Space-based bridge deformation monitoring method, device, equipment and storage medium

Abstract

The present invention belongs to the technical field of bridge monitoring and discloses a space-based bridge deformation monitoring method, device, equipment, and storage medium. The method includes: obtaining bridge monitoring data of a bridge to be monitored; determining monitoring point coordinates based on the bridge monitoring data; obtaining target location information based on the monitoring point coordinates; determining a long-term deformation time series and a short-term deformation time series based on the bridge monitoring data; determining deformation time series information based on the long-term deformation time series and the short-term deformation time series; determining linear deformation information and nonlinear deformation information based on the bridge monitoring data; determining geographic deformation map information based on the linear deformation information and the nonlinear deformation information; and determining deformation and settlement monitoring information of the bridge to be monitored based on the target location information, the deformation time series information, and the geographic deformation map information. Through the above-mentioned method, the spatial resolution of bridge deformation and settlement monitoring is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge monitoring, and in particular to a space-based bridge deformation monitoring method, device, equipment and storage medium. Background Art

[0002] Bridges, as crucial hubs for land transportation, are subject to heavy traffic and pedestrian flow, especially on railway bridges. The monitoring environment is complex, and satellite signals are susceptible to interference from the bridge's monitoring environment. This reduces the number of observable satellites and leads to dynamic multipath effects, resulting in low positioning accuracy in real-time positioning. Current bridge monitoring systems can include GNSS monitoring systems, which utilize this technology to monitor deformation in easily accessible locations. Deflectometers are typically installed within the mid-span of a bridge to specifically monitor deformation perpendicular to the bridge's centerline. Displacement sensors are installed on bridge tracks and at both ends to monitor the displacement of high-speed rail track slabs and the longitudinal expansion and contraction of the bridge. However, these deformation measurements are subject to error. These factors reduce the accuracy and reliability of bridge deformation sequences. Furthermore, the limitations of individual technologies prevent sufficient information from being obtained about the overall deformation of the bridge, resulting in insufficient spatial resolution.

[0003] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present invention is to provide a space-based bridge deformation monitoring method, device, equipment and storage medium, aiming to solve the technical problem of insufficient spatial resolution of bridge monitoring in the prior art.

[0005] To achieve the above objectives, the present invention provides a space-based bridge deformation monitoring method, which includes the following steps:

[0006] Obtaining bridge monitoring data of the bridge to be monitored;

[0007] determining the coordinates of the monitoring points according to the bridge monitoring data;

[0008] Obtaining target part positioning information according to the monitoring point coordinates;

[0009] determining a long-term deformation time series and a short-term deformation time series based on the bridge monitoring data;

[0010] determining deformation time series information according to the long-term deformation time series and the short-term deformation time series;

[0011] determining linear deformation information and nonlinear deformation information according to the bridge monitoring data;

[0012] determining geographic deformation map information according to the linear deformation information and the nonlinear deformation information;

[0013] The deformation and settlement monitoring information of the bridge to be monitored is determined according to the target location information, the deformation time series information and the geographic deformation map information.

[0014] Optionally, determining the monitoring point coordinates according to the bridge monitoring data includes:

[0015] determining Beidou satellite data based on the bridge monitoring data;

[0016] determining a plurality of monitoring points according to the BeiDou satellite data;

[0017] Get the preset solution interval time;

[0018] The coordinates of each monitoring point are calculated according to the stored data at each calculation interval to obtain the monitoring point coordinates, wherein the stored data is cleared each time the monitoring point coordinates are obtained by calculation.

[0019] Optionally, obtaining the target part positioning information according to the monitoring point coordinates includes:

[0020] Determining the solution time according to the coordinates of the monitoring points;

[0021] The calculation time, the monitoring point coordinates and each monitoring point are stored in correspondence to obtain the monitoring point positioning information of each monitoring point;

[0022] The target part positioning information is determined based on the monitoring point positioning information of each monitoring point.

[0023] Optionally, determining the long-term deformation time series and the short-term deformation time series according to the bridge monitoring data includes:

[0024] determining bridge deformation data according to the bridge monitoring data;

[0025] determining a reference time base according to the bridge deformation data;

[0026] Performing windowing processing on the bridge deformation data using a preset windowing function to obtain windowed deformation data;

[0027] Converting the frequency domain data in the windowed deformation data into spatial domain data to obtain focused deformation data;

[0028] Performing differential processing and denoising on the focused deformation data to obtain a deformation time series of each monitoring point;

[0029] The deformation time series is subjected to geometric projection processing to obtain a long-term deformation time series and a short-term deformation time series.

[0030] Optionally, determining the linear deformation information and the nonlinear deformation information according to the bridge monitoring data includes:

[0031] determining satellite-borne data based on the bridge monitoring data;

[0032] determining primary image data and auxiliary image data according to the satellite-borne data;

[0033] Registering the auxiliary image data and sampling it with the main image data to obtain registered image data;

[0034] performing differential interferometry phase processing on the registered image data to obtain a differential interferogram;

[0035] filtering the differential interferogram to obtain a filtered interferogram;

[0036] Deformation information is acquired from the filtered interference pattern to obtain linear deformation information and nonlinear deformation information.

[0037] Optionally, acquiring deformation information of the filtered interferogram to obtain linear deformation information and nonlinear deformation information includes:

[0038] selecting permanent scatterer points from the filtered interferogram;

[0039] Calculate the elevation correction value and linear settlement rate corresponding to each permanent scatterer point through a preset algorithm;

[0040] Obtaining linear deformation information according to the elevation correction value and the linear settlement rate;

[0041] Get the preset time window;

[0042] The differential interference pattern is filtered and residual phase is removed according to the preset time window to obtain nonlinear deformation information.

