears on the one-sided view boundary and the position of the second boundary 22 is determined from the second satellite position 32 which appears on the other-sided view boundary. The first satellite position 31 has a plurality (not shown) meaning that there are a plurality of satellites from here into the visible range of the positioning antenna 1; the second satellite position 32 is also multiple (not shown), meaning that there are multiple satellites from where they leave the visible range of the positioning antenna 1. Thus, the first boundary 21 and the second boundary 22 belong to a part of the boundaries of the visual critical range. The degree of change of the orientation of the positioning antenna 1 can be determined according to the degree of change of the orientation of the included angle between the first boundary 21 and the second boundary 22, so as to calculate whether the target object rotates (i.e. obtain the corresponding state parameter, such as azimuth angle or the change amount thereof). From the first satellite position 31 and the second satellite position 32, and the pseudo-range observations, the three-dimensional coordinates of the positioning antenna 1 can also be calculated, so as to obtain information whether the target object is displaced, which also belongs to one of the state parameters.
The above calculation or calculation method may use the existing geometric mathematic knowledge, and will not be developed too much, as an example. Fig. 5 shows a possible scenario, where the final position of the satellites when they leave the visible critical range is the critical satellite position 41 in the figure, and these positions lie in a plane with the position of the positioning antenna 1, which is the observation critical plane 4. When the satellite position 41 at the critical position and the position of the positioning antenna 1 are not a plane due to the influence of measurement errors and the like, the coordinates of the several position points can be calculated by a least square method and the like, so that a plane is virtually obtained. Two critical satellite positions 41 can be selected, provided that their coordinates are (x 1 ,y 1 ,z 1 ) And (x) 2 ,y 2 ,z 2 ) The position coordinates (x s ,y s ,z s ) Then the equation for the plane can be derived:
then, the normal vector (a, b, c) of the plane can be obtained according to the plane equation, and then the azimuth angle of the positioning antenna 1 can be calculated by decomposing the normal vector, so that the azimuth angle of the target object can be calculated. Or the normal vector (a, b, c) of the plane may be calculated once a day to determine whether the target object has changed its position state.
In some embodiments, the step of obtaining the motion profile comprises: obtaining position data of the visible satellite according to ephemeris data in the observation data; and selecting the position data in a preset observation time length to obtain the motion trail. Considering that the surrounding period of some satellites is approximately 12 hours, the preset observation time period can be set to be more than 12 hours, so that more position data on the observation critical plane can be obtained.
In some embodiments, the "selecting the position data within a preset observation period to obtain the motion trail" includes the following steps: and processing the position data, and selecting a position point with continuity in each piece of the position data as the motion trail. Considering that the environment of the day may have an influence on the reception of satellite signals, when the satellite signals are intermittent, the position points of the corresponding visible satellites will also be intermittent (as shown in the star chart of fig. 1, the movement position points of the satellites in some places are intermittent), and the satellites are relatively less continuous, so that the position data corresponding to the time periods with poor signals can be removed, and the position data corresponding to the time periods with good signals are adopted as the movement track. The poor signal and the good judgment criterion are the continuity of the position points. For example, it may be determined whether there is continuity according to the average adjacent distance of the continuous N (may be designed according to the specific case, for example, n=10) position points, and when the average adjacent distance exceeds a preset value (for example, 1.5 times the normal value), the N position points are considered to be discontinuous. If the position points of the first half part are sparse (without continuity) and the position points of the second half part are tight (with continuity) in one part of the position data, the position points of the second half part are taken as the motion trail, and when the tail end of the motion trail is just in the observation critical plane, the motion trail can be used for calculating the normal vector.
