A method, device and optical terminal intensity meter for automatic equipment posture correction

Abstract

This invention discloses an automatic attitude correction method, device, and optical terminal intensity meter for equipment. The automatic attitude correction method is applied to a pre-set monitoring terminal including a triaxial MEMS accelerometer and a magnetometer, and includes the following steps: acquiring acceleration and magnetometer data; calculating acceleration-stabilized triaxial offset; calculating roll and pitch angles and determining the horizontal plane; locating magnetic north and calculating the magnetic north azimuth; calculating magnetic declination and yaw angle using latitude and longitude; generating a rotation matrix and performing coordinate system transformation; judging angle changes and updating the matrix; and completing calibration and attitude stabilization. The technical solution provided by this invention ensures that the monitoring terminal equipment can automatically and accurately adjust and maintain its attitude after installation, thereby guaranteeing the effective operation of the earthquake monitoring and early warning system and improving earthquake disaster prevention and seismic monitoring capabilities.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of earthquake monitoring and early warning and intensity rapid reporting, and in particular to a device posture automatic correction method, device and optical terminal intensity instrument. BACKGROUND

[0002] In the process of earthquake monitoring and early warning, earthquake intensity rapid reporting and general seismic (vibration) monitoring, professional instruments are usually used, and the installation posture of these instruments will directly affect the measurement accuracy of acceleration data, which is a key prerequisite for obtaining reliable earthquake intensity data.

[0003] In actual earthquake monitoring and early warning and general seismic (vibration) monitoring scenarios, subtle vibration signals contain important seismic information. Only when the monitoring terminal maintains an accurate installation posture, can the MEMS sensor perceive the seismic wave in the correct direction, thereby obtaining acceleration data that highly matches the actual seismic intensity. These accurate data are the core basis for earthquake warning model analysis and intensity rapid reporting.

[0004] Traditional monitoring terminal devices are usually erected in remote areas. The problem is that they need to be installed and tested by professionals, rely on manual calibration and simple mechanical fixation for installation, and manual adjustment is tedious and inefficient. In addition, physical deviation is inevitable during transportation and deployment, and there is a lack of real-time correction function. The traditional mechanical fixation method cannot guarantee the long-term stability of the device, and even a slight change in the device posture will seriously affect the accuracy of seismic data acquisition. This makes the device installation process long and difficult to maintain for a long time in complex environments, requiring regular manual maintenance, which not only increases the operation and maintenance cost, but also accumulates measurement errors due to tilting, seriously affecting the timeliness and accuracy of earthquake warning. In particular, in unattended or remote monitoring scenarios, it is difficult to achieve timely calibration and effective data acquisition, which greatly limits the overall advancement of earthquake and general seismic (vibration) monitoring and the improvement of monitoring effectiveness. SUMMARY

[0005] To overcome the shortcomings of the prior art, the present application provides a device posture automatic correction method, device and optical terminal intensity instrument, which ensures that the monitoring terminal device can automatically adjust and stably maintain the posture after installation, thereby ensuring the effective operation of the earthquake monitoring and early warning system and improving the earthquake disaster prevention and general seismic (vibration) monitoring capability.

[0006] A device posture automatic correction method is applied to a preset monitoring terminal including a three-axis MEMS accelerometer and a magnetometer, and includes the following steps:

[0007] S1, synchronously acquiring three-axis acceleration data output by the three-axis MEMS accelerometer and three-axis magnetic field data output by the magnetometer;

[0008] S2, calculating acceleration stable three-axis offset according to the three-axis acceleration data;

[0009] S3, calculating roll angle and pitch angle according to the acceleration stable three-axis offset, and determining the horizontal plane reference of the preset monitoring terminal;

[0010] S4, locating magnetic north and calculating magnetic north azimuth angle according to the three-axis magnetic field data, the horizontal plane reference and the geomagnetic field model;

[0011] S5, calculating magnetic declination of the location of the preset monitoring terminal according to the latitude and longitude of the preset monitoring terminal, and calculating yaw angle of Euler angle based on the magnetic north azimuth angle and the magnetic declination, and determining the rotation posture of the preset monitoring terminal around the vertical axis;

[0012] S6, constructing a rotation matrix and performing coordinate system conversion to adapt the preset monitoring terminal to the geographical space reference system;

[0013] S7, monitoring the change of Euler angle in real time, and updating the rotation matrix according to the change result;

[0014] S8, continuously optimizing the rotation matrix until the device posture of the preset monitoring terminal is stable.

