Beidou deformation monitoring method and device

Abstract

The present invention discloses a Beidou deformation monitoring device, including a first Beidou positioning component, a wire displacement meter and a gyroscope; the present invention can monitor the structure to be measured by using the cooperation of the first Beidou positioning component, the wire displacement meter and the gyroscope. Only one set of Beidou positioning components is used in the monitoring process, which can effectively save costs, and the deformation of the structure to be measured is monitored by the wire displacement meter, and combined with the data of the gyroscope, the three-dimensional monitoring results of the two ends of the wire displacement meter can be obtained, that is, the three-dimensional changes on both sides of the crack can be obtained, and the monitoring effect is good. The present invention also discloses a Beidou deformation monitoring method, using the Beidou deformation monitoring device, through the attitude data output by the gyroscope, the three-dimensional coordinates of the two ends of the wire displacement meter can be obtained, compared with the traditional wire displacement meter for crack monitoring, this method can identify the situation where both sides of the crack slide at the same time, and can adapt to different monitoring conditions.

Description

Technical Field

[0001] The present invention relates to the field of Beidou monitoring, and in particular to a Beidou deformation monitoring method and device. Background Art

[0002] At present, the main method used for crack monitoring is to use a wire displacement meter. The wire displacement meter is arranged at both ends of the crack, and the crack deformation is measured by measuring the expansion and contraction length of the wire above the crack. In some scenarios, Beidou monitoring stations are installed on both sides of the crack for monitoring. By calculating the monitoring results of the two Beidou monitoring stations in each period, the deformation information of the crack can be obtained.

[0003] The problems with the above monitoring method are: the method of using a pull-wire displacement meter for monitoring is relatively simple, but when the monitored object slides as a whole, effective monitoring cannot be obtained, and the monitoring result is only the change in crack width, and accurate three-dimensional displacement results cannot be obtained. Although the method of installing two Beidou monitoring stations can obtain the three-dimensional displacement results of the crack, the cost is relatively high, resulting in certain waste.

[0004] In summary, there is an urgent need for a Beidou deformation monitoring method and device to solve the problem that the wire displacement monitoring in the prior art cannot obtain three-dimensional displacement results and the cost waste of using two groups of Beidou monitoring stations for monitoring. Summary of the invention

[0005] The object of the present invention is to provide a Beidou deformation monitoring method and device to solve the problem that the wire displacement monitoring in the prior art cannot obtain three-dimensional displacement results and the cost waste of using two sets of Beidou monitoring stations for monitoring. The specific technical solution is as follows:

[0006] A Beidou deformation monitoring method comprises the following steps:

[0007] Step S1: acquiring initial data, the initial data including initial coordinate data of the main body of the draw-wire displacement meter, initial attitude angle data of the gyroscope, and initial coordinate data of the draw-wire end of the draw-wire displacement meter;

[0008] Step S2: acquiring monitoring data at time t, wherein the monitoring data at time t includes coordinate data of the main body of the draw-wire displacement meter, attitude angle data of the gyroscope, and coordinate data of the draw-wire end of the draw-wire displacement meter;

[0009] Step S3: subtract the initial data from the monitoring data at time t to obtain the displacement of the main body and the displacement of the wire end, and determine whether deformation or displacement occurs based on the displacement;

[0010] In the step S1, the initial coordinate D0 of the upper pull-wire exit point D of the main body in the station center coordinate system is obtained, which is specifically as follows:

[0011] Get the initial coordinates A0(x A ,y A , z A ), the coordinates of the initial coordinate D0 are (x A +OD cosα,y A +ODsinα,z A -OA); where O represents the projection point of the center point A of the positioning antenna in the horizontal plane, and the cable exit point D is located in the horizontal plane, OA represents the distance; α represents the vector azimuth.

[0012] The above technical solution is preferably that in step S1, the initial pull line vector is obtained According to the initial pull line vector The initial attitude angle of the gyroscope is obtained, as shown in equation 1) and equation 2):

[0013]

[0014]

[0015] Where C is the center point of the wire end, C0=(x C ,y C , z C ) represents the initial coordinates of point C in the station center coordinate system; θ0, γ0 is the initial attitude angle of the gyroscope, θ0 is the angle between the X axis of the gyroscope coordinate system and the X axis of the station center coordinate system. N The angle of the axis, is the Y axis of the gyroscope coordinate system and the Y axis of the station center coordinate system N The angle between the Z axis of the gyroscope coordinate system and the Z axis of the station center coordinate system is γ0. N The angle between the axes; l0 is a vector The mold is the initial length of the wire.

