Mining area surface subsidence measuring method and system based on GNSS continuous observation points

Abstract

The invention relates to a mining area surface subsidence measurement method and system based on GNSS (Global Navigation Satellite System) continuous observation points, belongs to the technical field of mining area mining subsidence, and solves the problems that in the prior art, simultaneous measurement needs to be carried out from stable control points in a coal mining industry square, and observation is difficult, the observation workload is large and time and labor are consumed under the limitation of topographic conditions. The method comprises the following specific steps: arranging GNSS continuous observation points at key positions in a mining influence range; unifying the elevation system of the measurement area based on the position information of the GNSS continuous observation points; and by taking the plane position and elevation of the key position measuring point as a reference, carrying out comprehensive observation and daily observation through a local short-distance lead and a level line to obtain a surface movement deformation value and a surface subsidence prediction parameter of the mining subsidence area, so that the measurement of the surface subsidence of the mining area is realized. The repeated connection measurement process is omitted, so that the observation efficiency and precision are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mining subsidence, and in particular to a mining area surface subsidence measurement method and system based on GNSS continuous observation points. Background Art

[0002] The process of mining subsidence is very complex. It is the result of the combined influence of multiple factors such as geological conditions, hydrological conditions, mining conditions, topographic conditions, etc. At present, it is difficult to fully grasp this complex process theoretically. The main means is to set up observation stations on site for field observation and study the laws of mining subsidence through measured data.

[0003] The traditional observation method is to set up surface movement observation stations at selected locations, generally on the main section of the surface movement basin. After the observation points are buried and consolidated, before the observation station area is mined, connection measurement is required to determine the relative position relationship between the observation station and the mining working face. Figure 2 As shown in the figure, first of all, a stable reference point should be selected. Usually, a mining control network is laid out at a stable position in the industrial square. The mining control network consists of position points with known position coordinates and elevations, including a plane control network and an elevation control network. The mining control point selected from the control network is used as the reference point, and the observation line is determined by a certain control point of the observation station, and the plane position and elevation of the control point of the observation station are measured, and then the plane position of the remaining control points and the observation point is determined according to the control point of the observation station. When the mining control point is far away from the observation station, long-distance connection measurement is still required. The purpose of continuous measurement is to connect the observation station with the mining control network to determine the correspondence between the well and the bottom. According to the distribution of the mining control points and the terrain conditions, edge intersection, angle intersection, edge angle intersection or wire measurement can be used respectively. After determining the mutual position relationship between the observation station and the mining working face, comprehensive observation and daily observation are carried out to determine the spatial position of the surface measurement points in each period, so as to obtain the first-hand observation data such as the spatial position and relative position change of the observation point, which serves the study of the mining subsidence law.

[0004] Traditional observation methods are difficult to observe under the constraints of terrain conditions; measuring points are difficult to maintain, and there is a serious lack of measuring points during the observation process; connection measurement requires long-distance observation along the strike / dip, which is labor-intensive, time-consuming, and leads to errors in accuracy. Summary of the invention

[0005] In view of the above analysis, an embodiment of the present invention aims to provide a method and system for measuring surface subsidence in a mining area based on GNSS continuous observation points, so as to solve the problem in the prior art that joint measurement is required from stable control points in a coal mine industrial square, and that observation is difficult under the constraints of terrain conditions, the observation workload is large, and it is time-consuming and labor-intensive.

[0006] The purpose of the present invention is mainly achieved through the following technical solutions:

[0007] On the one hand, an embodiment of the present invention provides a method for measuring surface subsidence in a mining area based on GNSS continuous observation points, comprising the following steps:

[0008] Deploy GNSS continuous observation points at key locations within the mining impact area;

[0009] Unify the elevation system of the measurement area based on the position information of the continuous GNSS observation points;

[0010] The mining impact range is divided into several key areas according to the key positions; the surface mobile observation station is respectively located in each key area, taking the GNSS continuous observation points as the control reference, to conduct comprehensive observation and daily observation, and obtain the plane position and elevation data of all observation points within the mining impact range;

[0011] Based on the plane positions and elevation data of all the observation points, the surface movement deformation values ​​and surface subsidence prediction parameters of the mining subsidence area are obtained.

[0012] Furthermore, the elevation system of the survey area is unified through the following steps:

[0013] Based on the GNSS continuous observation points, obtaining the geodetic height and plane position of the observation point;

[0014] Based on the fitting of the quasi-geoid of all GNSS continuous observation points, the elevations of all GNSS continuous observation points are obtained through leveling measurement.

[0015] Based on the elevations, geoid heights and plane positions of all GNSS continuous observation points, an elevation anomaly relationship of a quasi-geoid is obtained;

[0016] Based on the elevation anomaly relationship and the plane positions of other observation points in the survey area, the elevation anomaly of the corresponding observation point is obtained, and the elevation system of the survey area is unified.

