Dynamic coupling model generation method

Abstract

The invention discloses a dynamic coupling model generation method. The method comprises the following steps: setting a reference point and arranging an observation pillar; transmitting the reference gravity value to an observation pillar; acquiring space pose change data and three-dimensional coordinate data of the marker; obtaining relative gravity combined measurement data through relative gravity combined measurement; calculating the three-dimensional displacement of each observation pillar based on the spatial pose change data; fusing the reference gravity value, the relative gravity combined measurement data and the three-dimensional coordinate data to construct a gravity gradient field tensor model; systematically integrating the three-dimensional displacement, the gravity gradient field tensor model and the three-dimensional coordinate data to form a space correlation framework; and on the basis of a physical coupling mechanism of constraint displacement and gravity gradient of the conditional least square model, combined adjustment calculation is carried out to generate a dynamic coupling model of interaction of the deformation field and the gravity field. Space-time reference unification of displacement and gravity data is realized, rotation errors and local interference are eliminated, the reliability of a gravity gradient field is enhanced, and a coupling mechanism of deformation and gravity is physically constrained.

Description

Technical Field

[0001] The present invention relates to the field of engineering surveying, and particularly to a method for generating a dynamic coupling model. Background Art

[0002] The forced centering observation pier, as a core tool for engineering surveying, is used to obtain elevation information. Its structure includes the observation pier body and the forced centering rod at the top. Among them, various instruments are fixed on the shoulder plane of the forced centering rod through a screwing connection. However, in high-precision elevation measurement operations, it is difficult to directly measure the height of the shoulder plane of the forced centering rod. Vertical measurement cannot be carried out with the help of level measurement, steel tape or hand-held rangefinder, and indirect operation must be carried out with the help of an extension arm device.

[0003] In the prior art, the separation processing of deformation displacement data and gravity field change data leads to inconsistent spatio-temporal reference. The transmission of the reference gravity value is easily interfered by environmental disturbances and instrument drift. It is difficult to eliminate the coupling effect of rotational errors on the displacement vector in the monitoring of the spatial pose change of the forced centering observation pier. At the same time, the gravity gradient field modeling lacks a physical connection mechanism with three-dimensional displacement, and local geological interference noise further weakens the data reliability, which urgently needs to be improved. Summary of the Invention

[0004] To solve the technical problems in the background art, the present invention proposes a method for generating a dynamic coupling model, including: setting reference points and arranging one or more observation piers with markers on them; obtaining the reference gravity value through the reference points and transmitting it to each observation pier; collecting the spatial pose change data and three-dimensional coordinate data of the markers on each observation pier; obtaining relative gravity measurement data through relative gravity measurement; calculating the three-dimensional displacement of each observation pier based on the spatial pose change data; fusing the reference gravity value, relative gravity measurement data and three-dimensional coordinate data to construct a gravity gradient field tensor model; systematically integrating the three-dimensional displacement, gravity gradient field tensor model and three-dimensional coordinate data to form a spatial correlation framework; and performing joint adjustment calculation based on the physical coupling mechanism of the conditional least squares model to constrain the displacement and gravity gradient to generate a dynamic coupling model of the interaction between the deformation field and the gravity field.

[0005] Further, the step of obtaining the reference gravity value through the reference points and transmitting it to each observation pier specifically includes: using an absolute gravimeter to perform multiple independent measurements at the reference points to obtain the original observation data of the reference gravity value; using a temperature and pressure compensation algorithm to correct the original observation data for the environment to eliminate the instrument drift error and generate a calibrated reference gravity value; and transmitting the calibrated reference gravity value to each observation pier according to the equal weight distribution principle to complete the spatial calibration of the gravity reference network.

[0006] Furthermore, the collection of spatial posture change data and three-dimensional coordinate data of each observation pier marker specifically includes: based on the gravity reference network spatial calibration, using a high-precision total station to perform the first measurement of the markers on the observation pier, recording the initial three-dimensional coordinates and initial attitude angles and forming a reference posture data set; performing total station re-measurement of the observation pier markers at preset time intervals, synchronously obtaining the current three-dimensional coordinates and attitude angles, and generating a dynamic posture monitoring data set; aligning the reference posture data set of the initial measurement phase with the dynamic posture data set of the periodic monitoring phase in time and space, solving the three-dimensional displacement vector and rotation change matrix of the observation pier through coordinate difference and attitude angle change calculation, and finally integrating them into spatial posture change data and three-dimensional coordinate data.