[0016] The above technical solution is preferred, and the initial coordinates C0 are obtained by the second Beidou positioning component, as follows:

[0017] Get the initial coordinates (x B ,y B , z B ), the initial coordinate C0 of the center point C of the wire end is shown in formula 3),

[0018]

[0019] Among them, BC0 represents the distance, and B and C0 are located on the same vertical line.

[0020] The above technical solution is preferred. In step S2, the coordinate D of the pull-wire exit point D on the main body at time t in the station center coordinates is obtained. t =(x′ D , y′ D , z′ D ), as shown in Formula 4):

[0021] D t =D0+A t -A0 4);

[0022] Among them, D t A represents the coordinates of point D at time t in the station center coordinates; t Indicates the coordinates of the center point A of the positioning antenna at time t in the station center coordinate system.

[0023] The above technical solution is preferably that in step S2, the attitude angle of the gyroscope at time t is obtained by equation 5);

[0024]

[0025] θ t is the X-axis of the gyroscope coordinate system and the X-axis of the station center coordinate system at time t N The angle of the axis; is the Y axis of the gyroscope coordinate system and the Y axis of the station center coordinate system at time t N The angle between the axes, γ t is the Z axis of the gyroscope coordinate system and the Z axis of the station center coordinate system at time t N The angle between the axes; Δθ t It represents the deflection angle of the gyroscope relative to the X-axis of the gyroscope coordinate system at time t; Indicates the deflection angle of the gyroscope relative to the Y axis of the gyroscope coordinate system at time t; Δγ t Indicates the deflection angle of the gyroscope relative to the Z-axis of the gyroscope coordinate system at time t.

[0026] The above technical solution is preferred, in step S2, the coordinate C of the center point C of the wire end at time t is obtained. t , as follows:

[0027] Step 1: Convert the gyroscope coordinate system to the station center coordinate system through equation 6), which is as follows:

[0028]

[0029] in,

[0030] R represents the rotation matrix.

[0031] Step 2: The length change of the wire of the wire displacement meter at time t relative to the initial state in the gyroscope coordinate system is obtained by equation 7 = (ΔlX , Δl Y , Δl Z );

[0032]

[0033] Among them, Δl X Indicates the length change of the cable in the X-axis direction of the gyroscope coordinate system relative to the initial state; Δl Y Indicates the length change of the cable in the Y-axis direction of the gyroscope coordinate system relative to the initial state; Δl Z It represents the length change of the cable in the Z-axis direction of the gyroscope coordinate system relative to the initial state; Δl represents the length change of the cable at time t relative to the initial state;

[0034] Step 3: Calculate the coordinates C of the center point C of the wire end at time t by using formula 8) t , Formula 8) is as follows:

[0035]

[0036] A Beidou deformation monitoring device, used to implement the Beidou deformation monitoring method, the Beidou deformation monitoring device comprises a first Beidou positioning component, a wire displacement meter and a gyroscope;

[0037] The first Beidou positioning assembly is arranged at one end of the structure to be measured; the main body of the wire displacement meter is arranged on the pile body, and the wire end of the wire displacement meter is fixed to the other end of the structure to be measured; the gyroscope is arranged on the wire of the wire displacement meter, and the gyroscope is used to obtain the posture data of the wire;

[0038] The first Beidou positioning component, the wire displacement meter and the gyroscope are all connected to the external data processing unit.

[0039] Preferably, the first Beidou positioning assembly includes a pile, a positioning antenna, a receiver and a solar power supply unit;

[0040] The pile body is fixed at one end of the structure to be measured; the positioning antenna is arranged on the pile body; the receiver is connected with the positioning antenna and the external data processing unit respectively; and the solar power supply unit is used to supply power to the receiver.

[0041] The above technical solution preferably also includes a second Beidou positioning component for obtaining initial coordinate data of the cable end, and the positioning point of the second Beidou positioning component is located on the same vertical line as the center point of the cable end.