[0017] Furthermore, the specific steps of obtaining the plane position and elevation data of all observation points within the mining influence range include:

[0018] Taking the plane position of the GNSS continuous observation point as a reference, along a short-distance wire route, respectively measure the plane distances between other observation points in the key area and the GNSS continuous observation point;

[0019] Taking the elevation of the GNSS continuous observation point as a reference, the relative elevations of other observation points in the key area are measured along a local short-distance leveling route;

[0020] Based on the elevation of the GNSS continuous observation point and the relative elevation of other observation points, obtaining elevation data of the corresponding observation point;

[0021] Based on the plane positions of the continuous GNSS observation points and the plane distances of other observation points, obtaining the plane positions of the corresponding observation points;

[0022] Integrate the plane position and elevation data of all observation points in the key areas to obtain the plane position and elevation data of all observation points within the mining influence range.

[0023] Furthermore, the elevation system of the unified survey area includes obtaining elevation anomaly relationships through polynomial fitting, neural network fitting or supervised learning algorithm fitting.

[0024] Furthermore, the key positions include inflection points, maximum sinking points and boundary points.

[0025] Furthermore, under full mining conditions, the subsidence value at the inflection point is approximately half of the maximum subsidence value; when mining horizontal ore layers, the maximum subsidence point and the location of the maximum subsidence value are located directly above the center of the mining area; the boundary point is the location where the subsidence value is zero.

[0026] Furthermore, the specific steps of obtaining the ground movement deformation value and ground subsidence prediction parameters of the mining subsidence area include:

[0027] Integrate the plane position and elevation data of all observation points within the mining impact area to obtain the first-phase three-dimensional coordinates;

[0028] Calculate the movement and deformation values ​​of the ground surface through the three-dimensional coordinates of multiple periods;

[0029] Based on the movement and deformation of the ground surface, the surface subsidence prediction parameters are obtained by inversion.

[0030] On the other hand, an embodiment of the present invention provides a mining area surface subsidence measurement system based on GNSS continuous observation points, comprising:

[0031] GNSS continuous observation points are arranged at key locations within the mining impact area, and the plane position and geodetic height of the observation points are obtained through GNSS;

[0032] Unified elevation module, used to unify the elevation system of the survey area using the location information of continuous GNSS observation points;

[0033] The mobile observation station is used to divide the mining impact range into several key areas according to key locations, and to conduct comprehensive observation and daily observation in each key area with the GNSS continuous observation point as the control reference;

[0034] The data processing module is used to integrate the results of the comprehensive observation and daily observation to obtain the plane position and elevation data of all observation points within the mining influence range; and process the plane position and elevation data of all observation points to obtain the surface movement deformation value and surface subsidence prediction parameters of the mining subsidence area.

[0035] Furthermore, the unified elevation module unifies the elevation system of the survey area through the following steps:

[0036] Obtaining the geodetic height and plane position of the observation point through the GNSS continuous observation points;

[0037] Fitting a quasi-geoid using all the GNSS continuous observation points, taking this as a reference, and obtaining the normal height of the GNSS continuous observation station through leveling;

[0038] Geodetic height, normal height and plane position of all GNSS continuous observation points;

[0039] Based on the fitting of the quasi-geoid of all GNSS continuous observation points, the elevations of all GNSS continuous observation points are obtained through leveling measurement.

[0040] Based on the geodetic height, elevation and plane position of all GNSS continuous observation points, the elevation anomaly relationship of the quasi-geoid is obtained;

[0041] Based on the elevation anomaly relationship and the plane positions of other observation points in the survey area, the elevation anomaly of the corresponding observation point is obtained, and the elevation system of the survey area is unified.

[0042] Furthermore, the mobile observation station and the data processing module obtain the plane position and elevation data of all observation points within the mining influence range based on the following steps:

[0043] The mobile observation station measures the plane distances between other observation points in the key area and the GNSS continuous observation point along a short-distance wire route based on the plane position of the GNSS continuous observation point; and measures the relative elevations of other observation points in the key area along a local short-distance leveling route based on the elevation of the GNSS continuous observation point;

[0044] The data processing module uses the elevation of the GNSS continuous observation point and the relative elevation of other observation points to obtain the elevation data of the corresponding observation point; uses the plane position of the GNSS continuous observation point and the plane distance of other observation points to obtain the plane position of the corresponding observation point; integrates the plane position and elevation data of the observation points in all key areas to obtain the plane position and elevation data of all observation points within the mining influence range.

[0045] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0046] 1. The present invention proposes a method for measuring surface subsidence in a mining area based on GNSS continuous observation points. The GNSS observation points are used as control benchmarks to measure and obtain the three-dimensional coordinates of other monitoring points. The connection measurement process is omitted, the observation efficiency is improved, and the time cost is saved.