In some embodiments, the motion profile includes a first endpoint and a second endpoint; the satellite altitude corresponding to the first endpoint is greater than the satellite altitude corresponding to the second endpoint (fig. 2 shows a second endpoint, i.e., an endpoint within a box in the figure); obtaining observation critical plane data of the positioning antenna according to the first endpoints of the plurality of motion tracks; and according to the observation critical plane data, combining the position coordinates, the motion trail, the visible critical range data and the relative position relation to obtain the state data. The second endpoint here, which can be understood as the critical satellite position 41 in fig. 5, observes critical plane data comprising the normal vector of the observation critical plane 4.
In some embodiments, the number of positioning antennas is two; "obtaining the state data according to the position coordinates, the movement track, the visual critical range data, and the relative positional relationship" includes the steps of: acquiring the pointing information of a base line formed by the positioning antenna according to the position coordinates, the motion trail and the visible critical range data; and obtaining the state data according to the pointing information and the relative position relation. Of course, in other embodiments, the number of positioning antennas may be one or more.
In some embodiments, the target object is a communication antenna of a base station; the positioning antenna is fixed to the housing of the communication antenna.
In some embodiments, the status data includes longitude and latitude and elevation information of the target object in addition to the azimuth of the target object.
In some embodiments, according to the obtained state data, judging whether an early warning condition is met; and when the information is met, generating early warning information. For example, when the horizontal displacement of the target object exceeds 10cm, the early warning condition is considered to be met, and otherwise, the early warning condition is considered to be not met. For example, when the azimuth angle of the target object exceeds 5 degrees compared with the previous observation, the early warning condition is met, and otherwise, the early warning condition is not met.
The present disclosure proposes in a second aspect a monitoring device of a target object state, comprising:
the observation data acquisition module is used for acquiring observation data of a positioning antenna installed on the target object, wherein the observation data is derived from satellite signals received by the positioning antenna; the positioning antenna has a known relative positional relationship with the target object;
the priori parameter acquisition module is used for acquiring the visible critical range data of the positioning antenna;
the motion trail acquisition module is used for acquiring the position coordinates of the positioning antenna and the motion trail of the visible satellite according to the observation data;
and the state data acquisition module is used for acquiring state data of the target object according to the position coordinates, the motion trail, the visible critical range data and the relative position relation, wherein the state data comprises azimuth angle information.
The present disclosure proposes in a third aspect a computer readable medium having stored therein a computer program to be loaded and executed by a processing module for carrying out the steps of the monitoring method. It will be appreciated by those skilled in the art that all or part of the steps in the embodiments may be implemented by a computer program to instruct related hardware, and the program may be stored in a computer readable medium, and the readable medium may include various media that may store program codes, such as a flash disk, a removable hard disk, a read-only memory, a random access device, a magnetic disk, or an optical disk.
It is within the knowledge and ability of one skilled in the art to combine the various embodiments or features mentioned herein with one another as additional alternative embodiments without conflict, and such limited number of alternative embodiments, not listed one by one, formed by a limited number of combinations of features, still fall within the skill of the present disclosure, as would be understood or inferred by one skilled in the art in view of the drawings and the foregoing.
In addition, the description of the most embodiments has been developed based on various emphasis instead of being further understood that reasonable inferences can be made regarding prior art, other related descriptions herein, or the inventive concepts where not explicitly described.
It is emphasized that the above-described embodiments, which are typical and preferred embodiments of the disclosure, are merely set forth for a detailed description of the disclosed technology and are intended to be read by the reader in light of this disclosure, and are not intended to limit the scope or applicability of the disclosure. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present disclosure, are intended to be encompassed within the scope of the present disclosure.
