A bridge deformation positioning monitoring method based on a combination of a ground base station and UWB technology

Abstract

The application discloses a bridge deformation positioning monitoring method based on the combination of a ground base station and UWB technology, which comprises a ground positioning reference station and a deformation monitoring receiver comprising a ground positioning reference station signal receiving module, a UWB signal sending module and a UWB signal positioning module. When positioning, the first deformation monitoring receiver which can normally receive the ground positioning reference station signal acquires its own position information by using the ground base station positioning technology and completes clock synchronization with the base station. Then, the deformation monitoring receiver which completes positioning and clock synchronization is used as a UWB positioning base station to provide a UWB positioning method for the deformation monitoring receiver which cannot normally receive the ground positioning reference station signal. The UWB signal sending module is integrated in the receiver, so that the deformation monitoring receiver which normally positions provides UWB positioning for the deformation monitoring receiver which does not normally position, and the problems of signal shielding and downtime of part of the ground reference stations are solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of bridge monitoring, and particularly relates to a bridge deformation positioning monitoring method based on combination of a ground base station and UWB technology. BACKGROUND

[0002] In recent years, with the rapid development of economy, the construction of transportation infrastructure makes more and more large bridges enter the public view, and the bridge safety related thereto is paid more and more attention by people. Long-term health monitoring of bridges is an important link for evaluating the health state of bridges, guaranteeing the safety of bridges and avoiding accidents. Monitoring the deformation of bridges can effectively reflect the working condition of the bridge structure and provide reliable data basis for the corresponding management department. Therefore, providing the health condition early warning of bridges by deformation monitoring is a work that must be carried out for a long time and has great significance.

[0003] At present, the global mainstream GNSS (Global Navigation Satellite System) system can realize global networking positioning, but the signal quality is poor and is very easy to be blocked when the signal is transmitted from a position more than 20,000 kilometers away from the ground to the ground, and the GNSS satellites are poorly distributed in the vertical direction, resulting in that the vertical positioning error is larger than the horizontal positioning error.

[0004] The prior art has the following defects:

[0005] In actual operation, the signal is transmitted from a position more than 20,000 kilometers away from the ground to the ground, the signal quality is poor and is very easy to be blocked, and the GPS satellites are poorly distributed in the vertical direction, resulting in that the vertical positioning error is larger than the horizontal positioning error, so that the GPS positioning result has a large error with the actual situation, and the signal transmission of the receiver may be blocked by the vehicle or caused by the failure of part of the base station, resulting in positioning error or positioning failure of part of the GPS receiver, so that the result of bridge deformation cannot be determined.

[0006] The bridge deformation monitoring system including GNSS and UWB is constructed in advance, the positioning accuracy of GNSS is poor, and UWB base stations need to be additionally constructed, which increases the construction cost and maintenance cost. SUMMARY

[0007] Therefore, in some specific areas, the ground navigation positioning system can be used to assist or replace the GNSS system for positioning. Since the ground positioning reference station can achieve millimeter-level real-time positioning accuracy, it can be currently used in high-precision bridge deformation real-time dynamic monitoring system.

[0008] UWB (Ultra Wide Band) technology is a wireless carrier communication technology with advantages such as short transmission and reception times, good multipath resistance, high system security, and low overall power consumption. Therefore, UWB technology can be applied to fast, high-precision positioning, tracking, and navigation of stationary or moving people and objects indoors.

[0009] Objective: To overcome the shortcomings of existing technologies, this invention provides a bridge deformation positioning and monitoring method based on a combination of ground-based base stations and UWB technology. During positioning, a deformation monitoring receiver capable of receiving signals from a ground-based positioning reference station first uses the ground-based reference station positioning technology to obtain its own position information and complete clock synchronization with the base station. Then, it acts as a base station for UWB positioning, providing a UWB positioning method for deformation monitoring receivers that cannot normally receive signals from the ground-based positioning reference station.