[0043] Optionally, determining geographic deformation map information according to the linear deformation information and the nonlinear deformation information includes:

[0044] Get geographic coordinate system information;

[0045] The linear deformation information and the nonlinear deformation information are converted into a geographic coordinate system according to the geographic coordinate system information to obtain an annual average deformation rate map and a deformation amount map for each period;

[0046] Geographic deformation map information is obtained according to the annual average deformation rate map and the deformation amount map for each period.

[0047] In addition, to achieve the above-mentioned purpose, the present invention further proposes a space-based bridge deformation monitoring device, which includes:

[0048] A data acquisition module, used for acquiring bridge monitoring data of the bridge to be monitored;

[0049] A coordinate calculation module, used to determine the coordinates of the monitoring points based on the bridge monitoring data;

[0050] A target positioning module is used to obtain target location information based on the monitoring point coordinates;

[0051] A time series determination module, configured to determine a long-term deformation time series and a short-term deformation time series based on the bridge monitoring data;

[0052] a sequence summarization module, configured to determine deformation time series information based on the long-term deformation time series and the short-term deformation time series;

[0053] a deformation information determination module, configured to determine linear deformation information and nonlinear deformation information based on the bridge monitoring data;

[0054] A geographic map determining module, configured to determine geographic deformation map information based on the linear deformation information and the nonlinear deformation information;

[0055] The summary processing module is used to determine the deformation and settlement monitoring information of the bridge to be monitored based on the target location information, the deformation time series information and the geographical deformation map information.

[0056] In addition, to achieve the above-mentioned purpose, the present invention also proposes a space-based bridge deformation monitoring device, which includes: a memory, a processor, and a space-based bridge deformation monitoring program stored on the memory and runnable on the processor, and the space-based bridge deformation monitoring program is configured to implement the steps of the space-based bridge deformation monitoring method described above.

[0057] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a space-based bridge deformation monitoring program is stored. When the space-based bridge deformation monitoring program is executed by a processor, the steps of the space-based bridge deformation monitoring method described above are implemented.

[0058] The present invention obtains bridge monitoring data of a bridge to be monitored; determines monitoring point coordinates based on the bridge monitoring data; obtains target location information based on the monitoring point coordinates; determines a long-term deformation time series and a short-term deformation time series based on the bridge monitoring data; determines deformation time series information based on the long-term deformation time series and the short-term deformation time series; determines linear deformation information and nonlinear deformation information based on the bridge monitoring data; determines geographic deformation map information based on the linear deformation information and the nonlinear deformation information; and determines deformation and settlement monitoring information of the bridge to be monitored based on the target location information, the deformation time series information, and the geographic deformation map information. In this way, the positioning information of the target location of the bridge to be monitored, as well as the deformation time series of the entire bridge and satellite-borne data of the bridge's surrounding area, are obtained based on Beidou satellite, ground-based radar interferometry monitoring, and satellite-borne settlement monitoring, thereby obtaining deformation and settlement monitoring information of the bridge to be monitored and its surrounding area, thereby improving the accuracy and reliability of bridge deformation and settlement monitoring. Moreover, by combining and summarizing technologies, the spatial resolution of bridge deformation and settlement monitoring is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 1 is a schematic structural diagram of a space-based bridge deformation monitoring device in a hardware operating environment according to an embodiment of the present invention;

[0060] Figure 2 1 is a flow chart of a first embodiment of a space-based bridge deformation monitoring method according to the present invention;

[0061] Figure 3 FIG1 is a structural diagram of a BDS deformation monitoring subsystem in an embodiment of a space-based bridge deformation monitoring method of the present invention;

[0062] Figure 4 Schematic diagram of data input and output of the BDS processing module in an embodiment of the space-based bridge deformation monitoring method of the present invention;

[0063] Figure 5 1 is a flow chart of a second embodiment of a space-based bridge deformation monitoring method according to the present invention;

[0064] Figure 6 Schematic diagram of the process of processing linear deformation information and nonlinear degeneration information in an embodiment of the space-based bridge deformation monitoring method of the present invention;

[0065] Figure 7 This is a structural block diagram of the first embodiment of the space-based bridge deformation monitoring device of the present invention.

[0066] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0067] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0068] Reference Figure 1 , Figure 1 This is a schematic structural diagram of a space-based bridge deformation monitoring device in the hardware operating environment involved in an embodiment of the present invention.

[0069] like Figure 1 As shown, the space-based bridge deformation monitoring device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display and an input unit, such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. Optionally, the memory 1005 may be a storage device independent of the processor 1001.

[0070] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation to the space-based bridge deformation monitoring device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0071] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a space-based bridge deformation monitoring program.

[0072] exist Figure 1In the space-based bridge deformation monitoring device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the space-based bridge deformation monitoring device of the present invention can be set in the space-based bridge deformation monitoring device, and the space-based bridge deformation monitoring device calls the space-based bridge deformation monitoring program stored in the memory 1005 through the processor 1001, and executes the space-based bridge deformation monitoring method provided by the embodiment of the present invention.

[0073] The embodiment of the present invention provides a bridge deformation monitoring method based on space, referring to Figure 2 , Figure 2 This is a flow chart of a first embodiment of a space-based bridge deformation monitoring method of the present invention.

[0074] In this embodiment, the space-based bridge deformation monitoring method includes the following steps:

[0075] Step S10: Acquire bridge monitoring data of the bridge to be monitored.

[0076] It should be noted that the executor of this embodiment is a system, which is mainly a system for controlling a space-based bridge deformation monitoring method, which can include a Beidou monitoring module, a ground-based radar interference monitoring module, a satellite-borne settlement monitoring module and an information processing module.

