集成GNSS和加速度计的实时变形监测系统研制

王培源; 涂锐; 韩军强; 左航; 陶琳琳; 方婧

doi:10.12265/j.gnss.2023012

集成GNSS和加速度计的实时变形监测系统研制

doi: 10.12265/j.gnss.2023012

王培源^{1, 2,},
涂锐^{1, 2, 3, ,},
韩军强^{1, 3,},
左航^{1, 2,},
陶琳琳^{1, 2,},
方婧^{1, 2,}

1.
中国科学院国家授时中心, 西安 710600
2.
中国科学院大学, 北京 100049
3.
中国科学院精密导航定位与定时技术重点实验室, 西安 710600

基金项目: 国家自然科学基金(42274019)

详细信息

作者简介:
王培源：(1997—)，女，硕士，研究方向为GNSS/加速度计融合定位

涂锐：(1985—)，男，博士，研究员，研究方向为GNSS精密定位，测速，时间传递，灾害监测等

韩军强：(1989—)，男，博士，研究方向为GNSS电离层建模理论研究及高精度定位应用

通信作者:
涂　锐E-mail: turui-2004@126.com

中图分类号: P228.4
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- 被引次数: 0
出版历程
- 收稿日期: 2023-02-07
- 网络出版日期: 2023-06-14

Development of a real-time deformation monitoring system with integrated GNSS and accelerometer

WANG Peiyuan^{1, 2
,},
TU Rui^{1, 2, 3
, ,},
HAN Junqiang^{1, 3
,},
ZUO Hang^{1, 2
,},
TAO Linlin^{1, 2
,},
FANG Jing^{1, 2
,}

1.
National Time Service Center, Chinese Academy of Sciences, Xi’an 710600, China
2.
University of Chinese Academy of Sciences, Beijing 100049, China
3.
Key Laboratory of Precision Navigation and Timing Technology, Chinese Academy of Sciences, Xi’an 710600, China

摘要

摘要: 本文设计了一种基于STM32单片机的全球卫星导航系统(GNSS)和加速度计的数据采集设备，其可以实现实时变形监测应用. 以STM32F103ZET6为主控芯片，利用GNSS板卡和加速度计采集数据，通过4G模块将数据传输到服务器，从服务器读取数据并用Kalman滤波算法对GNSS数据和加速度数据进行融合处理，从而达到实时变形监测的目的，并通过静态实验进行了验证. 实验结果表明：加速度计的基线漂移可以被自动校正，融合后X、Y、Z三个方向位移标准差(STD)均优于1.114 cm，速度STD均优于0.072 cm/s，校正基线漂移后加速度STD均优于0.485 cm/s².
- 精密单点定位(PPP) /
- 加速度计 /
- 基线漂移 /
- Kalman滤波 /
- 数据融合
Abstract: This paper designs an STM32 microcontroller based Global Navigation Satellite System (GNSS) and accelerometer data acquisition device that enables real-time deformation monitoring applications. The STM32F103ZET6 is used as the main control chip, and also the GNSS board and accelerometer are used to acquire data, and the data are transmitted to the server through the 4G module. The data are read from the server and the Kalman filter algorithm is used to fuse GNSS data with accelerometer data so that real-time deformation monitoring can be achieved and verified by static experiments. The results show that the baseline drift of the accelerometer can be automatically corrected and the standard deviation of displacement (STD) is better than 1.114 cm in all three directions after fusion; the STD of velocity is better than 0.072 cm/s; and the STD of acceleration is better than 0.485 cm/s² after correction of baseline drift.
- precise point positioning (PPP) /
- accelerometer /
- baseline drift /
- Kalman filter /
- data fusion

HTML全文

图 1 数据采集设备结构框图

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图 2 数据采集设备程序设计流程图

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图 3 RTCM3格式数据解码流程图

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图 4 GNSS与加速度计松组合数据处理过程

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图 5 实验装置

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图 6 不同方向原始速度及基线漂移加速度结果

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图 7 GNSS求解的三个方向的位移和速度

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图 8 GNSS与加速度数据融合后求解的三个方向的位移和速度

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表 1 RTCM3格式数据帧结构

名称	长度	内容
帧头	8 bit	11010011
保留字	6 bit	默认为000000
消息长度	10 bit	以byte为单位的消息长度
可变长度消息内容	0~1023 byte	具体消息内容
CRC校验码	24 bit	由前面数据生成的唯一校验码

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表 2 4G 模块连接服务器需要的AT指令及其功能

AT指令	说明
+++	离开透传模式进入AT指令配置
AT+WORKMODE=0	设置仅数据透传模式
AT+DTUMODE=1,1	设置为TCP透传
AT+DSCADDR=1，“TCP”，“IP”，端口号	连接服务器
AT+UARTCFG=115200,1,0,0	设置串口参数
AT&W	保存当前配置
AT+CFUN=1,1	模块重启
注：指令“AT+DSCADDR=1，‘TCP’，‘IP’，端口号”中的IP和端口号为实际所连服务器的IP和端口号.

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表 3 静止状态下原始加速度及校正基线漂移之后加速度的平均值和STD

统计量		X方向	Y方向	Z方向
原始加速度/(cm·s⁻²)	平均值	12.812 0	14.706 4	976.076 5
原始加速度/(cm·s⁻²)	STD	0.477 7	0.338 1	0.484 4
去除基线漂移后的加速度/(cm·s⁻²)	平均值	−0.000 1	−0.000 1	0.000 1
去除基线漂移后的加速度/(cm·s⁻²)	STD	0.480 7	0.337 6	0.484 3

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表 4 数据融合前后速度的平均值和STD

统计量		X方向	Y方向	Z方向
融合前的速度/(cm·s⁻¹)	平均值	0.378 6	−0.071 9	0.334 4
融合前的速度/(cm·s⁻¹)	STD	1.368 3	0.793 3	1.553 4
融合后的速度/(cm·s⁻¹)	平均值	0.000 3	0.002 2	0.000 1
融合后的速度/(cm·s⁻¹)	STD	0.070 4	0.051 5	0.071 1

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参考文献(22)

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