[0042] The application of the technical solution of the present invention has the following beneficial effects:

[0043] (1) The Beidou deformation monitoring device of the present invention comprises a first Beidou positioning component, a wire displacement meter and a gyroscope. The present invention can monitor the structure to be measured (such as a crack) by adopting the cooperation of the first Beidou positioning component, the wire displacement meter and the gyroscope. Only one set of Beidou positioning components is used in the monitoring process, which can effectively save costs. Moreover, the deformation of the structure to be measured is monitored by the wire displacement meter. Combined with the data of the gyroscope, the three-dimensional monitoring results of the two ends of the wire displacement meter can be obtained, that is, the three-dimensional changes on both sides of the crack can be obtained, and the monitoring effect is good.

[0044] (2) The present invention obtains positioning data through the second Beidou positioning component, which can facilitate the calculation of the initial data of the cable end and the gyroscope, and the second Beidou positioning component is only used to calculate the initial data (i.e., the initial data of the gyroscope and the cable end), avoiding manual initialization calibration, and can be removed after the initial data calculation is completed, which can avoid cost issues. The positioning point of the second Beidou positioning component and the initial center point of the cable end are located on the same vertical line to facilitate data calculation.

[0045] The Beidou deformation monitoring method of the present invention uses the Beidou deformation monitoring device to solve the coordinate data of the wire end at time t through the attitude data output by the gyroscope, that is, the three-dimensional coordinates of the two ends of the wire displacement meter can be obtained. Compared with the traditional wire displacement meter for crack monitoring, the present method can identify the situation where both sides of the crack slide at the same time, can adapt to different monitoring conditions, and has a good monitoring effect.

[0046] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0048] In the attached picture:

[0049] Figure 1 is a structural schematic diagram of the Beidou deformation monitoring device of this embodiment;

[0050] Figure 2 yes Figure 1 A partial schematic diagram of

[0051] Figure 3 yes Figure 1 Vector diagram of key nodes in ;

[0052] Figure 4 is a schematic diagram of the gyroscope coordinate system and the station center coordinate system in this embodiment;

[0053] Among them, 1. Cable displacement meter; 1.1. Main body; 1.1a. Cable outlet; 1.2. Cable; 1.2a. Cable end; 2. Gyroscope; 3. Data processing unit; 4. Pile body; 5. Positioning antenna; 6. Receiver; 7. Solar power supply unit; 8. DTU equipment; 9. Cable pile; 10. Buckle; 11. Universal joint. DETAILED DESCRIPTION

[0054] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0055] Example:

[0056] A Beidou deformation monitoring device comprises a first Beidou positioning component, a wire displacement meter 1, a gyroscope 2 and a second Beidou positioning component, such as Figures 1 to 4 As shown, the details are as follows:

[0057] like Figure 1 As shown, the first Beidou positioning assembly includes a pile body 4, a positioning antenna 5, a receiver 6 and a solar power supply unit 7;

[0058] The pile body 4 is fixedly arranged on a horizontal side of the structure to be measured (i.e., the crack), and the positioning antenna 5 is arranged at the top of the pile body 4 for receiving Beidou signals; the receiver 6 is fixedly arranged inside the pile body 4, and the receiver 6 is connected to the positioning antenna 5. The solar power supply unit 7 is arranged on the pile body 4, and the solar power supply unit 7 refers to the existing solar power supply structure, and the solar power supply unit 7 is connected to the receiver 6 for power supply.

[0059] The receiver 6 is directly or indirectly connected to the external data processing unit 3, and the data processing unit 3 transmits the data obtained by the receiver 6 to the data center for calculation through the DTU device 8. The data processing unit 3 refers to the prior art.