[0077] It should be understood that current bridge monitoring devices can include GNSS monitoring systems: using this technology, deformation of specific locations can be monitored in easily installed locations. Deflectometers: These instruments are typically installed inside the mid-span of a bridge and are specifically used to monitor deformation of the bridge's mid-span perpendicular to the bridge's centerline. Displacement sensors: These are installed on the bridge track and at both ends of the bridge to monitor the displacement of the high-speed rail bridge track plate and the longitudinal expansion and contraction of the bridge. However, the deformation measured in this way also has errors. These factors reduce the accuracy and reliability of bridge deformation sequences. Furthermore, the limitations of individual technologies make it impossible to fully obtain information about the overall deformation of the bridge, i.e., the spatial resolution of the monitoring is insufficient. However, the solution of this embodiment uses Beidou satellites, ground-based radar interferometry monitoring, and satellite-based settlement monitoring to obtain positioning information of the target location of the bridge to be monitored, as well as the overall deformation time series of the bridge and satellite-based data of the surrounding area. This provides deformation and settlement monitoring information for the bridge to be monitored and its surrounding area, improving the accuracy and reliability of bridge deformation and settlement monitoring. Furthermore, through the combined use and summary analysis of these technologies, the spatial resolution of bridge deformation and settlement monitoring is improved.

[0078] In specific implementations, bridge monitoring data refers to data downloaded from the cloud or directly extracted from monitoring data from various sensors and satellites.

[0079] Step S20: determining the coordinates of the monitoring points according to the bridge monitoring data.

[0080] It should be noted that the monitoring point coordinates refer to the spatial coordinates of the monitoring points set as target locations or key locations on the bridge (including the surrounding area).

[0081] Furthermore, in order to determine the coordinates of the monitoring points based on the bridge monitoring data, step S20 includes: determining Beidou satellite data based on the bridge monitoring data; determining multiple monitoring points based on the Beidou satellite data; obtaining a preset solution interval time; calculating the coordinates of each monitoring point based on the stored data at each solution interval time to obtain the monitoring point coordinates, wherein the stored data is cleared each time the monitoring point coordinates are calculated.

[0082] It should be noted that the module used to calculate the coordinates of the monitoring points is called the BDS deformation monitoring subsystem, which includes a BeiDou satellite signal receiving module, a data storage module, a positioning solution module, and a wireless communication module. The positioning solution module is electrically connected to the BeiDou satellite signal receiving module, the data storage module, and the wireless communication module, respectively. Figure 3 shown.

[0083] It should be understood that determining Beidou satellite data based on the bridge monitoring data refers to extracting Beidou satellite data from the bridge monitoring data. Beidou satellite data is composed of several Beidou monitoring stations and reference stations. Beidou monitoring stations are located at key locations on the bridge that are conducive to satellite signal observation, while reference stations are located near the bridge. The Beidou monitoring stations and reference stations simultaneously observe Beidou satellite signals in real time at a high-frequency sampling rate of at least 5 Hz and decode the received Beidou satellite signals to obtain Beidou satellite observation data. The Beidou satellite signal receiving module inputs the Beidou satellite observation data and the names of the corresponding monitoring points into the positioning solution module in real time.

[0084] In practice, the complex satellite observation environment of the bridge resulted in poor quality satellite observation data. In real-time dynamic positioning solution mode, the coordinate accuracy of monitoring point calculations using single-epoch observation data was poor, resulting in poorly calculated deformations at the monitoring points. Therefore, to improve the accuracy of monitoring point coordinate calculations and meet the real-time monitoring requirements of the bridge, the positioning solution module adopted a static post-processing mode with a 10-minute interval. Specifically, the positioning solution module temporarily saves the high-frequency observation data received from the Beidou satellite signal receiving module. When the saved data reaches 10 minutes, the positioning solution module uses the previous 10-minute Beidou observation data to calculate the coordinates of the monitoring points. In this mode, a large amount of satellite observation data is involved in the solution, achieving millimeter-level coordinate accuracy. After the solution is complete, the positioning solution module deletes the saved observation data that has been used.

[0085] In this way, the coordinate values ​​of the monitoring points within a fixed time period are accurately calculated.

[0086] Step S30: obtaining target part positioning information according to the monitoring point coordinates.

[0087] It should be noted that the target location information includes information such as coordinates and coordinate changes.

[0088] It should be understood that obtaining the target part positioning information based on the monitoring point coordinates refers to data generated based on the solution time and the coordinates of the monitoring points for calculating and predicting deformation and settlement monitoring information.

[0089] Furthermore, in order to obtain the target part positioning information based on the monitoring point coordinates, step S30 includes: determining the solution time based on the monitoring point coordinates; storing the solution time, the monitoring point coordinates and each monitoring point in correspondence to obtain the monitoring point positioning information of each monitoring point; and determining the target part positioning information based on the monitoring point positioning information of each monitoring point.

[0090] It should be understood that the solution time refers to the natural time when the solution starts corresponding to the coordinates of each monitoring point.

[0091] In a specific implementation, after the calculation time is determined, the calculated monitoring point coordinates, the corresponding monitoring point name, the calculation time and other monitoring point positioning information are stored as the target part positioning information.

[0092] In this way, the positioning information of the target part is determined based on the coordinates of the monitoring point and the calculated related time, so that the data of the Beidou satellite can be analyzed more accurately.

[0093] Step S40: determining a long-term deformation time series and a short-term deformation time series according to the bridge monitoring data.

[0094] It should be noted that determining the long-term deformation time series and the short-term deformation time series based on the bridge monitoring data means: first determining the bridge deformation data based on the bridge monitoring data, then performing windowing, focusing, differencing, denoising and geometric projection operations, and finally obtaining the long-term deformation time series and the short-term deformation time series.

[0095] Furthermore, in order to accurately process the data, step S40 includes: determining the bridge deformation data based on the bridge monitoring data; determining the reference time base based on the bridge deformation data; performing windowing processing on the bridge deformation data through a preset windowing function to obtain windowed deformation data; converting the frequency domain data in the windowed deformation data into spatial domain data to obtain focused deformation data; performing differential processing and denoising processing on the focused deformation data to obtain the deformation time series of each monitoring point; performing geometric projection processing on the deformation time series to obtain a long-term deformation time series and a short-term deformation time series.