[0010] Technical solution: To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0011] Firstly, a bridge deformation positioning and monitoring method based on a combination of ground-based base stations and UWB technology is provided. Ground-based positioning reference stations are pre-constructed on both sides of the bridge, and multiple deformation monitoring receivers are installed on the bridge to be monitored. Each deformation monitoring receiver includes a ground-based positioning reference station signal receiving module, a UWB signal transmitting module, and a UWB signal receiving module. The bridge deformation positioning and monitoring method includes:

[0012] Step a: During the monitoring process, the deformation monitoring receiver includes a first deformation monitoring receiver capable of receiving signals sent by the ground-based positioning reference station and a second deformation monitoring receiver that cannot be positioned due to signal obstruction;

[0013] Step b: The first deformation monitoring receiver acquires the base station signal sent by the ground positioning reference station in real time;

[0014] Step c: Based on the base station signal sent by the ground-based positioning reference station, the three-dimensional coordinates of the first deformation monitoring receiver and the clock difference with the ground-based positioning reference station are solved by using a combination of pseudorange and carrier wave.

[0015] Step d: Use the clock difference obtained in step c to synchronize the clocks of the first deformation monitoring receiver and the ground positioning reference station;

[0016] Step e: Use the coordinates of the first deformation monitoring receiver obtained in step c as the location information of the deformation monitoring receiver, and use the UWB signal transmission module of the deformation monitoring receiver as a UWB base station to broadcast UWB signals, wherein the UWB signals include the three-dimensional coordinates of the first deformation monitoring receiver and the transmission time.

[0017] Step f, the second deformation monitoring receiver which cannot be positioned due to signal obstruction in step b receives the UWB signal from step e;

[0018] Step g, based on the UWB signal, the three-dimensional coordinates of the second deformation monitoring receiver which cannot be positioned due to signal obstruction are solved by using the UWB positioning method;

[0019] Step h, steps b to g are repeatedly executed to obtain the real-time three-dimensional coordinates of all deformation monitoring receivers and to calculate and determine the deformation positioning result of the bridge.

[0020] In some embodiments, the ground positioning reference station is configured to send a base station signal, and the base station signal comprises position information and pseudo-range information of the ground positioning reference station.

[0021] In some embodiments, the first deformation monitoring receiver is a deformation monitoring receiver which can normally receive the base station signal sent by the ground positioning reference station and can complete ground positioning.

[0022] In some embodiments, the second deformation monitoring receiver is a deformation monitoring receiver which cannot normally receive the base station signal sent by the ground positioning reference station due to obstruction between the receiver and the ground positioning reference station or partial failure of the ground positioning reference station, and cannot complete ground positioning.

[0023] In some embodiments, the first deformation monitoring receiver uses a pseudo-range and carrier wave combined method to calculate the positioning result of the first deformation monitoring receiver based on the received base station signal, and updates the position information and clock information of the first deformation monitoring receiver according to the positioning result. The UWB signal sending module of the first deformation monitoring receiver is configured to send a UWB signal comprising the position information and clock information of the first deformation monitoring receiver.

[0024] In some embodiments, the second deformation monitoring receiver uses its own UWB signal positioning module to receive the UWB signal of the first deformation monitoring receiver, and uses a UWB positioning method to calculate the positioning result of the second deformation monitoring receiver based on the UWB signal.

[0025] In some embodiments, the pseudo-range and carrier wave combined method comprises carrier phase smoothing pseudo-range, which uses carrier phase observation values with higher precision but integer ambiguity to smooth rough pseudo-range observation values, and uses HatchFilter to process the observation values in real time.

[0026] In some embodiments, the UWB positioning method comprises time difference of arrival positioning method TDOA, time of flight ranging method TOF, and angle of arrival positioning method AOA.

[0027] In a second aspect, the application provides a bridge deformation positioning monitoring system based on the combination of ground base stations and UWB technology, comprising a ground positioning reference station and a plurality of deformation monitoring receivers, the ground positioning reference station is arranged at the ground positioning reference station on both sides of the bridge, and the plurality of deformation monitoring receivers are installed on the bridge to be monitored, the deformation monitoring receiver comprises a ground positioning reference station signal receiving module, a UWB signal sending module and a UWB signal receiving module; the bridge deformation positioning monitoring method comprises:

[0028] Step a, in the monitoring process, the deformation monitoring receiver comprises a first deformation monitoring receiver capable of receiving the signal sent by the ground positioning reference station and a second deformation monitoring receiver incapable of positioning due to signal shielding;

