CN109141215A - GNSS monitoring data processing method based on inclination angle sensing - Google Patents
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Abstract
The invention discloses a GNSS monitoring data processing method based on inclination angle sensing, which comprises the following steps: s1: acquiring a central plane displacement component of GNSS monitoring equipment at a monitoring point through a GNSS, acquiring an inclination angle of an installation upright post through a double-shaft inclination sensor array, and preprocessing the plane displacement component; s2: the planar displacement component comprises an X displacement component and a Y displacement component, the preprocessed X displacement component and the preprocessed Y displacement component are synthesized into a displacement vector, and the displacement vector is subjected to inclination angle reduction correction; s3: and when the main deformation direction of the monitoring point is known, projecting the corrected displacement vector to the main deformation direction, and drawing a deformation process curve of the monitoring point according to a time sequence by using the projection analysis value to represent the deformation characteristic of the monitoring point. By the method, the problem that the real deformation vector does not accord with the data characterization vector in the GNSS displacement monitoring process is solved, and the method has the advantages of reliable monitoring data, high observation precision, simplicity and convenience in data analysis, visual characterization result and the like.
Description
Technical Field
The invention relates to the field of surface deformation monitoring, in particular to a GNSS monitoring data processing method based on inclination angle sensing.
Background
Global Navigation Satellite System (GNSS) is currently mainly used in the united states of america, GLONAS in russia, COMPASS in china and GALILEO in the european union. The GNSS can provide dynamic three-dimensional positions for different users at any time and any position, and is widely applied to the fields of ground detection, precision engineering measurement, deformation monitoring and the like.
At present, when deformation monitoring is carried out on geological disasters such as landslide and the like, the deformation monitoring method mainly observes the variation of a series of factors along with time, such as surface displacement characteristics, rainfall, underground water level and the like, wherein displacement monitoring is intuitive in result and obvious in effect, and is the most important variation monitoring characteristic, so that the displacement monitoring means is most widely applied. The purpose of monitoring the landslide area can be achieved to a great extent by monitoring one or more of the characteristics of the object, such as the moving direction, the moving amount, the moving speed and the like. The current monitoring on the mobile characteristics mainly adopts a GNSS earth surface displacement monitoring mode, the operation mode is simple and convenient, the method has the advantages that the communication between monitoring stations is not needed, the three-dimensional displacement of a point can be measured simultaneously, the limitation of weather conditions is avoided, and the like, and the automatic three-dimensional coordinate monitoring can be realized. During GNSS earth surface displacement monitoring data processing, coordinate components under a measurement coordinate system or a synthetic vector of the coordinate components and the synthetic vector are mostly adopted to represent the deformation degree of the deformation body, wherein the most important point is the displacement of the deformation body along the main deformation direction.
In geological disaster monitoring, a GNSS displacement monitoring point is a foundation for reflecting earth surface deformation information, however, in monitoring operation, a monitoring station often needs to pour a stand column and set foundation cement pier protection, and a stand column height difference, an angle inclination difference and the like exist between an actual monitoring point and a target monitoring point, so that a new error is introduced into an observed value. In the actual monitoring, the target monitoring object is the center point of the bottom of the upright column, i.e. the actual ground displacement point, and the actual monitoring object is the receiver center, refer to fig. 4. In the earth surface monitoring, the difference value between the monitoring points obtained from the two-stage monitoring data is mainly concerned, but not the coordinates of the monitoring points, so that the common system error contained in the two-stage monitoring can respectively influence the coordinate values of the two stages, but can not influence the obtained deformation. However, in the process of surface deformation, because the column tilts to bring inclination errors, the target monitoring point and the actual monitoring point cannot be always ensured to be on the same vertical line, the actual height difference is smaller than the column height difference, namely, the actual deformation vector does not accord with the data characterization vector, so that the displacement measurement error is caused, and the observation precision and the reliability are difficult to ensure. Meanwhile, the earth surface displacement monitoring method commonly used by technicians at present is a traditional displacement component synthesis method, and the method represents a plane displacement vector by a displacement scalar and a displacement azimuth angle, so that the problems of complex calculation and analysis, less visual representation result and the like exist.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to: the analysis method capable of effectively analyzing the earth surface deformation monitoring data is provided, the problem that real deformation vectors and data characterization vectors do not conform to each other in the GNSS displacement monitoring process can be solved, and the method has the advantages of being reliable in monitoring data, capable of improving observation precision, simple and convenient in monitoring data analysis, visual in characterization results and the like.
