CN109141215A - GNSS monitoring data processing method based on inclination angle sensing - Google Patents

Abstract

The invention discloses a method for processing GNSS monitoring data based on inclination sensing. The method includes the following steps: S1: Obtain the central plane displacement component of the GNSS monitoring equipment at the monitoring point through GNSS, and obtain the displacement of the installation column through a dual-axis inclination sensor array. Tilt angle, preprocessing the plane displacement component; S2: The plane displacement component includes the X displacement component and the Y displacement component, the preprocessed X displacement component and the Y displacement component synthesize the displacement vector, and perform inclination correction on the displacement vector; S3 : When the main deformation direction of the monitoring point is known, the corrected displacement vector is projected to the main deformation direction, and the deformation process curve of the monitoring point is drawn in time series with the projected analytical value to characterize the deformation characteristics of the monitoring point. Through this method, the problem that the real deformation vector does not match the data representation vector in the process of GNSS displacement monitoring is solved, and it has the advantages of reliable monitoring data, high observation accuracy, simple data analysis and intuitive representation results.

Description

A GNSS Monitoring Data Processing Method Based on Inclination Sensing

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 technique

The Global Navigation Satellite System (GNSS) currently mainly includes GPS in the United States, GLONAS in Russia, COMPASS in China and GALILEO in the European Union. GNSS can provide dynamic three-dimensional positions for different users at any time and any position, and has been widely used in the fields of geodetic detection, precision engineering measurement, deformation monitoring and so on.

At present, when monitoring the deformation of geological disasters such as landslides, it mainly observes the changes of a series of factors over time, such as surface displacement characteristics, rainfall, groundwater level, etc. Among them, displacement monitoring has intuitive results and obvious results, which is the most important. Therefore, the displacement monitoring method has been the most widely used. By monitoring one or more characteristics of the object's moving direction, moving amount and moving speed, the purpose of monitoring the landslide area can be largely achieved. The current monitoring of moving features mainly adopts the GNSS surface displacement monitoring method. Its operation method is simple and convenient, and it has the advantages of no need to see through between monitoring stations, can measure the three-dimensional displacement of points at the same time, and is not limited by climatic conditions. It can realize automatic three-dimensional Coordinate monitoring. In the processing of GNSS surface displacement monitoring data, the coordinate components in the measurement coordinate system or the composite vector of the two are often used to represent the deformation degree of the deformable body. The most noteworthy is the displacement of the deformable body along the main deformation direction.

In geological disaster monitoring, GNSS displacement monitoring points are the basis for reflecting surface deformation information, but in monitoring operations, monitoring stations often need to pour columns and set up foundation cement piers for protection. There is a height difference between the actual monitoring points and the target monitoring points. , angular tilt difference, etc., which lead to the introduction of new errors in the observations. In actual monitoring, the target monitoring object is the center point at the bottom of the column, that is, the actual surface displacement point, and the actual monitoring object is the receiver center, as shown in Figure 4. In surface monitoring, the main focus is on the difference between the monitoring points obtained from the monitoring data of the two phases, rather than the coordinates of the monitoring points themselves, so that the common systematic errors contained in the two phases of monitoring will affect the coordinates of the two phases respectively. value, but does not affect the amount of deformation obtained. However, in the process of surface deformation, due to the inclination error caused by the inclination of the column, it is often impossible to ensure that the target monitoring point and the actual monitoring point are on the same vertical line, and the actual height difference is smaller than the column height difference, that is, the real deformation vector does not match the data representation vector. The error caused by displacement measurement makes it difficult to guarantee the observation accuracy and reliability. At the same time, the surface displacement monitoring method commonly used by technicians is the traditional displacement component synthesis method. This method uses the displacement scalar and the displacement azimuth to represent the plane displacement vector, which has problems such as complicated calculation and analysis, and the characterization results are not intuitive.

SUMMARY OF THE INVENTION

In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide an analysis method that can effectively analyze surface deformation monitoring data, which can solve the problem that the real deformation vector does not match the data representation vector in the process of GNSS displacement monitoring, and has the advantages of monitoring The data is reliable, the observation accuracy can be improved, the monitoring data analysis is simple, and the characterization results are intuitive.

