Slope monitoring device and use method thereof

Abstract

The invention discloses a slope monitoring device and a use method thereof, and relates to the technical field of strip mine slope monitoring. Comprising an absolute positioning module, a relative positioning module and a monitoring module, the absolute positioning module comprises a GNSS receiver and a satellite data processing module, and the relative positioning module comprises an inertial measurement unit and an inclinometer unit. According to the method, data of different sensors are uniformly processed in time and space directly according to actual monitoring conditions of the strip mine pit, so that the occurrence mechanism and the evolution process of the landslide are analyzed more accurately; the data subjected to time-space unified processing can help researchers to better understand interaction among different factors, so that the accuracy of landslide prediction is improved, slope infinitesimal displacement data can be acquired from different angles and levels in an alpine strip mine area, and a landslide dynamic panoramic view can be provided.

Description

Technical Field

[0001] The present invention relates to the technical field of open-pit mine slope monitoring, and in particular to a slope monitoring device and a use method thereof. Background Art

[0002] Open-pit mining plays a crucial role in resource extraction. 80% of my country's iron ore, 50% of nonferrous metal ores, 70% of chemical raw material ores, 100% of building materials, and 25% of coal production come from open-pit mining. The high-altitude, cold regions of western and northern my country are also home to a concentration of large and extra-large open-pit mines. Freeze-thaw in these regions varies greatly between morning and evening, and across the four seasons. The repetitive freezing and thawing cycles irreversibly impact the rock structure, leading to instability, collapse, or landslides on rock slopes. Therefore, predicting and warning open-pit mine slope instability in these regions is crucial, focusing on the development and evolution of slope instability and developing a full-cycle, multi-parameter coordinated warning mechanism. Due to the complexity and diversity of the geological processes, formation conditions, and inducing factors, as well as the randomness of their changes, capturing dynamic information on slope instability in open-pit mine slopes has been a challenging, cutting-edge research topic.

[0003] Among the existing technologies for collecting geological information on open-pit mine slopes, the following three are commonly used: Structural surface surveys primarily use drilling technology, on-site geological measurements, close-range photogrammetry, and three-dimensional laser scanning to obtain statistical parameter characteristics of various geometric parameters of structural surfaces, reflecting the distribution and development patterns of small-scale structural surfaces from a macroscopic perspective. This type of survey and statistical analysis only examines the surface structural surfaces of the open-pit mine slope rock mass, or the intersection of structural surfaces within the rock mass and the slope surface, and cannot reflect the distribution of structural surfaces within the slope rock mass. Therefore, the spatiotemporal unification of multi-source in-situ detection sensors inside and outside the slope is a development trend in slope monitoring. It will become the basis for slope stability analysis and verification of early and mid-term landslide warning results, and will also play an important guiding role in understanding slope failure mechanisms, predicting instability, and studying the effectiveness of governance.

[0004] Domestic and foreign scholars have conducted extensive research on the establishment of spatiotemporal unification and control of multi-source in-situ detection sensors inside and outside the slope, but there are still certain deficiencies and defects. Open-pit slope data are multi-source, heterogeneous, multi-solution, and have inconsistent spatiotemporal scales. Multi-source monitoring data cannot be organically integrated, and it is impossible to form a collaborative deformation trend judgment analysis. Summary of the Invention

[0005] Based on this, it is necessary to provide a slope monitoring device and a method of using the same to address the above technical issues.

[0006] An embodiment of the present invention provides a slope monitoring device, comprising: an absolute positioning module, a relative positioning module and a monitoring module; The absolute positioning module is set on the borehole surface of the slope to be measured, and the relative positioning module and monitoring module are placed at the internal borehole monitoring point of the slope to be measured; the absolute positioning module includes a GNSS receiver and a satellite data processing module, and the relative positioning module includes an inertial measurement unit and an inclinometer unit; Among them, the GNSS receiver is used to receive satellite signals from Beidou satellites on the slope to be measured in the open-pit mine area; Inertial measurement unit, used to measure the real-time posture information representing the angle changes of the slope surface to be measured in the open-pit mine area; Inclinometer unit, used to measure the displacement of the slope to be measured point by point along the borehole monitoring point, and determine the displacement change information of the slope to be measured in three-dimensional space, including displacement, inclination vibration frequency and amplitude; The satellite data processing module is used to correct the clock of the GNSS receiver according to the satellite signal; and synchronize the position information of the slope to be measured and the displacement change information of the slope to be measured in three-dimensional space through the corrected GNSS receiver clock to obtain the time synchronization information of the slope to be measured; The monitoring module is used to obtain satellite signals from multiple Beidou satellites in real time, determine the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system based on the satellite signals between multiple Beidou satellites, and use the three-dimensional coordinates as the posture reference to convert the coordinate system of the time synchronization information of the slope to be measured; and filter and fuse the high-precision ground position information and the time synchronization information after the coordinate system conversion, and perform slope micro-displacement analysis on the fused data to obtain the monitoring results of the slope to be measured in the open-pit mining area.

