CN117109427A - Ground deformation monitoring system and method based on GNSS satellite positioning - Google Patents
Ground deformation monitoring system and method based on GNSS satellite positioning Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
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- G—PHYSICS
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- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The application relates to the technical field of ground deformation monitoring and discloses a ground deformation monitoring system and method based on GNSS satellite positioning; the monitoring system comprises a deformation pile monitoring module, a GNSS positioning module, a data processing module and an early warning module, wherein the deformation pile monitoring module is provided with an intelligent deformation pile, a common deformation pile and a displacement monitoring sub-module, the intelligent deformation pile and the common deformation pile are connected in series through a rope to form a linear chain-shaped monitoring module, and single-point displacement monitoring of GNSS satellite positioning is expanded into linear and planar large-scale monitoring; according to the monitoring method, the displacement monitoring sub-module and the GNSS positioning module are cooperated, when the displacement monitoring sub-module detects that the rope is displaced, the resolving frequency of the GNSS positioning module is improved, unnecessary GNSS satellite communication is reduced, the service life of the GNSS positioning module is prolonged, and single-point false alarm of the GNSS positioning module or the displacement monitoring sub-module can be avoided by the cooperation mode.
Description
Technical Field
The application relates to the technical field of ground deformation monitoring, in particular to a ground deformation monitoring system and method based on GNSS satellite positioning.
Background
The formation of geologic hazards such as landslide, collapse, debris flow, karst collapse, goaf collapse, ground fissures, ground subsidence, unstable slopes, high steep slopes, etc., is often accompanied by ground deformation.
Ground deformation refers to the destructive phenomenon and process of deformation of ground morphology due to internal and external dynamic geological action and ergonomic activity; at present, GNSS satellite positioning single-point displacement monitoring equipment is often adopted for ground deformation monitoring, the equipment is mainly applied to deformation process monitoring caused by natural disasters and human engineering activities based on position information, and has the advantages of all weather, uninterrupted monitoring and high automation degree.
With the increasing importance of prevention and treatment of geological disasters in China, a GNSS satellite positioning ground deformation monitoring system with low cost and high precision is an industrial research hotspot which is currently actively explored and realized early.
Disclosure of Invention
The application aims to provide a ground deformation monitoring system and method based on GNSS satellite positioning, so as to solve the urgent demands of the geological disaster monitoring industry on monitoring equipment with low cost, high precision and high universality.
According to a first aspect of the present application, there is provided a ground deformation monitoring system based on GNSS satellite positioning, comprising:
the deformation pile monitoring module is used for monitoring various data of the ground and underground in the range of the deformation pile foundation body;
the GNSS positioning module is used for calculating with GNSS satellite differences and determining the real-time three-dimensional position of the deformation pile monitoring module;
the data processing module is used for data processing and forwarding;
and the early warning module is used for receiving the data of each module, judging the early warning grade and carrying out ground deformation early warning.
Further, the deformation pile monitoring module is provided with an intelligent deformation pile, and the intelligent deformation pile is integrated with a pile body inclination detection unit and a soil humidity detection unit; the intelligent deformation pile is arranged in an area where ground deformation and sliding easily occur, the pile body inclination detection unit is integrated on the intelligent deformation pile body, and the piezoelectric crystal is used as a sensitive element to convert mechanical movement into an electric signal so as to detect the inclination angle of the intelligent deformation pile and evaluate the soil layer deformation; the soil humidity detection unit is integrated on an intelligent deformation pile pre-buried underground pile body and is used for detecting the soil humidity of the soil layer under different meteorological conditions and collecting related data;
further, the deformation pile monitoring module is provided with a displacement monitoring sub-module which is arranged in a more stable area of the terrain structure and is used for measuring the relative and absolute displacement between the intelligent deformation piles; the intelligent deformation pile body is further integrated with a rope winding pulley, a plurality of intelligent deformation piles are connected in series through ropes and the rope winding pulley, one end of each rope is fixed on one intelligent deformation pile, and the displacement monitoring submodule is connected to one end of each rope, so that the displacement change of the intelligent deformation piles with single points or multiple points is detected, the intelligent deformation piles are connected in series to form a line by the points, and a monitoring chain is formed to reflect the integral deformation of a large-volume geological disaster.