[0007] Furthermore, the relative gravity joint measurement data is obtained by relative gravity joint measurement, specifically including: planning a relative gravity joint measurement route according to the distribution of observation piers, determining the gravimeter movement path and measurement sequence; using the relative gravimeter to perform round-trip synchronous measurement on each observation pier in turn along the planned route, and recording the original gravity difference data and environmental temperature and humidity parameters between each observation pier during each joint measurement; and jointly correcting the original data based on the temperature gradient compensation model and the instrument nonlinear error correction algorithm, and finally generating relative gravity joint measurement data with a unified benchmark between each observation pier.

[0008] Furthermore, the three-dimensional displacement of each observation pier is calculated based on the spatial posture change data, specifically including: based on the spatial posture change data, the displacement vector of the local coordinate system of each observation pier is uniformly converted to the global geodetic coordinate system through the reference point geodetic coordinate conversion parameter; according to the rotation change matrix, the coupling effect of the posture change of the observation pier on the three-dimensional displacement is decomposed, the Euler angle inverse compensation algorithm is used to eliminate the rotation error, the pure translation component is extracted and the displacement modulus is calculated; the displacement time series superposition analysis is performed on the multi-cycle monitoring results, and after standard deviation test and gross error elimination, the three-dimensional displacement of each observation pier in the horizontal and vertical directions is generated.

[0009] Furthermore, the fusion of benchmark gravity values, relative gravity joint measurement data and three-dimensional coordinate data to construct a gravity gradient field tensor model specifically includes: based on the benchmark gravity values transmitted to each observation pier, combined with the spatiotemporal distribution of three-dimensional displacement, the gravity benchmark values of each observation pier at different time nodes are unified into the same spatiotemporal coordinate system through the least squares adjustment method; using the relative gravity joint measurement data, with the unified benchmark gravity value as a constraint, the absolute gravity value of each observation pier is calculated using the gravity field integral algorithm to form a discrete absolute gravity value array covering the target area; fusing the three-dimensional coordinate data as a spatial position parameter, performing spatial differential operations on the absolute gravity value array, calculating the horizontal and vertical gravity gradient components, and eliminating local interference noise through cross-validation of the gradient values of adjacent observation piers, and finally outputting the gravity gradient field tensor model.

[0010] Furthermore, the systematic integration of the three-dimensional displacement, the gravity gradient field tensor model, and the three-dimensional coordinate data to form a spatial correlation framework specifically includes: based on the three-dimensional coordinate data, extracting the initial spatial position information of all observation piers as the reference spatial grid, and constructing a position reference skeleton; mapping the three-dimensional displacement onto this reference spatial grid, updating the dynamic position sequence of each observation pier through displacement vector superposition, and generating a spatio-temporal framework that incorporates position changes; integrating the gravity gradient field tensor model, spatially correlating the gravity gradient field tensor model with the spatio-temporal framework, and establishing the corresponding relationship between the gravity gradient components and the coordinate displacements using the Kriging interpolation algorithm, and finally outputting the systematically integrated spatial correlation framework.

[0011] Furthermore, the joint adjustment calculation based on the physical coupling mechanism that constrains the displacement and the gravity gradient by the conditional least squares model to generate a dynamic coupling model of the interaction between the deformation field and the gravity field specifically includes: based on the spatial correlation framework, extracting the three-dimensional displacement, the gravity gradient field tensor model, and the three-dimensional coordinate data of all observation piers, constructing a physical coupling equation system of the displacement vector field and the gravity gradient tensor field, and defining the interaction mechanism between the deformation field, i.e., the displacement change, and the gravity field, i.e., the gradient change; applying the conditional least squares model, introducing physical constraint conditions such as the law of conservation of mass or the elastic deformation equation, and obtaining the joint adjustment calculation result of the coupling equation system; based on the joint adjustment calculation result, integrating the displacement vector and the gravity gradient components to generate a dynamic coupling model of the interaction between the deformation field and the gravity field.

