A device and method for monitoring deep displacement of slope based on inertial navigation

Abstract

The present invention provides a deep-slope displacement monitoring device based on inertial navigation, comprising a base and a top cover, wherein the base and the top cover are connected by threads; a mounting platform is provided on the upper portion of the base, the chip packaging box is connected to the mounting platform, and the monitoring chip is provided in the chip packaging box; the monitoring data line connects the chip to a socket, and the socket is mounted on the base and the top cover. The present invention is based on the principle of inertial navigation. The device is used to be vertically lowered into a measuring hole for displacement measurement. Based on the perception of external rock and soil movement, the acceleration of the MEMS sensor device is measured, and the acceleration information is subjected to error analysis. The spatial coordinate system is transformed in combination with the device angle, and the deep-slope displacement is further measured using an acceleration-to-displacement algorithm. The device can quickly, accurately, and in real time measure the deformation of the slope at different depths, and is suitable for multi-point, real-time monitoring of large deformations of the surrounding rock terrain.

Description

Technical Field

[0001] The present invention relates to the technical field of deep slope displacement monitoring based on inertial navigation, and in particular to a deep slope displacement monitoring device and method based on inertial navigation. Background Art

[0002] A slope refers to a slope with a certain gradient formed by natural or artificial action on a mountain. Since slopes often exist in places with harsh geological environments and slope disasters are often devastating, the stability of slopes is directly related to engineering construction and the property safety of surrounding residents. Real-time monitoring of high-risk slopes is necessary. Slope displacement monitoring is the most common monitoring project in slope monitoring, including surface absolute displacement, relative displacement monitoring, and deep displacement deformation monitoring. Existing common monitoring technologies at home and abroad include: close-range photogrammetry technology, remote sensing methods, borehole inclinometer methods, etc. Traditional displacement monitoring methods cannot meet the requirements of slope monitoring for high monitoring accuracy, continuous monitoring capabilities, and a high degree of automation due to factors such as monitoring principles, monitoring methods, device size, and environmental limitations. They are greatly affected by weather and terrain, are easily affected by visibility conditions, consume manpower and material resources, are costly, and have a low degree of automation.

[0003] The basic operating principle of inertial navigation is based on Newton's laws of mechanics. By measuring the acceleration of a vehicle in an inertial reference frame, integrating the acceleration over time, and transforming it into a navigation coordinate system, information such as velocity, yaw angle, and position in that navigation coordinate system can be obtained. Inertial navigation systems are used in various sports equipment, including aircraft, submarines, space shuttles, and other transportation vehicles, as well as missiles.

[0004] MEMS technology is a new sensing technology developed by integrating various micromachining technologies based on microelectronics. The rapid development of MEMS technology has changed the design rules of sensors. MEMS sensors, based on microelectromechanical systems, integrate sensing elements and actuators into one, greatly improving sensor performance and distinguishing them from traditional sensors. MEMS sensors, with their superior performance, are applied in many fields, including biomedicine, military, aviation, petrochemicals, and other fields.

[0005] Slope instability caused by natural or human factors develops slowly in the early stages. However, the accumulation of internal structural displacements can cause large-scale deformation of the structure and surrounding environment in a short period of time, endangering public safety and property. Early detection of internal slope deformation trends, timely assessment of displacement trends and displacement rates to see if they exceed warning levels, and reinforcement of weak structures can mitigate the adverse effects of slope instability. This is crucial for preventing safety incidents such as slope instability.

[0006] Therefore, there is an urgent need for a slope deep displacement monitoring device and method based on inertial navigation to solve the above problems. Summary of the Invention

[0007] The purpose of the present invention is to overcome the above-mentioned shortcomings and provide a device and method for monitoring deep displacement of slopes based on inertial navigation to solve the problems raised in the background technology.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solution: a slope deep displacement monitoring device based on inertial navigation, comprising a base and a top cover, wherein the base and the top cover are connected by threads; a carrying platform is provided on the upper part of the base, the chip packaging box is connected to the carrying platform, and the monitoring chip is arranged in the chip packaging box; the monitoring data line connects the chip to the socket, and the socket is installed on the base and the top cover.