[0015] A device posture automatic correction device is applied to a preset monitoring terminal including a three-axis MEMS accelerometer and a magnetometer, and is used for executing the above-mentioned device posture automatic correction method, and comprises:

[0016] A data acquisition module is used for synchronously acquiring three-axis acceleration data output by the three-axis MEMS accelerometer and three-axis magnetic field data output by the magnetometer;

[0017] A three-axis offset calculation module is used for calculating acceleration stable three-axis offset according to the three-axis acceleration data;

[0018] A horizontal plane reference determination module is used for calculating roll angle and pitch angle according to the acceleration stable three-axis offset, and determining the horizontal plane reference of the preset monitoring terminal;

[0019] A magnetic north positioning and magnetic north azimuth angle calculation module is used for locating magnetic north and calculating magnetic north azimuth angle according to the three-axis magnetic field data and the horizontal plane reference, and combining the geomagnetic field model;

[0020] A rotation posture determination module is configured to calculate a magnetic declination of a location where the preset monitoring terminal is located according to a latitude and a longitude of the preset monitoring terminal; and calculate a yaw angle of Euler angle based on the magnetic north azimuth angle and the magnetic declination, and determine a rotation posture of the preset monitoring terminal around a vertical axis.

[0021] A geospatial reference system adaptation module is configured to construct a rotation matrix and perform coordinate system conversion, and adapt the preset monitoring terminal to a geospatial reference system.

[0022] A matrix updating module is configured to monitor a change of the Euler angle in real time, and update the rotation matrix according to a change result.

[0023] A calibration and posture stability determination module is configured to continuously optimize the rotation matrix until a device posture of the preset monitoring terminal is stable.

[0024] An optical terminal intensity meter, comprising:

[0025] An optical fiber modem comprising an MCU and an optical communication module electrically connected to the MCU; the optical communication module is configured to realize network access and data uploading;

[0026] A three-axis MEMS accelerometer electrically connected to the MCU; the three-axis MEMS accelerometer is configured to collect three-axis acceleration data in real time;

[0027] A magnetometer module electrically connected to the MCU; the magnetometer module is configured to collect three-axis magnetic field data in real time;

[0028] The optical fiber modem is configured to provide a dual data transmission channel including wideband communication and seismic intensity data;

[0029] After the optical terminal intensity meter is deployed at a preset location, the device posture is automatically corrected by the device posture automatic correction method as described above.

[0030] The device posture automatic correction method and device provided by the application can automatically correct the physical deviation of the device in the transportation, deployment and use process by monitoring the posture change of the optical terminal intensity instrument in real time through the acceleration gyroscope and magnetometer, ensure that the device maintains a stable posture for a long time, thereby ensuring the accuracy of earthquake and general seismic (vibration) data collection, and improving the timeliness and reliability of earthquake monitoring and early warning, intensity rapid reporting and general seismic (vibration) monitoring. At the same time, the device posture automatic correction method and device are not limited to the field of earthquake monitoring and early warning and intensity rapid reporting, and can be applied to various scenes requiring accurate posture control and calibration, such as geological exploration, major engineering (such as railway, highway, tunnel, bridge and large building structure health monitoring), industrial equipment installation and debugging. In addition, the device posture automatic correction method and device are especially suitable for earthquake monitoring and early warning, intensity rapid reporting and general seismic (vibration) monitoring, and can effectively reduce the artificial maintenance cost and avoid measurement errors caused by posture changes in geological exploration, major engineering (such as railway, highway, tunnel, bridge and large building structure health monitoring), industrial equipment installation and debugging.