[0012] In the present invention, by setting reference points and arranging observation piers with markers, a stable gravity reference network is constructed. Using an absolute gravimeter combined with an environmental correction algorithm to obtain high-precision reference gravity values, and completing spatial calibration through an equal-weight transfer mechanism; using a high-precision total station to periodically collect the spatial pose change data and three-dimensional coordinate data of the markers on the observation piers, and extracting the pure three-dimensional displacement through a coordinate difference and attitude rotation decoupling algorithm; synchronously combining the relative gravity joint measurement data with temperature gradient compensation, and fusing the three-dimensional coordinate data to construct a gravity gradient field tensor model that resists noise interference; finally, through the systematically integrated spatial correlation framework, applying the conditional least squares model to introduce physical constraint conditions for joint adjustment calculation, and generating a dynamic coupling model of the interaction between the deformation field and the gravity field. The present invention can achieve the spatio-temporal reference unification of displacement and gravity data, eliminate rotation errors and local interferences, enhance the reliability of the gravity gradient field, and physically constrain the coupling mechanism between deformation and gravity. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is the overall flowchart of a method for generating a dynamic coupling model according to the present invention; Figure 2 is the partial flowchart of a method for generating a dynamic coupling model according to the present invention Figure 1 ; Figure 3 This is the local process of a method for generating a dynamic coupling model of the present invention Figure 2 ; Figure 4 This is the local process of a method for generating a dynamic coupling model of the present invention Figure 3 ; Figure 5 This is the local process of a method for generating a dynamic coupling model of the present invention Figure 4 ; Figure 6 This is the local process of a method for generating a dynamic coupling model of the present invention Figure 5 ; Figure 7 This is the local process of a method for generating a dynamic coupling model of the present invention Figure 6 ; Figure 8 This is the local process of a method for generating a dynamic coupling model of the present invention Figure 7 。 Specific embodiments

[0014] Referring to Figures 1 - 8 , the present invention proposes a method for generating a dynamic coupling model, which specifically includes: S1. Set a reference point and arrange one or more observation piers, and the observation piers are provided with markers.

[0015] Setting a reference point is to establish a fixed reference point in a stable geological area to ensure that subsequent measurements have a reliable origin; arranging one or more observation piers in the target area to expand the measurement network to cover key positions; when arranging the observation piers, it is necessary to ensure that each observation pier is firmly installed and equipped with a marker to achieve accurate identification and tracking of spatial pose changes. The existence of the marker enables the position and pose information of the marker to be efficiently obtained by high-precision instruments such as total stations or laser scanners during the data acquisition stage, reducing human errors. Among them, the stable geological area is specifically a bedrock or a reinforced platform; the target area is specifically a potential deformation area; the marker is specifically a reflecting prism or a specific target.

[0016] S2. Obtain the reference gravity value through the reference point and transmit it to each observation pier.

[0017] In this embodiment, step S2 specifically includes: S21. Use an absolute gravimeter to perform continuous multiple independent measurements at the reference point to obtain the original observation data of the reference gravity value.

[0018] S22. Adopt a temperature and pressure compensation algorithm to perform environmental correction on the original observation data, eliminate the instrument drift error, and generate a calibrated reference gravity value.

[0019] S23. Transfer the calibrated reference gravity value to each observation pier according to the principle of equal weight distribution to complete the spatial calibration of the gravity reference network.

[0020] S3. Collect the spatial pose change data and three-dimensional coordinate data of the markers on each observation pier.

[0021] In this embodiment, step S3 specifically includes: S31. Based on the spatial calibration of the gravity reference network, use a high-precision total station to perform the first measurement on the markers on the observation piers, record the initial three-dimensional coordinates and initial attitude angles, and form a reference pose data set.

[0022] S32. Re-measure the markers on the observation piers with the total station at preset time intervals, synchronously obtain the current three-dimensional coordinates and attitude angles, and generate a dynamic pose monitoring data set.