[0009] Preferably, a carrying platform is provided on the upper portion of the base, and the carrying platform is provided with four holes for placing a chip packaging box, and the carrying platform is provided with two through holes for passing a monitoring data line.

[0010] Preferably, a thread is provided on the upper end of the base to connect to the top cover, and a rubber gasket is placed at the threaded connection portion between the base and the top cover to close the device.

[0011] Preferably, threads are provided on the lower part of the base and the upper part of the top cover for installing the socket, and rubber washers are provided for protecting the circuit.

[0012] Preferably, the socket includes a socket mounting thread, a socket connecting thread, and a socket rubber washer. The socket is mounted on the base and the top cover via the socket mounting thread, and the socket is connected to the plug via the socket connecting thread.

[0013] Preferably, the plug includes an anti-drop screw, an anti-drop buckle, and a pressure-resistant shell. The plug is connected to the socket via the anti-drop screw for data transmission, and the anti-drop buckle fixes and restricts the movement of the plug.

[0014] Preferably, the cable is connected to the socket via a plug for data transmission, and the cable is fixed to the pressure-resistant housing via an anti-drop bolt.

[0015] Preferably, the cable includes 4-core conductors, a metal coating, and an insulating rubber.

[0016] In addition, the present invention also discloses a monitoring method of a slope deep displacement monitoring device based on inertial navigation, which includes the following steps:

[0017] Step 1: After the construction of the monitoring hole is completed, the device is lowered vertically into the hole, connected to the external monitoring equipment, and the hole is backfilled after the test is correct;

[0018] Step 2: The displacement device senses the movement of the external rock and soil, measures and outputs the acceleration of the MEMS sensor device, and obtains the initial acceleration information;

[0019] Step 3: Perform error analysis on the initial acceleration information of the MEMS sensor device to obtain the relative acceleration in the sensor coordinate system.

[0020]

[0021] Among them, a r1 is the relative acceleration in the sensor coordinate system, a is the initial acceleration measured by the sensor, and a e is the zero bias error and installation error when the sensor is stationary;

[0022] Step 4: Convert the relative acceleration information in the sensor coordinate system into the relative acceleration information in the geographic coordinate system. The acceleration information in the geographic coordinate system reflects the actual acceleration information of the measured object.

[0023]

[0024] Among them, R is the transformation matrix between the acceleration sensor coordinate system and the geographic coordinate system, a r1 is the relative acceleration in the sensor coordinate system, a r2 is the relative acceleration in the geographic coordinate system;

[0025] Step 5: Subtract the gravity acceleration vector from the relative acceleration in the geographic coordinate system to obtain the absolute acceleration of the MEMS sensor device.

[0026]

[0027]

[0028] Among them, a a is the absolute acceleration in the geographic coordinate system, a r2 is the relative acceleration in the geographic coordinate system, a m is the gravitational acceleration vector;

[0029] Step 6: Using the time domain integration theory, the acceleration signal is integrated twice to obtain the corresponding displacement signal of the MEMS sensor device. The displacement change inside the slope can be calculated based on the displacement signal of the MEMS sensor device.

[0030]

[0031] Among them, a ais the absolute acceleration in the geographic coordinate system, v1(t) is the primitive function of v(t), v0 is the initial velocity; s1(t) is the primitive function of s(t), s0 is the initial displacement.

[0032] The present invention has the following beneficial effects:

[0033] 1. This invention is based on the principles of inertial navigation and Newton's laws of mechanics. By measuring the acceleration of the carrier in an inertial reference frame, removing device errors, and then transforming the acceleration information into spatial coordinates based on the device angle, the absolute acceleration is obtained by removing the gravity acceleration vector in the geographic coordinate system. Deep slope displacement is then calculated using an acceleration-to-displacement algorithm. Traditional array inclinometers use a MEMS system to measure gravity acceleration data along different axes to calculate the angle between the corresponding axis and the direction of gravity. The change in angle is combined with the length of each measurement unit to infer the coordinates of each node, and the displacement of the corresponding measurement unit is calculated.

