A method and system for establishing a real-time benchmark for dam deformation monitoring based on the integration of space and earth

Abstract

The present invention provides a method and system for establishing a real-time benchmark for dam deformation monitoring that integrates space and earth. The method includes the following steps: issuing control instructions to a space-based Beidou system, a ground-based measurement robot system, and a ground-based plumb line system; obtaining the dynamic benchmark point position of the dam deformation area in real time through the space-based Beidou system; obtaining the spatial relative benchmark point position of the dam deformation area in real time through the ground-based measurement robot system; obtaining the gravity static benchmark point position of the dam deformation area in real time through the ground-based plumb line system; fusing the dynamic benchmark point position, the spatial relative benchmark point position, and the gravity static benchmark point position to obtain the monitoring benchmark value of the dam deformation area. The present invention combines a multi-source data fusion processing strategy to automatically perform high-precision real-time dynamic updates on the benchmark point position.

Description

Technical Field

[0001] The invention belongs to the technical field of dam deformation monitoring, and in particular relates to a method and system for establishing a real-time benchmark for dam deformation monitoring that is integrated with the sky and the earth. Background Art

[0002] As the size of dams increases and their service life increases, the health and safety monitoring of dam structures becomes increasingly important. Traditional deformation monitoring technology is often difficult to set up and maintain benchmarks, especially in deformation-sensitive areas, where the stability of benchmarks is affected, resulting in reduced reliability of monitoring data, which in turn limits the accurate judgment and prediction of dam deformation. With the maturity and development of global satellite navigation and positioning technology represented by BDS (Beidou Satellite Navigation System), a new solution has been provided for the establishment of dam deformation monitoring benchmarks. It can provide all-weather, high-precision three-dimensional positioning information, which helps to establish a stable virtual space benchmark that is not affected by ground deformation, thereby improving the stability and reliability of the deformation monitoring benchmark.

[0003] However, most deformation monitoring benchmark points (intelligent measuring stations) are located in deformation areas, and the updating efficiency and accuracy of the monitoring benchmark points are low, which makes it difficult to meet the needs of automated engineering deformation monitoring. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the above-mentioned background technology and provide a method and system for establishing a real-time benchmark for dam deformation monitoring that integrates the sky and the earth, combines multi-source data fusion processing strategy, and automatically updates the benchmark point position in real time with high precision.

[0005] The technical solution adopted by the present invention is: a method for establishing a real-time benchmark for dam deformation monitoring that integrates heaven and earth, comprising the following steps:

[0006] Issue control instructions to the space-based BeiDou system, the ground-based surveying robot system and the ground-based plumb line system;

[0007] The dynamic reference point position of the dam deformation area is obtained in real time through the space-based BeiDou system;

[0008] The spatial relative reference point position of the dam deformation area is obtained in real time through the foundation measurement robot system;

[0009] The location of the gravity static reference point in the dam deformation area is obtained in real time through the foundation inverted plumb line system;

[0010] The dynamic benchmark point position, spatial relative benchmark point position and gravity static benchmark point position are fused to obtain the monitoring benchmark value of the dam deformation area.

[0011] In the above technical solution, the process of fusing the dynamic reference point position, the spatial relative reference point position and the gravity static reference point position to obtain the monitoring reference value of the dam deformation area includes:

[0012] Corresponding error equations are constructed for the dynamic reference point position, the spatial relative reference point position and the gravity static reference point position respectively;

[0013] The error equations corresponding to the dynamic reference point position, the spatial relative reference point position and the gravity static reference point position are integrated to form a joint adjustment error equation;

[0014] A comprehensive weight matrix is ​​set for representing the weights of the dynamic reference point position, the spatial relative reference point position and the gravity static reference point position;

[0015] Based on the error equation and comprehensive weight matrix of the joint adjustment, the monitoring benchmark value of the dam deformation area is obtained by solving the least squares principle with the goal of minimizing the weighted error sum of squares.

[0016] In the above technical solution, the error equation of the dynamic reference point position is expressed as follows:

[0017] V GNSS = A GNSS X - L GNSS ;

[0018] Among them, V GNSS A represents the residual vector of the GNSS observation value of the space-based BeiDou system; GNSS represents the design matrix of GNSS observation values; X represents the monitoring reference value of the dam deformation area; L GNSS represents the GNSS observation value vector;

[0019] The error equation expression of the spatial relative reference point position is as follows:

[0020] V Robot = A Robot X - L Robot ;

[0021] Among them, V Robot A represents the residual vector of the observation value of the ground-based measurement robot system; Robot The design matrix representing the observation values ​​of the ground-based measurement robot system; L Robot Represents the observation value vector of the ground-based measurement robot system.

[0022] The error equation of the gravity static reference point position is as follows:

[0023] V PlumbLine = A PlumbLine X - L PlumbLine;

[0024] Among them, V PlumbLine A is the residual vector representing the observed value of the inverted vertical displacement; PlumbLine The design matrix representing the observed values ​​of the inverted vertical displacement; L PlumbLine Represents the inverted plumb line displacement observation vector.