[0023] S33. Align the reference pose data set in the initial measurement stage and the dynamic pose data set in the periodic monitoring stage in space and time. Through coordinate difference and attitude angle change calculation, solve the three-dimensional displacement vector and rotation change matrix of the observation pier, and finally integrate them into the spatial pose change data and three-dimensional coordinate data.

[0024] S4. Obtain relative gravity measurement data through relative gravity measurement.

[0025] In this embodiment, step S4 specifically includes: S41. Plan the relative gravity measurement route according to the distribution of the observation piers, and determine the moving path and measurement sequence of the gravimeter.

[0026] S42. Use a relative gravimeter to perform round-trip synchronous measurements on each observation pier in turn according to the planned route. Record the original data of the gravity difference between each observation pier and the environmental temperature and humidity parameters during each measurement.

[0027] S43. Jointly correct the original data based on the temperature gradient compensation model and the instrument nonlinear error correction algorithm, and finally generate relative gravity measurement data with a unified reference between each observation pier.

[0028] S5. Calculate the three-dimensional displacement of each observation pier based on the spatial pose change data.

[0029] In this embodiment, step S5 specifically includes: S51. Based on the spatial pose change data, convert the local coordinate system displacement vector of each observation pier to the global geodetic coordinate system through the geodetic coordinate conversion parameters of the reference point.

[0030] S52. Decompose the coupling effect of the attitude change of the observation pier on the three-dimensional displacement according to the rotation transformation matrix, adopt the Euler angle reverse compensation algorithm to eliminate the rotation error, extract the pure translation component and calculate the modulus value of the displacement.

[0031] S53. Conduct displacement time series superposition analysis on the multi-period monitoring results. After standard deviation test and gross error rejection, generate the three-dimensional displacement of each observation pier in the horizontal and vertical directions.

[0032] S6. Integrate the reference gravity value, relative gravity joint measurement data and three-dimensional coordinate data to construct a gravity gradient field tensor model.

[0033] In this embodiment, step S6 specifically includes: S61. Based on the reference gravity value transmitted to each observation pier, combined with the spatio-temporal distribution of the three-dimensional displacement, unify the gravity reference values of each observation pier at different time nodes to the same spatio-temporal coordinate system through the least squares adjustment method.

[0034] S62. Utilize the relative gravity joint measurement data, with the unified reference gravity value as the constraint, adopt the gravity field integration algorithm to calculate the absolute gravity value of each observation pier, and form a discrete absolute gravity value array covering the target area.

[0035] S63. Integrate the three-dimensional coordinate data as the spatial position parameter, perform spatial differential operation on the absolute gravity value array, calculate the gravity gradient components in the horizontal and vertical directions, and eliminate the local interference noise through cross-verification of the gradient values of adjacent observation piers, and finally output the gravity gradient field tensor model.

[0036] S7. Systematically integrate the three-dimensional displacement, the gravity gradient field tensor model and the three-dimensional coordinate data to form a spatial correlation framework.

[0037] In this embodiment, step S7 specifically includes: S71. Based on the three-dimensional coordinate data, extract the initial spatial position information of all observation piers as the reference spatial grid, and construct a position reference framework.

[0038] S72. Map the three-dimensional displacement onto this reference spatial grid, update the dynamic position sequence of each observation pier through displacement vector superposition, and generate a spatio-temporal framework integrating position changes.

[0039] S73. Integrate the gravity gradient field tensor model, spatially correlate the gravity gradient field tensor model with the spatio-temporal framework, adopt the Kriging interpolation algorithm to establish the corresponding relationship between the gravity gradient component and the coordinate displacement, and finally output the systematically integrated spatial correlation framework.

[0040] S8. Perform joint adjustment and solution based on the physical coupling mechanism of the conditional least squares model to constrain displacement and gravity gradient, so as to generate a dynamic coupling model of the interaction between the deformation field and the gravity field.