Further, the deformation pile monitoring module is further provided with a common deformation pile, the common deformation pile is integrated with a rope winding pulley, a small amount of intelligent deformation piles and a plurality of common deformation piles are arranged in the deformation pile monitoring module, the plurality of intelligent deformation piles and the plurality of common deformation piles are connected through ropes and the rope winding pulley, and the displacement monitoring submodule is connected with the ropes and detects the displacement of the ropes to form a monitoring chain.
Further, the data processing module is integrated inside the intelligent deformation pile; the data processing module comprises a communication data processing unit and a monitoring data processing unit, the communication data processing unit is used for processing positioning data of the GNSS positioning module and communication information between the early warning module and the monitoring data processing unit, and the monitoring data processing unit is used for processing relevant detection data of the pile body inclination detection unit, the soil humidity detection unit and the displacement monitoring sub-module.
Furthermore, the GNSS positioning module is integrated on the intelligent deformation pile, the GNSS positioning module is provided with a GNSS antenna, the GNSS antenna receives positioning signals, auxiliary signals and delay signals of satellites of the GNSS system, the GNSS positioning module extracts satellite time and self clock comparison to determine a time difference value, the positioning signals of the satellites of the GNSS system are utilized to calculate three-dimensional coordinates of the GNSS positioning module by using a mathematical algorithm, errors such as satellite clock errors, GNSS positioning module clock errors, atmospheric delay and multipath errors are corrected, and finally the position of the GNSS positioning module is calibrated.
Furthermore, the early warning module is arranged in a region with a relatively stable topographic structure, and the early warning module receives monitoring data of all modules and integrates the data so as to realize hierarchical early warning.
According to a second aspect of the present application, there is provided a ground deformation monitoring method based on GNSS satellite positioning, comprising the steps of:
and selecting a terrain condition to arrange a deformation pile monitoring module and an early warning module, and performing primary check on the pile body inclination detection unit, the soil humidity detection unit and the displacement monitoring sub-module.
And starting a ground deformation monitoring system to monitor all weather and the ground deformation state of the area.
The data processing module processes detection data of the pile body inclination detection unit, the soil humidity detection unit and the displacement monitoring sub-module and positioning data of the GNSS positioning module.
And the early warning module is used for receiving the detection data of each module processed by the data processing module, judging the early warning level and carrying out ground deformation early warning.
Further, the arrangement scheme of the deformation pile monitoring module has two kinds:
firstly, arranging a displacement monitoring submodule in a region with a more stable terrain structure, arranging an intelligent deformation pile in a region which is easy to generate ground deformation and is to be monitored, and connecting the intelligent deformation pile and the displacement monitoring submodule through a rope to form a monitoring chain so as to monitor the stratum state of the region to be monitored;
secondly, when the easy ground deformation area is bigger, intelligent deformation piles with fewer numbers and common deformation piles with more numbers are arranged, one intelligent deformation pile and a plurality of common deformation piles on the same contour line are connected through ropes, one end of each rope is fixed, and the other end of each rope is connected with a displacement monitoring sub-module, so that a monitoring chain is formed.
Furthermore, the displacement monitoring sub-module and the GNSS positioning module cooperate to set the GNSS positioning module to be in low-frequency all-weather real-time positioning, and the displacement monitoring sub-module is adopted as a real-time detection unit, so that when the displacement monitoring sub-module detects that the rope connected in series with the deformation pile is displaced, the resolving frequency of the GNSS positioning module is improved.