[0060] The cable displacement meter 1 is fixed on the pile body 4 of the first Beidou positioning assembly, and the cable displacement meter 1 includes a body 1.1 and a cable 1.2; the end of the cable 1.2 farthest from the body 1.1 is called the cable end 1.2a, and the point on the body 1.1 closest to the cable outlet 1.1a is called the cable outlet point, specifically: the body 1.1 of the cable displacement meter 1 is fixed on the pile body 4 by a buckle 10, the cable 1.2 is pulled out of the body 1.1, and the cable end 1.2a is fixed on one side of the crack, preferably the cable end 1.2a is fixed on the cable pile 9, so that the body 1.1 and the cable end 1.2a of the cable displacement meter 1 are respectively located on both sides of the crack, when the structure to be measured (i.e. the crack) is deformed or displaced, the cable 1.2 is pulled out of the body 1.1. The cable displacement meter 1 is connected to an external data processing unit 3, and the cable displacement meter 1 can transmit data to the data processing unit 3.

[0061] like Figure 2 As shown, the gyroscope 2 is movably connected to the body 1.1 of the wire-type displacement meter 1 through a universal joint 11. The wire 1.2 of the wire-type displacement meter 1 passes through the cylindrical hole on the top of the gyroscope 2. The gyroscope 2 can rotate along with the wire 1.2, thereby obtaining the angle change of the wire 1.2; the gyroscope 2 is connected to an external data processing unit 3, and the gyroscope 2 can transmit the deflection angle to the data processing unit 3.

[0062] The second Beidou positioning component (not shown) refers to the existing Beidou positioning structure. In this embodiment, the second Beidou positioning component is preferably also provided with a positioning antenna and a receiver. The function of the second Beidou positioning component in this embodiment is to solve the initial coordinates of the wire end 1.2a of the wire displacement meter 1 (i.e. the initial coordinates C0 of the center point C of the wire end 1.2a), i.e. the positioning antenna of the second Beidou positioning component is arranged directly above the wire end 1.2a, the center point of the positioning antenna of the second Beidou positioning component is point B, point B and the center point C (initial point) of the wire end 1.2a are located on the same vertical line, the second Beidou positioning component and the first Beidou positioning component perform synchronous observation for 2 hours, and transmit the monitoring data to the data processing unit 3 through the DTU device 8 (to facilitate the calculation of the coordinates of point B, thereby obtaining the initial coordinates of C), and the second Beidou positioning component is removed after the observation is completed.

[0063] This embodiment also discloses a Beidou deformation monitoring method, including using the Beidou deformation monitoring device, such as Figure 3 and Figure 4 As shown, the steps are as follows:

[0064] Step S1: Acquire initial data, which includes initial coordinate data of the main body 1.1 of the wire displacement meter 1, initial attitude angle data of the gyroscope 2, and initial coordinate data of the wire end 1.2a of the wire displacement meter:

[0065] Step S1.1, obtain the initial coordinate data of the main body 1.1 of the cable displacement meter 1. In this embodiment, the initial coordinate D0 of the cable exit point D on the main body 1.1 is obtained; since the main body 1.1 is fixedly arranged on the pile body 4, the relative position of the main body 1.1 and the positioning antenna 5 of the first Beidou positioning component remains unchanged, and D0 can be obtained by the positioning antenna 5 of the first Beidou positioning component; that is, the center point of the positioning antenna 5 of the first Beidou positioning component is A, and the initial coordinate of A in the station center coordinate system is A0(x A ,y A , z A ); the initial coordinate D0 is (x A +OD cosα,y A +ODsinα,z A -OA); where O represents the projection point of the center point A of the positioning antenna 5 in the horizontal plane, and the pull line exit point D is located in the horizontal plane, OA represents the distance; α represents the vector It should be noted that the center point of the positioning antenna of the second Beidou positioning component is defined as point B. The coordinates of point B are obtained by observing and positioning the positioning antenna of the second Beidou positioning component (x B ,y B , z B ); Since A, B, and D are almost on the same plane, The azimuth and vector The azimuth is the same, that is

[0066] Step S1.2, obtaining the initial attitude angle data of the gyroscope 2, in this embodiment, by vector The initial attitude angle of gyroscope 2 is obtained, as shown in equation 1) and equation 2):

[0067]

[0068]