[0007] Optionally, the absolute positioning module also includes a large-capacity lithium battery and a solar panel; Large-capacity lithium battery for powering the GNSS receiver; Solar panels are used to convert solar energy into electrical energy and store it in large-capacity lithium batteries.

[0008] An embodiment of the present invention further provides a method for using a slope monitoring device, comprising: The BeiDou satellite signal is received on the slope to be measured in the open-pit mine, and the posture information representing the angle change of the surface of the slope to be measured in the open-pit mine is measured in real time. The displacement of the slope to be measured is measured point by point along the drilling monitoring point to determine the displacement change information of the slope to be measured in three-dimensional space, including displacement, inclination vibration frequency and amplitude. The clock of the GNSS receiver is corrected according to the satellite signal; the position information of the slope to be measured and the displacement change information of the slope to be measured in three-dimensional space are synchronized with the clock of the GNSS receiver after correction, thereby obtaining the time synchronization information of the slope to be measured; The system acquires satellite signals from multiple Beidou satellites in real time, determines the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system based on the satellite signals between the multiple Beidou satellites, and uses the three-dimensional coordinates as the posture reference to perform coordinate system conversion on the time synchronization information of the slope to be measured. The three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system and the time synchronization information after the coordinate system conversion are filtered and fused to obtain fused data. The fused data is used to analyze the micro-displacement of the slope to obtain the monitoring results of the slope to be measured in the open-pit mining area.

[0009] Optionally, before correcting the GNSS receiver's clock based on satellite signals, the method further includes calculating the clock error of the local clock of the GNSS receiver relative to the time reference after time correction, and processing various error corrections in GNSS observation data fusion, specifically including: The GNSS receiver receives dual-frequency or multi-frequency carrier phase and pseudorange observations, combined with precise ephemeris data broadcast by the network, and determines the clock error of the local clock relative to the time reference using PPP technology. Preprocess and fit the clock error result data stream to obtain the frequency control value and phase control value; Based on the frequency steering amount and phase steering amount, various error corrections in GNSS observation data fusion are determined through the multi-mode GNSS PPP time transfer algorithm.

[0010] Optionally, satellite signals of multiple Beidou satellites are acquired in real time, three-dimensional coordinates of a GNSS receiver in a three-dimensional space coordinate system are determined based on the satellite signals between the multiple Beidou satellites, and the three-dimensional coordinates are used as a posture reference to perform coordinate system conversion on the time synchronization information of the slope to be measured, specifically including: The base station and multiple receiver stations set up in the open-pit mine area observe the target satellite simultaneously. The pseudo-range observation equation and carrier phase observation equation at the base station and mobile station are determined based on the following formula: ; ; in, is the pseudorange observation value from the satellite to the receiver station, is the geometric distance from the satellite to the receiver station, is the pseudorange observation value from the satellite to the reference station, is the geometric distance from the satellite to the reference station, is the speed of light in vacuum, is the receiver clock error, is the wavelength, φ is the phase, is the whole-cycle ambiguity, To delay the process, is the ionospheric error, is the remaining unmodeled error in the pseudorange observations; Based on the following formula, inter-station difference is performed between the reference station and the receiver station, and other satellites except the target satellite are set as reference satellites. The pseudorange and carrier phase single difference observation equations are: ; ; Based on the following formula, intersatellite difference is performed between the target satellite and the reference satellite to obtain double difference observation: ; ; Observe multiple satellites, establish error equations, and perform parameter estimation; The ambiguity floating-point solution and the corresponding covariance matrix are obtained by least squares or Kalman filtering based on the following formula. The fixed solution of the wide-lane ambiguity of each satellite and the narrow-lane ambiguity after the wide-lane ambiguity is fixed are determined by the LAMBDA algorithm: Determine the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system based on the fixed solution of the wide lane ambiguity of each satellite and the narrow lane ambiguity after the wide lane ambiguity is fixed; The coordinate system of the time synchronization information of the slope to be measured is converted based on the following formula using the three-dimensional coordinates as the pose reference: ; in, b is the base station, r For the receiver station, is the pseudorange observation value from the satellite to the observation station, is the geometric distance from the satellite to the station, 、 For floating point solutions, is the corresponding covariance matrix, 、 is the fixed solution of the ambiguity, j is the target satellite, i is the reference satellite, x is the horizontal axis value, y is the vertical coordinate value, z is the depth axis coordinate value, and u is the conversion coefficient.