Further, the hierarchical early warning modes of the early warning module comprise four types, specifically:
the GNSS positioning module detects that the intelligent deformation pile is displaced, the displacement monitoring sub-module detects that the stay cord is displaced, the pile body inclination detection unit detects that the pile body is inclined, and when any one condition is met, primary early warning is carried out, and the primary early warning informs workers through data form recording and communication;
the GNSS positioning module detects that the intelligent deformation pile is displaced by 10-20 mm, the pile body inclination detection unit detects that the intelligent deformation pile inclination angle is 0.5-1 DEG, when any one condition is met, secondary early warning is carried out, the secondary early warning is recorded in a data form, and the secondary early warning is informed to staff through the data form recording and communication;
the GNSS positioning module detects that the intelligent deformation pile is displaced by 21-50 mm, the pile inclination angle detection unit detects the pile inclination angle by 1-1.5 degrees, the soil moisture detection unit detects that the soil moisture content reaches 30-50% RH, when any two conditions are met, three-level early warning is carried out, the three-level early warning is recorded in a data form, and the three-level early warning is communicated and informed to workers and broadcasted in a range of 70-100 db;
the GNSS positioning module detects that the intelligent deformation pile is displaced by 51-100 mm, the pile inclination angle is detected by the pile inclination detecting unit to be 1.5-5 degrees, the soil moisture content is detected by the soil moisture detecting unit to be 51-80% RH, when any two conditions are met, four-level early warning is carried out, the four-level early warning is recorded in a data form, and the four-level early warning is communicated and informed to workers for early warning through 120db broadcasting.
The beneficial effects are that:
compared with geological disaster monitoring systems such as landslide monitoring and ground subsidence monitoring in the prior art, the application positions through GNSS satellites, the positioning mode is not influenced by ground equipment, all-weather monitoring can be realized, meanwhile, by arranging intelligent deformation piles and common deformation piles to form a linear chain-shaped monitoring module, single-point displacement monitoring of GNSS satellite positioning is expanded into linear and planar large-scale monitoring, the monitoring efficiency of the monitoring system is improved, in addition, a displacement monitoring sub-module can cooperate with the GNSS positioning module, the GNSS positioning module is arranged for low-frequency all-weather real-time positioning, the displacement monitoring sub-module is adopted as a real-time detection unit, when the displacement monitoring sub-module detects that a rope displaces, the resolving frequency of the GNSS positioning module is increased, under the condition of ensuring the working efficiency of the monitoring system, unnecessary GNSS satellite communication is reduced, the economic cost is saved, the service life of the GNSS positioning module is prolonged, and single-point false alarm of the GNSS positioning module or the displacement monitoring sub-module can be avoided.
Drawings
FIG. 1 is a block diagram of a ground deformation monitoring system based on GNSS satellite positioning according to the present application;
FIG. 2 is a flowchart of a ground deformation monitoring method based on GNSS satellite positioning according to the present application;
fig. 3 is an embodiment of an arrangement of the deformation pile monitoring module according to the present application.
In the figure: 1. a displacement sub-module; 2. intelligent deformation piles; 3. a rope; 4. a rope winding pulley; 5. a common deformation pile.
Detailed Description
The present application will now be described in detail with reference to the drawings and the specific embodiments thereof, wherein the exemplary embodiments and descriptions of the present application are provided for illustration of the application and are not intended to be limiting.
Referring to fig. 1, according to a first aspect of the present application, there is provided a ground deformation monitoring system based on GNSS satellite positioning, including:
the deformation pile monitoring module is used for monitoring various data of the ground and underground in the range of the deformation pile foundation body;
the deformation pile monitoring module is provided with an intelligent deformation pile, and the intelligent deformation pile is integrated with a pile body inclination detection unit and a soil humidity detection unit; the intelligent deformation pile is arranged in an area where ground deformation and sliding easily occur, the pile body inclination detection unit is integrated on the intelligent deformation pile body, and the piezoelectric crystal is used as a sensitive element to convert mechanical movement into an electric signal so as to detect the inclination angle of the intelligent deformation pile and evaluate the soil layer deformation; the soil humidity detection unit is integrated on an intelligent deformation pile pre-buried underground pile body and is used for detecting the soil humidity of the soil layer under different meteorological conditions and collecting related data;
the deformation pile monitoring module is provided with a displacement monitoring sub-module which is arranged in a relatively stable area of the terrain structure and is used for measuring the relative and absolute displacement between the intelligent deformation piles; the intelligent deformation pile body is also integrated with a rope winding pulley, a plurality of intelligent deformation piles are connected in series through ropes and the rope winding pulley, one end of each rope is fixed on one intelligent deformation pile, and the other end of each rope is connected with a displacement monitoring submodule so as to detect displacement changes of the intelligent deformation piles with single points or multiple points, and the intelligent deformation piles are connected in series to form a line by the points to form a monitoring chain so as to reflect integral deformation of a large-volume geological disaster;
the deformation pile monitoring module is further provided with a common deformation pile, a small amount of intelligent deformation piles and a plurality of common deformation piles are arranged in the deformation pile monitoring module, the intelligent deformation piles and the common deformation piles are connected through ropes, and the displacement monitoring submodule is connected with the ropes and detects the displacement of the ropes to form a monitoring chain.