[0047] 2. The traditional long-distance observation along the strike / dip is converted into multiple short-distance local area observations, avoiding the long-distance joint measurement process from the control point in the stable area of ​​the industrial square to the deformation area within the mining influence range, thereby reducing the error accumulation in the continuous measurement process and improving the measurement accuracy;

[0048] 3. GNSS continuous observation points are arranged based on key locations within the mining impact range. Through a unified elevation system, observation point measurement in the entire area is achieved. There is no need to conduct joint measurement from stable control points in the mining industrial square, which solves the problem of difficult observation and measurement point maintenance under terrain restrictions.

[0049] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0051] Figure 1 It is a flow chart of a method for measuring surface subsidence in a mining area based on GNSS continuous observation points according to an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of a conventional observation station design for an embodiment of the present invention;

[0053] Figure 3 A schematic diagram of an observation station design based on GNSS continuous observation points according to an embodiment of the present invention;

[0054] Figure 4 A study area diagram of an embodiment of the present invention;

[0055] Figure 5 This is a diagram of observation point locations according to an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0057] Example 1

[0058] A specific embodiment of the present invention discloses a method for measuring surface subsidence in a mining area based on continuous GNSS observation points, such as Figure 1 As shown, the following steps are included:

[0059] Step S1, deploying GNSS continuous observation points at key locations within the mining impact area;

[0060] Step S2, unifying the elevation system of the survey area based on the position information of the GNSS continuous observation points;

[0061] Step S3, dividing the mining influence range into several key areas according to the key positions, and the surface mobile observation station is respectively in each key area, taking the GNSS continuous observation points as the control reference, to conduct comprehensive observation and daily observation, and obtain the plane position and elevation data of all observation points within the mining influence range;

[0062] Step S4: Based on the plane position and elevation data of all observation points, the surface movement deformation value and surface subsidence prediction parameters of the mining subsidence area are obtained.

[0063] Through the above method, the surface movement observation station uses the GNSS observation point as the control benchmark, and obtains the surface movement deformation value and surface subsidence prediction parameters of the mining subsidence area through comprehensive observation and daily observation. Since the long-distance joint measurement from the industrial square is avoided, the observation workload can be simplified and the measurement accuracy can be improved.

[0064] Specifically, in step S1, GNSS continuous observation points are arranged at key positions within the mining influence range, including inflection points, maximum settlement points and boundary points within the mining influence range; wherein, the inflection point refers to the concave and convex dividing point of the settlement curve, and under full mining conditions, the settlement value at the inflection point is approximately half of the maximum settlement value; the location of the maximum settlement point and the maximum settlement value, when mining horizontal coal seams, the maximum settlement point is located directly above the center of the mining area; the settlement value of the boundary point is zero.

[0065] It should be noted that most of the mining areas in my country use profile linear observation stations. The surface mobile observation station is generally composed of two observation lines, and the length of the observation line should exceed the boundary of the mobile basin by a certain distance in order to determine the edge of the mobile basin. The number of observation points on the observation line and their density mainly depend on the mining depth and the purpose of the station. The working observation point (referred to as the observation point) is set on the observation line within the expected mobile basin range, generally starting from the center of the mobile basin to the mobile boundaries on both sides. The observation points should have an appropriate density. In order to obtain the movement and deformation values ​​and their distribution laws with roughly the same accuracy, the observation points are generally spaced equally. As shown in Table 1, it is an observation point density table. In addition to being related to the mining depth, the observation point density also depends on the purpose of the station. For example, in order to more accurately determine the location of the mobile basin boundary or the maximum subsidence point, the observation points can be appropriately encrypted near the mobile basin boundary or in the center of the basin. When determining the location of the observation point on the observation line, it should also be considered to facilitate point burial and observation under permitted conditions.

[0066] Table 1

[0067]

[0068] Referring to the above principles of the number and density of observation points, GNSS continuous observation points are arranged at key locations within the mining impact area. The key locations shown are in unstable areas where deformation may occur. This GNSS observation point is used as the control benchmark. Unlike traditional observation stations, which require measurements based on control points in stable positions, this solves the problems of difficult observation and measurement point maintenance under terrain restrictions.

[0069] Specifically, in step S2, in the monitoring area of ​​the mining impact range, the elevation system of the measurement area is unified through the following steps:

[0070] Step S21, obtaining the geodetic height and plane position of the location through the GNSS observation equipment deployed at the GNSS continuous observation points;

[0071] Step S22: fitting a quasi-geoid based on all the GNSS continuous observation points, taking this as a reference, and obtaining the elevations of all the GNSS continuous observation points through leveling;

[0072] For example, Figure 3 As shown in the figure, taking the leftmost GNSS continuous observation point to the next GNSS continuous observation point as an example, other GNSS continuous observation points are leveled along the leveling route. The measurement is carried out according to the accuracy requirements of third-class leveling. As shown in Table 2, the main technical indicators of third-class leveling are obtained after adjustment.

