区域对流层异常下顾及相对梯度的GNSS RTK桥梁变形监测算法

GNSS RTK Bridge Deformation Monitoring Algorithm Considering Relative Gradient in Regional Tropospheric Anomalies

  • 摘要: 在全球导航卫星系统(Global Navigation Satellite System,GNSS)桥梁监测中,实时动态定位(Real Time Kinematic,RTK)技术因其高精度与实时快速等优势被广泛应用。针对山区大高差环境下融合气象估计(Fusion Weather Estimation,FWE)的RTK方法在暴雨等区域对流层异常(Regional Tropospheric Anomaly, RTA)条件下,面临水平延迟差异显著、差分残差较大的问题。本文提出一种面向RTA的顾及相对梯度的GNSS RTK监测方法。该方法利用数值气象预报(Numerical Weather Prediction,NWP)与射线追踪(Ray Tracing,RT)反演高精度三维延迟场,并通过引入相对梯度参数增强对方向性残差的建模,最终利用卡尔曼滤波实现坐标、模糊度与对流层参数的联合估计。实测暴雨数据验证表明:在RTA时段,相比GPT3模型与FWE方法,新算法使BDS RTK垂向精度分别提升约19.8%与8.3%,北向精度平均提升约8%。残差分析显示,本文所提圆度指标证实残差点云由椭圆向近圆转变,BDS/GPS双系统卫星总圆度提升14.9%。顾及相对梯度方法有效削弱了对流层方位向残差,显著提升了RTA条件下桥梁变形监测的鲁棒性与工程适用性。

     

    Abstract: Objectives: Real-Time Kinematic (RTK) positioning is a prevalent method for bridge health monitoring (BHM) due to its high accuracy and automation. As demonstrated in our previous research, a Fusion Weather Estimation (FWE) RTK method was developed to mitigate tropospheric delays in mountainous areas. However, it was observed that the performance of this method deteriorates in the presence of Regional Tropospheric Anomaly (RTA) conditions, such as heavy rainfall. During RTA, significant horizontal variations in tropospheric delay introduce directional residuals even in short-baseline measurements, leading to reduced vertical accuracy and unstable ambiguity resolution. The objective of this study is to address this limitation by developing an enhanced RTK algorithm tailored for RTA scenarios to improve the robustness and precision of structural displacement monitoring. Methods: An RTK algorithm is proposed that incorporates relative tropospheric delay gradients derived from high-resolution Numerical Weather Prediction (NWP) data. Firstly, a three-dimensional, time-varying tropospheric delay field is constructed using NWP and ray tracing to enhance un-difference delay corrections. Secondly, relative tropospheric gradient parameters are incorporated into the double-difference observation model to explicitly account for horizontal delay non-isotropy. In conclusion, an extended kalman filter has been developed which estimates coordinates, integer ambiguities and tropospheric parameters, including these gradients. This is achieved using a soft-constraint strategy to balance model stability and sensitivity to atmospheric anomalies. Results: The efficacy of the algorithm was demonstrated through field validation during a heavy rainfall event. A comparison of the proposed method with both the conventional GPT3 model and the FWE method reveals an enhancement in vertical (U) positioning accuracy of approximately 19.8% and 8.3%, respectively, for the BDS system. The accuracy of northward (N) direction has also shown an average improvement of approximately 8%. Residual analysis reveals a quantifiable mitigation of directional error: the introduced "circularity" index shows residual point clouds shifting from an "elliptical" to a "near-circular" distribution. The total circularity for the combined BDS+GPS system increased by approximately 14.9%, directly indicating a reduction in azimuthally dominant residuals. Conclusions: The proposed NWP-driven, gradient-considered RTK algorithm successfully mitigates the detrimental effects of directional tropospheric residuals during RTA events. The enhancement of both the accuracy (particularly in the vertical component) and the non-isotropy of residuals has been demonstrated to significantly improve the robustness and reliability of GNSS-based bridge displacement monitoring under complex meteorological conditions, offering strong potential for engineering applications.

     

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