[0011] Optionally, filtering and fusing the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system and the time synchronization information after the coordinate system conversion to obtain fused data, specifically including: The state vector is set from k -1 moment Transfer to k Moment : ; in, for k -1 time has arrived k The state transition matrix at time , for k The three-dimensional coordinates of the moment, is the model error; The observation equation corresponding to each sensor is determined by the following formula: ; in, For sensors i The observation equation design matrix, For sensors i The observation vector and error vector of ; The local filtering is determined by the following formula: ; The main filter solution is determined by the following formula: ; The weight matrix is ​​determined by the following formula: ; ; ; The fused data is determined by the following formula: ; in, To fuse data, is the inverse matrix of the weight matrix, is local filtering, is the main filter solution, is the observation vector of the main sensor, For sensors i The observation vector, is the weight matrix, is the local filter coefficient, The main filter coefficients.

[0012] The above-mentioned slope monitoring device and its use method provided by the embodiment of the present invention have the following beneficial effects compared with the prior art: Compared with traditional open-pit mine slope monitoring, the present invention directly monitors the actual conditions of the open-pit mine and more accurately analyzes the occurrence mechanism and evolution process of landslides by uniformly processing the data of different sensors in time and space. The data after unified processing in time and space can help researchers better understand the interaction between different factors, thereby improving the accuracy of landslide prediction. It can collect small slope displacement data from different angles and levels in high-altitude open-pit mines, and provide a panoramic view of landslide dynamics.

[0013] In addition, the present invention integrates data from sensors inside and outside the slope, which can reduce the impact of single sensor failure or data anomaly on the overall monitoring of the system; it enhances the reliability and emergency response capabilities of the system, and provides strong support for the prevention and management of landslide disasters. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A flowchart of a method for using a slope monitoring device provided in one embodiment; Figure 2 A slope monitoring device using a method provided in one embodiment provides a slope surface / internal data collector spatial reference unified module technical solution; Figure 3 This is an equipment design diagram of a slope monitoring device provided in one embodiment. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0016] The complex rock mechanics of landslides presents a significant risk, hindering proactive safety assessment and early warning (early to mid-term warning) of production processes. The complex rock mass structure and incomplete data on complex geological systems are disconnected from rigorous theoretical mechanical models, rendering existing theoretical methods unable to further explain the slope rock mass failure process (due to a lack of effective observation instruments). This can lead to significant bias and uncertainty in subsequent landslide early warning analysis.

[0017] In one embodiment, a slope monitoring device is provided, such as Figure 3 As shown, the device includes: an absolute positioning module, a relative positioning module and a monitoring module.

[0018] The absolute positioning module is installed on the borehole surface of the slope being measured, while the relative positioning module and monitoring module are placed at the internal borehole monitoring point of the slope being measured. The absolute positioning module includes a GNSS receiver (equipped with a CNSS antenna) and a satellite data processing module, while the relative positioning module includes an inertial measurement unit (MEMS-IMU) and an inclinometer unit (a three-axis accelerometer module). The inertial measurement unit and inclinometer unit of the relative positioning module are connected by a flexible joint.

[0019] Among them, the GNSS receiver is used to receive satellite signals from Beidou satellites on the slopes to be measured in the open-pit mining area.

[0020] The inertial measurement unit is used to measure the posture information representing the angle changes of the slope surface to be measured in the open-pit mine in real time.

[0021] The inclinometer unit is used to measure the displacement of the slope to be measured point by point along the drilling monitoring point, and determine the displacement change information of the slope to be measured in three-dimensional space, including displacement, inclination vibration frequency and amplitude.

[0022] The satellite data processing module (real-time positioning board) is used to correct the GNSS receiver's clock based on satellite signals. The corrected GNSS receiver's clock is then used to synchronize the position and displacement information of the slope to be measured in three dimensions, obtaining the time synchronization information of the slope to be measured.