The data processing module is used for data processing and forwarding;
the data processing module is integrated inside the intelligent deformation pile; the data processing module comprises a communication data processing unit and a monitoring data processing unit, the communication data processing unit is used for processing positioning data of the GNSS positioning module and communication information between the early warning module and the monitoring data processing unit, and the monitoring data processing unit is used for processing relevant detection data of the pile body inclination detection unit, the soil humidity detection unit and the displacement monitoring sub-module.
The GNSS positioning module is used for calculating with GNSS satellite differences and determining the real-time three-dimensional position of the deformation pile monitoring module;
the GNSS positioning module is integrated on the intelligent deformation pile, the GNSS positioning module is provided with a GNSS antenna, the GNSS antenna receives positioning signals, auxiliary signals and delay signals of satellites of a GNSS system, the GNSS positioning module extracts satellite time and self clock comparison to determine a time difference value, the positioning signals of the satellites of the GNSS system are utilized to calculate three-dimensional coordinates of the GNSS positioning module by using a mathematical algorithm, errors such as satellite clock errors, clock errors of the GNSS positioning module, atmospheric delay and multipath errors are corrected, and the position of the GNSS positioning module is finally calibrated.
And the early warning module is used for receiving the detection data of each module processed by the data processing module, judging the early warning level and carrying out ground deformation early warning.
Referring to fig. 2, according to a second aspect of the present application, a ground deformation monitoring method based on GNSS satellite positioning is provided, which includes the following steps:
s1, selecting a topography condition to arrange a deformation pile monitoring module and an early warning module, and performing primary check on a pile body inclination detection unit, a soil humidity detection unit and a displacement monitoring sub-module.
Specifically, the arrangement scheme of the deformation pile monitoring module has two kinds:
firstly, arranging a displacement monitoring submodule in a region with a relatively stable terrain structure, arranging intelligent deformation piles in a region which is easy to generate ground deformation and is to be monitored, connecting the intelligent deformation piles and the displacement monitoring submodule through ropes to form a monitoring chain, and monitoring the stratum state of a region to be monitored, wherein the displacement monitoring submodule is used for detecting the micro displacement of the intelligent deformation piles to reflect the single-point displacement of the intelligent deformation piles or the accumulation of the integral displacement of a plurality of intelligent deformation piles in the region to be monitored so as to reflect the integral deformation of the ground; the arrangement scheme has the characteristic of high specific monitoring precision, and is suitable for the area with extremely accurate ground deformation monitoring.
Secondly, referring to fig. 3, when the deformation area of the ground is large, arranging a small number of intelligent deformation piles and a large number of common deformation piles, connecting one intelligent deformation pile and a plurality of common deformation piles on the same contour line through ropes, fixing one end of each rope, and connecting the other end of each rope with a displacement monitoring sub-module to form a monitoring chain; according to the arrangement scheme, the common deformation pile is adopted, so that the economic cost can be saved, and the arrangement scheme is more applicable to monitoring in large-area areas with low requirements on monitoring precision.
S2, starting a ground deformation monitoring system based on GNSS satellite positioning, performing all-weather monitoring, and monitoring the ground deformation state of the region.