Claims (10)
1. The method for monitoring the state of the target object is characterized by comprising the following steps:
acquiring observation data of a positioning antenna installed on the target object, wherein the observation data is derived from satellite signals received by the positioning antenna;
the positioning antenna has a known relative positional relationship with the target object;
obtaining visible critical range data of the positioning antenna;
obtaining the position coordinates of the positioning antenna and the motion trail of the visible satellite according to the observation data;
acquiring state data of a target object according to the position coordinates, the motion trail, the visible critical range data and the relative position relation, wherein the state data comprises azimuth angle information;
the azimuth information is used for finding pairs through the last positions of a plurality of satellites leaving the visible critical rangeA plurality of critical satellite positions; when the satellite positions at the plurality of critical positions and the positioning antenna are not in a plane, selecting two of the critical positions, and assuming that the corresponding coordinates are (x) 1 ,y 1 ,z 1 ) And (x) 2 ,y 2 ,z 2 ) Position coordinates (x s ,y s ,z s ) The equation for the plane is obtained:
and obtaining normal vectors (a, b and c) of the plane according to the plane equation, then decomposing the normal vectors to calculate the azimuth angle of the positioning antenna, and further calculating azimuth angle information of the target object.
2. The method of monitoring as claimed in claim 1, wherein,
the step of obtaining the motion trail comprises the following steps:
obtaining position data of the visible satellite according to ephemeris data in the observation data;
and selecting the position data in a preset observation time length to obtain the motion trail.
3. The method of monitoring as claimed in claim 2, wherein,
the step of selecting the position data in the preset observation time length and obtaining the motion trail comprises the following steps:
and processing the position data, and selecting a position point with continuity in each piece of the position data as the motion trail.
4. The monitoring method according to claim 1, wherein:
the motion trail comprises a first endpoint and a second endpoint;
the satellite height angle corresponding to the first endpoint is larger than the satellite height angle corresponding to the second endpoint;
obtaining observation critical plane data of the positioning antenna according to the first endpoints of the plurality of motion tracks;
and according to the observation critical plane data, combining the position coordinates, the motion trail, the visible critical range data and the relative position relation to obtain the state data.
5. The method of monitoring as claimed in claim 1, wherein,
the number of the positioning antennas is two;
"obtaining state data of the target object according to the position coordinates, the motion trail, the visual critical range data and the relative position relationship" includes the following steps:
acquiring the pointing information of a base line formed by the positioning antenna according to the position coordinates, the motion trail and the visible critical range data;
and obtaining the state data of the target object according to the pointing information and the relative position relation.
6. The monitoring method according to claim 1, wherein:
the target object is a communication antenna of the base station;
the positioning antenna is fixed to the housing of the communication antenna.
7. The monitoring method according to claim 1, wherein:
the state data also includes longitude, latitude and elevation information of the target object.
8. The monitoring method according to claim 1, wherein:
judging whether the early warning condition is met or not according to the obtained state data;
and when the information is met, generating early warning information.
9. A device for monitoring a state of a target object, comprising:
the observation data acquisition module is used for acquiring observation data of a positioning antenna installed on the target object, wherein the observation data is derived from satellite signals received by the positioning antenna; the positioning antenna has a known relative positional relationship with the target object;
the priori parameter acquisition module is used for acquiring the visible critical range data of the positioning antenna;
the motion trail acquisition module is used for acquiring the position coordinates of the positioning antenna and the motion trail of the visible satellite according to the observation data;
the state data acquisition module is used for acquiring state data of the target object according to the position coordinates, the motion trail, the visible critical range data and the relative position relation, wherein the state data comprises azimuth angle information;
the azimuth information finds out satellite positions at a plurality of corresponding critical positions through the last positions of the satellites leaving the visible critical range; when the satellite positions at the plurality of critical positions and the positioning antenna are not in a plane, selecting two of the critical positions, and assuming that the corresponding coordinates are (x) 1 ,y 1 ,z 1 ) And (x) 2 ,y 2 ,z 2 ) Position coordinates (x s ,y s ,z s ) The equation for the plane is obtained:
and obtaining normal vectors (a, b and c) of the plane according to the plane equation, then decomposing the normal vectors to calculate the azimuth angle of the positioning antenna, and further calculating azimuth angle information of the target object.
10. A computer readable medium characterized by:
the computer readable medium has stored therein a computer program which is loaded and executed by a processing module to implement the steps of the monitoring method of any of claims 1 to 8.
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| CN111796311A (en) | 2020-10-20 |
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