[0031] The optical terminal intensity instrument provided by the application innovatively embeds a MEMS sensor module in a traditional optical network terminal to form an optical terminal intensity instrument. By perceiving, data collecting, real-time transmitting and analyzing seismic wave data, the earthquake monitoring and early warning capability is achieved, thereby changing the traditional earthquake recording and measuring method, and making the earthquake measurement no longer limited to special equipment and specific position installation, and reducing the maintenance cost.

[0032] Since the optical terminal intensity instrument can be distributed and erected, the number of the optical terminal intensity instruments is large, the coverage area is wide, and the system service (seismic station network data) can provide a system service capacity of tens of thousands of levels. Therefore, after the device is installed, the technical problems mentioned in the background art can be solved by the above-mentioned device posture automatic correction method, and the following technical effects are achieved.

[0033] 1) By means of the built-in three-axis MEMS accelerometer and magnetometer, a "self-perception-self-solution-self-calibration" closed loop is constructed. After the device is started, the horizontal plane calibration and true north positioning are automatically completed, and the instrument deployment time is shortened.

[0034] 2) Without professional calibration personnel, ordinary workers can complete the device installation, the operation and maintenance labor input is reduced, and the low-cost expansion of the monitoring network in remote areas is suitable.

[0035] 3) The posture automatic correction is realized by the algorithm and the sensor, the traditional mechanical fixation is replaced, and the physical loss and artificial operation and maintenance demand of the device in long-term operation are reduced.

[0036] 4) Not dependent on flat installation surface or fixed base, in non-conventional scenarios such as slopes, can complete horizontal calibration based on gravity field, breaking through the limitation of traditional mechanical fixation on installation conditions. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 A flowchart of the device posture automatic correction method in the embodiment of the present application;

[0038] Figure 2 A hardware framework diagram of the optical terminal intensity meter in the embodiment of the present application;

[0039] Figure 3 An automatic correction function framework diagram of the optical terminal intensity meter in the embodiment of the present application;

[0040] Figure 4 A flowchart of the automatic correction of the optical terminal intensity meter in the embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clear, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0042] A device posture automatic correction method is provided, which is applied to a preset monitoring terminal including a three-axis MEMS accelerometer and a magnetometer, and the flowchart thereof is as shown in Figure 1 and includes the following steps:

[0043] S1, synchronously acquiring three-axis acceleration data output by the three-axis MEMS accelerometer and three-axis magnetic field data output by the magnetometer;

[0044] S2, calculating an acceleration stable three-axis offset according to the three-axis acceleration data;

[0045] S3, calculating a horizontal plane reference of the preset monitoring terminal according to the acceleration stable three-axis offset, a roll angle and a pitch angle;

[0046] S4, positioning a magnetic north and calculating a magnetic north azimuth angle according to the three-axis magnetic field data and the horizontal plane reference, and combining a geomagnetic field model;

[0047] S5, calculating a magnetic declination angle of a place where the preset monitoring terminal is located according to the latitude and longitude where the preset monitoring terminal is located, and calculating a yaw angle of the Euler angle based on the magnetic north azimuth angle and the magnetic declination angle, and determining a rotation posture of the preset monitoring terminal around a vertical axis;

[0048] S6, constructing a rotation matrix and performing coordinate system conversion, and adapting the preset monitoring terminal to a geographical space reference system;

[0049] S7, real-time monitoring the change of Euler angle, and updating the rotation matrix according to the change result;

[0050] S8, continuously optimizing the rotation matrix until the device posture of the preset monitoring terminal is stable.

[0051] Among them, for step S2, specifically includes: according to the long time mean of the acceleration of the three-axis MEMS accelerometer when it is static, statistical analysis of acceleration data, calculation and determination of stable three-axis offset.

[0052] For step S3, specifically includes the following steps:

[0053] S31, based on the three-axis components of the unit gravity vector, the arctangent function is used to calculate the roll angle and pitch angle; wherein the roll angle reflects the inclination degree of the preset monitoring terminal around the X axis; the pitch angle represents the inclination degree of the preset monitoring terminal around the Y axis;

[0054] S32, the acceleration stable three-axis offset is substituted into the gravity field model; through vector normalization processing, the unit gravity vector under the coordinate system of the preset monitoring terminal is obtained, the direction of the gravity vector is perpendicular to the horizontal plane, so as to determine the horizontal plane reference of the preset monitoring terminal.