The present invention adopts the following technical scheme:

A GNSS monitoring data processing method based on inclination sensing, the method comprises the following steps:

S1: Obtain the surface deformation monitoring data at the monitoring point through GNSS, and obtain the attitude data of the installation column through the dual-axis inclination sensor array. The monitoring data includes the displacement component of the center plane of the GNSS monitoring equipment, and the attitude data includes the inclination of the installation column. angle, the plane displacement component is preprocessed;

S2: the plane displacement component includes an X displacement component and a Y displacement component, the preprocessed X displacement component and the Y displacement component synthesize a displacement vector, and the displacement vector is corrected by inclination angle reduction;

S3: When the main deformation direction of the monitoring point is known, project the corrected displacement vector to the main deformation direction, and use the projected analytical value to draw the deformation process curve of the monitoring point in time series to characterize the deformation characteristics of the monitoring point.

Further, the method of preprocessing the plane displacement component is as follows:

S11: Determine whether the plane displacement component contains gross errors, if yes, execute step S12, if not, execute step S13;

S12: remove and interpolate the gross error of the plane displacement component, and then execute step S13;

S13: Perform 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, Lagrangian 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, whether the plane displacement component contains gross errors is determined by the "3σ criterion".

Further, the inclination correction method of the displacement vector is as follows:

Taking the center point of the installed concrete foundation as the origin, a right-handed coordinate system is established, which can be obtained from the knowledge of geometric projection:

Δx=H*cos|θ-π/2|*(-cosα)

Δy=H*sin|θ-π/2|

Among them, ɑ is the angle between the installation column and the positive direction of the X axis in the inclined state, θ is the angle between the installation column and the positive direction of the Y axis in the inclined state, H is the height of the top and bottom of the installation column in the inclined state, Δx is the inclination The vector of the installation column in the X-axis direction in the state, Δy is the vector of the installation column in the Y-axis direction in the inclined state, and the inclination angle correction of the displacement vector is:

in, represents the GNSS monitoring synthetic displacement vector, represents the actual displacement vector of the monitoring point, Represents the actual displacement vector of the center of the GNSS monitoring equipment, and S represents the actual displacement of the monitoring point.

Further, when the main deformation directions of the monitoring points are distributed in different quadrants, the projection amount Δm is 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)

Among them, ɑ is the main deformation direction azimuth, Δx is the vector of the installation column in the X-axis direction in the inclined state, and Δy is the vector of the installation column in the Y-axis direction in the inclined state.

Further, the global satellite navigation and positioning system GNSS includes a plurality of dual-axis inclination sensor arrays, wireless communication modules, data processing modules, control circuit modules and power management modules, and the information acquisition end of the data processing module is connected to the dual-axis inclination sensor array. The communication terminal of the data processing module is connected to the wireless communication module, the control terminal of the data processing module is connected to the control circuit module, and the power supply terminal of the data processing module is connected to the power management module.

Further, the global satellite navigation and positioning system GNSS also includes a GNSS antenna, a solar panel, a lightning rod, a data acquisition box and an installation column. The GNSS antenna is fixed on the top of the installation column through a connecting screw, and the lightning rod is fixed on the top of the installation column. It is fixed on the upper part of the installation column, and the data acquisition box is installed on the upper part of the installation column; multiple dual-axis inclination sensor arrays, wireless communication modules, data processing modules, control circuit modules and power management modules are installed in the data acquisition box.

Further, the dual-axis inclination sensor arrays are deployed equidistantly on a circumferential plane, and each dual-axis inclination sensor array includes three inclination sensors.

Compared with the prior art, the present invention has the following advantages:

In the GNSS monitoring data processing method based on inclination angle sensing disclosed by the invention, a high-precision inclination sensor is installed at the monitoring site, and the monitoring displacement error caused by the inclination of the installation column is corrected through the plane displacement monitoring data characterization method; Removal, signal-to-noise separation, and then synthesizing the displacement vector and projecting it to the main deformation direction to characterize the deformation vector. This method solves the problem that the real deformation vector does not match the data representation vector in the process of GNSS displacement monitoring, and improves the observation accuracy and reliability.