[0096] It should be noted that determining bridge deformation data based on the bridge monitoring data refers to data collected by the GBInSAR monitoring equipment from the bridge monitoring data. The GBInSAR instrument is placed in a stable position on the side of the bridge, with a sampling frequency of at least 20 Hz. The instrument uses a zero-baseline method for observation. Corner reflectors are installed at monitoring points on the monitored side of the bridge to reflect the radar signals emitted by the GBInSAR.

[0097] It should be understood that determining a reference time base based on the bridge deformation data refers to selecting radar data from the initial monitoring time as the reference time base for subsequent radar data processing. Assuming the bridge deformation is zero at the reference time base, deformation values ​​calculated based on radar data at subsequent time points are all relative to the reference time base.

[0098] In a specific implementation, windowing the bridge deformation data using a preset windowing function to obtain the windowed deformation data means that data processing begins after the accumulated radar observation data reaches a preset time length. Windowing the radar signal using a Hanning window function eliminates the influence of sidelobe effects, and the resulting windowed deformation data is obtained. The Hanning window function is the preset windowing function.

[0099] It should be noted that the frequency domain data in the windowed deformation data is converted into spatial domain data to obtain the focused deformation data value: the radar data is the frequency domain sampling data of the radar signal echo. In order to extract the deformation information of each resolution unit in the distance direction in the radar monitoring direction, the frequency domain data is converted into the spatial domain through discrete Fourier inverse transformation. This process is focusing processing, and the final result is the focused deformation data.

[0100] It should be understood that performing differential processing and denoising on the focused deformation data to obtain the deformation time series of each monitoring point means performing differential processing on the focused deformation data signal after windowing and focusing processing, so that only the deformation phase, atmospheric delay phase and noise phase exist in the signal. After weakening the atmospheric delay phase and noise phase through the correlation denoising method, the one-dimensional phase unwrapping of the interference phase can be used to obtain the deformation amount in the line of sight direction of the target point. After time accumulation, the deformation time series of each target point in the distance direction in the radar monitoring direction can be obtained.

[0101] In a specific implementation, geometric projection processing is performed on the deformation time series to obtain long-term and short-term deformation time series. This involves converting the deformation time series in the bridge's line-of-sight direction into a deformation time series in the bridge's target direction (e.g., longitudinal and vertical directions) using geometric projection based on pre-stored radar antenna tilt data. The data within the first day of the projected GBInSAR deformation time series is used as the short-term deformation time series. The deformation data within each one-minute interval of the projected GBInSAR deformation time series is averaged to form a new deformation time series, which is used as the long-term GBInSAR deformation time series.

[0102] Through this method, accurate data processing of all bridge deformation data is achieved, so that long-term deformation time series and short-term deformation time series can be obtained.

[0103] Step S50: Determine deformation time series information according to the long-term deformation time series and the short-term deformation time series.

[0104] It should be noted that, after the long-term deformation time series and the short-term deformation time series are determined, the deformation time series information is obtained by summarizing the long-term deformation time series and the short-term deformation time series.

[0105] Step S60: determining linear deformation information and nonlinear deformation information according to the bridge monitoring data.

[0106] It should be understood that the satellite data is first determined based on the bridge monitoring data, and then operations such as alignment, sampling and filtering are performed to obtain a filtered interferogram, and then the linear deformation information and nonlinear degeneration information are obtained from the filtered interferogram.

[0107] Step S70: determining geographic deformation map information according to the linear deformation information and the nonlinear deformation information.

[0108] In a specific implementation, after the linear deformation information and the nonlinear deformation information are obtained, the geographic coordinate system is converted to obtain geographic deformation map information.

[0109] Furthermore, in order to process and obtain geographic deformation map information, step S70 includes: obtaining geographic coordinate system information; converting the linear deformation information and the nonlinear deformation information into the geographic coordinate system according to the geographic coordinate system information to obtain an annual average deformation rate map and a deformation amount map for each period; and obtaining geographic deformation map information according to the annual average deformation rate map and the deformation amount map for each period.

[0110] It should be noted that the geographic coordinate system information refers to the coordinate system of the spatial position under the geographical location of the bridge to be monitored.

[0111] It should be understood that converting the linear deformation information and the nonlinear deformation information into the geographic coordinate system according to the geographic coordinate system information to obtain the annual average deformation rate map and the deformation amount map for each period means: converting all deformation results into the geographic coordinate system, mainly including the annual average deformation rate map and the deformation amount map for each period, etc., and then obtaining the geographic deformation map information based on the annual average deformation rate map and the deformation amount map for each period.

[0112] In this way, it is possible to determine geographic deformation map information by combining linear deformation information and nonlinear deformation information, making the observation of deformation and settlement more intuitive.

[0113] Step S80: Determine the deformation and settlement monitoring information of the bridge to be monitored according to the target location information, the deformation time series information and the geographic deformation map information.

[0114] It should be noted that the calculated deformation and settlement monitoring information is processed by the deformation information processing subsystem, wherein the BDS processing module is used to calculate the deformation of the BDS monitoring point of the bridge; and, based on the short-term original observation data of the monitoring point, the short-term precise deformation time series of the key monitoring point is calculated to detect the deformation of the BDS monitoring point and the natural frequency of the monitoring point when the train passes through the bridge in a short period of time; based on the long-term original observation data of the key monitoring point, the long-term precise deformation time series of the monitoring point is calculated to calculate the periodic motion amplitude of the monitoring point. The data input and output of the BDS processing module are as follows: Figure 4 The detailed functions of the BDS processing module are as follows:

[0115] 1. Calculate the deformation of the bridge's BDS monitoring point. The BDS processing module pre-stores the initial coordinates of the monitoring point. Upon receiving the BDS monitoring point coordinate information from the communication module, the BDS processing module finds the initial coordinates of the corresponding monitoring point based on the monitoring point name in the coordinate information. It then calculates the difference between the coordinate information and the initial coordinates to obtain the deformation of the monitoring point. Finally, the deformation of the BDS monitoring point, along with the corresponding time and monitoring point name, is input into the deformation information storage module.