The invention adopts the following technical scheme:
a GNSS monitoring data processing method based on inclination sensing comprises the following steps:
s1: acquiring ground surface deformation monitoring data at a monitoring point through a Global Navigation Satellite System (GNSS), acquiring attitude data of an installation upright post through a double-shaft tilt sensor array, wherein the monitoring data comprises a central plane displacement component of GNSS monitoring equipment, and the attitude data comprises a tilt angle of the installation upright post, and preprocessing the plane displacement component;
s2: the planar displacement component comprises an X displacement component and a Y displacement component, the preprocessed X displacement component and the preprocessed Y displacement component are synthesized into a displacement vector, and inclination angle reduction correction is carried out on the displacement vector;
s3: and when the main deformation direction of the monitoring point is known, projecting the corrected displacement vector to the main deformation direction, and drawing a deformation process curve of the monitoring point according to a time sequence by using the projection analysis value to represent the deformation characteristic of the monitoring point.
Further, the method for preprocessing the plane displacement component is as follows:
s11: judging whether the plane displacement component contains a gross error, if so, executing step S12, otherwise, executing step S13;
s12: removing and interpolating the gross error of the plane displacement component, and then executing step S13;
s13: and performing signal-to-noise separation on the plane displacement component.
Further, the method for interpolating the gross error of the plane displacement component includes linear interpolation, lagrange interpolation or polynomial fitting.
Further, the method for signal-to-noise separation of the plane displacement component includes curve fitting, multiple linear regression, gray prediction or wavelet signal-to-noise separation.
Further, it is determined by the "3 σ criterion" whether the plane displacement component contains a gross error.
Further, the inclination correction method of the displacement vector is as follows:
and (3) establishing a right-hand coordinate system by taking the central point of the foundation of the installation concrete as an origin, wherein the right-hand coordinate system can be obtained by geometric projection knowledge:
Δx＝H*cos|θ-π/2|*(-cosα)
Δy＝H*sin|θ-π/2|
when the angle alpha is an inclined state, an included angle between the installation stand column and the positive direction of an X axis, when the angle theta is an inclined state, an included angle between the installation stand column and the positive direction of a Y axis, when the angle H is an inclined state, the height of the top end and the height of the bottom end of the installation stand column are determined, when the angle delta X is an inclined state, the vector of the installation stand column in the X axis direction is determined, when the angle delta Y is an inclined state, the vector of the installation stand column in the Y axis direction is determined, and:
wherein,representing the GNSS monitoring of the resultant displacement vector,the actual displacement vector of the monitoring point is represented,and the actual displacement vector of the center of the GNSS monitoring equipment is represented, and S represents the actual displacement of the monitoring point.
Further, when the main deformation directions of the monitoring points are distributed in different image limits, the projection amount Δ m is respectively expressed as:
ΔM＝Δxcosα+Δysinα (1)
ΔM＝-Δxcos(180°-α)+Δysin(180°-α)＝Δxcosα+Δysinα (2)
ΔM＝-Δxcos(α-180°)-Δysin(α-180°)＝Δxcosα+Δysinα (3)
ΔM＝Δxcos(360°-α)-Δysin(360°-α)＝Δxcosα+Δysinα (4)
where, α is a main deformation direction azimuth angle, Δ X is a vector of the installation column in the X-axis direction in the tilt state, and Δ Y is a vector of the installation column in the Y-axis direction in the tilt state.
Furthermore, the GNSS comprises a plurality of double-shaft tilt sensor arrays, a wireless communication module, a data processing module, a control circuit module and a power management module, wherein an information acquisition end of the data processing module is connected with the double-shaft tilt sensor arrays, a communication end of the data processing module is connected with the wireless communication module, a control end of the data processing module is connected with the control circuit module, and a power supply end of the data processing module is connected with the power management module.
