A monitoring device and method for structural deformation monitoring using satellite positioning

Abstract

The present invention proposes a monitoring device and method for structural deformation monitoring using satellite positioning, including a GNSS receiver, a solar power supply system, a satellite antenna, a 4G transmission module, a 4G transmission antenna, a data server, and an antenna pole. The GNSS receiver outputs real-time position information through satellite positioning, and judges the displacement and deformation of the building structure by comparing the changes in the relative positions of the base station and the monitoring station, thereby judging the safety of the building structure.

Description

Technical Field

[0001] The present invention relates to the field of monitoring devices, and in particular to a monitoring device and method for monitoring structural deformation using satellite positioning. Background Art

[0002] The Global Navigation Satellite System (GNSS) is an air-based radio navigation positioning system that uses a group of satellite pseudo-ranges, ephemeris, satellite launch time and other observations to provide users with all-weather 3D coordinates, speed and time information at any location on the Earth's surface or near-Earth space. After continuous innovation, development and improvement, GNSS technology has the advantages of high automation, all-weather operation, no restrictions on climate and terrain conditions, and no need for line of sight. Combined with network communication technology, database technology and computer technology, deformation monitoring technology has been transformed from traditional periodic observation to continuous, high-precision, automated real-time monitoring. It can be widely used in building appearance deformation monitoring work that requires high-precision continuous observation, providing a new monitoring technology means.

[0003] At present, the traditional single GNSS monitoring station deformation monitoring system is difficult to meet the needs of production practice because its stability and reliability are greatly affected by the station environment. In addition, building structures also require multi-point, high-precision monitoring modes. Therefore, it has become a new trend to develop a multi-monitoring station automated deformation monitoring and early warning system for building structure monitoring. Summary of the invention

[0004] In order to solve the current problems of difficulty in manual inspection of structural safety of old buildings and untimely discovery of potential safety hazards, the present invention proposes a system for monitoring the deformation of building structures using a satellite positioning device, including a GNSS receiver, a solar power supply system, a satellite antenna, a 4G transmission module, a 4G transmission antenna, a data server, and an antenna pole. The monitoring system uses a GNSS receiver to output real-time position information through satellite positioning, analyzes changes in position information, calculates the displacement and deformation of the building structure, and then judges the safety of the building structure.

[0005] GNSS receivers track satellite signals and calculate the longitude, latitude and elevation data of the receiver antenna. GNSS receivers used on site can be divided into two categories: one is a base station installed near the monitored point, and the installation position is relatively stable and not easy to change; the other is a monitoring station installed at the monitored point.

[0006] The solar power supply system is used to power the GNSS receiver to ensure its normal operation 24 hours a day.

[0007] The satellite antenna receives satellite signals and outputs electrical signals used to locate the location of the antenna point.

[0008] The 4G transmission module and 4G transmission antenna are used to establish a data transmission channel to transmit the time point, positioning information, satellite parameters, and environmental information to the data server.

[0009] The antenna pole is mainly used to fix the satellite antenna at the monitoring point in a vertical position to the ground. The height of the pole should be designed according to the site conditions so that the satellite antenna is as high as possible above the surrounding fence.

[0010] The data server is used to calculate the relative position between the monitoring station and the base station based on the currently received monitoring station location information and base station location information, and to ultimately monitor the deformation of the building structure by comprehensively utilizing the risk judgment method.

[0011] To build a GNSS-based monitoring platform, the main steps are as follows:

[0012] 1) Select the installation location of the monitoring station and the reference station according to the on-site environment. The monitoring station is placed at the top of the building, which is a key point that can reflect the changes in the status of the top of the building. At the same time, it is necessary to ensure that the space is open as much as possible and have good conditions for observing satellites; the reference station is placed within 2km of the base station, and it is also necessary to ensure that the space is open and have good conditions for observing satellites.

[0013] 2) After the installation is completed, the monitoring station and the base station obtain the positioning coordinates of the monitoring station and the base station from the satellite positioning signal at a time interval of t, including longitude (lat), latitude (lon) and altitude (hei).

[0014] 3) According to the positioning coordinates of the monitoring station and the reference station, calculate the distance d between each monitoring station and the reference station = [d 1 ,d 2 ,d 3 ,…d n ], n is the number of monitoring stations.

[0015] 4) Since the deformation of the building structure itself is a quasi-static parameter, it is possible to consider using num times t as the calculation period to optimize the accuracy of the position data of a single point. The optimization method can be but is not limited to the average value, least squares method, and SVM method, and finally obtain the distance within the num×t time period.