[0029] Step b, the first deformation monitoring receiver acquires the base station signal sent by the ground positioning reference station in real time;

[0030] Step c, based on the base station signal sent by the ground positioning reference station, the three-dimensional coordinates of the first deformation monitoring receiver and the clock difference value with the ground positioning reference station are solved by using the combination of pseudo-range and carrier;

[0031] Step d, the clock synchronization between the first deformation monitoring receiver and the ground positioning reference station is completed by using the clock difference value obtained in step c;

[0032] Step e, the coordinates of the first deformation monitoring receiver obtained in step c are taken as the position information of the deformation monitoring receiver, and the UWB signal sending module of the deformation monitoring receiver is used as a UWB base station to broadcast UWB signals, wherein the UWB signals contain the three-dimensional coordinates and the sending time of the first deformation monitoring receiver;

[0033] Step f, the second deformation monitoring receiver incapable of positioning due to signal shielding in step b receives the UWB signal from step e;

[0034] Step g, based on the UWB signal, the three-dimensional coordinates of the second deformation monitoring receiver incapable of positioning due to signal shielding are solved by using the UWB positioning method;

[0035] Step h, steps b to g are repeatedly executed to obtain the real-time three-dimensional coordinates of all deformation monitoring receivers and to solve and determine the deformation positioning result of the bridge.

[0036] Beneficial effects: the bridge deformation positioning monitoring method based on the combination of the ground base station and the UWB technology provided by the application has the following advantages: by integrating the UWB signal sending module in the receiver, the deformation monitoring receiver for normal ground positioning provides UWB positioning for the deformation monitoring receiver for abnormal ground positioning, avoids the cost problem of building another UWB positioning base station, solves the problems of signal shielding and downtime of part of the ground base station, and realizes positioning in a complex environment.

[0037] The positioning accuracy is improved by using the ground positioning technology, and the bridge deformation monitoring can be better realized.

[0038] The stability of the bridge deformation monitoring system is ensured, and the problem that part of the deformation monitoring receiver cannot be positioned due to signal shielding of the ground positioning is solved.

[0039] The UWB signal sending module is integrated in the deformation monitoring receiver, and there is no need to build an additional UWB base station, thereby saving the cost.

[0040] The clock synchronization between the deformation monitoring receiver and the monitoring base station is completed by solving the base station signals of the ground positioning reference station, and only the clock synchronization between the ground positioning reference stations is needed, and there is no need to synchronize with the UWB base station. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a schematic diagram constructed in the implementation method according to an embodiment of the application;

[0042] Figure 2 is a flowchart of the bridge deformation positioning monitoring method based on the combination of the ground base station and the UWB technology according to an embodiment of the application. DETAILED DESCRIPTION

[0043] The application will be further described below in combination with the drawings and embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0044] In the description of the application, if several meanings are included, the meaning of multiple is two or more, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If it is described that the first, the second is only used to distinguish the technical features for the purpose, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0045] In the description of the application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In this specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0046] Embodiment 1

[0047] As shown in Figure 1 , the bridge deformation positioning system based on the combination of ground positioning and UWB technology includes a ground positioning reference station, a first deformation monitoring receiver and a second deformation monitoring receiver.

[0048] The ground positioning reference station is used to send a base station signal, and the base station signal includes position information and pseudo-range information of the ground positioning reference station.

[0049] The first deformation monitoring receiver refers to a plurality of deformation monitoring receivers that can normally receive the base station signal sent by the ground positioning reference station. The positioning result of the first deformation monitoring receiver is obtained by solving the received base station signal, and the update of the position information and clock information of the first deformation monitoring receiver is completed according to the positioning result. The UWB signal sending module of the first deformation monitoring receiver is used to send the UWB signal containing the position information and clock information of the first deformation monitoring receiver.

[0050] The second deformation monitoring receiver refers to a deformation monitoring receiver that cannot normally receive the base station signal sent by the ground positioning reference station due to shielding. The UWB signal positioning module of the second deformation monitoring receiver receives the UWB signal of the first deformation monitoring receiver and solves the UWB signal to obtain the positioning result of the second deformation monitoring receiver.