Furthermore, the GNSS of the global navigation satellite system also comprises a GNSS antenna, a solar panel, a lightning rod, a data acquisition box and an installation upright post, wherein the GNSS antenna is fixed at the top end of the installation upright post through a connecting screw rod, the lightning rod is fixed at the top end of the installation upright post, the solar panel is fixed at the upper part of the installation upright post through a support, and the data acquisition box is installed at the upper part of the installation upright post; the plurality of double-shaft tilt sensor arrays, the wireless communication module, the data processing module, the control circuit module and the power management module are all installed in the data acquisition box.
Further, the dual-axis tilt sensor array is deployed equidistantly by adopting a circumferential plane, and each dual-axis tilt sensor array comprises three tilt sensors.
Compared with the prior art, the invention has the following advantages:
the invention discloses a GNSS monitoring data processing method based on inclination angle sensing, wherein a high-precision inclination angle sensor is installed at a monitoring station, and a monitoring displacement error caused by the inclination of an installation stand column is corrected through a plane displacement monitoring data representation method; and carrying out error elimination and signal-noise separation on the plane displacement components, synthesizing a displacement vector and projecting the displacement vector to the main deformation direction so as to represent the deformation vector. By the method, the problem that the real deformation vector does not accord with the data representation vector in the GNSS displacement monitoring process is solved, and the observation precision and reliability are improved.
Drawings
FIG. 1 is a flow chart illustrating GNSS monitoring data processing based on tilt sensing according to an embodiment of the present invention;
FIG. 2 is a flow chart of the pre-processing of the plane displacement component according to an embodiment of the present invention;
FIG. 3 is a system block diagram of a GNSS system in an embodiment of the present invention;
FIG. 4 is a diagram illustrating actual displacement vectors in an embodiment of the present invention;
FIG. 5 is a geometric diagram illustrating displacement vector tilt correction according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a monitoring station in an embodiment of the present invention;
FIG. 7 is a block diagram of a dual axis tilt sensor array in an embodiment of the present invention;
fig. 8 is a schematic view of projection analysis according to an embodiment of the invention.
Reference numerals:
1. a GNSS antenna; 2. connecting a screw rod; 3. a solar panel; 4. a support; 5. a lightning rod; 6. a data collection box; 7. mounting the upright post; 8. a flange plate; 9. cement pier; 10. an inclination angle sensor.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
Example (b):
referring to fig. 1, a GNSS monitoring data processing method based on tilt sensing includes the following steps:
s1: acquiring ground surface deformation monitoring data at a monitoring point through a Global Navigation Satellite System (GNSS), acquiring attitude data of an installation upright post through a double-shaft tilt sensor array, wherein the monitoring data comprises a central plane displacement component of GNSS monitoring equipment, and the attitude data comprises a tilt angle of the installation upright post, and preprocessing the plane displacement component;
s2: the planar displacement component comprises an X displacement component and a Y displacement component, the preprocessed X displacement component and the preprocessed Y displacement component are synthesized into a displacement vector, and inclination angle reduction correction is carried out on the displacement vector;
s3: and when the main deformation direction of the monitoring point is known, projecting the corrected displacement vector to the main deformation direction, and drawing a deformation process curve of the monitoring point according to a time sequence by using the projection analysis value to represent the deformation characteristic of the monitoring point.
In the process of observing the deformation of the earth surface by using the monitoring data processing method, the influence of error factors such as an observation environment, observation equipment, observation personnel and the like can be caused, and three types of errors including gross errors, system errors and accidental errors exist in the observation data. Therefore, the original plane displacement component needs to be preprocessed, the gross error of the original plane displacement component is eliminated, the signal and noise are separated, and the reliability of the one-dimensional component data is improved. And then, based on the more reliable one-dimensional component, the deformation information is projected to the known main deformation direction to represent the deformation vector. The traditional monitoring characterization method needs to perform the processes of displacement scalar calculation, displacement quadrant angle calculation and displacement azimuth angle conversion, and the characterization result can be visually expressed only by the aid of a displacement azimuth angle or by means of a graph. Compared with the traditional monitoring characterization method, the method provided by the invention is based on the same projection principle, the displacement component is directly projected to the main deformation direction and is subjected to synthesis calculation, the method is simple and convenient in analysis calculation, and the characterization result is visual.
In this embodiment, referring to fig. 2, the method for preprocessing the plane displacement component is as follows:
s11: judging whether the plane displacement component contains a gross error, if so, executing step S12, otherwise, executing step S13;
s12: removing and interpolating the gross error of the plane displacement component, and then executing step S13;
s13: and performing signal-to-noise separation on the plane displacement component.