Specifically, the ground deformation monitoring system based on GNSS satellite positioning includes a plurality of monitoring modules, where the monitoring modes can be all-weather timing or all-weather real-time, and as one of the preferred monitoring modes, the pile inclination detection unit, the soil humidity detection unit and the displacement monitoring sub-module can be all-weather real-time monitoring, and the GNSS positioning module is set to all-weather timing positioning or low-frequency real-time monitoring; because the GNSS positioning module obtains position information through satellite differential resolving, a large amount of satellite data is generally needed to participate in resolving, and therefore, a result is needed to be resolved for a long time on the premise of ensuring accuracy, the displacement monitoring sub-module can well complete mutual checking of the data of the GNSS positioning module and real-time detection of tiny changes of deformed piles, and when the displacement monitoring sub-module detects that a rope is displaced through cooperation between the displacement monitoring sub-module and the GNSS positioning module, the GNSS positioning module is started to perform real-time positioning or the resolving frequency of the GNSS positioning module is improved, unnecessary GNSS satellite communication is reduced under the condition of ensuring the working efficiency of the monitoring system, the economic cost is saved, and the service life of the GNSS positioning module is prolonged; meanwhile, single-point false alarm of the GNSS positioning module or the displacement monitoring sub-module can be avoided.
And S3, the data processing module processes detection data of the pile body inclination detection unit, the soil humidity detection unit and the displacement monitoring sub-module and positioning data of the GNSS positioning module.
Specifically, the monitoring data processing unit receives the pile inclination angle detected by the pile inclination detection unit, and performs classified transmission according to the inclination angle; the monitoring data processing unit receives the soil humidity data detected by the soil humidity detection unit and forwards the data; the monitoring data processing unit receives the rope displacement data detected by the displacement detection and monitoring sub-module and forwards the data; and the communication data processing unit of the data processing module receives the positioning data of the GNSS positioning module and all detection data sent by the monitoring data processing unit and sends the positioning data and the detection data to the early warning module.
And S4, the early warning module receives the detection data of each module processed by the data processing module, judges the early warning grade and carries out ground deformation early warning.
Specifically, the hierarchical early warning modes of the early warning module comprise four types:
primary early warning: the GNSS positioning module detects that the intelligent deformation pile is displaced, the displacement monitoring sub-module detects that the stay cord is displaced, the pile body inclination detection unit detects that the pile body is inclined, and when any one condition is met, primary early warning is carried out, and the primary early warning informs staff through data form recording and communication.
Second-level early warning: and when any one of the conditions is met, carrying out secondary early warning, wherein the secondary early warning is recorded in a data form, and the secondary early warning informs staff through the data form recording and communication.
Three-stage early warning: the GNSS positioning module detects that the intelligent deformation pile is displaced by 21-50 mm, the pile inclination angle detection unit detects the pile inclination angle by 1-1.5 degrees, the soil moisture detection unit detects that the soil moisture content reaches 30-50% RH, when any two conditions are met, three-level early warning is carried out, the three-level early warning is recorded in a data form, and the three-level early warning is communicated and informed to workers and broadcasted in a range of 70-100 db.
Four-stage early warning: the GNSS positioning module detects that the intelligent deformation pile is displaced by 51-100 mm, the pile inclination angle is detected by the pile inclination detecting unit to be 1.5-5 degrees, the soil moisture content is detected by the soil moisture detecting unit to be 51-80% RH, when any two conditions are met, four-level early warning is carried out, the four-level early warning is recorded in a data form, and the four-level early warning is communicated and informed to workers for early warning through 120db broadcasting.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the application and is not intended to limit the application, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (9)
1. A ground deformation monitoring system based on GNSS satellite positioning, comprising:
the deformation pile monitoring module is used for monitoring various data of the ground and underground in the range of the deformation pile foundation body, the deformation pile monitoring module is provided with an intelligent deformation pile, and the intelligent deformation pile is integrated with a pile body inclination detection unit and a soil humidity detection unit; the intelligent deformation pile is arranged in an area where ground deformation and sliding easily occur, the pile body inclination detection unit is integrated on the intelligent deformation pile body, and the piezoelectric crystal is used as a sensitive element to convert mechanical movement into an electric signal so as to detect the inclination angle of the intelligent deformation pile and evaluate the soil layer deformation; the soil humidity detection unit is integrated on an intelligent deformation pile pre-buried underground pile body and is used for detecting the soil humidity of the soil layer under different meteorological conditions and collecting related data;
the GNSS positioning module is used for calculating with GNSS satellite differences and determining the real-time three-dimensional position of the deformation pile monitoring module;
the data processing module is used for data processing and forwarding;
the early warning module is arranged in a region with a relatively stable topographic structure and is used for receiving monitoring data of all modules and integrating the data so as to realize hierarchical early warning.