[0073] Before observation, the instrument is calibrated to ensure its accuracy. A level is set up in the middle of the observation point, and a double-sided level is used. The observation procedure can be briefly described as "back, front, back, front, back", namely: ① Look back at the black surface, and read the upper thread, lower thread, and middle thread readings in turn; ② Look forward at the black surface, and read the upper thread, lower thread, and middle thread readings in turn; ③ Look forward at the red surface, and read the middle thread reading; ④ Look backward at the red surface, and read the middle thread reading. The measurement needs to be checked immediately after it is completed. If it meets the requirements, the station can be moved and measured. Otherwise, it should be re-observed until it meets the requirements before the station can be moved. After the measurement of the entire route is completed, the weighted adjustment is performed according to the distance, and the adjustment value of each observation point is obtained as the elevation value of the point.

[0074] Table 2

[0075]

[0076] Note: L and K in the table represent the route length in km.

[0077] Step S23, obtaining the elevation anomaly relationship of the quasi-geoid based on the geoid height, elevation and plane position obtained from all GNSS continuous observation points in the monitoring area;

[0078] It should be noted that GNSS measures geodetic height, while the elevation used in my country is normal height. Therefore, level conversion (i.e. elevation conversion) is required to convert the geodetic height measured by GNSS into normal height. The key to the conversion is the determination of elevation anomaly.

[0079] Exemplarily, based on the geodetic height and elevation of continuous GNSS observation points, the elevation anomaly of the corresponding observation point is obtained by using the difference, and the elevation anomaly relationship of the quasi-geoid is fitted according to the plane position of the continuous GNSS observation points and the corresponding elevation anomaly.

[0080] Furthermore, the elevation unification can be performed through fitting methods such as polynomial fitting, neural network or supervised learning algorithm. Compared with the direct method, which requires certain gravity data and terrain data, limiting its application, the fitting rules are relatively simple.

[0081] Step S24: based on the elevation anomaly relationship and the plane positions of other observation points in the survey area, obtain the elevation anomaly of the corresponding observation point and unify the elevation system of the survey area.

[0082] It should be noted that when the mining area elevation data is required to be based on the geodetic height, the elevation anomalies of other observation points can be obtained based on the plane positions of other observation points and the elevation anomaly relationship, and the elevations of other observation points can be converted into the geodetic height data of the corresponding observation points.

[0083] At the same time, because GNSS continuous observation points can obtain real-time geodetic height data, even if the location of the GNSS continuous observation point is deformed, the deformed geodetic height can be obtained. Combined with the elevation anomaly relationship, the real-time geodetic height can be obtained. Based on this, the data of other observation points can still be kept unified.

[0084] Specifically, in step S3, key areas are divided according to key positions, including turning point areas, maximum sinking areas, and boundary areas, etc.; a surface movement observation station is respectively located in each key area, and the three-dimensional coordinates of the GNSS continuous observation points deployed in the area are used as the surface movement observation station, which is used as the starting point for observation forward and backward.

[0085] For example, Figure 3 As shown, 4 GNSS continuous observation stations are deployed at the boundary points of the mining area's influence range (referred to as the mining area), 4 GNSS continuous observation stations are deployed at the turning points of the working face, and 1 GNSS observation station is deployed at the maximum sinking position at the center of the working face. The mining area is divided into several key areas based on the above GNSS continuous observation stations.

[0086] Taking one of the key areas as an example, the surface mobile observation station takes the GNSS continuous observation station in the key area as the starting point, and arranges observation points forward and backward through local short-distance wires and leveling routes for measurement, including:

[0087] Step S31, using the plane position reference of the GNSS continuous observation point, along the short-distance wire route, respectively measure the relative distances between other observation points in the key area and the GNSS continuous observation point;

[0088] Exemplarily, the relative distance between two observation points is measured by a short-distance steel tape measure. When the ground is flat, measure along the ground, otherwise measure in mid-air. The distance between the two points should be measured twice in a round trip, and each measurement should be read three times from different starting points. The difference between the three calculated lengths should be less than 2 mm, and then the average value is taken as the relative distance. The relative distance is summed with the plane position of the continuous GNSS observation point to obtain the plane position of the corresponding observation point, and the relative distances of other observation points in the key area are measured in turn to obtain the plane position from the key area to the observation point.

