CN115164707A - Monitoring device and method for monitoring structural deformation by satellite positioning - Google Patents
Monitoring device and method for monitoring structural deformation by satellite positioning Download PDFInfo
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Abstract
The invention provides a monitoring device and a monitoring method for monitoring structural deformation by satellite positioning, which comprises a GNSS receiver, a solar power supply system, a satellite antenna, a 4G transmission module, a 4G transmission antenna, a data server and an antenna upright rod, wherein the GNSS receiver outputs real-time position information by satellite positioning, and judges the displacement and deformation of a building structure by comparing the relative position change of a reference station and a monitoring station, so as to judge the safety of the building structure.
Description
Technical Field
The invention relates to the field of monitoring devices, in particular to a monitoring device and a monitoring method for monitoring structural deformation by satellite positioning.
Background
Global Navigation Satellite System positioning (GNSS) is a space-based radio Navigation positioning System that provides users with all-weather 3-dimensional coordinates and velocity and time information at any location on the earth's surface or near-earth space using observations of a set of satellites such as pseudoranges, ephemeris, and Satellite transmission time. Through continuous innovation, development and perfection, the GNSS technology has the advantages of high automation degree, all-weather operation, no limitation of climate and terrain conditions, no need of sight and the like, and the deformation monitoring technology is changed from traditional regular observation into continuous, high-precision and automatic real-time monitoring by combining a network communication technology, a database technology and a computer technology, can be widely applied to the monitoring work of the appearance deformation of buildings needing high-precision continuous observation, and provides a new monitoring technical means for the monitoring work.
At the present stage, the traditional single-GNSS monitoring station deformation monitoring system is greatly influenced by the station setting environment in stability and reliability, so that the requirement of production practice is difficult to meet, and a building structure also needs a multipoint and high-precision monitoring mode, so that the development of a multi-monitoring station automatic deformation monitoring and early warning system for building structure monitoring becomes a new trend.
Disclosure of Invention
In order to solve the problems that the safety and manual investigation of the existing old building structure are difficult, potential safety hazards are not found timely and the like, the invention provides a system for monitoring the deformation of a building structure by adopting a satellite positioning device, which comprises a GNSS receiver, a solar power supply system, a satellite antenna, a 4G transmission module, a 4G transmission antenna, a data server and an antenna upright rod.
The GNSS receiver tracks satellite signals and calculates longitude and latitude and elevation data of the position of the antenna of the receiver. The GNSS receiver used on site can be divided into 2 types, one type is a reference station which is arranged near a monitored point and has a stable and difficultly-changed installation position; the second is a monitoring station installed at the monitored site.
The solar power supply system is used for supplying power to the GNSS receiver, and normal work of the GNSS receiver is guaranteed within 24 hours a day.
The satellite antenna receives the satellite signal and outputs an electric signal for positioning the position of the antenna point.
The 4G transmission module and the 4G transmission antenna are used for establishing a data transmission path and transmitting the time point, the positioning information, the satellite parameters and the environment information to the data server.
The antenna vertical rod mainly fixes the satellite antenna at a monitoring point in a mode of being vertical to the ground, and the height of the vertical rod is designed according to field conditions, so that the satellite antenna is higher than the surrounding barriers as much as possible.
And the data server is used for calculating the relative position between the monitoring station and the reference station according to the currently received monitoring station position information and the reference station position information, and finally realizing monitoring on the deformation of the building structure by comprehensively utilizing a risk judgment method.
A monitoring platform based on GNSS is built, and the main steps are as follows:
1) And selecting the installation positions of the monitoring station and the reference station according to the field environment. The monitoring station is arranged at a key point which can reflect the state change of the top of the building, and simultaneously, the space is ensured to be wide as much as possible, and the condition of observing the satellite is good; the reference station is arranged within 2km from the periphery of the reference station, and the space is also ensured to be wide, so that the satellite observation condition is good.
2) After the installation is completed, the monitoring station and the reference station acquire positioning coordinates including longitude (lat), latitude (lon) and elevation (hei) of the monitoring station and the reference station from the satellite positioning signals by taking t as a time interval.