[0023] The monitoring module acquires satellite signals from multiple Beidou satellites in real time. Based on these signals, the GNSS receiver's three-dimensional coordinates are determined in a three-dimensional spatial coordinate system. This coordinates are used as a reference for coordinate transformation of the time synchronization information of the slope to be measured. The module then filters and fuses the high-precision ground position information with the time synchronization information after coordinate system transformation. The resulting data is then used to analyze the slope's micro-displacement to obtain monitoring results for the slope to be measured in the open-pit mine.

[0024] The absolute positioning module also includes a high-capacity lithium battery (high-performance lithium battery) and a solar panel (solar panel). The high-capacity lithium battery is used to power the GNSS receiver. The solar panel converts solar energy into electricity, which is stored in the high-capacity lithium battery.

[0025] Among them, the real-time positioning board includes the core processing chip FPGA, high-stability crystal oscillator, RTC real-time clock circuit, PPS signal interface, Flash chip and SDRAM chip, JTAG port and AS port, power supply circuit and system reset button.

[0026] The core processing chip, FPGA, is used to run the baseband control software and navigation software in the soft core, as well as peripheral components and logic. A highly stable crystal oscillator provides a clock signal for the core processing chip. The RTC (real-time clock) circuit maintains time, user parameters, and other information for the software running in the microprocessor when the external power supply is disconnected. Flash and SDRAM chips store the baseband hardware logic, baseband, and navigation software. The PPS signal interface outputs pulse signals. The JTAG and AS ports are used to program and debug the FPGA chip. The power supply circuit provides power to the real-time positioning board. A system reset button resets the operating status of the real-time positioning board.

[0027] The core processing chip, FPGA, is located in the center-left corner of the real-time positioning board. It implements the baseband module, soft core (processor), baseband control software and navigation software running within the soft core, as well as other peripheral components and logic. Surrounding the FPGA: a Flash chip in the upper left and an SDRAM chip to the right store the baseband hardware logic, baseband, and navigation software. A general-purpose I / O connector is located above and below the FPGA for connecting to the RF front-end module. A JTAG port and an AS port are located on the left side of the board for programming and debugging the FPGA. The right side of the board contains a power supply circuit, and the lower portion includes a system reset button and several test LEDs (LD2-LD5). By integrating the sensors with a GNSS monitoring station via a boom arm, RTK positioning mode is used to obtain high-precision three-dimensional positions of the ground sensors.

[0028] In one embodiment, a method for using a slope monitoring device is provided, such as Figure 1 As shown, the method includes: The system receives BeiDou satellite signals from the open-pit mining slope to measure its surface angles in real time. The system also measures the slope's displacement at each drill hole monitoring point, determining the slope's displacement change in three dimensions, including displacement, inclination vibration frequency, and amplitude.

[0029] The clock of the GNSS receiver is corrected according to the satellite signal; and the position information of the slope to be measured and the displacement change information of the slope to be measured in three-dimensional space are synchronized with the clock of the corrected GNSS receiver to obtain the time synchronization information of the slope to be measured.

[0030] The system acquires satellite signals from multiple BeiDou satellites in real time. The GNSS receiver's three-dimensional coordinates in a three-dimensional spatial coordinate system are determined based on the signals between these multiple BeiDou satellites. This three-dimensional coordinates are used as a reference for coordinate system conversion of the time synchronization information of the slope to be measured. The GNSS receiver's three-dimensional coordinates in the three-dimensional spatial coordinate system and the time synchronization information after coordinate system conversion are filtered and fused to generate fused data. This fused data is then used to analyze the slope's micro-displacement to obtain monitoring results for the slope to be measured in the open-pit mine.