[0069] Where C is the center point of the wire end 1.2a, C0=(x C ,y C , z C ) represents the initial coordinates of point C in the station center coordinate system; θ0, γ0 is the initial attitude angle of gyroscope 2, that is, θ0 is the angle between the X axis of the gyroscope coordinate system and the X axis of the station center coordinate system. N The angle of the axis, is the Y axis of the gyroscope coordinate system and the Y axis of the station center coordinate system N The angle between the Z axis of the gyroscope coordinate system and the Z axis of the station center coordinate system is γ0. N The angle between the axes; l0 is a vector The model is the initial length of the cable 1.2; the gyroscope coordinate system and the station center coordinate system are as follows Figure 4 As shown, X, Y and Z represent the three coordinate axes of the gyroscope coordinate system, and the Y axis of the gyroscope coordinate system is parallel to the length direction of the pull wire 1.2; N , Y N and Y Z They represent the three coordinate axes of the station center coordinate system respectively, M is the center point of the gyroscope 2, and M is the origin of the gyroscope coordinate system and the station center coordinate system.

[0070] Step S1.3, the initial coordinate data of the wire end 1.2a is recorded by wire displacement. In this embodiment, the initial coordinate C0 of the center point C of the wire end 1.2a is obtained. C ,y C , z C ); In this embodiment, the initial coordinate C0 of C is obtained by the second Beidou positioning component, specifically: the coordinate of point B is obtained by observation and positioning through the positioning antenna of the second Beidou positioning component (x B ,y B , z B ), since the center point B of the positioning antenna of the second Beidou positioning assembly is located directly above the point C0, the initial coordinate C0 of the center point C of the cable end 1.2a is as shown in formula 3),

[0071]

[0072] Among them, BC0 represents the distance.

[0073] Step S2: Acquire monitoring data at time t, the monitoring data at time t includes coordinate data of the main body 1.1 of the wire-type displacement meter 1, attitude angle data of the gyroscope 2, and coordinate data of the wire end 1.2a of the wire-type displacement meter;

[0074] Step S2.1: Obtain the coordinate data of the main body 1.1 of the wire displacement meter 1 at time t. In this embodiment, the coordinate data D of the wire exit point D of the main body 1.1 in the station center coordinate system is obtained. t =(x′ D , y′ D , z′ D ), as shown in Formula 4):

[0075] D t =D0+A t -A0 4);

[0076] Among them, D t A represents the coordinates of point D at time t in the station center coordinate system; tIt represents the coordinates of the center point A of the positioning antenna of the first Beidou positioning component at time t in the station center coordinate system (the coordinates of the center point A can be obtained through observation and positioning).

[0077] Step S2.2: Obtain the attitude angle of the gyroscope 2 at time t through equation 5);

[0078]

[0079] θ t is the X-axis of the gyroscope coordinate system and the X-axis of the station center coordinate system at time t N The angle of the axes; is the Y axis of the gyroscope coordinate system and the Y axis of the station center coordinate system at time t N The angle between the axes, γ t is the Z axis of the gyroscope coordinate system and the Z axis of the station center coordinate system at time t N The angle between the axes; Δθ t represents the deflection angle of gyroscope 2 relative to the X-axis of the gyroscope coordinate system at time t; represents the deflection angle of gyroscope 2 relative to the Y axis of the gyroscope coordinate system at time t; Δγ t It represents the deflection angle of gyroscope 2 relative to the Z axis of the gyroscope coordinate system at time t.

[0080] Step S2.3: Obtain the coordinate data of the wire end 1.2a of the wire displacement recorder at time t. In this embodiment, the coordinate C of the center point C of the wire end 1.2a is obtained. t , as follows:

[0081] Step 1: Convert the gyroscope coordinate system to the station center coordinate system through equation 6), which is as follows:

[0082]

[0083] in,

[0084] R represents the rotation matrix;

[0085] Step 2: By using equation 7), the length change of the wire 1.2 of the wire displacement meter 1 at time t in the gyroscope coordinate system relative to the initial state of the wire 1.2 (i.e., the length change relative to l0) is obtained L = (Δl X , Δl Y , Δl Z );

[0086]

[0087] Among them, Δl X Indicates the length change of the cable 1.2 in the X-axis direction of the gyroscope coordinate system relative to the initial state; Δl YIndicates the length change of the cable 1.2 in the Y-axis direction of the gyroscope coordinate system relative to the initial state; Δl Z represents the length change of the cable 1.2 in the Z-axis direction of the gyroscope coordinate system relative to the initial state; Δl represents the length change of the cable 1.2 relative to the initial state at time t;

[0088] Step 3: Calculate the coordinates C of the center point C of the wire end 1.2a at time t by using formula 8) t , Formula 8) is as follows:

[0089]

[0090] Wherein, L represents the length change of the wire 1.2 of the wire displacement meter 1 at time t relative to the initial state of the wire 1.2 in the gyroscope coordinate system.