[0016] 5) Establish a spatial coordinate system with the base station as the origin, the long side of the building as the x-axis, the short side of the building as the y-axis, and the axis perpendicular to the xy plane as the z-axis. If the building is an irregular structure, select the longer side as x.

[0017] 6) Decompose in the x, y, z coordinate system to obtain the coordinates of each monitoring station in the xyz coordinate system (x i,y i ,z i )(i=1,2…,n), where i is the serial number of the monitoring station.

[0018] 7) Comprehensively use risk judgment methods and real-time positioning data to judge the structural safety risk status of the building. If there are multiple risk judgment methods, the risk of the monitoring point can be comprehensively judged by setting different risk levels.

[0019] Risk judgment method 1: Building status identification method based on single-point data deviation.

[0020] Step 1: Prepare the training data set data train , which contains m training data. If it is the initial state, then the initial time period t init Only m data are collected, and no risk judgment is made;

[0021] Step 2: Assume data train The training data set of one direction of one monitoring station is [u1,u2,…,u m ], establish a data prediction model based on the training data, the data prediction model can adopt the average value, least square method, SVM method or deep learning method;

[0022] Step 3: Predict the m+1th data u' at the next moment using the current model m+1 , according to u' m+1 Set three levels of warning values;

[0023] Step 4: Collect the m+1th data u at the next moment m+1 ;

[0024] Step 5: Based on the predicted data u' m+1 and measured data u m+1 Make a judgment, and issue a warning prompt of the corresponding level when the current direction of the current monitoring station exceeds the warning value;

[0025] Step 6: Repeat steps 2) to 5) to complete the early warning of this monitoring station in other directions;

[0026] Step 7: If an early warning occurs, engineers are required to monitor the site for inspection. If an abnormality occurs on site, the building needs to be repaired and maintained. After the repair and maintenance is completed, the system clears the historical data, restores to the initial state, and returns to step 1) to start again;

[0027] Step 8: If no warning occurs or there is no problem in the on-site inspection after the warning, the new data u m+1 Add training data set data train Form a new training data set;

[0028] Step 9: Use the new training data set data train , repeat steps 2) to 8) to prepare for the next moment state judgment;

[0029] Step 10: Refer to steps 1) to 9) to complete the judgment of the building structure safety status of other monitoring stations.

[0030] Risk judgment method 2: Building status identification method based on spatial plane.

[0031] Step 1: Select three monitoring stations at the top center position from the installed monitoring stations to construct the standard plane p0;

[0032] Step 2: Prepare the training data set data train , which contains m training data. If it is the initial state, the initial time period t init Only m data are collected, and no risk judgment is made;

[0033] Step 3: From data train Select m training data of the above three monitoring stations, first establish an optimization model to calculate the precise coordinates of the three monitoring stations in the three directions of xyz, and the optimization model can use the average value, least squares method, SVM method or deep learning method;

[0034] Step 4: Use these three monitoring stations to establish a standard plane p0, calculate the expression of the standard plane p0, and use the center of the circle formed by these three points as the standard point;

[0035] Step 5: Calculate the distance between other monitoring stations and the standard plane p0;

[0036] Step 6: After receiving the m+1th monitoring data from each monitoring station at the next moment, the plane p1 is calculated using the m+1th data from the above three monitoring stations;

[0037] Step 7: Calculate the angle θ between planes p1 and p0. If the angle θ is greater than the warning angle θ0, a warning is issued indicating that there may be a tilt.

[0038] Step 8: According to the m+1th position data of each monitoring station, calculate the distance between each monitoring station and plane p0 at the current moment. If a monitoring station is above the initial plane and the distance from the initial plane decreases, or a monitoring station is below the initial plane and the distance from the initial plane increases, then the monitoring station may collapse;

[0039] Step 9: Based on the m+1th position data of each monitoring station, calculate the distance between each monitoring station and the standard point at that moment. If the distance between a monitoring station and the standard point becomes larger, it is warned that there is a possibility of cracking in the direction of the monitoring station;

[0040] Step 10: If an early warning occurs, the engineer will go to the monitoring station for on-site inspection. If the abnormality is confirmed on-site, the building will be maintained. After maintenance, it will be restored to the initial state and return to step 2) to start again;

[0041] Step 11: If there is no warning or no problem is found after the warning, mark plane p1 as normal and add the m+1th data to data train Form a new training data set;

[0042] Step 12: Repeat steps 3) to 11) to prepare for the next moment judgment.