[0116] ②Calculate the long-term and short-term precise deformation time series of key monitoring points. This function uses BDS precise satellite ephemeris files, satellite clock error files and original observation data to calculate short-term high-frequency and long-term deformation time series. Specific functions are:

[0117] A. Regularly input the original observation data request information of the monitoring point into the communication module according to the preset time interval. The request information includes the preset key monitoring point name, the starting time of the original observation data and the time length of the data. The time length of the data is at least 1 week.

[0118] B. Receive data input from the communication module. This includes raw observation data from monitoring points and reference stations, precise ephemeris and satellite clock errors, and reference station coordinates. Convert this raw observation data to the format of rinex version 3.2 or later as long-term raw observation data. Then, extract the first day's data from this long-term raw observation data as short-term raw observation data.

[0119] C. The BDS processing module uses long-term raw observation data, precise ephemeris and satellite clock errors, and reference station coordinates to calculate the coordinates of monitoring points in a real-time dynamic positioning mode. The interval between two consecutive coordinate calculations is at least 1 minute. The coordinates of the monitoring points are arranged in chronological order to obtain a time series of BDS long-term precise coordinates of the monitoring points. The difference between the BDS long-term precise coordinate time series of the monitoring points and the initial coordinates of the monitoring points is calculated to obtain a long-term precise deformation time series of the monitoring points. Finally, the BDS processing module inputs the long-term precise deformation time series of the monitoring points into the deformation information noise filter.

[0120] The BDS processing module uses short-term raw observation data, precise ephemeris and satellite clock errors, and reference station coordinates to calculate the coordinates of monitoring points in a real-time dynamic positioning mode. The sampling frequency is the same as that of the raw observation data. The coordinates of the monitoring points are arranged in chronological order to obtain a time series of BDS short-term precise coordinates of the monitoring points. The difference between the BDS short-term precise coordinate time series and the initial coordinates of the monitoring points is calculated to obtain a short-term precise deformation time series of the monitoring points. Finally, the BDS processing module inputs the short-term precise deformation time series of the monitoring points into the deformation information noise filter.

[0121] The deformation information noise filter is used to reduce noise in the input deformation time series of monitoring points. For the input BDS long-term precise deformation time series and GBInSAR long-term deformation time series, the noise in the deformation time series consists of white noise and colored noise. The power of colored noise is concentrated in low frequencies, while the power of white noise is concentrated in high frequencies. Based on the power difference between white noise and colored noise, the deformation information noise filter uses different techniques to process white noise and colored noise. For the input long-term deformation time series, the deformation information noise filter first uses the triple mean square error method to detect gross errors in the deformation time series. After removing gross errors, the deformation data at the corresponding time is interpolated using linear interpolation to maintain the integrity of the deformation time series. Then, a curve fitting is performed on the deformation time series to obtain the curve fitting residuals of the corresponding deformation time series. Wavelet threshold denoising is then used to reduce the white noise in the curve fitting residuals. The remaining curve fitting residuals still contain colored noise. Finally, the power spectrum principal component analysis method is used to reduce the colored noise in the three-dimensional BDS curve fitting residuals of the monitoring points after white noise reduction. The wavelet information entropy method is used to reduce the colored noise in the GBInSAR curve fitting residuals after white noise attenuation. Finally, the curve fitting residual series after white and colored noise attenuation is added to the curve to obtain the filtered long-term precise deformation time series of the BDS monitoring points and the GBInSAR long-term deformation time series, which are input into the deformation information estimation module.

[0122] The input BDS short-term precise deformation time series and GBInSAR short-term deformation time series are used to capture the instantaneous deformation of the bridge monitoring points, but are not used to estimate the periodic deformation of the monitoring points. Therefore, the deformation information noise filter only performs wavelet threshold denoising on these two deformation time series, and then inputs the filtered deformation time series into the deformation information storage module.

[0123] The observation formula of the deformation time series is:

[0124] ;in, Indicates The deformation observed at any moment, The unit is day, , where n represents the number of data in the deformation time series. Indicates the initial deformation within the time range covered by the deformation time series, represents the linear deformation speed, and represents the coefficient of the trigonometric function of the daily period deformation of the monitoring point, express The noise at the moment. In the above formula, ( ) represents the linear deformation term of the deformation time series, ( ) represents the diurnal deformation term in the deformation time series.

[0125] It should be understood that since this invention focuses only on the diurnal deformation of the bridge BDS monitoring points, and the linear motion of the monitoring points is relatively weak, the deformation information estimation module removes the linear deformation terms from the deformation time series before calculating the diurnal deformation amplitude. The remaining deformation time series contains the diurnal deformation information of the monitoring points. In this case, the observation equation for the deformation time series is:

[0126]

[0127]

[0128] , parameters to be estimated: X=[ , Since the colored noise has been greatly weakened in the deformation information noise filter, it can be considered that only white noise remains in the noise of the deformation time series, and the least squares formula can be directly used Y, calculated and , and then according to The amplitude of the daily deformation of the monitoring point is calculated and then summarized to obtain the deformation and settlement monitoring information. Finally, the deformation information estimation module inputs the results and the corresponding monitoring points and monitoring directions into the deformation information storage module.

[0129] In a specific implementation, the deformation information storage module is used to store all deformation and settlement monitoring information generated by the system for user query. The deformation and settlement monitoring information is stored in three categories. The specific information is described as follows: ① Deformation time series. The deformation information storage module receives and stores the monitoring point name, deformation amount and corresponding time continuously input by the data processing module 402, and forms a monitoring point deformation time series through long-term accumulation. In addition, the deformation information storage module receives and stores the filtered deformation time series input by the deformation information noise filter, including the filtered monitoring point short-term precision deformation time series and GBInSAR monitoring point short-term deformation time series. ② Periodic deformation amplitude. The deformation information storage module receives and stores the daily periodic deformation amplitude of the bridge BDS and GBInSA monitoring points input by the deformation prediction module 404. ③ Settlement information around the bridge. The deformation information storage module receives and stores the graphics representing the large-scale settlement information around the bridge input by the communication module.