[0041] In this embodiment, step S8 specifically includes: S81. Based on the spatial correlation framework, extract the three-dimensional displacement amounts, gravity gradient field tensor models, and three-dimensional coordinate data of all observation piers, construct a physical coupling equation set for the displacement vector field and the gravity gradient tensor field, and define the interaction mechanism between the deformation field (i.e., displacement change) and the gravity field (i.e., gradient change).

[0042] S82. Apply the conditional least squares model, introduce physical constraint conditions such as the law of conservation of mass or elastic deformation equations, and obtain the joint adjustment and solution results of the coupling equation set.

[0043] S83. Based on the joint adjustment and solution results, integrate the displacement vector and gravity gradient components to generate a dynamic coupling model of the interaction between the deformation field and the gravity field.

[0044] The present invention constructs a stable gravity reference network by setting reference points and arranging observation piers with markers, obtains high-precision reference gravity values by using an absolute gravimeter combined with an environmental correction algorithm, and completes spatial calibration through an equal-weight transfer mechanism; uses a high-precision total station to periodically collect the spatial pose change data and three-dimensional coordinate data of the markers on the observation piers, and extracts pure three-dimensional displacement amounts through a coordinate difference and attitude rotation decoupling algorithm; synchronously combines the relative gravity joint measurement data with temperature gradient compensation, and fuses the three-dimensional coordinate data to construct a gravity gradient field tensor model resistant to noise interference; finally, through a systematically integrated spatial correlation framework, applies the conditional least squares model to introduce physical constraint conditions for joint adjustment and solution, and generates a dynamic coupling model of the interaction between the deformation field and the gravity field. This method realizes the spatio-temporal reference unification of displacement and gravity data, eliminates rotation errors and local interferences, enhances the reliability of the gravity gradient field, and physically constrains the coupling mechanism between deformation and gravity.

[0045] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and should be covered by the protection scope of the present invention.

Claims

1. A method for generating a dynamic coupling model, characterized in that, Including: Set reference points and arrange one or more observation piers with identifiers on them; obtain the reference gravity value through the reference points and transfer it to each observation pier; Collect the spatial pose change data and three-dimensional coordinate data of the identifiers of each observation pier; Obtain relative gravity joint measurement data through relative gravity joint measurement; Calculate the three-dimensional displacement of each observation pier based on the spatial pose change data; Fuse the reference gravity value, relative gravity joint measurement data and three-dimensional coordinate data to construct a gravity gradient field tensor model; systematically integrate the three-dimensional displacement, gravity gradient field tensor model and three-dimensional coordinate data to form a spatial correlation framework; perform joint adjustment and solution based on the physical coupling mechanism of the conditional least squares model to constrain the displacement and gravity gradient to generate a dynamic coupling model of the interaction between the deformation field and the gravity field.

2. The dynamic coupling model generation method according to claim 1, wherein, The obtaining of the reference gravity value through the reference points and transferring it to each observation pier specifically includes: using an absolute gravimeter to perform multiple independent measurements continuously at the reference points to obtain the original observation data of the reference gravity value; adopting a temperature and pressure compensation algorithm to correct the original observation data for the environment to eliminate the instrument drift error and generate a calibrated reference gravity value; transferring the calibrated reference gravity value to each observation pier according to the equal weight distribution principle to complete the spatial calibration of the gravity reference network.

3. The dynamic coupling model generation method according to claim 1, wherein The collecting of the spatial pose change data and three-dimensional coordinate data of the identifiers of each observation pier specifically includes: based on the spatial calibration of the gravity reference network, using a high-precision total station to perform the first measurement on the identifier on the observation pier, recording the initial three-dimensional coordinates and initial attitude angles to form a reference pose data set; performing a total station remeasurement on the identifier of the observation pier at a preset time interval, synchronously obtaining the current three-dimensional coordinates and attitude angles to generate a dynamic pose monitoring data set; aligning the reference pose data set in the initial measurement stage with the dynamic pose data set in the periodic monitoring stage, and calculating through coordinate difference and attitude angle change amount to solve the three-dimensional displacement vector and rotation change matrix of the observation pier, and finally integrating them into the spatial pose change data and three-dimensional coordinate data.