[0031] The implementation process includes: S1: Signal reception and preprocessing: Receives GNSS satellite data, amplifies the received information through the LNA, strengthens weak signals and improves signal quality, and then removes noise and interference through filtering; S2: Calculate clock error: Calculate the propagation delay of the GNSS signal from the satellite to the receiver, and use the known satellite time and propagation delay to correct the receiver time; S3: Time transfer: Substitute the GNSS receiver clock error parameters and correction parameters estimated in S2, correct the receiver clock to make it consistent with the satellite's atomic clock time, and send it to the inclinometer unit and inertial measurement unit MEMS-IMU at a distributed fixed frequency; S4: Ground spatial reference transfer: The high-precision three-dimensional position of the ground sensor is obtained through the RTK positioning mode and transferred to each sensor as a pose reference; S5: Data fusion: The position information measured by the inertial measurement unit MEMS-IMU after high-precision three-dimensional position and coordinate conversion is fused with the displacement change information of the slope to be measured in three dimensions, including displacement, inclination vibration frequency, and amplitude, measured by the inclinometer unit, through the federated Kalman filter; like Figure 2 As shown, the ground space reference in step S5 is unified to achieve high-precision acquisition of the three-dimensional position of the ground point: S6: Network transmission: The high-precision three-dimensional coordinates observed by S4 are integrated with the S5 inclinometer unit, inertial measurement unit MEMS-IMU and GNSS observation data, and then uploaded to the monitoring station via the 5G network; The data fusion device in step S6: This is mainly accomplished through the integration of inclinometer unit / inertial measurement unit MEMS-IMU / GNSS. First, underground, the inclinometer unit / inertial measurement unit MEMS-IMU is connected to monitoring points placed at boreholes inside the slope. The MEMS-IMU is installed on both sides of the middle of each section of the inclinometer casing. By measuring the inclinometer casing diameter and related parameters of the MEMS-IMU, the three-dimensional displacement, inclination, vibration frequency, amplitude, and other data obtained by the inclinometer unit are transmitted to the ground data acquisition device via cables or wireless networks and fused with the inertial measurement unit MEMS-IMU data. This provides highly reliable data support for intelligent early warning for deep slope displacement monitoring. Secondly, the above-mentioned GNSS integrated monitoring station is set up at the borehole surface and connected to the ground inclinometer unit / inertial measurement unit MEMS-IMU data acquisition device. The high-precision ground GNSS position information is transmitted to the positions of each monitoring point inside the slope through the spatial arm and the inclinometer casing through real-time attitude. The inclinometer unit / inertial measurement unit MEMS-IMU / GNSS fusion filter module is used to complete in-situ displacement fusion, and the high-precision three-dimensional position of the monitoring points inside the slope is obtained in real time.

[0032] S7: Remote control: The remote end uses the data received through the network to perform slope displacement analysis and landslide warning. In addition, the control system can remotely control the corresponding sensors to adjust the monitoring strategy in time and conduct long-term open-air slope monitoring.

[0033] Specific implementation includes: S1: Signal Reception and Preprocessing: GNSS signals enter the RF front-end (RFFE) via the same antenna. After amplification, filtering, and downconversion, the RFFE converts the signals into intermediate frequency (IF) signals, which are then converted to digital signals via an ADC. After the positioning signals are digitized, signal processing primarily involves correlation operations, acquisition / tracking, navigation data bit / frame synchronization, navigation data decoding, and message extraction. This eliminates outliers in the clock error data stream and provides accurate raw data for clock model fitting. During clock error data acquisition, the estimated variance of the extended Kalman filter is used as an evaluation metric. When the square root of the estimated variance of the clock error parameters is less than 1 ns, the PPP algorithm is considered converged and the PPP clock error calculation results can be used for clock steering. Furthermore, the Median Absolute Deviation (MAD) detection method is used to perform a secondary screening of the real-time clock error data stream to further eliminate outliers.

[0034] S2: Calculate clock error: The GNSS receiver receives dual-frequency or multi-frequency carrier phase and pseudorange observations in combination with the precise ephemeris data broadcast by the receiving network, and uses PPP technology to calculate the clock error of the local clock relative to the time reference; then pre-processes and fits the clock error result data stream to obtain the frequency control amount and phase control amount; finally, steers the local clock so that the tamed output 1PPS signal is synchronized with the system time reference. The multi-mode GNSS PPP time transfer algorithm uses the GBM precise ephemeris and clock error products released by GFZ to process various error corrections such as inter-frequency deviation, satellite-end multipath error, and inter-system deviation in the fusion of GNSS observation data. The PPP ionosphere-free combination equation of the corrected satellite clock error and station coordinates is:

[0035] ; ; Where, G 、 R 、 C and E Represent GPS, GLONASS, BDS and Galileo systems respectively, Indicates a receiver; represents the pseudorange observation value; Represents the carrier phase observation value; Indicates the geometric distance from the satellite to the station; Indicates the receiver clock error; The speed of light in a vacuum. represents the receiver of ionospheric-free combination; and represents the ionospheric-free combined receiver and satellite carrier phase hardware delay; represents the mapping function of the tropospheric delayed wet component; It represents the wet component of tropospheric delay in the zenith direction of the station; Indicates the carrier wavelength; Indicates the carrier phase integer ambiguity; and represents the unmodeled error and noise in the pseudorange and carrier phase observations.