[0025] In the above technical solution, the error equation of the joint adjustment is expressed as:

[0026] ;

[0027] Among them, V GNSS A represents the residual vector of the GNSS observation value of the space-based BeiDou system; GNSS represents the design matrix of GNSS observation values; X represents the monitoring reference value of the dam deformation area; L GNSS Represents the GNSS observation value vector; V Robot A represents the residual vector of the observation value of the ground-based measurement robot system; Robot The design matrix representing the observation values ​​of the ground-based measurement robot system; L Robot V represents the observation value vector of the ground-based measurement robot system; PlumbLine A is the residual vector representing the observed value of the inverted vertical displacement; PlumbLine The design matrix representing the observed values ​​of the inverted vertical displacement; L PlumbLine Represents the inverted plumb line displacement observation vector.

[0028] In the above technical solution, the comprehensive weight matrix P is expressed as:

[0029] ;

[0030] Among them, P GNSS represents the weight matrix of GNSS observations; P Robot Represents the weight matrix of the measurement robot observation value; P PlumbLine A weight matrix representing the displacement observations of the inverted plumb line.

[0031] The present invention also provides a space-ground integrated dam deformation monitoring real-time benchmark establishment system, which is used to implement the space-ground integrated dam deformation monitoring real-time benchmark establishment method; it includes a space-based Beidou system, a ground-based measurement robot system, a ground-based inverted plumb line system, an on-site intelligent measuring station and a monitoring center:

[0032] Among them, the space-based BeiDou system sends the real-time acquired dynamic reference point positions of the dam deformation area to the monitoring center through the on-site intelligent measuring station;

[0033] The foundation measurement robot system sends the spatial relative reference point position of the dam deformation area obtained in real time to the monitoring center through the on-site intelligent measurement station;

[0034] The foundation inverted plumb line system sends the real-time acquired gravity static reference point position of the dam deformation area to the monitoring center through the on-site intelligent measuring station;

[0035] The monitoring center fuses the data of dynamic benchmark point positions, spatial relative benchmark point positions and gravity static benchmark point positions to obtain the monitoring benchmark value of the dam deformation area; and issues control instructions to the space-based Beidou system, the ground-based measurement robot system and the ground-based inverted plumb line system.

[0036] The above technical solution also includes an integrated observation pier; the integrated observation pier is fixedly arranged in the deformation area of ​​the dam; wherein the BDS / GNSS receiver of the space-based Beidou system is fixed on the top of the integrated observation pier;

[0037] The foundation measurement robot system includes a measuring station, a reference point and a monitoring point. Among them, a measuring station is established on a stable foundation according to the deformation area of ​​the dam, and a set of automatic observation system of the measuring robot is installed on the established measuring station. The automatic observation system of the measuring robot is set on one side of the integrated observation pier.

[0038] Establish stable benchmark points evenly according to the deformation area of ​​the dam. The benchmark points are equipped with a set of single prisms facing the measuring stations. The direction and distance from the measuring stations to each benchmark point should cover the entire deformation area of ​​the dam.

[0039] Monitoring points are evenly arranged in sections on the deformation area of ​​the dam, and the established monitoring points are equipped with one or more sets of single prism groups or 360° prism groups facing the measuring stations;

[0040] The foundation inverted plumb line system is arranged on the other side of the integrated observation pier; the inverted plumb line of the foundation inverted plumb line system is deeply buried in the bedrock of the foundation in the deformation area of ​​the dam through vertical drilling.

[0041] The above technical solution also includes a protection house; an integrated observation pier is arranged in the protection house, and its top extends upward to the outside of the protection house; the measurement robot automatic observation system and the foundation plumb line system are both located inside the protection house; the on-site intelligent measuring station is arranged in the protection house.

[0042] In the above technical scheme, the space-based Beidou system, the ground-based measurement robot system and the ground-based plumb line system communicate with each other through the corresponding protocol conversion modules and the corresponding data access modules respectively; the data access module communicates with the on-site intelligent measuring station; the data access module adopts the TCP / IP protocol; the on-site intelligent measuring station and the data access module are networked using optical fiber Ethernet.

[0043] In the above technical solution, all equipment in the monitoring center is connected to the permanent power supply in the plant room, and the UPS uninterruptible power supply is used as the emergency power supply; the on-site intelligent measurement station, space-based Beidou system, ground-based measurement robot system and ground-based plumb line system are all connected to the permanent power supply nearby, and the corresponding distribution boxes and chassis are grounded and connected to the grounding network of the power station nearby;

[0044] Copper strips are welded on steel pipes at different locations of the on-site intelligent measuring station, space-based Beidou system, ground-based measuring robot system and foundation inverted plumb line system as grounding points; other equipment in the on-site intelligent measuring station, space-based Beidou system, ground-based measuring robot system and foundation inverted plumb line system that do not have grounding points are pulled by copper strip extension lines and used as grounding points