3) According to the positioning coordinates of the monitoring stations and the reference stations, calculating the distance d = [ d ] between each monitoring station and the reference station 1 ,d 2 ,d 3 ,…d n ]And n is the number of monitoring stations.
4) Because the self deformation of the building structure belongs to quasi-static parameters, the situation that the num time t is taken as a calculation period can be considered, the position data precision of a single point is optimized and calculated, and the optimization method can adopt but is not limited to an average value, a least square method and an SVM method, and finally obtains the distance within the num times t time period
5) And establishing a space coordinate system by taking the reference station as a coordinate origin, taking the long edge of the building as an x axis, taking the short edge of the building as a y axis and taking a plane vertical to the xy as a z axis. If the building is in an irregular structure, the longer side is selected as x.
6) Will be provided with
Decomposing in an x, y, z coordinate system to obtain the coordinate (x) of each monitoring station in an xyz coordinate system i ,y i ,z i ) (i =1,2 \ 8230;, n), where i monitors the serial number of the station.
7) And comprehensively utilizing the risk judgment method and the real-time positioning data to judge the structural safety risk state of the building. If various risk judgment methods exist, the risk of the monitoring point can be comprehensively judged by setting different risk grades.
Risk judgment method 1: a building state identification method of single-point data deviation.
Step 1: preparing a training data set data train Wherein, m training data are contained, if the training data is in an initial state, the initial time period t is init Only m data are collected, and risk judgment is not carried out;
step 2: suppose data is train The training data set of one direction of one monitoring station is [ u [ ] 1 ,u 2 ,…,u m ]Establishing a data prediction model based on training data, wherein the data prediction model can adopt an average value, a least square method, an SVM method or a deep learning method;
and step 3: predicting the m +1 th data u 'at the next moment through the current model' m+1 According to u' m+1 Setting a three-level early warning value;
and 4, step 4: the (m + 1) th data u are collected at the next moment m+1 ；
And 5: based on prediction data u' m+1 And measured data u m+1 Judging, and performing early warning prompt of a corresponding level after the current direction of the current monitoring station exceeds an early warning value;
and 6: step 2) -5) are repeated in the same way, and early warning of the monitoring station in other directions is completed;
and 7: if early warning occurs, an engineer is required to monitor field inspection, if the field is abnormal, the building is required to be maintained, and after the maintenance is finished, the system clears the historical data, restores to the initial state, and returns to the step 1) to restart;
and 8: if no early warning occurs or no problem exists in the field inspection after the early warning, the new data u is sent m+1 Adding training data set data train Forming a new training data set;
and step 9: data with new training data set train Repeating the steps 2) to 8) to prepare for judging the state at the next moment;
step 10: and (4) judging the safety state of the building structure of other monitoring stations by referring to the steps 1) to 9).
Risk judgment method 2: a building state identification method based on a space plane.
Step 1: three monitoring stations with top center positions are selected from the installed monitoring stations to construct a standard plane p 0 ；
Step 2: preparing a training data set data train Wherein m training data are included, if it is in initial state, initial time period t init Only m data are collected, and risk judgment is not carried out;
and step 3: slave data train Selecting m training data of the three monitoring stations, firstly establishing an optimization model to calculate accurate coordinates of the three monitoring stations in xyz three directions, wherein the optimization model can adopt an average value, a least square method, an SVM method or a deep learning method;
and 4, step 4: establishing a standard plane p with the three monitoring stations 0 Calculating the standard plane p 0 The center of a circle formed by the three points is taken as a standard point;
and 5: calculating other monitoring stations and standard plane p 0 The distance between them;
step 6: after m +1 th monitoring data of each monitoring station are received at the next moment, calculating a plane p by utilizing the m +1 th data of the three monitoring stations 1 ；
And 7: calculating the plane p 1 And p 0 If the angle theta is larger than the early warning angle theta 0 The early warning prompts that the inclination is possible;
and step 8: calculating the current time and the plane p of each monitoring station according to the m +1 th position data of each monitoring station 0 If a monitoring station is above the initial plane and the distance from the initial plane is reduced or a monitoring station is below the initial plane and the distance from the initial plane is increased, the monitoring station is likely to collapse;
and step 9: calculating the distance between the moment and the standard point of each monitoring station according to the (m + 1) th position data of each monitoring station, and if the distance between one monitoring station and the standard point is increased, warning that the monitoring station is cracked in the direction;
step 10: if early warning occurs, an engineer goes to a monitoring station for field inspection, if the field confirms that the building is abnormal, the building is scheduled to be maintained, the building is restored to the initial state after maintenance, and the step 2) is returned to be started again;
step 11: if no early warning is given or no problem is found after early warning is given, the plane p is checked 1 Marking as normal, adding the (m + 1) th data into the data train Forming a new training data set;
step 12: and repeating the steps 3) to 11) to prepare for judging the next time.