[0130] This embodiment obtains bridge monitoring data of a bridge to be monitored; determines monitoring point coordinates based on the bridge monitoring data; obtains target location information based on the monitoring point coordinates; determines long-term deformation time series and short-term deformation time series based on the bridge monitoring data; determines deformation time series information based on the long-term deformation time series and the short-term deformation time series; determines linear deformation information and nonlinear deformation information based on the bridge monitoring data; determines geographic deformation map information based on the linear deformation information and the nonlinear deformation information; and determines deformation and settlement monitoring information of the bridge to be monitored based on the target location information, the deformation time series information, and the geographic deformation map information. In this way, the positioning information of the target location of the bridge to be monitored, as well as the deformation time series of the entire bridge and satellite-borne data of the bridge's surrounding area, are obtained based on Beidou satellites, ground-based radar interferometry monitoring, and satellite-borne settlement monitoring, thereby obtaining deformation and settlement monitoring information of the bridge to be monitored and its surrounding area, thereby improving the accuracy and reliability of bridge deformation and settlement monitoring. Moreover, through the combined use and summary analysis of technologies, the spatial resolution of bridge deformation and settlement monitoring is improved.

[0131] refer to Figure 5 , Figure 5 This is a flow chart of a second embodiment of a space-based bridge deformation monitoring method of the present invention.

[0132] Based on the first embodiment described above, the space-based bridge deformation monitoring method of this embodiment includes, in step S60:

[0133] Step S601: Determine satellite-borne data based on the bridge monitoring data.

[0134] It should be noted that spaceborne data refers to spaceborne InSAR data acquired from bridge monitoring data within the specified monitoring period. This includes: 1) Sentinel-1A satellite SAR imagery covering the monitoring area, along with the satellite's precise ephemeris data, downloaded from the European Space Agency (ESA) official website. 2) Digital Elevation Model (DEM) data: 90m-resolution Shuttle Radar Topography Mission (SRTM) DEM data, downloaded from the National Aeronautics and Space Administration (NASA) official website.

[0135] Step S602: determining primary image data and secondary image data according to the satellite-borne data.

[0136] It should be understood that after the data download is completed, the image data at the middle time of the monitoring period is selected as the main image, and the images at other times are selected as auxiliary images.

[0137] Step S603: registering the auxiliary image data and sampling it to the main image data to obtain registered image data.

[0138] In a specific implementation, all auxiliary images are registered and resampled to the main image, and then all images are placed under the same reference to obtain the registered image data.

[0139] Step S604: performing differential interferometry phase processing on the registered image data to obtain a differential interferogram.

[0140] It should be noted that differential interferometry phase processing is performed on the registered image data to generate a differential interferogram, which includes a flat ground phase, a terrain phase, a deformation phase, an atmospheric delay phase, and a noise phase.

[0141] Step S605: filtering the differential interferogram to obtain a filtered interferogram.

[0142] It should be understood that the precise ephemeris data and DEM data are used to remove the flat earth phase and the terrain phase in the differential interferogram, thereby obtaining a filtered interferogram.

[0143] Step S606: acquiring deformation information of the filtered interference pattern to obtain linear deformation information and nonlinear deformation information.

[0144] In a specific implementation, after the filtered interference pattern is obtained, different algorithms and steps are used to process it to obtain linear deformation information and nonlinear deformation information respectively. Figure 6 The figure shows the process of processing the linear deformation information and the nonlinear deformation information in this embodiment. The next step is the geocoding step.

[0145] Furthermore, in order to calculate and obtain linear deformation information and nonlinear deformation information, step S606 includes: selecting permanent scatterer points from the filtered interferogram; calculating the elevation correction value and linear sedimentation rate corresponding to each permanent scatterer point through a preset algorithm; obtaining linear deformation information based on the elevation correction value and the linear sedimentation rate; obtaining a preset time window; filtering the differential interferogram according to the preset time window and removing the residual phase to obtain nonlinear deformation information.

[0146] It should be noted that according to the amplitude deviation index method and the coherence coefficient threshold method, PS (permanent scatterer point) is selected in the filtered interferogram, and the regional network least squares method is used to calculate the elevation correction value and linear settlement rate of each PS, which is the linear deformation information.

[0147] It should be understood that the atmospheric phase and the noise phase are separated by filtering in the time domain and frequency domain. The remaining phase contains nonlinear deformation information and residual phase (residual atmospheric phase and noise phase, etc.). A preset time window is selected and smoothing filtering is used to remove the residual phase to obtain nonlinear deformation information. Finally, the nonlinear deformation information is added to the linear deformation information to obtain the deformation time series information of the target point.

[0148] In this way, accurate linear deformation information and nonlinear deformation information can be obtained based on different calculation methods and functions.

[0149] This embodiment determines satellite-borne data based on the bridge monitoring data; determines primary and secondary image data based on the satellite-borne data; registers the secondary image data and samples it with the primary image data to obtain registered image data; performs differential interferometry phase processing on the registered image data to obtain a differential interferogram; filters the differential interferogram to obtain a filtered interferogram; and extracts deformation information from the filtered interferogram to obtain linear and nonlinear deformation information. In this way, satellite-borne data is obtained based on bridge monitoring data, and then processed through registration, differential interferometry, and filtering to calculate linear and nonlinear deformation information.

[0150] In addition, an embodiment of the present invention further proposes a storage medium on which a space-based bridge deformation monitoring program is stored. When the space-based bridge deformation monitoring program is executed by a processor, the steps of the space-based bridge deformation monitoring method described above are implemented.