In this embodiment, the method for interpolating the coarse difference of the plane displacement component includes linear interpolation, lagrangian interpolation, or polynomial fitting. Methods for signal-to-noise separation of the planar displacement components include curve fitting, multiple linear regression, gray prediction, or wavelet signal-to-noise separation. Whether the plane displacement component contains a gross error is determined by the "3 σ criterion". The gross error of the plane displacement component is removed to ensure the integrity of the observation sequence in the time domain.
In this embodiment, referring to fig. 5, in the process of surface deformation, due to the inclination of the installation column, displacement deviation occurs between the target monitoring point and the actual measurement point, and the deviation amount is closely related to the inclination angle, that is, an inclination angle error exists between the synthesized displacement vector and the true displacement vector. The inclination angle correction method of the displacement vector comprises the following steps:
the central point of the concrete foundation is used as the original point, the vertical upright post is taken as the positive direction of the Z axis by the ground pointing receiver, the intersecting line of the horizontal plane passing through the original point and the vertical plane is taken as the X axis, the horizontal plane and the vertical plane point to the negative direction of the inclination of the upright post, a right-hand coordinate system is established, and the right-hand coordinate system can be obtained by the knowledge of geometric projection:
Δx＝H*cos|θ-π/2|*(-cosα)
Δy＝H*sin|θ-π/2|
when the angle alpha is an inclined state, an included angle between the installation stand column and the positive direction of an X axis, when the angle theta is an inclined state, an included angle between the installation stand column and the positive direction of a Y axis, when the angle H is an inclined state, the height of the top end and the height of the bottom end of the installation stand column are determined, when the angle delta X is an inclined state, the vector of the installation stand column in the X axis direction is determined, when the angle delta Y is an inclined state, the vector of the installation stand column in the Y axis direction is determined, and:
wherein,representing the GNSS monitoring of the resultant displacement vector,the actual displacement vector of the monitoring point is represented,and the actual displacement vector of the center of the GNSS monitoring equipment is represented, and S represents the actual displacement of the monitoring point.
In this embodiment, referring to fig. 8, after performing noise processing and inclination correction on the plane displacement, based on a more reliable displacement component, the azimuth angle of the main deformation direction is α, the displacement (deformation rate or deformation accumulation) projected to the main sliding direction is represented by △ m, and the displacement of the trailing edge of the landslide pointing to the leading edge is positive, when the main deformation directions of the monitoring points are distributed in different boundaries, the projection Δ m is respectively represented as:
ΔM＝Δxcosα+Δysinα (1)
ΔM＝-Δxcos(180°-α)+Δysin(180°-α)＝Δxcosα+Δysinα (2)
ΔM＝-Δxcos(α-180°)-Δysin(α-180°)＝Δxcosα+Δysinα (3)
ΔM＝Δxcos(360°-α)-Δysin(360°-α)＝Δxcosα+Δysinα (4)
where, α is a main deformation direction azimuth angle, Δ X is a vector of the installation column in the X-axis direction in the tilt state, and Δ Y is a vector of the installation column in the Y-axis direction in the tilt state.
In this embodiment, referring to fig. 3, the GNSS includes a plurality of dual-axis tilt sensor arrays, a wireless communication module, a data processing module, a control circuit module, and a power management module, where an information acquisition end of the data processing module is connected to the dual-axis tilt sensor arrays, a communication end of the data processing module is connected to the wireless communication module, a control end of the data processing module is connected to the control circuit module, and a power supply end of the data processing module is connected to the power management module.
In this embodiment, referring to fig. 6, the GNSS of the global navigation satellite system further includes a GNSS antenna 1, a solar panel 3, a lightning rod 5, a data acquisition box 6, and an installation column 7, the GNSS antenna is fixed to the top end of the installation column through a connection screw 2, the lightning rod is fixed to the top end of the installation column, the solar panel is fixed to the upper portion of the installation column through a bracket 4, and the data acquisition box is installed on the upper portion of the installation column; the plurality of double-shaft tilt sensor arrays, the wireless communication module, the data processing module, the control circuit module and the power management module are all installed in the data acquisition box. The bottom end of the mounting upright post is fixedly mounted in the cement pier 9, and the middle part of the mounting upright post is also provided with a flange 8, so that the connection stability is improved.