[0089] Step S32: taking the elevation of the GNSS continuous observation point as a reference, measuring the relative elevations of other observation points in the key area along a local short-distance leveling route;

[0090] For example, starting from a certain GNSS continuous observation station, using a level, leveling other observation points along a short-distance leveling route to obtain relative elevation. The survey is carried out according to the accuracy requirements of fourth-order leveling. When the terrain of the observation point area is undulating (the inclination angle between two points is greater than 20°), trigonometric height measurement can be used, using a theodolite of no less than J6 level to measure two vertical angles. The allowable mutual error of the round-trip measurement height difference can be calculated as follows:

[0091] Δh=8+0.1l,mm,

[0092] Trigonometric height measurement is carried out in sections along the leveling line, and the length of the observation line is measured with a steel tape measure. The length of each section (equivalent to the length between the turning points) does not exceed the length of the steel tape measure, and the height difference of each section is measured twice in a round trip. The height difference of the middle point is measured once at the front and rear turning points.

[0093] The measured relative elevation is summed with the elevation of the continuous GNSS observation points to obtain the elevation data of the corresponding observation point; similarly, the relative elevations of other observation points in the key area are measured in turn to obtain the elevations of the observation points in the key area.

[0094] According to the above method, there is no need to conduct connection measurements between the mine control network and the mining face. Comprehensive and daily observations of all key areas can be carried out through local measurements, and the plane position and elevation data of all observation points with uniform levels within the mining influence range can be obtained.

[0095] Among them, the content of comprehensive observation includes determining the plane position and elevation of each measuring point, the distance between each measuring point, the distance of each measuring point from the observation line (called offset), recording the original damage status of the surface, and making sketches. Daily observation work refers to the leveling work appropriately added between the first and last comprehensive observations to determine whether the surface has begun to move. After the mining face advances a certain distance (equivalent to 0.2 to 0.5 average mining depth H0), select several working measuring points in the area where it is expected to move first, and conduct leveling measurements (also known as prediction or patrol measurements) every few days. If the measuring point is found to have a tendency to sink, it means that the surface has begun to move. At the same time, by monitoring the geodetic height of the GNSS continuous observation points, it can also be determined whether the location has moved.

[0096] Step S33: Integrate the plane position and elevation data of all observation points in the key areas to obtain the plane position and elevation data of all observation points in the mining influence range.

[0097] Specifically, the specific steps of obtaining the surface movement deformation value and the surface subsidence prediction parameter of the mining subsidence area in step S4 include:

[0098] Step S41, summarizing the plane position and elevation data of all observation points within the mining influence range to obtain the three-dimensional coordinates of the first phase;

[0099] Step S42, calculating the movement and deformation values ​​of the ground surface through the three-dimensional coordinates of multiple periods;

[0100] Step S43: Based on the movement and deformation of the ground surface, the ground subsidence prediction parameters are obtained by inversion, including the sinking value parameter W and the horizontal movement value U of each observation point, the vertical deformation inclination i and curvature k and the horizontal deformation ε (tension and compression) between adjacent points, and the sinking speed V of the measuring point. ω .

[0101] For example, this embodiment selects the 3-1501 working face of Hongqinghe Coal Mine in Zasak Town, Yijinhuoluo Banner, Inner Mongolia as the research area. Mining started on July 9, 2021 and stopped on March 11, 2023. Figure 4 The 3-1501 working face is the first mining working face in the mining area. The surface has the characteristics of plateau erosional low-medium mountain landform. Due to the influence of the Mu Us Desert, the ground is mostly covered with aeolian sand. The area belongs to a desert to semi-desert area. Most of the surface is grass, scattered trees, and rural roads. There are many houses and wells in the upper part of the surface. The tributary of Dingdangmiaoxi River flows out of the working face from northeast to southwest. The river is a seasonal river. The water volume increases slightly in the rainy season. Its water volume is controlled by atmospheric precipitation, which is large in summer and autumn and small in winter and spring. The strike length of the working face is 3502m, the dip length is 300m, the average mining depth is 797m, the average mining thickness is 6.25m, and the average dip angle is 1~5°.

[0102] Four boundary areas of the monitoring range, the stop-mining line area, the cutting eye area, the two observation lines directly above the working face in the dip direction, and the central area of ​​the basin were selected as key areas. GNSS continuous observation stations were deployed in these key areas, and traditional observation points were designed and deployed in other areas as needed.

[0103] In China, the density of observation points is generally determined according to the mining depth, and the spacing between observation points above 300 meters is stipulated to be 25 meters. Considering the actual situation of the 3-1501 working face of Hongqinghe Coal Mine, the strike and inclination observation points are arranged at a spacing of 25 meters, and the Wu'a line direction observation points are arranged at a spacing of 45 meters. Four lines are arranged, with a total of 192 points (including monitoring control points).