2. A ground deformation monitoring system based on GNSS satellite positioning according to claim 1, wherein: the deformation pile monitoring module is provided with a displacement monitoring sub-module which is arranged in a relatively stable area of the terrain structure and is used for measuring the relative and absolute displacement between the intelligent deformation piles; the intelligent deformation pile body is further integrated with a rope winding pulley, a plurality of intelligent deformation piles are connected in series through ropes and the rope winding pulley, one end of each rope is fixed on one intelligent deformation pile, and the displacement monitoring submodule is connected to one end of each rope, so that the displacement change of the intelligent deformation piles with single points or multiple points is detected, the intelligent deformation piles are connected in series to form a line by the points, and a monitoring chain is formed to reflect the integral deformation of a large-volume geological disaster.
3. A ground deformation monitoring system based on GNSS satellite positioning according to claim 2, wherein: the deformation pile monitoring module is further provided with a common deformation pile, the common deformation pile is integrated with a rope winding pulley, a small amount of intelligent deformation piles and a plurality of common deformation piles are arranged in the deformation pile monitoring module, the plurality of intelligent deformation piles and the plurality of common deformation piles are connected through ropes and the rope winding pulley, and the displacement monitoring submodule is connected with the ropes and detects the displacement of the ropes to form a monitoring chain.
4. A ground deformation monitoring system based on GNSS satellite positioning according to claim 1, wherein: the data processing module is integrated inside the intelligent deformation pile; the data processing module comprises a communication data processing unit and a monitoring data processing unit, the communication data processing unit is used for processing positioning data of the GNSS positioning module and communication information between the early warning module and the monitoring data processing unit, and the monitoring data processing unit is used for processing relevant detection data of the pile body inclination detection unit, the soil humidity detection unit and the displacement monitoring sub-module.
5. A ground deformation monitoring system based on GNSS satellite positioning according to claim 1, wherein: the GNSS positioning module is integrated on the intelligent deformation pile, the GNSS positioning module is provided with a GNSS antenna, the GNSS antenna receives positioning signals, auxiliary signals and delay signals of satellites of a GNSS system, the GNSS positioning module extracts satellite time and self clock comparison to determine a time difference value, the positioning signals of the satellites of the GNSS system are utilized to calculate three-dimensional coordinates of the GNSS positioning module by using a mathematical algorithm, errors such as satellite clock errors, clock errors of the GNSS positioning module, atmospheric delay and multipath errors are corrected, and the position of the GNSS positioning module is finally calibrated.
6. The ground deformation monitoring method based on GNSS satellite positioning is characterized by comprising the following steps:
s1, a deformed pile monitoring module and an early warning module are arranged under a topographic condition, and a pile body inclination detection unit, a soil humidity detection unit and a displacement monitoring sub-module are subjected to primary check;
s2, starting a ground deformation monitoring system based on GNSS satellite positioning, performing all-weather monitoring, and monitoring the ground deformation state of the region;
s3, the data processing module processes detection data of the pile body inclination detection unit, the soil humidity detection unit and the displacement monitoring sub-module and positioning data of the GNSS positioning module;
and S4, the early warning module receives the detection data of each module processed by the data processing module, judges the early warning grade and carries out ground deformation early warning.
