Unmanned aerial vehicle airborne radar mine mining land change monitoring system and method

Abstract

The invention belongs to the technical field of mine geological monitoring, and discloses a non-fixed wing unmanned aerial vehicle airborne radar mine mining land change monitoring system and method.The system comprises a non-fixed wing unmanned aerial vehicle for loading a lidar, a lidar GPS receiver, an inertial navigation system, a laser transceiver, a static GPS receiver and a control and a post-processing system, and comprises inertial navigation control software, LIDAR data acquisition software, trajectory calculation software, point cloud data calculation post-processing software and point cloud post-processing software. Through acquisition of two or more periods of point cloud data of the non-fixed wing unmanned aerial vehicle airborne radar, changes of mine surface geomorphological height differences in different time periods are formed, a new mine mining land area and elevation change monitoring technology is provided, surface elevation changes such as a mine open mining pit, a slag disposing area and mining subsidence are grasped, and scientific basis is provided for mine geological environment control, land reclamation and development, use and planning.

Description

technical field [0001] The invention belongs to the technical field of mine geological monitoring, and in particular relates to a monitoring system and method for mining damaged land changes by unmanned aerial vehicle airborne radar. Background technique [0002] At present, the methods and instruments for monitoring land elevation changes in mines include geoids, high-precision GPS, INSAR, and three-dimensional laser scanners. [0003] (1) Traditional artificial geodetic level measurement, or high-precision GPS technology, conduct point-to-point measurement of elevation points on the ground to form "point"-shaped elevation change data. The measurements form a surface-like graph rather than a three-dimensional map of surface elevation changes; [0004] (2) Satellite radar INSAR technology, although it can measure surface changes in mine development, the measurement results can form "planar" data, which can only reflect area changes, and it is difficult to form a three-dimen...

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Problems solved by technology

[0004] (2) Satellite radar INSAR technology, although it can measure surface changes in mine development, the measurement results can form "planar" data, which can only reflect area changes, and it is difficult to form a three-dimensional map with both area changes and elevation changes ; Its disadvantage is that it cannot obtain data independently at any time, and the monitoring accuracy of drastic changes in elevation, such as mining subsidence, is not accurate

[0007] In the past, mine land change monitoring mainly used traditional "contact" single-point measurement methods such as leveling technology and GPS measurement technology. Due to the limitation of terrain and ground conditions, and the acquired data are scattered, it is difficult to reflect the results of three-dimensional monitoring

INSAR technology is mainly used for regional land subsidence monitoring caused by groundwater pumping and compression of the surface loose layer in plain areas, such as land subsidence in the North China Plain, land subsidence in Suzhou, Wuxi, Changzhou, and Shanghai, etc. The elevation change of the general monitoring deformation is less than 50mm , the monitoring results are inaccurate for areas with severe deformation greater than the elevation ranging from hundreds to thousands of mm

For example, when the rapid deformation such as goaf subsidence is large, the monitoring data will be inaccurate. At the same time, the INSAR's own imaging conditions are affected by the harshness of atmospheric effects, time de-correlation and spatial de-correlation, as well as the constraints of data collected by satellite companies. Changes in stereo monitoring and other issues

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