[0055] For step S5, specifically includes: obtaining the latitude and longitude through the positioning module built-in the preset monitoring terminal, and querying the magnetic declination model to obtain the magnetic declination of the location of the preset monitoring terminal.

[0056] For step S6, specifically further includes the following steps:

[0057] S61, based on the roll angle, pitch angle and yaw angle, a complete Euler angle parameter group is formed, and a rotation matrix is constructed by using the Cartesian three-dimensional coordinate system rotation method;

[0058] S62, according to the rotation order of Euler angle, the basic rotation matrix around each axis is established respectively; by matrix multiplication, the three basic rotation matrices are multiplied to obtain the complete rotation matrix;

[0059] S63, the complete rotation matrix is used for matrix operation on the three-axis acceleration data; through the transformation formula, the three-axis acceleration data is converted from the coordinate system of the preset monitoring terminal itself to the ENZ coordinate system, so that the preset monitoring terminal is adapted to the geographical space reference system.

[0060] For step S7, specifically further includes the following steps:

[0061] S71, if the roll angle or the pitch angle is greater than or equal to the first preset angle, and the yaw angle change is greater than or equal to the second preset angle, it is judged that the angle change is large, and the rotation matrix is updated, at the same time, the update time of each time is recorded;

[0062] S72, when there is no angle change for a preset time after the last rotation matrix update, perform the final matrix update.

[0063] Preferably, the first preset angle is 1 degree, the second preset angle is 5 degrees, and the preset time is 2 minutes.

[0064] An equipment posture automatic correction device is provided, which is applied to a preset monitoring terminal including a three-axis MEMS accelerometer and a magnetometer, and is used to perform the equipment posture automatic correction method as described above. The preset monitoring terminal is not limited to equipment in earthquake monitoring and early warning, intensity rapid reporting, and general seismic (vibration) monitoring, but can also be used in various scenarios requiring precise posture control and calibration, such as geological exploration, major engineering (such as railway, highway, tunnel, bridge, and large building structure health monitoring), and industrial equipment installation and debugging.

[0065] The equipment posture automatic correction device specifically includes a data acquisition module, a three-axis offset calculation module, a horizontal plane reference determination module, a magnetic north positioning and magnetic north azimuth angle calculation module, a rotation posture determination module, a geographic space reference system adaptation module, a matrix update module, and a calibration and posture stability determination module. The functions of the above modules are respectively used to realize the steps in the above-mentioned equipment posture automatic correction method, which will not be described here.

[0066] An optical terminal intensity instrument is provided, which includes:

[0067] An optical fiber modem, which includes an MCU and an optical communication module electrically connected to the MCU; the optical communication module is used to realize network access and data uploading;

[0068] A three-axis MEMS accelerometer, which is electrically connected to the MCU; the three-axis MEMS accelerometer is used to collect real-time three-axis acceleration data;

[0069] A magnetometer, which is electrically connected to the MCU; the magnetometer module is used to collect real-time three-axis magnetic field data;

[0070] The optical fiber modem is used to provide a dual data transmission channel including broadband communication and seismic intensity data;

[0071] After the optical terminal intensity instrument is deployed at a preset location, the equipment posture is automatically corrected by the above-mentioned equipment posture automatic correction method.

[0072] The optical fiber modem is also called an optical terminal, which is the main equipment for current home and enterprise network access. The optical fiber modem includes an MCU, i.e., a master control chip, and an optical communication module electrically connected to the MCU, and the optical communication module is used to realize network access and data uploading.

[0073] MEMS, i.e. micro-electro-mechanical system, the MEMS sensor module is electrically connected with the MCU of the optical modem. The MEMS sensor module is used for real-time acquisition of seismic intensity data. The optical modem is used for providing double data transmission channels including wideband communication and seismic intensity data. Thus, through the integration of the optical modem and the MEMS sensor, the automation and intelligence of seismic intensity monitoring are realized.