[0104] According to the above calculation method, combined with the actual situation, four observation lines and 11 key areas were arranged in the survey area, including 4 strikes, 6 dips and 1 in the direction of the Wu-A line. Figure 5As shown, a total of 192 points (16 GNSS continuous monitoring points and 176 subsidence monitoring points) are deployed, among which: E1-E16 are GNSS continuous observation points; ZJ1-ZJ80 are strike observation points; QJ1-QJ40, QJ41-QJ79 are inclination observation points; H1-H20 are Wu-A line direction observation points. The details are as follows:

[0105] (1) Observation line to four key areas:

[0106] Ten conventional measuring points (ZJ1 to ZJ10) and one GNSS continuous observation point (E1) were arranged in the boundary area on one side of the cut;

[0107] Ten conventional measuring points (ZJ11-ZJ20) and one GNSS continuous observation point (E2) are arranged at the opening of the cut;

[0108] Ten conventional measuring points (ZJ21-ZJ30) and one GNSS continuous observation point (E15) are arranged in the area where mining is stopped;

[0109] Ten conventional measuring points (ZJ31-ZJ40) and one GNSS continuous observation point (E16) are arranged in the boundary area on one side of the stop-mining line, with a spacing of 25m between each measuring point;

[0110] 39 conventional measuring points (ZJ41~ZJ59, ZJ61~ZJ80) are arranged in the central area of ​​the working face.

[0111] The distance between the above measuring points is 25m, and the specific coordinates of each point are extracted from the CAD drawing.

[0112] (2) Two observation lines and six key areas:

[0113] There are 39 conventional side points and 4 GNSS continuous observation points in the four boundary areas, which are numbered as follows: QJ1~QJ10, QJ31~QJ40, QJ41~QJ50, QJ71~QJ79; the 4 GNSS continuous observation points are numbered as follows: E4, E8, E9, and E13.

[0114] There are 38 conventional measuring points and 6 GNSS continuous observation points in the middle area between the two basins, which are numbered as QJ11~QJ30, QJ52~QJ69; the 6 GNSS continuous observation points are numbered as E5~E7, E10~E12.

[0115] In addition, due to the long direction of the working face, two GNSS continuous observation points E3 and E14 were added in the center of the basin to obtain the subsidence in the center of the basin.

[0116] The distance between the above measuring points is 25m, and the specific coordinates of each point are extracted from the CAD drawing.

[0117] (3) One observation line in the direction of the Wu-A line and one key area:

[0118] There are 20 conventional measuring points arranged in the middle area of ​​the basin, numbered as H1 to H20.

[0119] The Hongqinghe Coal Mine Surface Mobile Observation Station completed the deployment of measurement points on June 20, 2021. The actual location of the surface mobile observation station is shown in Figure 5 , of which 16 GNSS continuous observation points, namely points E1-E16, are used as control points, and the three-dimensional coordinates of the GNSS continuous observation points are used as the surface mobile observation stations, which are also the starting data for the point observation. After the working points and control points were stabilized, the connection measurement and the first comprehensive observation were carried out on July 8, 2021. As of October 26, 2023, a total of 33 observations were carried out at observation stations ZJ1-ZJ20, ZJ41-ZJ59, ZJ61-ZJ80, and ZJ21-ZJ30 on the strike observation line, and the observation data of points E1-E3 and E6 at the corresponding observation time were counted; a total of 17 observations were carried out at observation stations QJ1-QJ40 on the dip line I, and the observation data of points E4-E7 at the corresponding observation time on their observation line were counted; a total of 17 observations were carried out at observation stations QJ41-QJ79 on the dip line II, and the observation data of points E9-E12 at the corresponding observation time on their observation line were counted; a total of 17 observations were carried out at observation stations H1-H20 on the Wu'a line; a large amount of valuable observation data were obtained, reflecting the actual situation of surface movement and deformation caused by the mining of the 3-1501 working face during the observation period, laying a good foundation for the study of the laws of surface movement and deformation in Hongqinghe Coal Mine and the determination of rock movement parameters. According to the measured data from the observation station, the maximum surface movement and deformation values ​​within the current mining impact area are shown in Table 3, which are the measured maximum surface movement and deformation values.

[0120] Table 3

[0121]

[0122] Compared with the prior art, the present embodiment provides a method for measuring surface subsidence in a mining area based on GNSS continuous observation points. Based on the geodetic height, normal height and plane position of the GNSS continuous observation points, combined with the elevation conversion relationship, the elevation anomaly relationship is obtained, and then the elevation system of the measurement area is unified. With the plane position and elevation of the key position measurement points as the benchmark, comprehensive observation and daily observation are carried out through local short-distance wires and leveling routes, and finally the surface movement deformation value and surface subsidence prediction parameters of the mining subsidence area are obtained. On the one hand, the method omits the repeated joint measurement process, improves the observation efficiency, and saves time and cost; on the other hand, the GNSS continuous observation points are arranged within the mining influence range, are not restricted by the terrain, and the observation point measurement of the entire area is realized.