Description of drawings

1 is a flowchart of GNSS monitoring data processing based on inclination sensing in an embodiment of the present invention;

Fig. 2 is the flow chart of plane displacement component preprocessing in the embodiment of the present invention;

3 is a system block diagram of a GNSS system in an embodiment of the present invention;

4 is a schematic diagram of an actual displacement vector in an embodiment of the present invention;

Fig. 5 is the geometric schematic diagram of displacement vector inclination correction in the embodiment of the present invention;

6 is a schematic structural diagram of a monitoring site in an embodiment of the present invention;

7 is a structural diagram of a dual-axis tilt sensor array in an embodiment of the present invention;

FIG. 8 is a schematic diagram of projection analysis in an embodiment of the present invention.

Reference number:

1. GNSS antenna; 2. Connecting screw; 3. Solar panel; 4. Bracket; 5. Lightning rod; 6. Data acquisition box; 7. Installation column; 8. Flange plate; 9. Cement pier; 10. Inclination sensor.

Detailed ways

Embodiments of the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

Example:

Referring to Figure 1, a method for processing GNSS monitoring data based on inclination angle sensing, the method includes the following steps:

S1: Obtain the surface deformation monitoring data at the monitoring point through GNSS, and obtain the attitude data of the installation column through the dual-axis inclination sensor array. The monitoring data includes the displacement component of the center plane of the GNSS monitoring equipment, and the attitude data includes the inclination of the installation column. angle, the plane displacement component is preprocessed;

S2: the plane displacement component includes an X displacement component and a Y displacement component, the preprocessed X displacement component and the Y displacement component synthesize a displacement vector, and the displacement vector is corrected by inclination angle reduction;

S3: When the main deformation direction of the monitoring point is known, project the corrected displacement vector to the main deformation direction, and use the projected analytical value to draw the deformation process curve of the monitoring point in time series to characterize the deformation characteristics of the monitoring point.

In the process of observing the surface deformation with the above monitoring data processing method, it will be affected by the error factors such as the observation environment, observation equipment, and observers. There are three types of errors in the observation data: gross error, systematic error and accidental error. Therefore, it is necessary to preprocess the original plane displacement component, remove its gross error, separate the signal and noise, and improve the reliability of the one-dimensional component data. The deformation information is then projected to the known main deformation directions based on the more reliable one-dimensional components to characterize the deformation vector. The traditional monitoring characterization method needs to go through the process of displacement scalar calculation, displacement quadrant angle calculation, and displacement azimuth angle conversion. Compared with the traditional monitoring and characterization method, the method provided by the present invention is based on the same projection principle, and the displacement component is directly projected to the main deformation direction and the composite calculation is performed.

In this embodiment, referring to FIG. 2 , the method for preprocessing the plane displacement component is as follows:

S11: Determine whether the plane displacement component contains gross errors, if yes, execute step S12, if not, execute step S13;

S12: remove and interpolate the gross error of the plane displacement component, and then execute step S13;

S13: Perform signal-to-noise separation on the plane displacement component.

In this embodiment, the method for interpolating the gross error of the plane displacement component includes linear interpolation, Lagrangian interpolation or polynomial fitting. Methods for signal-to-noise separation of plane displacement components include curve fitting, multiple linear regression, grey prediction or wavelet signal-to-noise separation. The "3σ criterion" is used to determine whether the plane displacement component contains gross errors. The gross error of the plane displacement component is eliminated to ensure the integrity of the observation sequence in the time domain.

In this embodiment, referring to FIG. 5 , during the surface deformation process, due to the inclination of the installation column, a displacement offset occurs between the target monitoring point and the actual measurement point, and the offset is closely related to the inclination angle, that is, the combined displacement vector and There is an inclination error between the true displacement vectors. The inclination correction method of the displacement vector is as follows:

Taking the center point of the installed concrete foundation as the origin, the vertical column points from the ground to the receiver as the positive direction of the Z-axis, the intersection of the horizontal plane passing through the origin and the vertical plane is the X-axis, pointing to the opposite direction of the column inclination, and establishing a right-handed coordinate system, by The knowledge of geometric projection can be obtained:

Δx=H*cos|θ-π/2|*(-cosα)

Δy=H*sin|θ-π/2|

Among them, ɑ is the angle between the installation column and the positive direction of the X axis in the inclined state, θ is the angle between the installation column and the positive direction of the Y axis in the inclined state, H is the height of the top and bottom of the installation column in the inclined state, Δx is the inclination The vector of the installation column in the X-axis direction in the state, Δy is the vector of the installation column in the Y-axis direction in the inclined state, and the inclination angle correction of the displacement vector is:

in, represents the GNSS monitoring synthetic displacement vector, represents the actual displacement vector of the monitoring point, Represents the actual displacement vector of the center of the GNSS monitoring equipment, and S represents the actual displacement of the monitoring point.

In this embodiment, referring to FIG. 8 , after noise processing and inclination correction are performed on the plane displacement, based on a more reliable displacement component, the azimuth angle of the main deformation direction is set to be α, and the displacement amount projected to the main sliding direction (deformation rate or The cumulative amount of deformation) is represented by Δm, and the displacement from the trailing edge of the landslide to the leading edge is positive. When the main deformation directions of the monitoring points are distributed in different quadrants, the projection amount Δm is 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)

Among them, ɑ is the main deformation direction azimuth, Δx is the vector of the installation column in the X-axis direction in the inclined state, and Δy is the vector of the installation column in the Y-axis direction in the inclined state.

In this embodiment, referring to FIG. 3 , the global satellite navigation and positioning system GNSS includes 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, and the information collection end of the data processing module and The dual-axis inclination sensor array is connected, the communication end of the data processing module is connected with the wireless communication module, the control end of the data processing module is connected with the control circuit module, and the power supply end of the data processing module is connected with the power management module.

In this embodiment, referring to FIG. 6 , the global satellite navigation and positioning system GNSS further includes a GNSS antenna 1, a solar panel 3, a lightning rod 5, a data acquisition box 6 and an installation column 7, and the GNSS antenna is fixed on the top of the installation column through a connecting screw 2 , the lightning rod is fixed on the top of the installation column, the solar panel is fixed on the upper part of the installation column through the bracket 4, and the data acquisition box is installed on the upper part of the installation column; multiple dual-axis inclination sensor arrays, wireless communication modules, data processing modules, control circuit modules and power management The modules are installed in the data acquisition box. The bottom end of the installation column is fixedly installed in the cement pier 9, and a flange plate 8 is also installed in the middle of the installation column to improve the connection stability.

In this embodiment, referring to FIG. 7 , the dual-axis inclination sensor arrays are deployed equidistantly on a circumferential plane, and each dual-axis inclination sensor array includes three inclination sensors 10 .

In the above-mentioned global satellite navigation and positioning system GNSS, based on the principle of dual-axis inclination MEMS sensor and the theory of measurement error data processing, through the observation of the inclination element of the deformable body, the data processing chip is used in the data acquisition box to process the data, so as to realize the coarse plane displacement component. Poor elimination and interpolation to obtain reliable adjustment values. The equipment adopts mature and reliable wireless data communication module and adopts GPRS communication mode to realize remote transmission of observation data, and at the same time, it receives remote control instructions and executes corresponding remote control operations. The dual-axis inclination sensor array in the present invention is quite different from the common inclination sensor observation device, and has the characteristics of large observation sample, stable observation data, high precision, high degree of automation, strong interaction, etc. It can be used for industrial and civil construction, Provide new means for tilt monitoring and quality inspection in municipal, water conservancy and other fields.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or Equivalent replacement, without departing from the spirit and scope of the technical solution of the present invention, should be included in the protection scope of the present invention.