[0151] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0152] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the space-based bridge deformation monitoring device of the present invention.

[0153] like Figure 7 As shown, the space-based bridge deformation monitoring device proposed in an embodiment of the present invention includes:

[0154] The data acquisition module 10 is used to acquire bridge monitoring data of the bridge to be monitored.

[0155] The coordinate calculation module 20 is used to determine the coordinates of the monitoring points according to the bridge monitoring data.

[0156] The target positioning module 30 is used to obtain the target part positioning information according to the monitoring point coordinates.

[0157] The time series determination module 40 is configured to determine a long-term deformation time series and a short-term deformation time series based on the bridge monitoring data.

[0158] The sequence summarizing module 50 is configured to determine deformation time series information according to the long-term deformation time series and the short-term deformation time series.

[0159] The deformation information determination module 60 is configured to determine linear deformation information and nonlinear deformation information based on the bridge monitoring data.

[0160] The geographic map determining module 70 is configured to determine geographic deformation map information according to the linear deformation information and the nonlinear deformation information.

[0161] The summarizing processing module 80 is used to determine the deformation and settlement monitoring information of the bridge to be monitored based on the target location information, the deformation time series information and the geographic deformation map information.

[0162] This embodiment obtains bridge monitoring data of a bridge to be monitored; determines monitoring point coordinates based on the bridge monitoring data; obtains target location information based on the monitoring point coordinates; determines long-term deformation time series and short-term deformation time series based on the bridge monitoring data; determines deformation time series information based on the long-term deformation time series and the short-term deformation time series; determines linear deformation information and nonlinear deformation information based on the bridge monitoring data; determines geographic deformation map information based on the linear deformation information and the nonlinear deformation information; and determines deformation and settlement monitoring information of the bridge to be monitored based on the target location information, the deformation time series information, and the geographic deformation map information. In this way, the positioning information of the target location of the bridge to be monitored, as well as the deformation time series of the entire bridge and satellite-borne data of the bridge's surrounding area, are obtained based on Beidou satellites, ground-based radar interferometry monitoring, and satellite-borne settlement monitoring, thereby obtaining deformation and settlement monitoring information of the bridge to be monitored and its surrounding area, thereby improving the accuracy and reliability of bridge deformation and settlement monitoring. Moreover, through the combined use and summary analysis of technologies, the spatial resolution of bridge deformation and settlement monitoring is improved.

[0163] In one embodiment, the coordinate calculation module 20 is also used to determine Beidou satellite data based on the bridge monitoring data; determine multiple monitoring points based on the Beidou satellite data; obtain a preset solution interval time; calculate the coordinates of each monitoring point based on the stored data at each solution interval time to obtain the monitoring point coordinates, wherein the stored data is cleared each time the monitoring point coordinates are calculated.

[0164] In one embodiment, the target positioning module 30 is further used to determine the solution time based on the monitoring point coordinates; store the solution time, the monitoring point coordinates and each monitoring point in correspondence to obtain the monitoring point positioning information of each monitoring point; and determine the target part positioning information based on the monitoring point positioning information of each monitoring point.

[0165] In one embodiment, the sequence summary module 50 is also used to determine bridge deformation data based on the bridge monitoring data; determine a reference time base based on the bridge deformation data; perform windowing processing on the bridge deformation data using a preset windowing function to obtain windowed deformation data; convert the frequency domain data in the windowed deformation data into spatial domain data to obtain focused deformation data; perform differential processing and denoising processing on the focused deformation data to obtain a deformation time series of each monitoring point; and perform geometric projection processing on the deformation time series to obtain a long-term deformation time series and a short-term deformation time series.

[0166] In one embodiment, the deformation information determination module 60 is further used to determine satellite data based on the bridge monitoring data; determine primary image data and auxiliary image data based on the satellite data; align the auxiliary image data and sample it to the primary image data to obtain aligned image data; perform differential interference phase processing on the aligned image data to obtain a differential interference map; filter the differential interference map to obtain a filtered interference map; and obtain deformation information from the filtered interference map to obtain linear deformation information and nonlinear deformation information.

[0167] In one embodiment, the deformation information determination module 60 is further used to select permanent scatterer points from the filtered interferogram; calculate the elevation correction value and linear sedimentation rate corresponding to each permanent scatterer point through a preset algorithm; obtain linear deformation information based on the elevation correction value and the linear sedimentation rate; obtain a preset time window; and filter the differential interferogram and remove the residual phase according to the preset time window to obtain nonlinear deformation information.

[0168] In one embodiment, the geographic map determination module 70 is also used to obtain geographic coordinate system information; convert the linear deformation information and the nonlinear deformation information into the geographic coordinate system according to the geographic coordinate system information to obtain an annual average deformation rate map and a deformation amount map for each period; and obtain geographic deformation map information according to the annual average deformation rate map and the deformation amount map for each period.

[0169] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any limitation on this.

[0170] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the embodiment scheme, and no limitation is made here.

[0171] In addition, for technical details not fully described in this embodiment, reference can be made to the space-based bridge deformation monitoring method provided in any embodiment of the present invention, and will not be repeated here.

[0172] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0173] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0174] Through the above description of the embodiments, those skilled in the art will clearly understand that the methods of the above embodiments can be implemented using software plus the necessary general-purpose hardware platform. Of course, hardware can also be used, but in many cases the former is the more preferred implementation method. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, a magnetic disk, or an optical disk) and includes a number of instructions for enabling a terminal device (such as a mobile phone, computer, server, or network device) to execute the methods described in the various embodiments of the present invention.