7. The ground deformation monitoring method based on GNSS satellite positioning according to claim 6, wherein: in S1, two arrangements of the deformation pile monitoring module are provided:
firstly, arranging a displacement monitoring submodule in a region with a relatively stable terrain structure, arranging intelligent deformation piles in a region which is easy to generate ground deformation and is to be monitored, connecting the intelligent deformation piles and the displacement monitoring submodule through ropes to form a monitoring chain, and monitoring the stratum state of a region to be monitored, wherein the displacement monitoring submodule is used for detecting the micro displacement of the intelligent deformation piles to reflect the single-point displacement of the intelligent deformation piles or the accumulation of the integral displacement of a plurality of intelligent deformation piles in the region to be monitored so as to reflect the integral deformation of the ground;
secondly, when the easy ground deformation area is bigger, intelligent deformation piles with fewer numbers and common deformation piles with more numbers are arranged, one intelligent deformation pile and a plurality of common deformation piles on the same contour line are connected through ropes, one end of each rope is fixed, and the other end of each rope is connected with a displacement monitoring sub-module, so that a monitoring chain is formed.
8. The ground deformation monitoring method based on GNSS satellite positioning according to claim 6, wherein: in S2, the ground deformation monitoring system based on GNSS satellite positioning includes a plurality of monitoring modules, where the monitoring modes of the monitoring modules can be all-weather timing or all-weather real-time; as one of the preferable monitoring modes, the pile body inclination detection unit, the soil humidity detection unit and the displacement monitoring submodule can be set to be all-weather real-time monitoring, and the GNSS positioning module is set to be all-weather timing positioning or low-frequency real-time monitoring;
the GNSS positioning module obtains position information through satellite differential calculation, a large amount of satellite data is generally needed to participate in the calculation, so that a result is needed to be obtained through calculation for a long time on the premise of ensuring accuracy, the displacement monitoring sub-module can well complete mutual checking with the GNSS positioning module and detect tiny changes of deformed piles in real time, when the displacement monitoring sub-module detects that a rope is displaced through cooperation between the displacement monitoring sub-module and the GNSS positioning module, the GNSS positioning module is started to perform real-time positioning or improve the calculation frequency of the GNSS positioning module, and meanwhile, single-point false alarm of the GNSS positioning module or the displacement monitoring sub-module can be avoided through cooperation between the displacement monitoring sub-module and the GNSS positioning module.
9. The ground deformation monitoring method based on GNSS satellite positioning according to claim 6, wherein: s4, the grading early warning modes of the early warning module comprise four types:
primary early warning: the GNSS positioning module detects that the intelligent deformation pile is displaced, the displacement monitoring sub-module detects that the stay cord is displaced, the pile body inclination detection unit detects that the pile body is inclined, and when any one condition is met, primary early warning is carried out, and the primary early warning informs workers through data form recording and communication;
second-level early warning: the GNSS positioning module detects that the intelligent deformation pile is displaced by 10-20 mm, the pile body inclination detection unit detects that the intelligent deformation pile inclination angle is 0.5-1 DEG, when any one condition is met, secondary early warning is carried out, the secondary early warning is recorded in a data form, and the secondary early warning is informed to staff through the data form recording and communication;
three-stage early warning: the GNSS positioning module detects that the intelligent deformation pile is displaced by 21-50 mm, the pile inclination angle detection unit detects the pile inclination angle by 1-1.5 degrees, the soil moisture detection unit detects that the soil moisture content reaches 30-50% RH, when any two conditions are met, three-level early warning is carried out, the three-level early warning is recorded in a data form, and the three-level early warning is communicated and informed to workers and broadcasted in a range of 70-100 db;
four-stage early warning: the GNSS positioning module detects that the intelligent deformation pile is displaced by 51-100 mm, the pile inclination angle is detected by the pile inclination detecting unit to be 1.5-5 degrees, the soil moisture content is detected by the soil moisture detecting unit to be 51-80% RH, when any two conditions are met, four-level early warning is carried out, the four-level early warning is recorded in a data form, and the four-level early warning is communicated and informed to workers for early warning through 120db broadcasting.
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