[0045] The beneficial effects of the present invention are as follows: the present invention is based on the fusion data processing of the space-based Beidou (real-time dynamic benchmark), the ground-based surveying robot (space relative benchmark) and the inverted plumb line instrument equipment (gravity static benchmark), combined with a multi-source data fusion processing strategy, and automatically updates the benchmark point position in real time and dynamically, forming a space-ground integrated real-time benchmark establishment method for dam deformation monitoring, realizing multi-angle, multi-level and all-round monitoring of dam deformation, so as to meet the high standards of modern dam safety management for automated, real-time and precise deformation monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the method of the present invention;

[0047] Figure 2 It is a schematic diagram of the system structure of the present invention;

[0048] Figure 3 It is a technical principle diagram of the present invention;

[0049] Figure 4 This is a schematic diagram of the communication network of the present invention;

[0050] Figure 5 It is the observation flow chart of the measurement robot of the present invention;

[0051] Among them, 11- space-based BeiDou system, 12- BDS / GNSS receiver of space-based BeiDou system, 21- automatic observation system of surveying robot, 22- benchmark point, 23- monitoring point, 3- ground-based plumb line system, 4- integrated observation pier, 5- protection house. DETAILED DESCRIPTION

[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments to facilitate a clear understanding of the present invention, but they do not constitute a limitation on the present invention.

[0053] like Figure 1As shown, the present invention provides a method for establishing a real-time benchmark for dam deformation monitoring that integrates heaven and earth, comprising the following steps:

[0054] Send control instructions to the space-based BeiDou system, the ground-based measurement robot system and the ground-based plumb line system 3;

[0055] The dynamic reference point position of the dam deformation area is obtained in real time through the space-based BeiDou system;

[0056] The spatial relative reference point position of the dam deformation area is obtained in real time through the foundation measurement robot system;

[0057] The position of the gravity static reference point of the dam deformation area is obtained in real time through the foundation inverted plumb line system 3;

[0058] The dynamic benchmark point position, spatial relative benchmark point position and gravity static benchmark point position are fused to obtain the monitoring benchmark value of the dam deformation area.

[0059] Specifically, it also includes feeding back the monitoring benchmark value of the dam deformation area to the foundation measurement robot system for subsequent real-time calculation of the benchmark.

[0060] The present invention also provides a space-ground integrated dam deformation monitoring real-time benchmark establishment system, which is used to implement the space-ground integrated dam deformation monitoring real-time benchmark establishment method; it includes a space-based Beidou system, a ground-based measurement robot system, a ground-based inverted plumb line system 3, an on-site intelligent measuring station and a monitoring center:

[0061] Among them, the space-based BeiDou system sends the real-time acquired dynamic reference point positions of the dam deformation area to the monitoring center through the on-site intelligent measuring station;

[0062] The foundation measurement robot system sends the spatial relative reference point position of the dam deformation area obtained in real time to the monitoring center through the on-site intelligent measurement station;

[0063] The foundation inverted plumb line system 3 sends the real-time acquired gravity static reference point position of the dam deformation area to the monitoring center through the on-site intelligent measuring station;

[0064] The monitoring center fuses the data of the dynamic benchmark point position, the spatial relative benchmark point position and the gravity static benchmark point position to obtain the monitoring benchmark value of the dam deformation area; and sends control instructions to the space-based Beidou system, the ground-based measurement robot system and the ground-based inverted plumb line system 3.

[0065] like Figure 2As shown, the present invention also includes an integrated observation pier 4; the integrated observation pier 4 is fixedly arranged in the deformation area of ​​the dam; wherein the BDS / GNSS receiver 12 of the space-based Beidou system is fixed on the top of the integrated observation pier 4; the space-based Beidou 11 of the space-based Beidou system is deployed above the deformation area of ​​the dam.

[0066] The foundation measurement robot system includes a measurement station, a reference point 22 and a monitoring point 23; wherein, a measurement station is established on a stable foundation according to the deformation area of ​​the dam, and a set of measurement robot automatic observation system 21 is installed on the established measurement station; the measurement robot automatic observation system 21 is set on one side of the integrated observation pier 4;

[0067] Establish stable benchmark points evenly according to the deformation area of ​​the dam. The benchmark points are equipped with a set of single prisms facing the measuring stations. The direction and distance from the measuring stations to each benchmark point should cover the entire deformation area of ​​the dam.

[0068] Monitoring points 23 are evenly arranged in sections on the deformation area of ​​the dam, and the established monitoring points 23 are equipped with one or more sets of single prism groups or 360° prism groups facing the measuring stations;

[0069] The foundation inverted plumb line system 3 is arranged on the other side of the integrated observation pier 4; the inverted plumb line of the foundation inverted plumb line system 3 is deeply buried in the foundation bedrock in the dam deformation area through a vertical borehole.

[0070] Specifically, it also includes a protection house 5; an integrated observation pier 4 is arranged in the protection house 5, and its top extends upward to the outside of the protection house 5; the measurement robot automatic observation system 21 and the foundation plumb line system 3 are both located inside the protection house 5; the on-site intelligent measuring station is arranged in the protection house 5.