[0043] Beneficial Effects

[0044] Based on satellite positioning technology and artificial intelligence technology, the present invention has developed a method for monitoring the structural safety of buildings and conducting risk warnings using a GNSS satellite signal receiver. The present invention deeply integrates high-precision positioning information with the monitored building data to achieve high-precision positioning analysis and warnings, and ultimately realizes satellite-based building structure data collection and analysis, and provides warning services, thereby providing a complete set of information solutions for building users in terms of safety management, and providing strong technical support and guarantee for enterprises and government departments in terms of convenient management, refined operations, intelligent risk judgment and emergency response. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the layout of the base stations and monitoring stations;

[0046] Figure 2 It is a schematic diagram of the location of the monitoring station in the coordinate system; DETAILED DESCRIPTION

[0047] This embodiment takes GNSS-based monitoring of a building as an example for explanation.

[0048] 1) Conduct on-site surveys of the buildings to be monitored, determine the locations that need to be monitored according to the monitoring technical specifications, install monitoring stations at these locations, and install reference stations at relatively fixed locations nearby. In this example, four monitoring stations (A, B, C, and D) are installed on the roof of the monitored building, and one reference station (O) is installed at a fixed point around the building. The reference station is installed at a pole height of 2.5m, and the monitoring station is installed at a pole height of 1m.

[0049] 2) Taking t = 1 minute as the satellite signal solution period, obtain the positioning coordinates of the monitoring station and the base station, including longitude, latitude and altitude [lat O ,lon O ,hei O ]、[lat A ,lon A ,heiA ]、[lat B ,lon B ,hei B ]、[lat C ,lon C ,hei C ]、[lat D ,lon D ,hei D ].

[0050] 3) Calculate the distance between the four monitoring stations and the reference station: d A =|OA|, d B =|OB|, d C =|OC|, d D =|OD|.

[0051] 4) With num=60, the exact solution of the distance is calculated once every hour. The calculation result using the average value method in this embodiment is:

[0052]

[0053] Similarly, we can get Precise positioning distances of four measuring stations.

[0054] 5) Establish a coordinate system with O as the origin, the parallel AB side as the x-axis, the CD side as the y-axis, and the perpendicular xy plane as the z-axis. The coordinate angles between OA, OB, OC, OD and the x, y, and z axes are [α A ,β A ,γ A ]、[α B ,β B ,γ B ]、[α C ,β C ,γ C ]、[α D ,β D ,γ D ].

[0055] 6) Decompose to obtain the coordinates of monitoring station A in the coordinate system After the combination, we get the coordinates of point A (x A ,y A ,z A ), and similarly we can get point B (x B ,y B ,z B ), point C (x C ,y C ,z C ), point D (x D ,yD ,z D )coordinate.

[0056] 7) Comprehensively utilize the two risk assessment methods to assess the structural safety risks of buildings.

[0057] Risk judgment method 1: Building status identification method based on single-point data deviation.

[0058] The calculation process is first explained using the x-axis direction of monitoring station A.

[0059] Step 1: Create a training data set train , the initial state uses m=24 data.

[0060] Step 2: Build a data prediction model and use the data set data train Training model. You can use the average value, least squares method, SVM method or deep learning method. This test case uses the average value method to get the average value of the first m points in the current state:

[0061]

[0062] Step 3: Predict the value of the m+1th value in the next hour Set three levels of warning respectively: The first-level warning value The second level warning value, It is the third level warning value.

[0063] Step 4: The m+1th real collected data in the next hour is

[0064] Step 5: Based on the forecast data and measured data To make a single point status warning judgment:

[0065] if Prompt the current monitoring station A current direction x current time level one warning; if Prompt the current monitoring station A current direction x current time second level warning; if The current monitoring station A is prompted to issue a level 3 warning in the current direction x at the current time. abs(x) is the absolute value of x.

[0066] Step 6: Similarly, repeat steps 2) to 5) to complete the early warning judgment of monitoring station A in the y and z axis directions.

[0067] Step 7: If an early warning occurs, the engineer will go to monitoring station A for on-site inspection. If an abnormality is confirmed on-site, the building will be maintained. After maintenance, it will be restored to its initial state and return to step 1) to start again.

[0068] Step 8: If there is no warning or the on-site inspection after the warning shows no problem, the measured data will be Add training data set data train middle.

[0069] Step 9: Use the new training data set data train Repeat steps 2) to 8) to prepare for the next state determination.

[0070] Step 10: Repeat steps 1) to 9) to complete the single-point prediction of stations B, C, and D.

[0071] Risk judgment method 2: Building status identification method based on spatial plane.