4. The method for generating a dynamic coupling model according to claim 1, wherein The obtaining of the relative gravity joint measurement data through relative gravity joint measurement specifically includes: planning a relative gravity joint measurement route according to the distribution of the observation piers to determine the moving path and measurement order of the gravimeter; using a relative gravimeter to perform a round-trip synchronous measurement on each observation pier in turn according to the planned route, and recording the original data of the gravity difference between each observation pier and the environmental temperature and humidity parameters during each joint measurement; performing joint correction on the original data based on the temperature gradient compensation model and the instrument nonlinear error correction algorithm to finally generate the relative gravity joint measurement data with a unified reference between each observation pier.

5. The method for generating a dynamic coupling model according to claim 1, wherein Calculating the three-dimensional displacement of each observation pier based on the spatial pose change data specifically includes: based on the spatial pose change data, converting the local coordinate system displacement vectors of each observation pier to the global geodetic coordinate system through the geodetic coordinate conversion parameters of the reference points; decomposing the coupling effect of the attitude change of the observation pier on the three-dimensional displacement according to the rotation change matrix, using the Euler angle reverse compensation algorithm to eliminate the rotation error, extracting the pure translation component and calculating the displacement modulus value; performing displacement time series superposition analysis on the multi-period monitoring results, and generating the three-dimensional displacement of each observation pier in the horizontal and vertical directions after standard deviation test and gross error rejection.

6. The dynamic coupling model generation method according to claim 1, wherein Fusing the reference gravity value, relative gravity joint measurement data and three-dimensional coordinate data to construct a gravity gradient field tensor model specifically includes: based on the reference gravity value transmitted to each observation pier, combining the spatio-temporal distribution of the three-dimensional displacement, and unifying the gravity reference values of each observation pier at different time nodes to the same spatio-temporal coordinate system through the least squares adjustment method; using the relative gravity joint measurement data, with the unified reference gravity value as the constraint, calculating the absolute gravity value of each observation pier by the gravity field integration algorithm to form a discrete absolute gravity value array covering the target area; fusing the three-dimensional coordinate data as the spatial position parameter, performing spatial differential operation on the absolute gravity value array, calculating the gravity gradient components in the horizontal and vertical directions, and eliminating the local interference noise through the cross-verification of the gradient values of adjacent observation piers, and finally outputting the gravity gradient field tensor model.

7. The method for generating a dynamic coupling model according to claim 1, wherein Systematically integrating the three-dimensional displacement, gravity gradient field tensor model and three-dimensional coordinate data to form a spatial correlation framework specifically includes: based on the three-dimensional coordinate data, extracting the initial spatial position information of all observation piers as the reference spatial grid to construct a position reference skeleton; mapping the three-dimensional displacement to this reference spatial grid, updating the dynamic position sequence of each observation pier through displacement vector superposition, and generating a spatio-temporal framework integrating position changes; integrating the gravity gradient field tensor model, spatially correlating the gravity gradient field tensor model with the spatio-temporal framework, and establishing the corresponding relationship between the gravity gradient component and the coordinate displacement by the Kriging interpolation algorithm, and finally outputting the systematically integrated spatial correlation framework.

8. The method for generating a dynamic coupling model according to claim 1, wherein Performing joint adjustment calculation based on the physical coupling mechanism of the conditional least squares model to constrain the displacement and gravity gradient to generate a dynamic coupling model of the interaction between the deformation field and the gravity field specifically includes: based on the spatial correlation framework, extracting the three-dimensional displacement, gravity gradient field tensor model and three-dimensional coordinate data of all observation piers, constructing a physical coupling equation set of the displacement vector field and the gravity gradient tensor field, and defining the interaction mechanism between the deformation field, i.e., the displacement change, and the gravity field, i.e., the gradient change; applying the conditional least squares model, introducing physical constraint conditions such as the law of conservation of mass or the elastic deformation equation, and obtaining the joint adjustment calculation result of the coupling equation set; based on the joint adjustment calculation result, integrating the displacement vector and the gravity gradient component to generate a dynamic coupling model of the interaction between the deformation field and the gravity field.

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