[0071] The integrated observation pier 4 includes a plurality of integrated observation piers 4, which are distributed on a stable foundation according to the survey area to establish a plurality of survey stations (greater than or equal to 2) and form an intersection network, and each survey station is equipped with a set of automatic observation system 21 of a survey robot. Each integrated observation pier 4 is provided with a BDS / GNSS receiver 12 of a space-based Beidou system and a ground-based plumb line system 3, and each integrated observation pier 4 is used as a monitoring reference point to measure the dynamic reference point position, spatial relative reference point position and gravity static reference point position of each integrated observation pier 4.

[0072] The principle of the present invention is further explained below with reference to specific embodiments.

[0073] like Figure 3 As shown, the earth-ground integrated real-time benchmark establishment method and system for dam deformation monitoring provided by the present invention mainly includes three major links: data collection, data management, and data fusion.

[0074] In order to be able to carry out data collection continuously and effectively in the future, the construction of relevant civil structures of the measuring station and the layout of data collection equipment and its radiation equipment must be completed before the method system is operated.

[0075] The civil engineering structure mainly includes: drilling and burying of inverted plumb line holes, construction of integrated observation piers 4 and intelligent station protection rooms 5, etc.

[0076] The inverted plumb line is a stainless steel wire buried deep in the foundation bedrock (foundation stability benchmark) through vertical drilling. The buoyancy of the inverted plumb line float group is used to keep the stainless steel wire always vertical. The changes of the intelligent station integrated observation pier 4 relative to the stainless steel wire are regularly observed to obtain the horizontal displacement of the intelligent station integrated observation pier 4 relative to the stainless steel wire anchor point. The inverted plumb line consists of instruments and equipment such as a float group, a plumb line, an observation pier, and an anchor block.

[0077] The integrated observation pier 4 is the main structure for installing BDS / GNSS receivers, automatic observation systems of measuring robots, plumb lines and other instruments and equipment. Its foundation should remain relatively stable and should be built independently from the foundation of the protection house 5. The construction structure of the integrated observation pier 4 and the protection house 5 is shown in the figure below. Figure 2 shown.

[0078] The protection room 5 mainly includes the construction of a 2.5m (length) × 2.5m (width) × 4m (height) protection room 5 (one or two floors, selected according to the site conditions).

[0079] The buried installation and commissioning of data acquisition instruments and equipment mainly include: BDS / GNSS receiver 12, surveying robot and combined prism device, inverted plumb line and telemetry plumb line coordinate meter, meteorological information collection instruments and equipment, auxiliary equipment, etc.

[0080] BDS / GNSS receiver 12: Use domestic Huace or imported Leica GNSS receiver equipment.

[0081] Ground-based measurement robot system and combined prism device: imported Leica TM and TS series measurement robots are used, with nominal accuracy: angle measurement ±0.5”, distance measurement ±(0.6+1PPM); domestic Suzhou Yiguang RTS series measurement robots, with nominal accuracy: angle measurement ±0.5” or ±1”, distance measurement ±(1+1PPM), etc.

[0082] The plumb line and telemetered plumb line coordinate instrument in the foundation plumb line system 3: domestic plumb line equipment and telemetered plumb line coordinate instrument.

[0083] Meteorological information collection instruments and equipment: In order to be used for real-time meteorological correction of the elements observed by the ground-based measurement robot system, it is necessary to build a meteorological field model of the deformation monitoring area, and it is necessary to set up atmospheric temperature, humidity and air pressure information collection sensors at the measuring station and monitoring point 23 and the reference point.

[0084] Auxiliary equipment: In order to ensure the intelligent operation of the data collection instruments and equipment at the measuring station, protection room 5 needs to be equipped with fully automatic opening and closing windows, video monitoring system, lightning protection system and access control system.

[0085] In order to be able to continuously and effectively transmit the collected data to the monitoring center in the future, it is necessary to realize effective communication and automatic control configuration among the space-based Beidou system, the ground-based measurement robot system, the ground-based inverted plumb line system 3, the on-site intelligent measuring station and the monitoring center before the method system is operated.

[0086] According to the characteristics that the reference points of deformation automation monitoring are numerous and dispersed, the monitoring system structure of the present invention can be set as a two-level structure of a monitoring center and an on-site intelligent measuring station.

[0087] The monitoring center deploys servers, workstations, switches and other equipment, and uses permanent power supply and UPS uninterruptible power supply to ensure the reliability of the system power supply. All data from the on-site intelligent test station is collected to the central station through optical fiber.

[0088] The on-site intelligent measuring station is mainly used for communication network networking of instruments and equipment such as BDS / GNSS receivers, measuring robots, telemetry plumb line coordinate measuring instruments, and intelligent atmospheric temperature, humidity and pressure measuring instruments.