[0036] After correcting the satellite clock error using the MGEX clock error product, the satellite-side pseudorange hardware delay error is introduced into the above equation. The multimode error correction uses ambiguity parameters to absorb the GLONASS satellite carrier phase IFBs and estimate the pseudorange IFBs of each GLONASS satellite separately. The pseudorange IFB of the kth GLONASS satellite is expressed as: ; Where, It represents the common part of the pseudorange hardware delay of GLONASS satellite signals for all satellites; Represents the portion of the pseudorange hardware delay of the GLONASS satellite signal that is unique to each satellite.

[0037] According to the PPP time transfer derivation, the receiver clock errors and ambiguity parameters of the four systems are obtained as follows: ; ; Taking the GPS receiver clock error parameters as the benchmark, in the multi-mode GNSS PPP clock error calculation, the clock errors of other systems are expressed as the sum of the GPS clock error and the ISB: ; ; For the GLONASS system, the ISB and IFB parameters are strongly correlated, so the ISB and IFB parameters are merged into IFSB parameters. The number of IFS;B parameters is equal to the number of observed GLONASS satellites.

[0038] The estimated parameter vector of multi-mode GNSS PPP is: ; Parameter estimation includes: 1 receiver clock error parameter , the number of IFSB parameters is equal to the number of observed GLONASS satellites , 1 ISB parameter between GPS and BDS , 1 ISB parameter between GPS and Galileo , 1 zenith tropospheric delayed wet component , the number of which is equal to the ambiguity parameters of the total number of satellites in the four-system observation 、 、 、 .

[0039] S3: Time synchronization: Substitute the GNSS receiver clock error parameters estimated in S2 and correction parameters , correcting the receiver clock to make it consistent with the satellite's atomic clock time and sending it to the inclinometer unit and the inertial measurement unit MEMS-IMU at a distributed fixed frequency, wherein the PPS pulse signal has the characteristics of high time accuracy, strong stability and common use for time marking. The present invention combines the PPS pulse when transmitting the time to the sensor; S4: Ground Space Reference Transfer: The high-precision three-dimensional position of the GNSS integrated monitoring station is obtained through RTK positioning mode. The corresponding reference station and receiver station are set up on the slope to be measured in the open-pit mine area. The reference station and multiple receiver stations set up in the open-pit mine area simultaneously observe the target satellite. The pseudo-range observation equation and carrier phase observation equation at the reference station and rover are determined based on the following equations:

[0040] ; ; in, is the pseudorange observation value from the satellite to the receiver station, is the geometric distance from the satellite to the receiver station, is the pseudorange observation value from the satellite to the reference station, is the geometric distance from the satellite to the reference station, is the speed of light in vacuum, is the receiver clock error, is the wavelength, φ is the phase, is the whole-cycle ambiguity, To delay the process, is the ionospheric error, is the remaining unmodeled error in the pseudorange observations.

[0041] Perform inter-station difference between the reference station and the receiver station, and assume that other satellites except the target satellite are reference satellites. The single-difference observation equations of pseudorange and carrier phase are: ; ; Perform intersatellite difference between the target satellite and the reference satellite, and obtain the double difference observation as: ; ; After observing multiple satellites, the error equation can be established based on the above two equations for parameter estimation. The floating-point solution of the ambiguity and the corresponding covariance matrix are obtained through least squares or Kalman filtering. The fixed solution of the wide-lane ambiguity for each satellite and the narrow-lane ambiguity after the wide-lane ambiguity is fixed are determined using the LAMBDA algorithm. The specific equations are as follows:

[0042] The three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system are determined based on the fixed solution of the wide lane ambiguity of each satellite and the narrow lane ambiguity after the wide lane ambiguity is fixed. The three-dimensional coordinates are then used as the posture reference to perform coordinate system transformation on the time synchronization information of the slope to be measured: ; in, b is the base station, r For the receiver station, is the pseudorange observation value from the satellite to the observation station, is the geometric distance from the satellite to the station, 、 For floating point solutions, is the corresponding covariance matrix, 、 is the fixed solution of the ambiguity, j is the target satellite, i is the reference satellite, x is the horizontal axis value, y is the vertical coordinate value, z is the depth axis coordinate value, and u is the conversion coefficient.