Claims (10)

1. a GNSS monitoring data processing method based on inclination sensing, is characterized in that, the method comprises the following steps: S1: Obtain the surface deformation monitoring data at the monitoring point through GNSS, and obtain the attitude data of the installation column through the dual-axis inclination sensor array. The monitoring data includes the displacement component of the center plane of the GNSS monitoring equipment, and the attitude data includes the inclination of the installation column. angle, the plane displacement component is preprocessed; S2: the plane displacement component includes an X displacement component and a Y displacement component, the preprocessed X displacement component and the Y displacement component synthesize a displacement vector, and the displacement vector is corrected by inclination angle reduction; S3: When the main deformation direction of the monitoring point is known, project the corrected displacement vector to the main deformation direction, and use the projected analytical value to draw the deformation process curve of the monitoring point in time series to characterize the deformation characteristics of the monitoring point. 2. the GNSS monitoring data processing method based on inclination sensing according to claim 1, is characterized in that, the method for plane displacement component preprocessing is as follows: S11: Determine whether the plane displacement component contains gross errors, if yes, execute step S12, if not, execute step S13; S12: remove and interpolate the gross error of the plane displacement component, and then execute step S13; S13: Perform signal-to-noise separation on the plane displacement component. 3. The GNSS monitoring data processing method based on inclination sensing according to claim 2, wherein the method for interpolating the gross error of the plane displacement component comprises linear interpolation, Lagrangian interpolation or polynomial fitting . 4. The GNSS monitoring data processing method based on inclination angle sensing according to claim 2, wherein the method for performing signal-to-noise separation on the plane displacement component comprises curve fitting, multiple linear regression, gray prediction or wavelet signal-to-noise separation . 5 . The GNSS monitoring data processing method based on inclination angle sensing according to claim 2 , wherein the “3σ criterion” is used to determine whether the plane displacement component contains gross errors. 6 . 6. the GNSS monitoring data processing method based on inclination sensing according to claim 1, is characterized in that, the inclination correction method of described displacement vector is as follows: Taking the center point of the installed concrete foundation as the origin, a right-handed coordinate system is established, which can be obtained from the knowledge of geometric projection: Δx=H*cos|θ-π/2|*(-cosα) Δy=H*sin|θ-π/2| Among them, ɑ is the angle between the installation column and the positive direction of the X axis in the inclined state, θ is the angle between the installation column and the positive direction of the Y axis in the inclined state, H is the height of the top and bottom of the installation column in the inclined state, Δx is the inclination The vector of the installation column in the X-axis direction in the state, Δy is the vector of the installation column in the Y-axis direction in the inclined state, and the inclination angle correction of the displacement vector is: in, represents the GNSS monitoring synthetic displacement vector, represents the actual displacement vector of the monitoring point, Represents the actual displacement vector of the center of the GNSS monitoring equipment, and S represents the actual displacement of the monitoring point. 7. The GNSS monitoring data processing method based on inclination angle sensing according to claim 1, wherein when the main deformation directions of the monitoring points are distributed in different quadrants, the projection amount Δm 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) Among them, ɑ is the main deformation direction azimuth, Δx is the vector of the installation column in the X-axis direction in the inclined state, and Δy is the vector of the installation column in the Y-axis direction in the inclined state. 8. The GNSS monitoring data processing method based on inclination angle sensing according to claim 1, wherein the global satellite navigation and positioning system GNSS comprises a plurality of dual-axis inclination sensor arrays, a wireless communication module, a data processing module, a control The circuit module is connected to the power management module, the information acquisition end of the data processing module is connected to the dual-axis inclination sensor array, the communication end of the data processing module is connected to the wireless communication module, the control end of the data processing module is connected to the control circuit module, and the data processing module is connected to the control circuit module. The power supply terminal is connected to the power management module. 9. The GNSS monitoring data processing method based on inclination sensing according to claim 8, wherein the global satellite navigation and positioning system GNSS also comprises a GNSS antenna, a solar panel, a lightning rod, a data acquisition box and an installation column, and the GNSS The antenna is fixed on the top of the installation column through the connecting screw, the lightning rod is fixed on the top of the installation column, the solar panel is fixed on the upper part of the installation column through the bracket, and the data acquisition box is installed on the upper part of the installation column; multiple dual-axis inclination sensor arrays, wireless communication modules, data processing The module, control circuit module and power management module are all installed in the data acquisition box. 10 . The GNSS monitoring data processing method based on inclination angle sensing according to claim 9 , wherein the dual-axis inclination sensor array is deployed equidistantly on a circumferential plane, and each dual-axis inclination sensor array comprises three inclination sensors. 11 . .