[0089] In order to achieve parallel, real-time, and fast communication and control, the field intelligent measuring station uses the TCP / IP protocol to develop a data access module, which performs overall communication and data integration for BDS / GNSS receivers, measuring robots, telemetry vertical coordinate measuring instruments, and intelligent atmospheric temperature, humidity, and pressure measuring instruments. On the equipment side, the field intelligent measuring station connects with different devices through a protocol conversion module.

[0090] In order to achieve autonomous control of the ground-based measurement robot system, the monitoring center developed a measurement robot control module using GeoCOM interface technology, and integrated multiple command actions, including communication connection, prism search, rotation, positive and negative mirrors, precise aiming, distance measurement, angle measurement, instrument status monitoring and other functions, which can control the measurement robot to perform observations in strict accordance with the specifications.

[0091] The above automation communication network is networked by optical fiber Ethernet. Figure 4 As shown. The monitoring center is located in the engineering plant room. The on-site intelligent measuring station is connected to the monitoring center station by optical fiber. The atmospheric temperature, humidity and air pressure information of the ground-based measurement robot system combined with the prism station (monitoring object) is connected to the nearest measuring station through network cables, optical fibers, etc.

[0092] The automatic control system of the monitoring center of the present invention operates in the following manner:

[0093] Responsive type: The monitoring center station issues a command, and the space-based Beidou system, the ground-based measurement robot system, and the ground-based plumb line system 3 receive the command from the measurement and control unit and complete the specified measurement. After the measurement is completed, the data is temporarily stored and transmitted to the monitoring center according to the command requirements.

[0094] Self-reporting: Each measurement and control unit of the space-based Beidou system, the ground-based measurement robot system, and the ground-based plumb line system 3 automatically collects data according to the time and method pre-set by the monitoring center station, temporarily stores the measured data, and transmits it to the monitoring center at the same time.

[0095] The space-based BeiDou system includes a BDS / GNSS management system, which mainly includes data acquisition module, data solution module, data management module, status monitoring module, etc. It provides a space-based real-time dynamic benchmark for the establishment of a space-ground integrated deformation automation monitoring benchmark.

[0096] The data acquisition module supports functions such as site data access and RINEX file storage. It can automatically access the site data in real time by configuring the site communication parameters and observation parameters (altitude angle, sampling rate, etc.).

[0097] The data solution module includes data preprocessing, real-time dynamic solution, single-baseline static solution, multi-baseline static solution, coordinate conversion, etc., and supports free combination solution of multiple systems such as BDS / GPS / GLONASS.

[0098] The data management module can view all original observation data, solution results, and output charts.

[0099] The status monitoring module can view the working status, sky map, communication status, data storage status, etc. of all stations.

[0100] The foundation inverted plumb line system 3 includes a telemetry plumb line co-ordinate meter, which is controlled by intelligent measurement and control units of various types of sensors. It can be set to complete the collection before the measurement robot runs, providing a foundation gravity static benchmark for the establishment of the "ground-sky-time-space-static-dynamic" deformation automatic monitoring benchmark.

[0101] In order to ensure the intelligent operation of the data collection equipment of the intelligent measuring station, the protection room 5 needs to be equipped with a fully automatic window opening and closing system, a video monitoring system, a lightning protection system and an access control system. For this purpose, the remote control software of the fully automatic window opening and closing equipment is used to realize the linkage and coordinated operation with the measurement robot observation.

[0102] The ground-based measurement robot system includes automatic observation module, adjustment calculation module, data management module, status monitoring module, etc.

[0103] The automatic monitoring module is a PC-based remote measurement robot acquisition control software and preprocessing software, which is used for remote control of measurement robot data acquisition and intelligent recognition of line of sight occlusion. The measurement robot automatic observation module can control the measurement robot to perform prism search and aiming, automatic observation, over-limit or abnormal re-measurement, etc. It can freely set the observation plan and support various observation methods such as single-station polar coordinates, multi-station polar coordinates, forward intersection, corner network, etc. The module supports real-time acquisition, can freely set the observation accuracy and tolerance, and perform data supplementary measurement manually.

[0104] The status monitoring module can view the status of equipment such as measuring robots, weather stations, window openings and closings, and video surveillance in real time, can remotely control the above equipment, and supports real-time monitoring screen display and camera pan / tilt control functions.

[0105] The observation process of the intelligent measuring station measurement robot is as follows Figure 5 shown.

[0106] All equipment in the monitoring center is connected to the permanent power supply in the plant room, and uses UPS as an emergency power supply. The space-based Beidou system, the ground-based measurement robot system (stations and (combined) prism stations), and the ground-based plumb line system 3 are all connected to the permanent power supply nearby.

[0107] In order to prevent lightning damage to the three devices of the space-based Beidou system, the ground-based measurement robot system (survey stations and (combined) prism stations), and the ground-based plumb line system, and to improve the reliability of system operation, each distribution box and chassis are grounded and connected to the grounding network of the power station nearby.