Advantageous effects
The invention researches and develops a method for monitoring the safety of a building structure and carrying out risk early warning by adopting a GNSS satellite signal receiver based on a satellite positioning technology and an artificial intelligence technology, and the method integrates the high-precision positioning information with the depth of the monitored building data, realizes high-precision positioning analysis and early warning, finally realizes the acquisition and analysis of the building structure data based on satellite positioning, and provides early warning service, thereby providing a whole set of informatization solution for users of the building in the aspect of safety management, and providing powerful technical support and guarantee for enterprises and government authorities in the aspects of convenient management, fine operation, intelligent risk judgment and emergency disposal.
Drawings
FIG. 1 is a schematic view of a reference station and monitoring station layout;
FIG. 2 is a schematic view of the location of a monitoring station in a coordinate system;
Detailed Description
The present embodiment is described by taking GNSS-based monitoring in a building as an example.
1) The method comprises the steps of surveying a building to be monitored on site, determining a position point to be monitored according to a monitoring technical specification, installing a monitoring station at the position point, and installing a reference station at a relatively fixed position nearby. In the embodiment, 4 monitoring stations (A, B, C and D) are installed on the roof of a monitored building, 1 reference station (O) is installed at a fixed point on the periphery of the building, the height of the vertical rod installed at the reference station is 2.5m, and the height of the vertical rod installed at the monitoring stations is 1m.
2) Taking t =1 minute as a satellite signal resolving period, and acquiring positioning coordinates including longitude, latitude and elevation [ lat ] of a monitoring station and a reference station O ,lon O ,hei O ]、[lat A ,lon A ,hei A ]、[lat B ,lon B ,hei B ]、[lat C ,lon C ,hei C ]、[lat D ,lon D ,hei D ]。
3) And (3) calculating the distances from 4 monitoring stations to the reference station: d is a radical of A ＝|OA|、d B ＝|OB|、d C ＝|OC|、d D ＝|OD|。
4) With num =60, i.e., the exact solution of the distance is calculated once per hour, the calculation result of the present embodiment by using the average value method is:
by the same token, the method can obtain
And (4) accurate positioning distance of the four measuring stations.
5) And establishing a coordinate system by taking O as an origin, taking the parallel AB edge as an x axis, taking the CD edge as a y axis and taking the vertical xy composition plane as a z axis. The coordinate angles between OA, OB, OC and OD and the x, y and z axes are respectively [ alpha ] A ,β A ,γ A ]、[α B ,β B ,γ B ]、[α C ,β C ,γ C ]、[α D ,β D ,γ D ]。
6) Resolving to obtain the coordinates of the monitoring station A in the coordinate system
Combining to obtain a coordinate point (x) of the point A A ,y A ,z A ) The same asGet B point (x) B ,y B ,z B ) C point (x) C ,y C ,z C ) D point (x) D ,y D ,z D ) And (4) coordinates.
7) And comprehensively utilizing two risk judgment methods to judge the structural safety risk of the building.
Risk judgment method 1: a building state identification method of single-point data deviation.
The calculation process is first described in the x-axis direction of the monitoring station a.