[0175] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A space-based bridge deformation monitoring method, characterized in that: The space-based bridge deformation monitoring method includes: Obtaining bridge monitoring data of the bridge to be monitored; determining the coordinates of the monitoring points according to the bridge monitoring data; Obtaining target part positioning information according to the monitoring point coordinates; determining a long-term deformation time series and a short-term deformation time series based on the bridge monitoring data; determining deformation time series information according to the long-term deformation time series and the short-term deformation time series; determining linear deformation information and nonlinear deformation information according to the bridge monitoring data; determining geographic deformation map information according to the linear deformation information and the nonlinear deformation information; Determining deformation and settlement monitoring information of the bridge to be monitored based on the target location information, the deformation time series information, and the geographic deformation map information; The method of determining the long-term deformation time series and the short-term deformation time series according to the bridge monitoring data includes: Determining bridge deformation data according to the bridge monitoring data; the bridge deformation data is data collected by GBInSAR monitoring equipment from the bridge monitoring data; determining a reference time base according to the bridge deformation data; Performing windowing processing on the bridge deformation data using a preset windowing function to obtain windowed deformation data; Converting the frequency domain data in the windowed deformation data into spatial domain data to obtain focused deformation data; Performing differential processing and denoising on the focused deformation data to obtain a deformation time series of each monitoring point; Performing geometric projection processing on the deformation time series to obtain a long-term deformation time series and a short-term deformation time series; Wherein, determining the linear deformation information and the nonlinear deformation information according to the bridge monitoring data includes: determining satellite-borne data based on the bridge monitoring data; determining primary image data and auxiliary image data according to the satellite-borne data; Registering the auxiliary image data and sampling it with the main image data to obtain registered image data; performing differential interferometry phase processing on the registered image data to obtain a differential interferogram; filtering the differential interferogram to obtain a filtered interferogram; Deformation information is acquired from the filtered interference pattern to obtain linear deformation information and nonlinear deformation information.

2. The method according to claim 1, wherein Determining the monitoring point coordinates according to the bridge monitoring data includes: determining Beidou satellite data based on the bridge monitoring data; determining a plurality of monitoring points according to the BeiDou satellite data; Get the preset solution interval time; The coordinates of each monitoring point are calculated according to the stored data at each calculation interval to obtain the monitoring point coordinates, wherein the stored data is cleared each time the monitoring point coordinates are obtained by calculation.

3. The method according to claim 1, wherein The obtaining of target part positioning information according to the monitoring point coordinates includes: Determining the solution time according to the coordinates of the monitoring points; The calculation time, the monitoring point coordinates and each monitoring point are stored in correspondence to obtain the monitoring point positioning information of each monitoring point; The target part positioning information is determined based on the monitoring point positioning information of each monitoring point.

4. The method according to claim 1, wherein The step of acquiring deformation information of the filtered interference pattern to obtain linear deformation information and nonlinear deformation information includes: selecting permanent scatterer points from the filtered interferogram; Calculate the elevation correction value and linear settlement rate corresponding to each permanent scatterer point through a preset algorithm; Obtaining linear deformation information according to the elevation correction value and the linear settlement rate; Get the preset time window; The differential interference pattern is filtered and residual phase is removed according to the preset time window to obtain nonlinear deformation information.

5. The method according to any one of claims 1 to 4, characterized in that The determining of geographic deformation map information according to the linear deformation information and the nonlinear deformation information includes: Get geographic coordinate system information; The linear deformation information and the nonlinear deformation information are converted into a geographic coordinate system according to the geographic coordinate system information to obtain an annual average deformation rate map and a deformation amount map for each period; Geographic deformation map information is obtained according to the annual average deformation rate map and the deformation amount map for each period.

6. A space-based bridge deformation monitoring device, characterized in that: The space-based bridge deformation monitoring device includes: A data acquisition module, used for acquiring bridge monitoring data of the bridge to be monitored; A coordinate calculation module, used to determine the coordinates of the monitoring points based on the bridge monitoring data; A target positioning module is used to obtain target location information based on the monitoring point coordinates; A time series determination module, configured to determine a long-term deformation time series and a short-term deformation time series based on the bridge monitoring data; a sequence summarization module, configured to determine deformation time series information based on the long-term deformation time series and the short-term deformation time series; a deformation information determination module, configured to determine linear deformation information and nonlinear deformation information based on the bridge monitoring data; A geographic map determining module, configured to determine geographic deformation map information based on the linear deformation information and the nonlinear deformation information; a summarizing and processing module, configured to determine the deformation and settlement monitoring information of the bridge to be monitored based on the target location information, the deformation time series information, and the geographic deformation map information; The method of determining the long-term deformation time series and the short-term deformation time series according to the bridge monitoring data includes: Determining bridge deformation data according to the bridge monitoring data; the bridge deformation data is data collected by GBInSAR monitoring equipment from the bridge monitoring data; determining a reference time base according to the bridge deformation data; Performing windowing processing on the bridge deformation data using a preset windowing function to obtain windowed deformation data; Converting the frequency domain data in the windowed deformation data into spatial domain data to obtain focused deformation data; Performing differential processing and denoising on the focused deformation data to obtain a deformation time series of each monitoring point; Performing geometric projection processing on the deformation time series to obtain a long-term deformation time series and a short-term deformation time series; Wherein, determining the linear deformation information and the nonlinear deformation information according to the bridge monitoring data includes: determining satellite-borne data based on the bridge monitoring data; determining primary image data and auxiliary image data according to the satellite-borne data; Registering the auxiliary image data and sampling it with the main image data to obtain registered image data; performing differential interferometry phase processing on the registered image data to obtain a differential interferogram; filtering the differential interferogram to obtain a filtered interferogram; Deformation information is acquired from the filtered interference pattern to obtain linear deformation information and nonlinear deformation information.

7. A space-based bridge deformation monitoring device, characterized in that: The device includes: a memory, a processor, and a space-based bridge deformation monitoring program stored in the memory and executable on the processor, wherein the space-based bridge deformation monitoring program is configured to implement the space-based bridge deformation monitoring method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a space-based bridge deformation monitoring program, and when the space-based bridge deformation monitoring program is executed by the processor, the space-based bridge deformation monitoring method according to any one of claims 1 to 5 is implemented.

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