[0108] In order to reliably transmit monitoring data and reduce signal interference, copper strips are welded on steel pipes at different positions of the space-based Beidou system, the ground-based measurement robot system (stations and (combined) prism stations), and the ground-based plumb line system as grounding points. For other places without grounding points, copper strip extension lines are used for traction and used as grounding points.

[0109] After completing the deployment of the space-based Beidou system, the ground-based measurement robot system, the ground-based plumb line system 3, the on-site intelligent measuring station and the monitoring center and the configuration of the corresponding networking communication and control methods in the present invention, the space-ground integrated dam deformation monitoring real-time benchmark establishment method is implemented.

[0110] The space-based Beidou system, ground-based measurement robot system, and ground-based plumb line system 3 corresponding to each integrated observation pier 4 collect the position data of the monitoring reference points in real time according to the control instructions issued by the monitoring center (that is, the dynamic reference point position, spatial relative reference point position, and gravity static reference point position of the integrated observation pier 4 where it is located are collected) and upload them to the monitoring center for data fusion after local preprocessing.

[0111] The space-based BeiDou system performs joint processing on BDS / GPS data. Aiming at the problems of low efficiency, poor versatility, and easy fixation failure in the high-dimensional ambiguity fixation of BDS / GNSS multi-system data fusion processing of the commonly used ambiguity fixation algorithms such as DecisionFunction, Bootstrap, and LAMBDA, an improved LAMBDA method is proposed. By combining it with the existing methods, a complete set of high-dimensional ambiguity fixation strategies suitable for BDS / GNSS data fusion processing is given, which solves a series of problems of the existing ambiguity fixation methods in high-dimensional ambiguity fixation. It has the characteristics of simple model, easy implementation, strong scalability, high efficiency, and good accuracy.

[0112] First, the ambiguity fixing algorithm is selected according to the ambiguity floating point solution estimate and its variance-covariance matrix obtained in the BDS / GNSS data fusion process: if the decimal part of each ambiguity estimate and its standard deviation are less than the decision function method threshold, the decision function method is used, otherwise the improved LAMBDA method is used. When the improved LAMBDA method is used, the ambiguity floating point solution estimate and its variance-covariance matrix are first classified by system, and then the single system ambiguity is fixed according to the classified ambiguity floating point solution estimate and its variance-covariance matrix according to the LAMBDA algorithm, and finally, according to the ambiguity fixing result, the original observation equation is back-substituted to calculate the ambiguity fixing solution of the parameter to be estimated.

[0113] When using the LAMBDA algorithm to fix the ambiguity of a single system, if the fixation result of a system does not pass the Ratio value test, the ambiguity parameter with the least corresponding observation value in the system is deleted and the LAMBDA algorithm is re-executed until the ambiguity fixation result of this system passes the Ratio value test or the number of remaining ambiguity parameters is less than a certain threshold. The deleted ambiguity parameters remain in floating point state.

[0114] When the floating-point solution of ambiguity and its variance-covariance matrix are classified by system, the integer least squares problem with fixed ambiguity can be solved by matrix operation. Then, the ambiguities of the two systems are fixed separately according to the LAMBDA method.

[0115] The ground-based measurement robot system uses a meteorological correction algorithm for the distance measurement of the measurement robot based on the real-time meteorological field model. It uses the meteorological factors of the intelligent measurement stations and (combined) prism stations obtained in real time by the intelligent atmospheric temperature, humidity and pressure measuring instrument to establish a temperature, humidity and pressure meteorological field model for the deformation monitoring area. This model can be used to interpolate the meteorological parameters between all measurement stations and (combined) prism stations for the refined correction of the meteorological factors of the distance measurement observation values ​​between them. The real-time networking automatic adjustment algorithm of the measurement robot mainly includes functions such as data preprocessing, adjustment calculation, and accuracy assessment. The invention patent applied for this technology, "A real-time networking automatic adjustment calculation method for measurement robots (ZL202111163239.7)", has been authorized.

[0116] After the foundation inverted plumb line system 3 is equipped with a telemetered plumb line coordinate instrument through the inverted plumb line method, the changes of the intelligent station integrated observation pier 4 relative to the stainless steel wire can be monitored in real time. Since the stainless steel wire anchor point is in the deep bedrock, the buoyancy of the inverted plumb line float group is used to keep the stainless steel wire in a vertical state. Therefore, the horizontal displacement of the integrated observation pier 4 relative to the inverted plumb line bedrock anchor block can actually be obtained. The calculation formula is as follows:

[0117] Dx=Kx(X0-Xi)

[0118] Dy=Ky(Y0-Yi)

[0119] Where:

[0120] X0, Y0—the first observation value of the inverted plumb line; Xi, Yi—the current observation value of the inverted plumb line;

[0121] Dx, Dy—displacement of the inverted measuring point; Kx, Ky—directional coefficients, usually ±1.