Step 1: establishing a training data set data train The initial state takes m =24 data.
Step 2: establishing a data prediction model and using the data set data train And (5) training the model. The average value, the least square method, the SVM method or the deep learning method can be adopted, and the average value method is adopted in the test case to obtain the average value of the previous m points in the current state:
and step 3: predicting the value of m +1 of the next hour
Respectively setting three levels of early warning:
is a first-level early warning value,
Is a secondary early warning value,
And the early warning value is three levels.
And 4, step 4: the m +1 th actual data collected in the next hour is
And 5: based on preMeasured data
And measured data
Carrying out single-point state early warning judgment:
if it is not
Prompting a current monitoring station A to perform primary early warning in the current direction x at the current moment; if it is not
Prompting a secondary early warning of a current monitoring station A in the current direction x at the current moment; if it is not
And prompting the current monitoring station A to perform three-level early warning in the current direction x at the current moment. abs (x) is the absolute value of x.
Step 6: and similarly, repeating the steps 2) -5) to finish the early warning judgment of the monitoring station A in the directions of the y axis and the z axis.
And 7: if the early warning occurs, the engineer goes to a monitoring station A for field inspection, if the abnormality is confirmed on the field, the building is scheduled to be maintained, the building is restored to the initial state after maintenance, and the step 1) is returned to and restarted.
And 8: if no early warning exists or no problem exists in field inspection after early warning exists, the actually measured data is transmitted
Adding training data set data train In (1).
And step 9: data with new training data set train And repeating the steps 2) to 8) to prepare for judging the state at the next moment.
Step 10: and repeating the steps 1) to 9) to finish the single-point prejudgment of the stations B, C and D.
Risk judgment method 2: a building state identification method based on a space plane.
Step 1: and selecting and installing 3 monitoring stations A, B and C at the center of the top.
And 2, step: preparing a training data set data train Which contains m training data. If in the initial state, the initial time period t init Only m data are collected without risk judgment.
And 3, step 3: establishing an optimization model with data train For the training set, the present description uses an average value method to obtain an average value of the previous m points in the current state:
in the same way, the coordinates of other directions of the monitoring station A and the coordinates of other monitoring stations (B and C) can be obtained
And 4, step 4: a standard plane p is established at the three points A, B and C 0 And the coordinate of the center E of a circle formed by the three points is taken as
As standard points, the equation of the plane solving formula is as follows:
a is obtained by calculation 0 、b 0 、c 0 Can obtain p 0 The plane equation:
a 0 x+b 0 y+c 0 z＝1
and 5: calculating p between the calculation of monitoring stations A, B, C and D and the initial plane 0 The distance of (c):
and 6: newly receiving m +1 th monitoring data in the next hour
Then, a new plane p is calculated 1 ：
A is obtained by calculation 1 、b 1 、c 1 Available p 1 The plane equation:
a 1 x+b 1 y+c 1 z＝1
and 7: calculating p 0 And p 1 The included angle theta of the plane is set as the early warning angle theta 0 ＝5°
If the angle theta is larger than 5 degrees, warning that the inclination is possible is provided.
And 8: calculating m +1 th data of monitoring stations A, B, C and D to p 0 The distance of the planes is such that,
computing m +1 th data of monitoring stations A, B, C and D 0 Above or below the plane.
If it is not
Indicating that monitoring station a is in plane p 0 An upper part; if it is not
Indicating that monitoring station a is in plane p 0 Below.
If it is not
And is
Early warning monitoring station A has the possibility of collapse;
if it is not
And is
Early warning monitoring station A has the possibility of collapse;
and similarly, whether the monitoring stations B, C and D have the possibility of collapse can be warned.
And step 9: calculating the distance between the monitoring point and the standard point, and respectively calculating the average coordinate of the m point in front of the monitoring station A, the distance between the m +1 th data and the standard point E:
if it is used
Then the monitoring station is warned of the possibility of cracking in the direction.
And similarly, whether the monitoring stations B, C and D have cracks or not can be warned.