[0123] Example 2

[0124] Another specific embodiment of the present invention discloses a mining area surface subsidence measurement system based on GNSS continuous observation points, comprising:

[0125] GNSS continuous observation points are arranged at key locations within the mining impact area, and the plane position and geodetic height of the observation points are obtained through GNSS;

[0126] Unified elevation module, used to unify the elevation system of the survey area using the location information of continuous GNSS observation points;

[0127] The mobile observation station is used to divide the mining impact range into several key areas according to key locations, and to conduct comprehensive observation and daily observation in each key area with the GNSS continuous observation point as the control reference;

[0128] The data processing module is used to integrate the results of the comprehensive observation and daily observation to obtain the plane position and elevation data of all observation points within the mining influence range; and process the plane position and elevation data of all observation points to obtain the surface movement deformation value and surface subsidence prediction parameters of the mining subsidence area.

[0129] Specifically, the unified elevation module unifies the elevation systems of the survey area through the following steps:

[0130] Obtaining the geodetic height and plane position of the observation point through the GNSS continuous observation points;

[0131] Fitting a quasi-geoid using all the GNSS continuous observation points, taking this as a reference, and obtaining the normal height of the GNSS continuous observation station through leveling;

[0132] Geodetic height, normal height and plane position of all GNSS continuous observation points;

[0133] Based on the fitting of the quasi-geoid of all GNSS continuous observation points, the elevations of all GNSS continuous observation points are obtained through leveling measurement.

[0134] Based on the geodetic height, elevation and plane position of all GNSS continuous observation points, the elevation anomaly relationship of the quasi-geoid is obtained;

[0135] Based on the elevation anomaly relationship and the plane positions of other observation points in the survey area, the elevation anomaly of the corresponding observation point is obtained, and the elevation system of the survey area is unified.

[0136] Specifically, the mobile observation station and the data processing module obtain the plane position and elevation data of all observation points within the mining influence range based on the following steps:

[0137] The mobile observation station measures the plane distances between other observation points in the key area and the GNSS continuous observation point along a short-distance wire route based on the plane position of the GNSS continuous observation point; and measures the relative elevations of other observation points in the key area along a local short-distance leveling route based on the elevation of the GNSS continuous observation point;

[0138] The data processing module uses the elevation of the GNSS continuous observation point and the relative elevation of other observation points to obtain the elevation data of the corresponding observation point; uses the plane position of the GNSS continuous observation point and the plane distance of other observation points to obtain the plane position of the corresponding observation point; integrates the plane position and elevation data of the observation points in all key areas to obtain the plane position and elevation data of all observation points within the mining influence range.

[0139] In addition, the system can perform surface subsidence measurement according to the mining area surface subsidence measurement method based on GNSS continuous observation points described in any one of the solutions in Example 1. The relevant parts are referenced from each other and are not repeated in this embodiment.

[0140] Compared with the prior art, the present embodiment provides a mining surface subsidence measurement system based on a GNSS surface mobile observation station. Based on GNSS continuous observation points, a unified elevation module, a mobile observation station and a data processing module, it completes daily measurement and comprehensive measurement without the need for a continuous measurement process, thus avoiding error accumulation during the continuous measurement process and improving the measurement accuracy of the system.

[0141] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0142] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for measuring surface subsidence in a mining area based on GNSS continuous observation points, characterized in that: The steps include: Deploy GNSS continuous observation points at key locations within the mining impact area; Unify the elevation system of the measurement area based on the position information of the continuous GNSS observation points; The mining impact range is divided into several key areas according to the key positions; the surface mobile observation station is respectively located in each key area, taking the GNSS continuous observation points as the control reference, to conduct comprehensive observation and daily observation, and obtain the plane position and elevation data of all observation points within the mining impact range; Based on the plane positions and elevation data of all the observation points, the surface movement deformation values ​​and surface subsidence prediction parameters of the mining subsidence area are obtained.

2. The method for measuring surface subsidence in a mining area based on GNSS continuous observation points according to claim 1, characterized in that: Unify the elevation system of the survey area through the following steps: Based on the GNSS continuous observation points, obtaining the geodetic height and plane position of the observation point; Based on the fitting of the quasi-geoid of all GNSS continuous observation points, the elevations of all GNSS continuous observation points are obtained through leveling measurement. Based on the elevations, geoid heights and plane positions of all GNSS continuous observation points, an elevation anomaly relationship of a quasi-geoid is obtained; Based on the elevation anomaly relationship and the plane positions of other observation points in the survey area, the elevation anomaly of the corresponding observation point is obtained, and the elevation system of the survey area is unified.