[0122] The monitoring center fuses the dynamic benchmark point position, the spatial relative benchmark point position and the gravity static benchmark point position to obtain the monitoring benchmark value of the dam deformation area. The process includes:

[0123] Corresponding error equations are constructed for the dynamic reference point position, the spatial relative reference point position and the gravity static reference point position respectively;

[0124] The error equations corresponding to the dynamic reference point position, the spatial relative reference point position and the gravity static reference point position are integrated to form a joint adjustment error equation;

[0125] A comprehensive weight matrix is ​​set for representing the weights of the dynamic reference point position, the spatial relative reference point position and the gravity static reference point position;

[0126] Based on the error equation and comprehensive weight matrix of the joint adjustment, the monitoring benchmark value of the dam deformation area is obtained by solving the least squares principle with the goal of minimizing the weighted error sum of squares.

[0127] Specifically, the error equation of the dynamic reference point position is expressed as follows:

[0128] V GNSS = A GNSS X - L GNSS ;

[0129] Among them, V GNSS A represents the residual vector of the GNSS observation value of the space-based BeiDou system; GNSS represents the design matrix of GNSS observation values; X represents the monitoring reference value of the dam deformation area; L GNSS represents the GNSS observation value vector;

[0130] The error equation expression of the spatial relative reference point position is as follows:

[0131] V Robot = A Robot X - L Robot ;

[0132] Among them, V Robot A represents the residual vector of the observation value of the ground-based measurement robot system; Robot The design matrix representing the observation values ​​of the ground-based measurement robot system; L Robot Represents the observation value vector of the ground-based measurement robot system.

[0133] The error equation of the gravity static reference point position is as follows:

[0134] V PlumbLine = A PlumbLine X - L PlumbLine ;

[0135] Among them, V PlumbLine A is the residual vector representing the observed value of the inverted vertical displacement; PlumbLine The design matrix representing the observed values ​​of the inverted vertical displacement; L PlumbLine Represents the inverted plumb line displacement observation vector.

[0136] The above observation vectors correspond to the dynamic reference point position, the spatial relative reference point position and the gravity static reference point position data. Each observation has its own specific error source and characteristics.

[0137] Specifically, the error equation of the joint adjustment is expressed as:

[0138] V = AX-L;

[0139] Right now:

[0140] ;

[0141] Among them, V GNSS A represents the residual vector of the GNSS observation value of the space-based BeiDou system; GNSS represents the design matrix of GNSS observation values; X represents the monitoring reference value of the dam deformation area; L GNSS Represents the GNSS observation value vector; V Robot A represents the residual vector of the observation value of the ground-based measurement robot system; Robot The design matrix representing the observation values ​​of the ground-based measurement robot system; L Robot V represents the observation value vector of the ground-based measurement robot system; PlumbLine A is the residual vector representing the observed value of the inverted vertical displacement; PlumbLine The design matrix representing the observed values ​​of the inverted vertical displacement; L PlumbLine Represents the inverted plumb line displacement observation vector.

[0142] In the adjustment process, the weight of the observation value needs to be considered, so the corresponding weight matrix is ​​set. The expression of the comprehensive weight matrix P is:

[0143] ;

[0144] Among them, P GNSS represents the weight matrix of GNSS observations; P Robot Represents the weight matrix of the measurement robot observation value; P PlumbLine A weight matrix representing the displacement observations of the inverted plumb line.

[0145] The following formula is used to solve X by the least squares principle so that the weighted error sum of squares is minimized:

[0146] X=(A T PA) -1 A T PL.

[0147] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A method for establishing a real-time benchmark for dam deformation monitoring based on a space-ground integration, characterized in that: The following steps are involved: Issue control instructions to the space-based BeiDou system, the ground-based surveying robot system and the ground-based plumb line system; The dynamic reference point position of the dam deformation area is obtained in real time through the space-based BeiDou system; The spatial relative reference point position of the dam deformation area is obtained in real time through the foundation measurement robot system; The location of the gravity static reference point in the dam deformation area is obtained in real time through the foundation inverted plumb line system; The dynamic benchmark point position, the spatial relative benchmark point position and the gravity static benchmark point position are fused to obtain the monitoring benchmark value of the dam deformation area; The process of fusing the dynamic benchmark point position, the spatial relative benchmark point position and the gravity static benchmark point position to obtain the monitoring benchmark value of the dam deformation area includes: Corresponding error equations are constructed for the dynamic reference point position, the spatial relative reference point position and the gravity static reference point position respectively; The error equations corresponding to the dynamic reference point position, the spatial relative reference point position and the gravity static reference point position are integrated to form a joint adjustment error equation; A comprehensive weight matrix is ​​set for representing the weights of the dynamic reference point position, the spatial relative reference point position and the gravity static reference point position; Based on the error equation and comprehensive weight matrix of the joint adjustment, the monitoring benchmark value of the dam deformation area is obtained by solving the least squares principle with the goal of minimizing the weighted error sum of squares. The error equation expression of the dynamic reference point position is as follows: V GNSS =A GNSS X-L GNSS ; Among them, V GNSS A represents the residual vector of the GNSS observation value of the space-based BeiDou system; GNSS represents the design matrix of GNSS observation values; X represents the monitoring reference value of the dam deformation area; L GNSS represents the GNSS observation value vector; The error equation expression of the spatial relative reference point position is as follows: V Robot =A Robot X-L Robot ; Among them, V Robot A represents the residual vector of the observation value of the ground-based measurement robot system; Robot The design matrix representing the observation values ​​of the ground-based measurement robot system; L Robot represents the observation value vector of the ground-based measurement robot system; The error equation of the gravity static reference point position is as follows: V PlumbLine =A PlumbLine X-L PlumbLine ; Among them, V PlumbLine A is the residual vector representing the observed value of the inverted vertical displacement; PlumbLine The design matrix representing the observed values ​​of the inverted vertical displacement; L PlumbLine represents the observed value vector of the inverted vertical displacement; The error equation of the combined adjustment is expressed as: The comprehensive weight matrix P is expressed as: Among them, P GNSS represents the weight matrix of GNSS observations; P Robot Represents the weight matrix of the measurement robot observation value; P PlumbLine A weight matrix representing the displacement observations of the inverted plumb line.