Step 10: if early warning occurs, an engineer goes to a monitoring station for on-site inspection, if the on-site confirmation is abnormal, the building is scheduled to be maintained, the building is restored to the initial state after maintenance, and the step 2) is returned to be started again;
step 11: if no early warning exists or no problem is found after the early warning is prompted to be detected by an engineer, the plane p is checked 1 Marking as normal, adding the (m + 1) th data into the data train As a training data set.
Step 12: and repeating the steps 3) to 11) to prepare for judgment when new data comes in the next hour.
Fusing the two risk judgment methods by adopting a mode of setting different risk grades, and outputting the risk grade as low risk if no method prompts early warning information aiming at the monitoring station A; if any one of the methods prompts the early warning information, outputting the risk grade as middle risk; and if the two methods prompt early warning information, outputting the risk grade as high risk. The same method can be used for determining the risk level of other monitoring stations.
Claims (5)
1. The utility model provides an utilize satellite positioning to carry out monitoring devices of structural deformation which characterized in that: the system comprises a GNSS receiver, a solar power supply system, a satellite antenna, a 4G transmission module, a 4G transmission antenna and a data server;
the GNSS receiver outputs real-time position information of a satellite antenna through satellite positioning, and judges displacement and deformation of the building structure through change of the position information, so that safety of the building structure is judged.
The GNSS receiver tracks satellite signals and calculates the longitude, latitude and elevation of the position of the antenna of the receiver;
the solar power supply system is used for supplying power to the GNSS receiver;
the satellite antenna is used for receiving satellite signals and outputting electric signals for positioning the position of an antenna point;
the 4G transmission module and the 4G transmission antenna are used for establishing a data transmission path and transmitting time points, positioning information, satellite parameters and environment information to a data server;
and the data server is used for calculating the relative position between the monitoring station and the reference station according to the currently received monitoring station position information and the reference station position information, so as to realize monitoring on the deformation of the building structure.
2. A device for monitoring deformation of a structure using satellite positioning according to claim 1, wherein: the monitoring system further comprises an antenna upright rod, and the antenna upright rod is used for fixing the satellite antenna at a monitoring point in a mode of being vertical to the ground.
3. A monitoring method of the monitoring device for structural deformation monitoring by satellite positioning according to claim 2, characterized in that: the method comprises the following steps:
1) Selecting installation positions of a monitoring station and a reference station according to a field environment;
2) After the installation is finished, the monitoring station and the reference station acquire positioning coordinates including longitude (lat), latitude (lon) and elevation (hei) of the monitoring station and the reference station from the satellite positioning signals by taking t as a time interval;
3) According to the positioning coordinates of the monitoring stations and the reference stations, calculating the distance d = [ d ] between each monitoring station and the reference station 1 ,d 2 ,d 3 ,…d n ]N is the number of monitoring stations;
4) The time t which is num times is used as a calculation period, the data precision of a single point is optimized and calculated, the optimization method adopts but not limited to an average value, a least square method and an SVM method,finally obtaining the distance in the num multiplied by t time period
5) Establishing a space coordinate system by taking the reference station as a coordinate origin, taking the long edge of the building as an x axis, taking the short edge of the building as a y axis and taking a plane vertical to the xy as a z axis, and selecting the longer edge as x if the building is in an irregular structure;
6) Will be provided with
Decomposing in an x, y and z coordinate system to obtain the coordinates (x) of each monitoring station in an xyz coordinate system i ,y i ,z i ) (i =1,2 \8230;, n), where i monitors the serial number of the station;
7) And comprehensively utilizing the risk judgment method and the real-time positioning data to judge the structural safety risk state of the building.