In this embodiment, referring to fig. 7, the dual-axis tilt sensor arrays are disposed equidistantly by using a circumferential plane, and each dual-axis tilt sensor array includes three tilt sensors 10.
In the global navigation satellite system GNSS, based on the principle of a double-shaft inclination MEMS sensor and a measurement error data processing theory, the inclination angle elements of the deformable body are observed, and data processing is carried out in the data acquisition box by a data processing chip, so that the elimination and interpolation of the plane displacement component gross errors are realized, and a reliable adjustment value is obtained. The equipment selects a mature and reliable wireless data communication module, adopts a GPRS communication mode, realizes observation data remote transmission, receives a remote control instruction and executes corresponding remote control operation. The dual-axis tilt sensor array is greatly different from a common tilt sensor observation device, has the characteristics of large observation sample, stable observation data, high precision, high automation degree, strong interactivity and the like, and can provide a new means for tilt monitoring and quality detection in the fields of industrial and civil construction, municipal administration, water conservancy and the like.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, although the present invention is described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the protection scope of the present invention.
Claims (10)
1. A GNSS monitoring data processing method based on inclination sensing is characterized by comprising the following steps:
s1: acquiring ground surface deformation monitoring data at a monitoring point through a Global Navigation Satellite System (GNSS), acquiring attitude data of an installation upright post through a double-shaft tilt sensor array, wherein the monitoring data comprises a central plane displacement component of GNSS monitoring equipment, and the attitude data comprises a tilt angle of the installation upright post, and preprocessing the plane displacement component;
s2: the planar displacement component comprises an X displacement component and a Y displacement component, the preprocessed X displacement component and the preprocessed Y displacement component are synthesized into a displacement vector, and inclination angle reduction correction is carried out on the displacement vector;
s3: and when the main deformation direction of the monitoring point is known, projecting the corrected displacement vector to the main deformation direction, and drawing a deformation process curve of the monitoring point according to a time sequence by using the projection analysis value to represent the deformation characteristic of the monitoring point.
2. The GNSS monitoring data processing method based on inclination sensing of claim 1, characterized in that the method for preprocessing the plane displacement component is as follows:
s11: judging whether the plane displacement component contains a gross error, if so, executing step S12, otherwise, executing step S13;
s12: removing and interpolating the gross error of the plane displacement component, and then executing step S13;
s13: and performing signal-to-noise separation on the plane displacement component.
3. The method of claim 2, wherein the interpolation of the gross error of the planar displacement component comprises linear interpolation, lagrangian interpolation or polynomial fitting.
4. The GNSS monitored data processing method based on tilt sensing of claim 2, wherein the method for signal-to-noise separation of the plane displacement component comprises curve fitting, multiple linear regression, gray prediction or wavelet signal-to-noise separation.
5. The method for processing GNSS monitoring data based on inclination sensing of claim 2, wherein it is determined whether the plane displacement component contains gross error by "3 σ criterion".
6. The GNSS monitoring data processing method based on inclination sensing of claim 1, characterized in that the inclination correction method of the displacement vector is as follows:
and (3) establishing a right-hand coordinate system by taking the central point of the foundation of the installation concrete as an origin, wherein the right-hand coordinate system can be obtained by geometric projection knowledge:
Δx＝H*cos|θ-π/2|*(-cosα)
Δy＝H*sin|θ-π/2|
when the angle alpha is an inclined state, an included angle between the installation stand column and the positive direction of an X axis, when the angle theta is an inclined state, an included angle between the installation stand column and the positive direction of a Y axis, when the angle H is an inclined state, the height of the top end and the height of the bottom end of the installation stand column are determined, when the angle delta X is an inclined state, the vector of the installation stand column in the X axis direction is determined, when the angle delta Y is an inclined state, the vector of the installation stand column in the Y axis direction is determined, and:
wherein,representing the GNSS monitoring of the resultant displacement vector,the actual displacement vector of the monitoring point is represented,and the actual displacement vector of the center of the GNSS monitoring equipment is represented, and S represents the actual displacement of the monitoring point.