2. A ground-ground integrated real-time benchmark establishment system for dam deformation monitoring, characterized in that A method for establishing a real-time benchmark for dam deformation monitoring for realizing the space-ground integration of claim 1; comprising a space-based Beidou system, a ground-based measurement robot system, a ground-based plumb line system, an on-site intelligent measuring station and a monitoring center: Among them, the space-based BeiDou system sends the real-time acquired dynamic reference point positions of the dam deformation area to the monitoring center through the on-site intelligent measuring station; The foundation measurement robot system sends the spatial relative reference point position of the dam deformation area obtained in real time to the monitoring center through the on-site intelligent measurement station; The foundation inverted plumb line system sends the real-time acquired gravity static reference point position of the dam deformation area to the monitoring center through the on-site intelligent measuring station; The monitoring center fuses the data of dynamic benchmark point positions, spatial relative benchmark point positions and gravity static benchmark point positions to obtain the monitoring benchmark value of the dam deformation area; and issues control instructions to the space-based Beidou system, the ground-based measurement robot system and the ground-based inverted plumb line system.

3. The earth-ground integrated dam deformation monitoring real-time benchmark establishment system according to claim 2 is characterized by: It also includes an integrated observation pier; the integrated observation pier is fixedly arranged in the deformation area of ​​the dam; wherein the BDS / GNSS receiver of the space-based Beidou system is fixed on the top of the integrated observation pier; The foundation measurement robot system includes a measuring station, a reference point and a monitoring point. Among them, a measuring station is established on a stable foundation according to the deformation area of ​​the dam, and a set of automatic observation system of the measuring robot is installed on the established measuring station. The automatic observation system of the measuring robot is set on one side of the integrated observation pier. Establish stable benchmark points evenly according to the deformation area of ​​the dam. The benchmark points are equipped with a set of single prisms facing the measuring stations. The direction and distance from the measuring stations to each benchmark point should cover the entire deformation area of ​​the dam. Monitoring points are evenly arranged in sections on the deformation area of ​​the dam, and the established monitoring points are equipped with one or more sets of single prism groups or 360° prism groups facing the measuring stations; The foundation inverted plumb line system is arranged on the other side of the integrated observation pier; the inverted plumb line of the foundation inverted plumb line system is deeply buried in the bedrock of the foundation in the deformation area of ​​the dam through vertical drilling.

4. The earth-ground integrated dam deformation monitoring real-time benchmark establishment system according to claim 3 is characterized by: It also includes a protection house; an integrated observation pier is arranged in the protection house, and its top extends upward to the outside of the protection house; the automatic observation system of the measurement robot and the foundation inverted plumb line system are both located inside the protection house; The on-site intelligent measuring station is set up in the protection room.

5. The earth-ground integrated dam deformation monitoring real-time benchmark establishment system according to claim 4 is characterized by: The space-based BeiDou system, the ground-based measurement robot system and the ground-based plumb line system communicate with the corresponding on-site intelligent measuring stations through the corresponding protocol conversion modules respectively; several on-site intelligent measuring stations are networked using optical fiber Ethernet.

6. The earth-ground integrated dam deformation monitoring real-time benchmark establishment system according to claim 5 is characterized by: All equipment in the monitoring center is connected to the permanent power supply in the plant room, and uses UPS as an emergency power supply; the on-site intelligent measurement station, space-based Beidou system, ground-based measurement robot system and ground-based plumb line system are all connected to the permanent power supply nearby, and the corresponding distribution boxes and chassis are grounded and connected to the grounding network of the power station nearby; Copper strips are welded on steel pipes at different positions of the on-site intelligent measuring station, space-based Beidou system, ground-based measuring robot system and foundation inverted plumb line system as grounding points; other equipment in the on-site intelligent measuring station, space-based Beidou system, ground-based measuring robot system and foundation inverted plumb line system that do not have grounding points are pulled by copper strip extension lines and used as grounding points.

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