[0074] As shown in Figure 2 , the optical communication module is used for providing a seismic early warning service data chain and a wide service data chain. The MCU in the optical modem is used for realizing three major functions: data processing of the main function, attitude correction control of the optical terminal intensity instrument, and automatic registration of the optical terminal intensity instrument as a terminal to the server. The MEMS sensor module is electrically connected with the MCU through an I2C or SPI bus. The MEMS sensor module includes two three-axis accelerometers and one magnetometer, and the three-axis accelerometers and the magnetometer are connected with the master control chip through an I2C / SPI interface.

[0075] As shown in Figure 3 , the external environment provides a gravity field and a geomagnetic field direction; the device main body takes the master control chip MCU as the core, and connects a three-axis MEMS accelerometer and a three-axis magnetometer through an I2C / SPI.

[0076] The accelerometer determines the gravity direction to calibrate the level, the gyroscope monitors the three-axis angular velocity to capture the dynamic rotation, and the magnetometer analyzes the geomagnetic field to locate the true north. The data is collected to the MCU for processing.

[0077] The MCU transmits the data to an Euler angle calculation module, and finally drives an attitude correction actuator through a rotation matrix generator and a coordinate system conversion unit.

[0078] When there is an installation error of inclination, the horizontal plane is first determined based on the three-axis MEMS accelerometer, the horizontal state calibration is completed, and then the geomagnetic field direction is detected on the calibrated horizontal reference plane relying on the magnetometer module, so as to eliminate the error caused by factors such as inclination and realize accurate positioning of the true north direction.

[0079] The corrected data is processed by the master control chip, uploaded to the seismic network center through the optical communication module and the optical fiber network, and real-time monitoring and transmission of seismic intensity data are realized.

[0080] As shown in Figure 4 , the process of the optical terminal intensity instrument using the above-mentioned device attitude automatic correction method for automatic correction includes the following steps:

[0081] Step 1: system initialization and sensor start.

[0082] Complete device hardware, software parameter initialization, start three-axis MEMS accelerometer, magnetometer module, prepare for data acquisition.

[0083] Step 2: Collect acceleration and magnetometer data.

[0084] Synchronous acquisition of three-axis acceleration data output by MEMS accelerometer and three-axis magnetic field data of magnetometer module as the basis for attitude solution.

[0085] Step 3: Calculate the stable three-axis offset of acceleration.

[0086] According to the long-term mean value of acceleration when the MEMS is stationary, statistical analysis of acceleration data, calculation and determination of stable three-axis offset, used for subsequent attitude correction.

[0087] Step 4: Calculate the roll angle, pitch angle and determine the horizontal plane.

[0088] Based on the three-axis components of the unit gravity vector, the roll angle and pitch angle are calculated using the arctangent function. Among them, the roll angle reflects the inclination of the device around the X axis, and the pitch angle represents the inclination of the device around the Y axis. The acceleration data corrected by the three-axis offset in step 3 is substituted into the gravity field model. Through vector normalization processing, the unit gravity vector in the device coordinate system is obtained, which is perpendicular to the horizontal plane, so as to determine the horizontal plane reference of the device.

[0089] Step 5: Position the magnetic north and calculate the magnetic north azimuth.

[0090] Process the three-axis magnetic field data of the magnetometer, based on the measured horizontal reference plane, combined with the geomagnetic field model, solve the magnetic north azimuth and obtain the magnetic field direction reference.

[0091] Step 6: Calculate the magnetic declination and yaw angle combined with latitude and longitude.

[0092] Obtain the observation point latitude and longitude through the built-in positioning module of the device, query the magnetic declination model to get the local magnetic declination; based on the magnetic north azimuth and magnetic declination, calculate the yaw angle of Euler angle, determine the rotation attitude of the device around the vertical axis.

[0093] Step 7: Generate rotation matrix and coordinate system conversion.