3. The method for measuring surface subsidence in a mining area based on GNSS continuous observation points according to claim 2 is characterized in that: The specific steps to obtain the plane position and elevation data of all observation points within the mining impact area include: Taking the plane position of the GNSS continuous observation point as a reference, along a short-distance wire route, respectively measure the plane distances between other observation points in the key area and the GNSS continuous observation point; Taking the elevation of the GNSS continuous observation point as a reference, the relative elevations of other observation points in the key area are measured along a local short-distance leveling route; Based on the elevation of the GNSS continuous observation point and the relative elevation of other observation points, obtaining elevation data of the corresponding observation point; Based on the plane positions of the continuous GNSS observation points and the plane distances of other observation points, obtaining the plane positions of the corresponding observation points; Integrate the plane position and elevation data of all observation points in the key areas to obtain the plane position and elevation data of all observation points within the mining influence range.

4. The method for measuring surface subsidence in a mining area based on GNSS continuous observation points according to claim 2 is characterized in that: The elevation system of the unified survey area includes obtaining elevation anomaly relations by polynomial fitting, neural network fitting or supervised learning algorithm fitting.

5. The method for measuring surface subsidence in a mining area based on GNSS continuous observation points according to claim 1, characterized in that: The key positions include inflection points, maximum sinking points and boundary points.

6. The method for measuring surface subsidence in a mining area based on GNSS continuous observation points according to claim 5 is characterized in that: Under full mining conditions, the sinking value at the inflection point is approximately half of the maximum sinking value; when mining horizontal ore layers, the maximum sinking point and the location of the maximum sinking value are located directly above the center of the mining area; the boundary point is the location where the sinking value is zero.

7. A method for measuring surface subsidence in a mining area based on GNSS continuous observation points according to any one of claims 1 to 6, characterized in that: The specific steps to obtain the surface movement deformation value and surface subsidence prediction parameters of the mining subsidence area include: Integrate the plane position and elevation data of all observation points within the mining impact area to obtain the first-phase three-dimensional coordinates; Calculate the movement and deformation values ​​of the ground surface through the three-dimensional coordinates of multiple periods; Based on the movement and deformation of the ground surface, the surface subsidence prediction parameters are obtained by inversion.

8. A mining area surface subsidence measurement system based on GNSS continuous observation points, characterized in that: include: GNSS continuous observation points are arranged at key locations within the mining impact area, and the plane position and geodetic height of the observation points are obtained through GNSS; Unified elevation module, used to unify the elevation system of the survey area using the location information of continuous GNSS observation points; The mobile observation station is used to divide the mining impact range into several key areas according to key locations, and to conduct comprehensive observation and daily observation in each key area with the GNSS continuous observation point as the control reference; The data processing module is used to integrate the results of the comprehensive observation and daily observation to obtain the plane position and elevation data of all observation points within the mining influence range; and process the plane position and elevation data of all observation points to obtain the surface movement deformation value and surface subsidence prediction parameters of the mining subsidence area.

9. A mining area surface subsidence measurement system based on GNSS continuous observation points according to claim 8, characterized in that: The unified elevation module unifies the elevation system of the survey area through the following steps: Obtaining the geodetic height and plane position of the observation point through the GNSS continuous observation points; Fitting a quasi-geoid using all the GNSS continuous observation points, taking this as a reference, and obtaining the normal height of the GNSS continuous observation station through leveling; Geodetic height, normal height and plane position of all GNSS continuous observation points; Based on the fitting of the quasi-geoid of all GNSS continuous observation points, the elevations of all GNSS continuous observation points are obtained through leveling measurement. Based on the geodetic height, elevation and plane position of all GNSS continuous observation points, the elevation anomaly relationship of the quasi-geoid is obtained; Based on the elevation anomaly relationship and the plane positions of other observation points in the survey area, the elevation anomaly of the corresponding observation point is obtained, and the elevation system of the survey area is unified.

10. A mining area surface subsidence measurement system based on GNSS continuous observation points according to claim 9, characterized in that: The mobile observation station and the data processing module obtain the plane position and elevation data of all observation points within the mining influence range based on the following steps: The mobile observation station measures the plane distances between other observation points in the key area and the GNSS continuous observation point along a short-distance wire route based on the plane position of the GNSS continuous observation point; and measures the relative elevations of other observation points in the key area along a local short-distance leveling route based on the elevation of the GNSS continuous observation point; The data processing module uses the elevation of the GNSS continuous observation point and the relative elevation of other observation points to obtain the elevation data of the corresponding observation point; The plane position of the corresponding observation point is obtained by using the plane position of the GNSS continuous observation point and the plane distance of other observation points; the plane position and elevation data of the observation points in all key areas are integrated to obtain the plane position and elevation data of all observation points within the mining influence range.

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