[0051] A bridge deformation positioning and monitoring system based on the combination of ground base station and UWB technology includes a ground positioning reference station and a plurality of deformation monitoring receivers. The ground positioning reference station is arranged on the ground positioning reference station on both sides of the bridge, and a plurality of deformation monitoring receivers are installed on the bridge to be monitored. The deformation monitoring receiver includes a ground positioning reference station signal receiving module, a UWB signal sending module and a UWB signal receiving module. The bridge deformation positioning and monitoring method includes:

[0052] Step a, in the monitoring process, the deformation monitoring receiver includes a first deformation monitoring receiver capable of receiving signals sent by the ground positioning reference station and a second deformation monitoring receiver incapable of positioning due to signal shielding;

[0053] Step b, the first deformation monitoring receiver obtains the base station signal sent by the ground positioning reference station in real time;

[0054] Step c, based on the base station signal sent by the ground positioning reference station, the three-dimensional coordinates of the first deformation monitoring receiver and the clock difference value with the ground positioning reference station are solved by using the method of combining pseudorange and carrier;

[0055] Step d, the clock synchronization between the first deformation monitoring receiver and the ground positioning reference station is completed by using the clock difference value obtained in step c;

[0056] Step e, the coordinates of the first deformation monitoring receiver obtained in step c are taken as the position information of the deformation monitoring receiver, and the UWB signal sent by the UWB signal sending module of the deformation monitoring receiver is used as the UWB base station to broadcast the UWB signal, wherein the UWB signal contains the three-dimensional coordinates and the sending time of the first deformation monitoring receiver;

[0057] Step f, the second deformation monitoring receiver which cannot be positioned due to signal shielding in step b receives the UWB signal from step e;

[0058] Step g, based on the UWB signal, the three-dimensional coordinates of the second deformation monitoring receiver which cannot be positioned due to signal shielding are solved by using the UWB positioning method;

[0059] Step h, steps b to g are repeatedly executed to obtain the real-time three-dimensional coordinates of all deformation monitoring receivers and to solve, so as to determine the deformation positioning result of the bridge.

[0060] Embodiment 2

[0061] As shown in the figure, the bridge deformation positioning method based on the combination of ground positioning and UWB technology is as follows: Figure 2

[0062] Step 1, the ground positioning reference station is constructed on both sides of the bridge, the first deformation monitoring receiver and the second deformation monitoring receiver are installed on the bridge to be monitored, and the bridge deformation monitoring system including the ground positioning reference station, the deformation monitoring receiver and the UWB positioning is constructed.

[0063] Step 2, the ground positioning reference station sends the base station signal including the position information and the pseudorange information of the ground positioning reference station;

[0064] Step 3, the first deformation monitoring receiver receives the base station signal in step 2, and solves the three-dimensional coordinates of the first deformation monitoring receiver and the clock difference between the receiver and the ground positioning reference station 1 by using the method of combining pseudorange and carrier;

[0065] ​Step 4, using the clock difference described in step 3 to complete the clock synchronization of the first deformation monitoring receiver and the base station, using the UWB signal sending module of the first deformation monitoring receiver as the UWB base station to broadcast the UWB signal containing the deformation monitoring receiver time and coordinate information;

[0066] Step 5, the second deformation monitoring receiver receives the UWB signal described in step 4 using the UWB signal receiving module, and uses the UWB positioning method (such as time difference of arrival positioning method TDOA, time of flight ranging method TOF, angle of arrival positioning method AOA, etc.) to solve the three-dimensional coordinates of the second deformation monitoring receiver;

[0067] Step 6, the three-dimensional coordinates of the first deformation monitoring receiver in step 3 and the three-dimensional coordinates of the second deformation monitoring receiver in step 5 are sent to the monitoring platform as the bridge deformation monitoring result;

[0068] In the above steps, while the first deformation monitoring receiver completes the base station positioning, the clock difference between the first deformation monitoring receiver and the ground positioning reference station is solved using the base station signal, and the clock synchronization between the first deformation monitoring receiver and the ground positioning reference station is completed. Since the clocks between the ground positioning reference stations are highly synchronized during ground positioning, the clock between the first deformation monitoring receivers is highly synchronized through the clock synchronization between the first deformation monitoring receiver and the ground positioning reference station, which ensures the clock synchronization problem during UWB positioning.