[0091] Step S3: subtract the initial data from the monitoring data at time t to obtain the displacement of the main body 1.1 of the wire displacement meter 1 and the displacement of the wire end 1.2a of the wire displacement meter, and determine whether deformation or displacement occurs based on the deformation;

[0092] Step S3.1: By calculating D t The difference between D0 and D0 gives the difference of point D. By calculating C t The difference between C0 and point C

[0093] Step S3.2: Calculate the difference between ΔD and ΔC to obtain ΔDC;

[0094] Step S3.3: Determine whether the crack is stable. The judgment rules are as follows:

[0095] When the ΔDC in step S3.2 is within the preset range (the range is set according to the actual situation, such as 1-3 cm), it means that the crack has not changed. Further check whether ΔD and ΔC are within the preset range (the range is set according to the actual situation, such as 1-10 cm). If they are within the range, it means that the slope is stable. Otherwise, it means that the slope has slipped and needs to be paid special attention.

[0096] When the ΔDC in step S3.2 is not within the preset range, it indicates that the crack is expanding. Further check ΔD and ΔC to determine the sliding conditions on both sides of the crack based on the conditions of ΔD and ΔC.

[0097] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A Beidou deformation monitoring method, characterized in that: The steps include: Step S1: acquiring initial data, the initial data including initial coordinate data of the main body (1.1) of the wire-drawing displacement meter (1), initial attitude angle data of the gyroscope (2), and initial coordinate data of the wire end (1.2a) of the wire-drawing displacement meter (1); Step S2: acquiring monitoring data at time t, the monitoring data at time t including coordinate data of the main body (1.1) of the wire-type displacement meter (1), attitude angle data of the gyroscope (2) and coordinate data of the wire end (1.2a) of the wire-type displacement meter (1); Step S3: subtract the initial data from the monitoring data at time t to obtain the displacement of the body (1.1) and the displacement of the wire end (1.2a), and determine whether deformation or displacement occurs based on the displacement; In step S2, the coordinate C of the center point C of the wire end (1.2a) at time t is obtained. t , as follows: Step 1: Convert the gyroscope coordinate system to the station center coordinate system through equation 6), which is as follows: in, θ t is the X-axis of the gyroscope coordinate system and the X-axis of the station center coordinate system at time t N The angle of the axes; is the Y axis of the gyroscope coordinate system and the Y axis of the station center coordinate system at time t N The angle between the axes, γ t is the Z axis of the gyroscope coordinate system and the Z axis of the station center coordinate system at time t N The angle between the axes, R represents the rotation matrix; Step 2: By using equation 7), we can obtain the length change L of the cable (1.2) of the cable displacement meter (1) relative to the initial state in the gyro coordinate system at time t = (Δl X , Δl Y , Δl Z ); Among them, Δl x It represents the length change of the cable (1.2) in the X-axis direction of the gyroscope coordinate system relative to the initial state; Δl Y It represents the length change of the cable (1.2) in the Y-axis direction of the gyroscope coordinate system relative to the initial state; Δl Z represents the length change of the cable (1.2) in the Z-axis direction of the gyroscope coordinate system relative to the initial state; Δl represents the length change of the cable (1.2) relative to the initial state at time t; Step 3: Calculate the coordinates C of the center point C of the wire end (1.2a) at time t using formula 8 t , Formula 8) is as follows:

2. The Beidou deformation monitoring method according to claim 1, characterized in that: In the step S1, the initial coordinate D0 of the pull-wire exit point D on the main body (1.1) in the station center coordinate system is obtained, which is specifically as follows: Get the initial coordinates A0(x A ,y A , z A ), the coordinates of the initial coordinate D0 are (x A +ODcosα,y A +ODsinα,z A -OA; Wherein, O represents the projection point of the center point A of the positioning antenna (5) in the horizontal plane, and the pull line exit point D is located in the horizontal plane, OA represents the distance; α represents the vector azimuth.