[0043] It is possible to achieve the temporal and spatial unification of data from GNSS, inertial measurement unit MEMS-IMU and inclinometer unit.

[0044] S5: Data fusion: The posture information measured by the inertial measurement unit MEMS-IMU after high-precision three-dimensional position and coordinate conversion is fused with the displacement change information of the slope to be measured in three-dimensional space including displacement, inclination vibration frequency and amplitude measured by the inclinometer unit through the federated Kalman filter.

[0045] Set the state vector from k -1 moment Transfer to k Moment , whose model is: ; in, for k -1 time has arrived k The state transition matrix at time , for k The three-dimensional coordinates of the moment, is the model error.

[0046] Located in k There is always r sensors, and the corresponding observation equations of each sensor are: ; In the above formula For sensors i The observation equation design matrix, For sensors i The observation vector and error vector of the sensor are uncorrelated with the model error, and the observation errors of each sensor are uncorrelated, that is:

[0047] ; The local filtering is: ; Assume that the observation vector of the main sensor is , then the main filter solution is: ; According to the information sharing principle of the federated Kalman algorithm, the weight matrix can be determined: ; ; Get fused data: ; in, To fuse data, is the inverse matrix of the weight matrix, is local filtering, is the main filter solution, is the observation vector of the main sensor, For sensors i The observation vector, is the weight matrix, is the local filter coefficient, The main filter coefficients.

[0048] S6: Network transmission: the results of S5 The data is transmitted and uploaded to the monitoring station via the 5G network.

[0049] S7: Remote control: The remote end can perform slope displacement analysis and landslide warning through the data received through the network. In addition, the corresponding sensors can be remotely controlled by the control system to adjust the monitoring strategy in time.

[0050] The above-described embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. A slope monitoring device, characterized in that: include: Absolute positioning module, relative positioning module and monitoring module; The absolute positioning module is set on the borehole ground of the slope to be measured, and the relative positioning module and the monitoring module are placed at the internal borehole monitoring point of the slope to be measured; the absolute positioning module includes a GNSS receiver and a satellite data processing module, and the relative positioning module includes an inertial measurement unit and an inclinometer unit; The GNSS receiver is used to receive satellite signals from Beidou satellites on the slope to be measured in the open-pit mine; The inertial measurement unit is used to measure in real time the posture information representing the angle change of the slope surface to be measured in the open-pit mine area; The inclinometer unit is used to measure the displacement of the slope to be measured point by point along the drilling monitoring point, and determine the displacement change information of the slope to be measured in three-dimensional space, including displacement, inclination vibration frequency and amplitude; The satellite data processing module is used to correct the clock of the GNSS receiver according to the satellite signal; and synchronize the position information of the slope to be measured and the displacement change information of the slope to be measured in three-dimensional space with the corrected clock of the GNSS receiver to obtain the time synchronization information of the slope to be measured; The monitoring module is used to obtain satellite signals from multiple Beidou satellites in real time, determine the three-dimensional coordinates of the GNSS receiver in a three-dimensional space coordinate system based on the satellite signals between the multiple Beidou satellites, use the three-dimensional coordinates as a posture reference to perform coordinate system conversion on the time synchronization information of the slope to be measured; and filter and fuse the high-precision ground position information and the time synchronization information after the coordinate system conversion, perform slope micro-displacement analysis on the fused data, and obtain monitoring results of the slope to be measured in the open-pit mining area.

2. A slope monitoring device according to claim 1, characterized in that: The absolute positioning module also includes a large-capacity lithium battery and a solar panel; The large-capacity lithium battery is used to supply power to the GNSS receiver; The solar cell panel is used to convert solar energy into electrical energy and store the electrical energy in the large-capacity lithium battery.

3. A method for using a slope monitoring device according to any one of claims 1-2, characterized in that: include: Receive the satellite signal of BeiDou satellite on the slope to be measured in the open-pit mine area, and measure the posture information representing the angle change of the surface of the slope to be measured in the open-pit mine area in real time; Measure the displacement of the slope to be measured point by point along the borehole monitoring point to determine the displacement change information of the slope to be measured in three-dimensional space, including displacement, inclination vibration frequency and amplitude; Correct the GNSS receiver's clock based on satellite signals; The position information of the slope to be measured and the displacement change information of the slope to be measured in three-dimensional space are synchronized with the clock of the calibrated GNSS receiver to obtain the time synchronization information of the slope to be measured; Acquire satellite signals from multiple BeiDou satellites in real time, determine the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system based on the satellite signals between multiple BeiDou satellites, and use the three-dimensional coordinates as the posture reference to perform coordinate system conversion on the time synchronization information of the slope to be measured; The three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system and the time synchronization information after the coordinate system conversion are filtered and fused to obtain fused data; The fused data is used to analyze the small displacement of the slope and obtain the monitoring results of the slope to be measured in the open-pit mine area.