7. The GNSS monitoring data processing method based on inclination sensing of claim 1, wherein when the main deformation directions of the monitoring points are distributed in different image limits, the projection amount Δ m is respectively expressed as:
ΔM＝Δxcosα+Δysinα (1)
ΔM＝-Δxcos(180°-α)+Δysin(180°-α)＝Δxcosα+Δysinα (2)
ΔM＝-Δxcos(α-180°)-Δysin(α-180°)＝Δxcosα+Δysinα (3)
ΔM＝Δxcos(360°-α)-Δysin(360°-α)＝Δxcosα+Δysinα (4)
where, α is a main deformation direction azimuth angle, Δ X is a vector of the installation column in the X-axis direction in the tilt state, and Δ Y is a vector of the installation column in the Y-axis direction in the tilt state.
8. The GNSS monitoring data processing method based on inclination sensing of claim 1, wherein the GNSS comprises a plurality of dual-axis inclination sensor arrays, a wireless communication module, a data processing module, a control circuit module and a power management module, wherein an information acquisition end of the data processing module is connected with the dual-axis inclination sensor arrays, a communication end of the data processing module is connected with the wireless communication module, a control end of the data processing module is connected with the control circuit module, and a power supply end of the data processing module is connected with the power management module.
9. The GNSS monitoring data processing method based on inclination sensing of claim 8, wherein the GNSS of the global satellite navigation positioning system further comprises a GNSS antenna, a solar panel, a lightning rod, a data acquisition box and a mounting column, the GNSS antenna is fixed on the top end of the mounting column through a connecting screw, the lightning rod is fixed on the top end of the mounting column, the solar panel is fixed on the upper portion of the mounting column through a bracket, and the data acquisition box is mounted on the upper portion of the mounting column; the plurality of double-shaft tilt sensor arrays, the wireless communication module, the data processing module, the control circuit module and the power management module are all installed in the data acquisition box.
10. The method of claim 9, wherein the dual-axis tilt sensor arrays are equidistantly arranged in a circumferential plane, and each dual-axis tilt sensor array comprises three tilt sensors.
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| CN112444187A (en) * | 2019-08-28 | 2021-03-05 | 千寻位置网络有限公司 | Deformation monitoring method and device |
| CN112611347A (en) * | 2020-12-30 | 2021-04-06 | 中科顶峰智能科技(重庆)有限公司 | Method, system and equipment for monitoring inclination deflection |
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| CN113358017A (en) * | 2021-06-02 | 2021-09-07 | 同济大学 | Multi-station cooperative processing GNSS high-precision deformation monitoring method |
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| CN109872290A (en) * | 2019-02-20 | 2019-06-11 | 四川省建筑科学研究院有限公司 | A kind of modification method of image deformation |
| CN109872290B (en) * | 2019-02-20 | 2021-05-28 | 四川省建筑科学研究院有限公司 | Image deformation correction method |
| CN112444187A (en) * | 2019-08-28 | 2021-03-05 | 千寻位置网络有限公司 | Deformation monitoring method and device |
| CN110570628A (en) * | 2019-09-18 | 2019-12-13 | 中国电建集团贵州电力设计研究院有限公司 | Power transmission line pole tower geological disaster monitoring, early warning and analyzing system and using method |
| CN110570628B (en) * | 2019-09-18 | 2021-07-23 | 中国电建集团贵州电力设计研究院有限公司 | Power transmission line pole tower geological disaster monitoring, early warning and analyzing system and using method |
| CN110736433A (en) * | 2019-10-23 | 2020-01-31 | 中科顶峰智能科技(重庆)有限公司 | quantitative video monitoring device |
| CN112611347A (en) * | 2020-12-30 | 2021-04-06 | 中科顶峰智能科技(重庆)有限公司 | Method, system and equipment for monitoring inclination deflection |
| CN112880622A (en) * | 2021-02-04 | 2021-06-01 | 上海航天控制技术研究所 | Method for calibrating swing angle sensor of flexible spray pipe by using inclinometer |
| CN113358017A (en) * | 2021-06-02 | 2021-09-07 | 同济大学 | Multi-station cooperative processing GNSS high-precision deformation monitoring method |
| CN117687047A (en) * | 2024-01-31 | 2024-03-12 | 中寰星网数字科技(大连)有限公司 | Artificial intelligence GNSS high-precision displacement processing method based on edge calculation |
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