3. The Beidou deformation monitoring method according to claim 2, characterized in that: In step S1, the initial pull line vector is obtained According to the initial pull line vector The initial attitude angle of the gyroscope (2) is obtained, as shown in equations 1) and 2): Where C is the center point of the wire end (1.2a), C0 = (x C ,y C , z C ) represents the initial coordinates of point C in the station center coordinate system; θ0, γ0 is the initial attitude angle of the gyroscope (2), θ0 is the distance between the X axis of the gyroscope coordinate system and the X axis of the station center coordinate system. N The angle of the axis, is the Y axis of the gyroscope coordinate system and the Y axis of the station center coordinate system N The angle between the Z axis of the gyroscope coordinate system and the Z axis of the station center coordinate system is γ0. N The angle between the axes; l0 is a vector The mold is the initial length of the wire.

4. The Beidou deformation monitoring method according to claim 3 is characterized in that: The initial coordinates C0 are obtained through the second Beidou positioning component, as follows: Get the initial coordinates (x B ,y B , z B ), the initial coordinate C0 of the center point C of the wire end (1.2a) is as shown in equation 3), Among them, BC0 represents the distance, and B and C0 are located on the same vertical line.

5. The Beidou deformation monitoring method according to claim 4, characterized in that: In step S2, the coordinates D of the pull-wire exit point D on the main body (1.1) at time t in the station center coordinates are obtained. t =(x′ D , y′ D , z′ D ), as shown in Formula 4): D t =D0+A t -A0 4); Among them, D t A represents the coordinates of point D at time t in the station center coordinates; t It represents the coordinates of the center point A of the positioning antenna (5) at time t in the station center coordinate system.

6. The Beidou deformation monitoring method according to claim 4 or 5, characterized in that: In step S2, the attitude angle of the gyroscope (2) at time t is obtained by equation 5); θ t is the X-axis of the gyroscope coordinate system and the X-axis of the station center coordinate system at time t N The angle of the axes; is the Y axis of the gyroscope coordinate system and the Y axis of the station center coordinate system at time t N The angle between the axes, γ t is the Z axis of the gyroscope coordinate system and the Z axis of the station center coordinate system at time t N The angle between the axes; Δθ t It represents the deflection angle of the gyroscope relative to the X-axis of the gyroscope coordinate system at time t; Indicates the deflection angle of the gyroscope relative to the Y axis of the gyroscope coordinate system at time t; Δγ t Indicates the deflection angle of the gyroscope relative to the Z-axis of the gyroscope coordinate system at time t.

7. A Beidou deformation monitoring device, used to implement the Beidou deformation monitoring method according to any one of claims 1 to 6, characterized in that: The Beidou deformation monitoring device comprises a first Beidou positioning component, a wire-type displacement meter (1) and a gyroscope (2); The first Beidou positioning component is arranged at one end of the structure to be measured; the body (1.1) of the wire-type displacement meter (1) is arranged on the pile body (4), and the wire end (1.2a) of the wire-type displacement meter (1) is fixed to the other end of the structure to be measured; the gyroscope (2) is arranged on the wire (1.2) of the wire-type displacement meter (1), and the gyroscope (2) is used to obtain the attitude data of the wire (1.2); The first Beidou positioning component, the wire-type displacement meter (1) and the gyroscope (2) are all connected to an external data processing unit (3).

8. The Beidou deformation monitoring device according to claim 7, characterized in that: The first Beidou positioning assembly comprises a pile body (4), a positioning antenna (5), a receiver (6) and a solar power supply unit (7); The pile body (4) is fixed at one end of the structure to be measured; the positioning antenna (5) is arranged on the pile body (4); the receiver (6) is connected to the positioning antenna (5) and the external data processing unit (3) respectively; and the solar power supply unit (7) is used to supply power to the receiver (6).

9. The Beidou deformation monitoring device according to claim 8, characterized in that: It also comprises a second Beidou positioning component for acquiring initial coordinate data of the cable end (1.2a), wherein a positioning point of the second Beidou positioning component and a center point of the cable end (1.2a) are located on the same vertical line.

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