[0072] Step 1: Select and install three monitoring stations A, B, and C at the top center.

[0073] Step 2: Prepare the training data set data train , which contains m training data. If it is the initial state, the initial time period t init Only m data are collected, and no risk judgment is performed.

[0074] Step 3: Build an optimization model based on data train This example uses the average method to obtain the average value of the first m points in the current state:

[0075]

[0076] Similarly, the coordinates of monitoring station A in other directions and other monitoring stations (B, C) can be obtained.

[0077] Step 4: Establish a standard plane p0 with these three points A, B, and C, and the coordinates of the center E of the circle formed by these three points are As a standard point, the formula for solving the plane equation is as follows:

[0078]

[0079] By calculating a0, b0, and c0, we can get the equation of the plane p0:

[0080] a0x+b0y+c0z=1

[0081] Step 5: Calculate the distance between monitoring stations A, B, C, and D and the initial plane p0:

[0082]

[0083]

[0084]

[0085]

[0086] Step 6: Receive the m+1th monitoring data in the next hour After that, the new plane p1 is calculated:

[0087]

[0088] By calculating a1, b1, and c1, we can get the equation of the plane p1:

[0089] a1x+b1y+c1z=1

[0090] Step 7: Calculate the angle θ between the planes p0 and p1, and set the warning angle θ0 = 5°

[0091]

[0092] If the angle θ is greater than 5°, a warning of possible tilt is given.

[0093] Step 8: Calculate the distance from the m+1th data of monitoring stations A, B, C, and D to the p0 plane.

[0094] Calculate whether the m+1th data of monitoring stations A, B, C, and D is above or below the p0 plane.

[0095]

[0096] if It indicates that the monitoring station A is above the plane p0; if It shows that monitoring station A is below plane p0.

[0097] if and Early warning monitoring station A may collapse;

[0098] if and Early warning monitoring station A may collapse;

[0099] Similarly, it can warn whether monitoring stations B, C, and D are likely to collapse.

[0100] Step 9: Calculate the distance between the monitoring point and the standard point, and calculate the average coordinates of the m points before the monitoring station A, and the distance between the m+1th data and the standard point E:

[0101]

[0102]

[0103] if This will warn that there may be cracks in the direction of the monitoring station.

[0104] Similarly, it can warn whether there is a possibility of cracking in the directions of B, C, and D of the monitoring stations.

[0105] Step 10: If an early warning occurs, the engineer will go to the monitoring station for on-site inspection. If the abnormality is confirmed on-site, the building will be maintained. After maintenance, it will be restored to the initial state and return to step 2) to start again;

[0106] Step 11: If there is no warning, or the engineer does not find any problem after the warning, mark plane p1 as normal and add the m+1th data to data train as a training data set.

[0107] Step 12: Repeat steps 3) to 11) to prepare for the next hour when new data arrives.

[0108] The two risk judgment methods are integrated by setting different risk levels. For monitoring station A, if no method prompts warning information, the output risk level is low risk; if any one of the methods prompts warning information, the output risk level is medium risk; if both methods prompt warning information, the output risk level is high risk. The same method can be used to determine the risk level of other monitoring stations.