4. The method for using the slope monitoring device according to claim 3, characterized in that: It also includes calculating the clock offset of the local clock of the GNSS receiver relative to the time reference after time correction before correcting the GNSS receiver clock based on satellite signals, and processing various error corrections in the fusion of GNSS observation data, specifically including: The GNSS receiver receives dual-frequency or multi-frequency carrier phase and pseudorange observations, combined with precise ephemeris data broadcast by the network, and determines the clock error of the local clock relative to the time reference using PPP technology. Preprocess and fit the clock error result data stream to obtain the frequency control value and phase control value; Based on the frequency steering amount and phase steering amount, various error corrections in GNSS observation data fusion are determined through the multi-mode GNSS PPP time transfer algorithm.

5. The method for using the slope monitoring device according to claim 3, characterized in that: The method of acquiring satellite signals of multiple Beidou satellites in real time, determining the three-dimensional coordinates of the GNSS receiver in a three-dimensional space coordinate system based on the satellite signals between the multiple Beidou satellites, and performing coordinate system conversion on the time synchronization information of the slope to be measured using the three-dimensional coordinates as a posture reference specifically includes: The base station and multiple receiver stations set up in the open-pit mine area observe the target satellite simultaneously. The pseudo-range observation equation and carrier phase observation equation at the base station and mobile station are determined based on the following formula: ； ； in, is the pseudorange observation value from the satellite to the receiver station, is the geometric distance from the satellite to the receiver station, is the pseudorange observation value from the satellite to the reference station, is the geometric distance from the satellite to the reference station, is the speed of light in vacuum, is the receiver clock error, is the wavelength, φ is the phase, is the whole-cycle ambiguity, To delay the process, is the ionospheric error, is the remaining unmodeled error in the pseudorange observations; Based on the following formula, inter-station difference is performed between the reference station and the receiver station, and other satellites except the target satellite are set as reference satellites. The pseudorange and carrier phase single difference observation equations are: ； ； Based on the following formula, intersatellite difference is performed between the target satellite and the reference satellite to obtain double difference observation: ； ； Observe multiple satellites, establish error equations, and perform parameter estimation; The ambiguity floating-point solution and the corresponding covariance matrix are obtained by least squares or Kalman filtering based on the following formula. The fixed solution of the wide-lane ambiguity of each satellite and the narrow-lane ambiguity after the wide-lane ambiguity is fixed are determined by the LAMBDA algorithm: ； Determine the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system based on the fixed solution of the wide lane ambiguity of each satellite and the narrow lane ambiguity after the wide lane ambiguity is fixed; The coordinate system of the time synchronization information of the slope to be measured is converted based on the following formula using the three-dimensional coordinates as the pose reference: ； in, b is the base station, r For the receiver station, is the pseudorange observation value from the satellite to the observation station, is the geometric distance from the satellite to the station, 、 For floating point solutions, is the corresponding covariance matrix, 、 is the fixed solution of the ambiguity, j is the target satellite, i is the reference satellite, x is the horizontal axis value, y is the vertical coordinate value, z is the depth axis coordinate value, and u is the conversion coefficient.

6. The method for using the slope monitoring device according to claim 3, characterized in that: The filtering and fusing of the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system and the time synchronization information after the coordinate system conversion to obtain the fused data specifically includes: The state vector is set from k -1 moment Transfer to k Moment : ； in, for k -1 time has arrived k The state transition matrix at time , for k The three-dimensional coordinates of the moment, is the model error; The observation equation corresponding to each sensor is determined by the following formula: ； in, For sensors i The observation equation design matrix, For sensors i The observation vector and error vector of ; The local filtering is determined by the following formula: ； The main filter solution is determined by the following formula: ； The weight matrix is ​​determined by the following formula: ； ； ； The fused data is determined by the following formula: ； in, To fuse data, is the inverse matrix of the weight matrix, is local filtering, is the main filter solution, is the observation vector of the main sensor, For sensors i The observation vector, is the weight matrix, is the local filter coefficient, The main filter coefficients.

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