[0069] When using UWB positioning, the UWB signal is completed by the UWB signal sending module integrated in the first deformation monitoring receiver, which does not require additional construction of UWB base stations compared to other UWB combination methods, saving construction and maintenance costs.

[0070] Through the above steps, the first deformation monitoring receiver that can normally ground position provides UWB positioning service for the second deformation monitoring receiver that cannot normally ground position, solving the signal shielding and partial ground reference station downtime problem in positioning work, and realizing positioning in complex environments.

[0071] In some embodiments, the first deformation monitoring receiver uses a combination of pseudo-range and carrier wave to solve the received base station signal to obtain the positioning result of the first deformation monitoring receiver, and updates the position information and clock information of the first deformation monitoring receiver according to the positioning result. The UWB signal sending module of the first deformation monitoring receiver is used to send the UWB signal containing the position information and clock information of the first deformation monitoring receiver.

[0072] In some embodiments, the second deformation monitoring receiver receives the UWB signal of the first deformation monitoring receiver by using its own UWB signal positioning module, and calculates the positioning result of the second deformation monitoring receiver by using the UWB positioning method.

[0073] In some embodiments, the method of combining the pseudo-range with the carrier phase includes: carrier phase smoothing pseudo-range, using the carrier phase observation value with higher precision but with integer ambiguity to smooth the rough pseudo-range observation value; and using the form of Hatch Filter to process the observation value in real time.

[0074] Those skilled in the art will understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0075] The present application is described with reference to flowcharts and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus generate an apparatus that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in the flowcharts and / or block diagrams can be implemented with one or more flows and / or blocks. Figure 1 The functions specified in the flowcharts and / or block diagrams can be implemented with one or more flows and / or blocks.

[0076] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in the flowcharts and / or block diagrams can be implemented with one or more flows and / or blocks. Figure 1 The functions specified in the flowcharts and / or block diagrams can be implemented with one or more flows and / or blocks.

[0077] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a process for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1one or more processes and / or blocks Figure 1 the steps of a function specified in one or more blocks.

[0078] The above description is merely that of the preferred embodiments of the application and modifications and alterations are possible to those having ordinary skill in the art without departing from the spirit and scope of the application.

Claims

1. A bridge deformation positioning monitoring method based on the combination of ground base stations and UWB technology, characterized in that, The ground positioning reference station is constructed in advance on both sides of the bridge, and a plurality of deformation monitoring receivers are installed on the bridge to be monitored, the deformation monitoring receiver comprises a ground positioning reference station signal receiving module, a UWB signal sending module and a UWB signal receiving module, and the bridge deformation positioning monitoring method comprises the following steps: In the monitoring process, the deformation monitoring receiver comprises a first deformation monitoring receiver capable of receiving the ground positioning reference station signal and a second deformation monitoring receiver incapable of positioning due to signal shielding. The first deformation monitoring receiver acquires the ground positioning reference station signal in real time. Based on the ground positioning reference station signal, the three-dimensional coordinates of the first deformation monitoring receiver and the clock difference value with the ground positioning reference station are solved by using the pseudo-range and carrier combination method. The clock synchronization between the first deformation monitoring receiver and the ground positioning reference station is completed by using the clock difference value obtained in step c. The first deformation monitoring receiver coordinates obtained in step c are taken as the position information of the deformation monitoring receiver, and the UWB signal sending module of the deformation monitoring receiver is used as the UWB base station to broadcast the UWB signal, wherein the UWB signal comprises the three-dimensional coordinates and the sending time of the first deformation monitoring receiver. The second deformation monitoring receiver incapable of positioning due to signal shielding receives the UWB signal from step e. Based on the UWB signal, the three-dimensional coordinates of the second deformation monitoring receiver incapable of positioning due to signal shielding are solved by using the UWB positioning method. Steps b to g are repeatedly executed to obtain the real-time three-dimensional coordinates of all deformation monitoring receivers and to solve and determine the deformation positioning result of the bridge.