Claims

1. A method for monitoring structural deformation using satellite positioning, characterized in that: include: 1) Select the installation location of the monitoring station and the reference station according to the on-site environment; 2) After installation, the monitoring station and the base station obtain the positioning coordinates of the monitoring station and the base station from the satellite positioning signal at a time interval of t, including longitude (lat), latitude (lon) and altitude (hei); 3) According to the positioning coordinates of the monitoring station and the reference station, calculate the distance d between each monitoring station and the reference station = [d 1 ,d 2 ,d 3 ,…d n ], n is the number of monitoring stations; 4) Use num times t as the calculation period to optimize the data accuracy of a single point. The optimization method uses the average value, least squares method or SVM method to finally obtain the distance within the num×t time period. 5) Take the base station as the coordinate origin, the long side of the building as the x-axis, the short side of the building as the y-axis, and the z-axis perpendicular to the xy plane to establish a spatial coordinate system. If the building is an irregular structure, the longer side is selected as x; 6) Decompose in the x, y, z coordinate system to obtain the coordinates of each monitoring station in the xyz coordinate system (x i ,y i ,z i )i=1,2…,n, where i is the serial number of the monitoring station; 7) Comprehensively utilize risk assessment methods and real-time positioning data to assess the structural safety risk status of buildings; The risk judgment method includes: Step 1: Select three monitoring stations at the top center position from the installed monitoring stations to construct the standard plane p0; Step 2: Prepare the training data set data train , which contains m training data. If it is the initial state, the initial time period t init Only m data are collected, and no risk judgment is made; Step 3: From data train m training data of the above three monitoring stations are selected, and an optimization model is first established to calculate the precise coordinates of the three monitoring stations in the three directions of x, y and z. The optimization model adopts the average value, least square method, SVM method or deep learning method; Step 4: Use these three monitoring stations to establish a standard plane p0, calculate the expression of the standard plane p0, and use the center of the circle formed by these three points as the standard point; Step 5: Calculate the distance between other monitoring stations and the standard plane p0; Step 6: After receiving the m+1th monitoring data from each monitoring station at the next moment, the plane p1 is calculated using the m+1th data from the above three monitoring stations; Step 7: Calculate the angle θ between planes p1 and p0. If the angle θ is greater than the warning angle θ0, a warning is issued indicating that there may be a tilt. Step 8: According to the m+1th position data of each monitoring station, calculate the distance between each monitoring station and plane p0 at the current moment. If a monitoring station is above the initial plane and the distance from the initial plane decreases, or a monitoring station is below the initial plane and the distance from the initial plane increases, then the monitoring station may collapse; Step 9: Based on the m+1th position data of each monitoring station, calculate the distance between each monitoring station and the standard point at that moment. If the distance between a monitoring station and the standard point becomes larger, it is warned that there is a possibility of cracking in the direction of the monitoring station; Step 10: If an early warning occurs, the engineer will go to the monitoring station for on-site inspection. If the abnormality is confirmed on-site, the building will be maintained. After maintenance, it will be restored to the initial state and return to step 2) to start again; Step 11: If there is no warning or no problem is found after the warning, mark plane p1 as normal and add the m+1th data to data train Form a new training data set; Step 12: Repeat steps 3) to 11) to prepare for the next moment judgment.

2. The method for structural deformation monitoring using satellite positioning according to claim 1, characterized in that: Replace the risk assessment method with: Step 1: Prepare the training data set data train , which contains m training data. If it is the initial state, then the initial time period t init Only m data are collected, and no risk judgment is made; Step 2: Assume data train The training data set of one direction of one monitoring station is [u1,u2,…,u m ], establish a data prediction model based on the training data, the data prediction model adopts the average value, least square method, SVM method or deep learning method; Step 3: Predict the m+1th data u′ at the next moment through the current model m+1 , according to u′ m+1 Set three levels of warning values; Step 4: Collect the m+1th data u at the next moment m+1 ; Step 5: Based on the predicted data u′ m+1 and measured data u m+1 Make a judgment, and issue a warning prompt of the corresponding level when the current direction of the current monitoring station exceeds the warning value; Step 6: Repeat steps 2) to 5) to complete the early warning of this monitoring station in other directions; Step 7: If an early warning occurs, engineers are required to monitor the site for inspection. If an abnormality occurs on site, the building needs to be repaired and maintained. After the repair and maintenance is completed, the system clears the historical data, restores to the initial state, and returns to step 1) to start again; Step 8: If no warning occurs or there is no problem in the on-site inspection after the warning, the new data u m+1 Add training data set data train Form a new training data set; Step 9: Use the new training data set data train , repeat steps 2) to 8) to prepare for the next moment state judgment; Step 10: Refer to steps 1) to 9) to complete the judgment of the building structure safety status of other monitoring stations.

3. The monitoring device for structural deformation monitoring using satellite positioning according to claim 1, characterized in that: Including GNSS receiver, solar power supply system, satellite antenna, 4G transmission module, 4G transmission antenna, data server; The GNSS receiver outputs the real-time location information of its satellite antenna through satellite positioning, and judges the displacement and deformation of the building structure through the change of the location information, and then judges the safety of the building structure; The GNSS receiver tracks satellite signals and calculates the longitude, latitude and altitude of the receiver antenna; The solar power supply system is used to power the GNSS receiver; The satellite antenna is used to receive satellite signals and output electrical signals for locating the location of the antenna point; The 4G transmission module and the 4G transmission antenna are used to establish a data transmission path to transmit the time point, positioning information, satellite parameters, and environmental information to the data server; The data server is used to calculate the relative position between the monitoring station and the reference station according to the currently received monitoring station position information and reference station position information, so as to realize the monitoring of the deformation of the building structure.

4. The monitoring device for structural deformation monitoring using satellite positioning according to claim 3, characterized in that: It also includes an antenna pole, which is used to fix the satellite antenna at a monitoring point in a form of being perpendicular to the ground.

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