4. The monitoring method of a monitoring device for monitoring deformation of a structure using satellite positioning as claimed in claim 3, wherein: the risk judgment method comprises the following steps:
step 1: preparing a training data set data train M training data are contained, if the training data is in an initial state, the initial time period t is init Only m data are collected, and risk judgment is not carried out;
and 2, step: suppose data is train The training data set of one direction of one monitoring station is [ u [ ] 1 ,u 2 ,…,u m ]Establishing a data prediction model based on training data, wherein the data prediction model can adopt an average value, a least square method, an SVM method or a deep learning method;
and 3, step 3: predicting m +1 data u 'at next moment by using current model' m+1 U 'by' m+1 Setting a three-level early warning value;
and 4, step 4: the (m + 1) th data u are collected at the next moment m+1 ；
And 5: based on prediction data u' m+1 And actually measuringData u m+1 Judging, and carrying out early warning prompt of a corresponding level after the current direction of the current monitoring station exceeds an early warning value;
step 6: repeating the steps 2) -5) in the same way, and finishing the early warning of the monitoring station in other directions;
and 7: if early warning occurs, an engineer is required to monitor the site for inspection, if the site is abnormal, the building is required to be maintained, and after the maintenance is finished, the system clears the historical data, restores to the initial state, and returns to the step 1) to restart;
and 8: if no early warning occurs or no problem exists in the field inspection after the early warning, the new data u is sent m+1 Adding training data set data train Forming a new training data set;
and step 9: data set using new training data train Repeating the steps 2) to 8) to prepare for judging the state at the next moment;
step 10: and (4) judging the safety state of the building structure of other monitoring stations by referring to the steps 1) to 9).
5. The monitoring method of a monitoring device for structural deformation using satellite positioning as set forth in claim 3, wherein: the risk judgment method comprises the following steps:
step 1: three monitoring stations with top center positions are selected from the installed monitoring stations to construct a standard plane p 0 ；
And 2, step: preparing a training data set data train Wherein m training data are included, if it is in initial state, initial time period t init Only m data are collected, and risk judgment is not carried out;
and 3, step 3: slave data train Selecting m training data of the three monitoring stations, firstly establishing an optimization model to calculate accurate coordinates of the three monitoring stations in xyz three directions, wherein the optimization model can adopt an average value, a least square method, an SVM method or a deep learning method;
and 4, step 4: establishing a standard plane p with the three monitoring stations 0 Calculating the standard plane p 0 Is expressed byThe center of a circle formed by the three points is taken as a standard point;
and 5: calculating other monitoring stations and standard plane p 0 The distance between them;
step 6: after m +1 th monitoring data of each monitoring station are received at the next moment, calculating a plane p by utilizing the m +1 th data of the three monitoring stations 1 ；
And 7: calculating the plane p 1 And p 0 If the angle theta is larger than the early warning angle theta 0 The early warning prompts that the inclination is possible;
and 8: according to the (m + 1) th position data of each monitoring station, calculating the current time and the plane p of each monitoring station 0 If a monitoring station is above the initial plane and the distance from the initial plane is reduced or a monitoring station is below the initial plane and the distance from the initial plane is increased, the monitoring station has the possibility of collapse;
and step 9: calculating the distance between the moment and the standard point of each monitoring station according to the (m + 1) th position data of each monitoring station, and if the distance between one monitoring station and the standard point is increased, warning that the monitoring station is cracked in the direction;
step 10: if early warning occurs, an engineer goes to a monitoring station for on-site inspection, if the on-site confirmation is abnormal, the building is scheduled to be maintained, the building is restored to the initial state after maintenance, and the step 2) is returned to be started again;
step 11: if no early warning is given or no problem is found after early warning is given, the plane p is checked 1 Marking the data as normal, adding the m +1 th data into the data train Forming a new training data set;
step 12: and repeating the steps 3) to 11) to prepare for judging the next time.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116625219A (en) * | 2023-07-25 | 2023-08-22 | 北京华力方元科技有限公司 | Distance monitoring method and system for insulator string of electric power iron tower |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116625219A (en) * | 2023-07-25 | 2023-08-22 | 北京华力方元科技有限公司 | Distance monitoring method and system for insulator string of electric power iron tower |
| CN116625219B (en) * | 2023-07-25 | 2023-10-03 | 北京华力方元科技有限公司 | Distance monitoring method and system for insulator string of electric power iron tower |
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