[0094] Based on the obtained roll angle, pitch angle, yaw angle, a complete Euler angle parameter group is formed, a rotation matrix is constructed by using the Cartesian three-dimensional coordinate system rotation method. According to the rotation order of Euler angle, the basic rotation matrix around each axis is established respectively, and the complete rotation matrix is obtained by multiplying the three basic rotation matrices through matrix multiplication. Finally, the coordinate system conversion is carried out, and the original three-axis data (xyz) collected by the accelerometer is subjected to matrix operation by using the constructed rotation matrix. Through the transformation formula, the original data is converted from the device itself coordinate system to the ENZ coordinate system, so that the data is adapted to the geographic spatial reference system.

[0095] Step 8: judge the angle change and matrix update.

[0096] Real-time monitoring of Euler angle change: if the roll angle or pitch angle is greater than or equal to 1 degree, and the yaw angle change is greater than or equal to 5 degrees, it is determined that the angle change is large, and the rotation matrix update is triggered; record the update time of each "large angle change", and when there is no significant angle change for 2 minutes after the last update, perform the final matrix update.

[0097] Step 9: complete calibration and attitude stabilization.

[0098] Through the above process, the rotation matrix is continuously optimized until the device attitude is stable, the installation attitude automatic calibration is completed, the data acquisition accuracy of the light terminal intensity instrument is ensured, and the normal working state is entered.

[0099] The above is the description of the present application, which is used to help understand the present application; but the embodiments of the present application are not limited by the above examples, any change, modification, replacement, combination, simplification made without departing from the principle of the present application should be equivalent replacement method, and all are included in the protection scope of the present application.

Claims

1. A method of automatically correcting a device posture, the method comprising: determining a device posture; and automatically correcting the device posture based on the determined device posture. The device posture automatic correction method is applied to a preset monitoring terminal comprising a three-axis MEMS accelerometer and a magnetometer, and comprises the following steps: S1, synchronously acquiring three-axis acceleration data output by the three-axis MEMS accelerometer and three-axis magnetic field data output by the magnetometer; S2, calculating an acceleration stable three-axis offset according to the three-axis acceleration data; S3, calculating a roll angle and a pitch angle according to the acceleration stable three-axis offset, and determining a horizontal plane reference of the preset monitoring terminal; determining the horizontal plane reference comprises: substituting the acceleration stable three-axis offset into a gravity field model; obtaining a unit gravity vector under a preset monitoring terminal coordinate system through vector normalization processing, the direction of the gravity vector being perpendicular to the horizontal plane, so as to determine the horizontal plane reference in which the preset monitoring terminal is located; S4, positioning a magnetic north and calculating a magnetic north azimuth angle according to the three-axis magnetic field data and the horizontal plane reference, and combining a geomagnetic field model; S5, calculating a magnetic declination angle of a place where the preset monitoring terminal is located according to the latitude and longitude where the preset monitoring terminal is located; calculating a yaw angle of an Euler angle based on the magnetic north azimuth angle and the magnetic declination angle, and determining a rotation posture of the preset monitoring terminal around a vertical axis; S6, constructing a rotation matrix and performing coordinate system conversion, so as to adapt the preset monitoring terminal to a geographical space reference system, and comprising: S61, based on the roll angle, the pitch angle and the yaw angle, forming a complete Euler angle parameter group, and using a Cartesian three-dimensional coordinate system rotation method to construct a rotation matrix; S62, respectively establishing a basic rotation matrix around each axis according to the rotation order of the Euler angle; multiplying three basic rotation matrices through matrix multiplication to obtain a complete rotation matrix; S63, using the complete rotation matrix to perform matrix operation on the three-axis acceleration data; through a conversion formula, converting the three-axis acceleration data from the preset monitoring terminal coordinate system to an ENZ coordinate system, so as to adapt the preset monitoring terminal to the geographical space reference system; S7, monitoring the change of the Euler angle in real time, and triggering the rotation matrix to update according to the change result, and comprising: S71, if the roll angle or the pitch angle is greater than or equal to a first preset angle, and the yaw angle changes by greater than or equal to a second preset angle, it is determined that the angle changes greatly, and the rotation matrix is triggered to update, and at the same time, the update time of each time is recorded; S72, when there is no angle change within a preset time after the rotation matrix is last updated, performing a final matrix update; S8, continuously optimizing the rotation matrix until the device posture of the preset monitoring terminal is stable.