2. The bridge deformation positioning monitoring method based on the combination of ground-based base stations and UWB technology according to claim 1, characterized in that, The ground positioning reference station is used to send the base station signal, and the base station signal comprises the position information and the pseudo-range information of the ground positioning reference station.

3. The bridge deformation positioning monitoring method based on the combination of ground-based base stations and UWB technology according to claim 1, characterized in that, The first deformation monitoring receiver is a deformation monitoring receiver capable of normally receiving the base station signal sent by the ground positioning reference station and completing ground positioning.

4. The bridge deformation positioning monitoring method based on the combination of ground-based base stations and UWB technology according to claim 1, characterized in that, The second deformation monitoring receiver is a deformation monitoring receiver incapable of normally receiving the base station signal sent by the ground positioning reference station due to shielding between the receiver and the ground positioning reference station or partial ground positioning reference station downtime.

5. The bridge deformation positioning monitoring method based on the combination of ground-based base stations and UWB technology according to claim 1, characterized in that, The first deformation monitoring receiver uses the pseudo-range and carrier combination method to solve the received base station signal to obtain the positioning result of the first deformation monitoring receiver, and updates the position information and clock information of the first deformation monitoring receiver according to the positioning result, and the UWB signal sending module of the first deformation monitoring receiver is used to send the UWB signal comprising the position information and clock information of the first deformation monitoring receiver.

6. The bridge deformation positioning monitoring method based on the combination of ground-based base stations and UWB technology according to claim 1, characterized in that, The second deformation monitoring receiver receives the UWB signal of the first deformation monitoring receiver by using the UWB signal positioning module of the second deformation monitoring receiver, and solves the UWB signal by using the UWB positioning method to obtain the positioning result of the second deformation monitoring receiver.

7. The bridge deformation positioning monitoring method based on the combination of ground-based base stations and UWB technology according to claim 1, characterized in that, The pseudo-range and carrier phase combination method includes carrier phase smoothing pseudo-range, which uses carrier phase observation with higher accuracy but integer ambiguity to smooth rough pseudo-range observation, and real-time processing of observation in the form of Hatch Filter.

8. The bridge deformation positioning monitoring method based on the combination of ground-based base stations and UWB technology according to claim 1, characterized in that, The UWB positioning method includes time difference of arrival positioning method (TDOA), time of flight ranging method (TOF), and angle of arrival positioning method (AOA).

9. A bridge deformation positioning monitoring system based on the combination of ground base stations and UWB technology, characterized in that, The method includes a ground positioning reference station and a plurality of deformation monitoring receivers, the ground positioning reference station is arranged on the ground positioning reference station on both sides of the bridge, and the plurality of deformation monitoring receivers are installed on the bridge to be monitored. The bridge deformation positioning monitoring method includes: Step a, in the monitoring process, the deformation monitoring receiver includes a first deformation monitoring receiver capable of receiving signals sent by the ground positioning reference station and a second deformation monitoring receiver incapable of positioning due to signal shielding; Step b, the first deformation monitoring receiver acquires the base station signal sent by the ground positioning reference station in real time; Step c, based on the base station signal sent by the ground positioning reference station, a pseudo-range and carrier phase combination method is used to solve the three-dimensional coordinates of the first deformation monitoring receiver and the clock difference value with the ground positioning reference station; Step d, the clock synchronization between the first deformation monitoring receiver and the ground positioning reference station is completed by using the clock difference value obtained in step c; Step e, the coordinates of the first deformation monitoring receiver obtained in step c are used as the position information of the deformation monitoring receiver, and the UWB signal sending module of the deformation monitoring receiver is used as the UWB base station to broadcast UWB signals, wherein the UWB signals contain the three-dimensional coordinates and the sending time of the first deformation monitoring receiver; Step f, the second deformation monitoring receiver incapable of positioning due to signal shielding in step b receives the UWB signal from step e; Step g, based on the UWB signal, a UWB positioning method is used to solve the three-dimensional coordinates of the second deformation monitoring receiver incapable of positioning due to signal shielding; Step h, steps b to g are repeatedly executed to obtain the real-time three-dimensional coordinates of all deformation monitoring receivers and to solve and determine the deformation positioning result of the bridge.

Images