2. The device posture automatic correction method according to claim 1, wherein In step S2, the acceleration stable three-axis offset is calculated according to the three-axis acceleration data, comprising: According to the long-term average of the acceleration of the three-axis MEMS accelerometer when it is stationary, the acceleration data is statistically analyzed, and the stable three-axis offset is calculated and determined.

3. The method of claim 1, wherein the device posture is automatically corrected by: In step S3, the roll angle and the pitch angle are calculated according to the acceleration stable three-axis offset, and the horizontal plane reference of the preset monitoring terminal is determined, comprising: S31, based on the three-axis component of the unit gravity vector, the roll angle and the pitch angle are calculated using the arctangent function; wherein the roll angle reflects the inclination of the preset monitoring terminal around the X axis; the pitch angle represents the inclination of the preset monitoring terminal around the Y axis.

4. The method of claim 1, wherein In step S5, the magnetic declination of the location of the preset monitoring terminal is calculated according to the latitude and longitude of the preset monitoring terminal, comprising: The latitude and longitude are obtained by the positioning module built-in the preset monitoring terminal, and the magnetic declination of the location of the preset monitoring terminal is obtained by querying the magnetic declination model.

5. The method of automatically correcting the posture of the device according to claim 1, wherein, The first preset angle is 1 degree, the second preset angle is 5 degrees, and the preset time is 2 minutes.

6. An apparatus posture automatic correction device, characterized by comprising: The device posture automatic correction device is applied to a preset monitoring terminal including a three-axis MEMS accelerometer and a magnetometer, and is used to execute the device posture automatic correction method of any one of claims 1 to 5, and comprises: A data acquisition module is configured to synchronously acquire three-axis acceleration data output by the three-axis MEMS accelerometer and three-axis magnetic field data output by the magnetometer; A three-axis offset calculation module is configured to calculate acceleration stable three-axis offsets according to the three-axis acceleration data; A horizontal plane reference determination module is configured to calculate a roll angle and a pitch angle according to the acceleration stable three-axis offsets, and determine a horizontal plane reference of the preset monitoring terminal; A magnetic north positioning and magnetic north azimuth angle calculation module is configured to position magnetic north and calculate a magnetic north azimuth angle according to the three-axis magnetic field data, the horizontal plane reference, and a geomagnetic field model; A rotation posture determination module is configured to calculate a magnetic declination of a location of the preset monitoring terminal according to latitude and longitude of the preset monitoring terminal, and calculate a yaw angle of Euler angles based on the magnetic north azimuth angle and the magnetic declination, to determine a rotation posture of the preset monitoring terminal around a vertical axis; A geographic space reference system adaptation module is configured to construct a rotation matrix and perform coordinate system conversion, to adapt the preset monitoring terminal to a geographic space reference system; A matrix update module is configured to monitor changes in Euler angles in real time, and trigger the rotation matrix to update according to the change result; A calibration and posture stability determination module is configured to continuously optimize the rotation matrix until the device posture of the preset monitoring terminal is stable.

7. An optical terminal intensity meter characterized by comprising: It comprises: An optical fiber modem, the optical fiber modem comprising an MCU and an optical communication module electrically connected with the MCU; The optical communication module is used to realize network access and data uploading; A three-axis MEMS accelerometer, the three-axis MEMS accelerometer being electrically connected with the MCU; The three-axis MEMS accelerometer is used to collect three-axis acceleration data in real time; A magnetometer, the magnetometer being electrically connected with the MCU; the magnetometer is used to collect three-axis magnetic field data in real time; The optical fiber modem is used to provide a double data transmission channel including wideband communication and seismic intensity data; The optical terminal intensity meter is deployed at a preset location, and the device posture is automatically corrected by the device posture automatic correction method of any one of claims 1 to 5.

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