[0034] 2. The connection method of the MEMS sensor device of the present invention is different from that of traditional array inclinometers. It uses more flexible armored cables to connect the various sensing parts, avoiding the influence of the rigid structure of the inclinometer tube on the measurement results.

[0035] 3. The spatial coordinate transformation of the present invention is based on the quaternion theory, which is a number with four elements consisting of the real number 1 and the imaginary units i, j, and k, namely

[0036] ;

[0037] 4. Any vector in three-dimensional space can be considered a quaternion with a zero real part. Utilize the above properties and operation rules of quaternions to study problems in three-dimensional space and perform conversions between different coordinate systems.

[0038] 5. Based on the time domain integration theory, the present invention integrates the acceleration information twice to obtain the corresponding displacement signal;

[0039] 6. The sensor device of the present invention can be adjusted in layout position and quantity according to the actual application scenario. The threaded connection between the socket and the plug allows the sensor device to be quickly disassembled and installed, which has the advantages of high flexibility and practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0041] Figure 2 It is a schematic diagram of the cross-sectional structure of the present invention;

[0042] Figure 3 Schematic diagram of the structure of the base in the present invention;

[0043] Figure 4 Schematic diagram of the cross-sectional structure of the top cover of the present invention;

[0044] Figure 5 Schematic diagram of the structure of the cable in the present invention;

[0045] Figure 6 Schematic diagram of the structure of the carrying platform in the present invention;

[0046] Figure 7 This is a schematic diagram of the structure of the monitoring chip packaging box of the present invention;

[0047] Figure 8 This is a bottom view of the monitoring chip packaging box of the present invention;

[0048] Figure 9 Schematic diagram of the structure of the socket in the present invention;

[0049] Figure 10 Schematic diagram of the structure of the plug in the present invention;

[0050] Figure 11 is a flow chart of the monitoring method of the present invention;

[0051] Figure 12 This is a diagram of the device layout described in an embodiment of the present invention;

[0052] In the figure, 1. base; 2. top cover; 3. mounting platform; 301. mounting hole; 302. through hole; 4. monitoring chip packaging box; 5. thread; 6. rubber gasket; 7. external thread; 8. socket; 801. socket mounting thread; 802. socket connecting thread; 803. socket rubber gasket; 9. plug; 901. plug connecting thread; 902. anti-drop buckle; 903. pressure-resistant shell; 10. monitoring data line; 11. cable; 1101. four-core wire; 1102. metal coating; 1103. insulating rubber; 12. anti-drop plug; 13. monitoring chip. DETAILED DESCRIPTION

[0053] The present invention will be further described below with reference to the accompanying drawings and examples:

[0054] See also Figures 1 to 12A device for monitoring deep displacement of a slope based on inertial navigation comprises a base 1 and a top cover 2, wherein the base 1 and the top cover 2 are connected by a thread 5; a carrying platform 3 is provided on the upper portion of the base 1, the chip packaging box 4 is connected to the carrying platform 3, and the monitoring chip 13 is provided in the chip packaging box 4; the monitoring data line 10 connects the chip to a socket 8, and the socket 8 is installed on the base 1 and the top cover 2. The present invention is based on the principle of inertial navigation and Newton's law of mechanics. By measuring the acceleration of the carrier in the inertial reference system, after removing the device error, the acceleration information is transformed into a spatial coordinate in combination with the device angle, and the absolute acceleration is obtained after removing the gravity acceleration vector in the geographic coordinate system. The deep displacement of the slope is measured according to the acceleration-to-displacement algorithm. Different from the traditional array inclinometer, the coordinates of each node are calculated based on the angle between the axis and the direction of gravity, and the displacement of the corresponding measuring unit is calculated by combining the change in angle with the length of each measuring unit.

[0055] Preferably, a carrying platform is provided on the upper portion of the base 1 , and the carrying platform is provided with four holes 301 for placing the chip packaging box 4 , and the carrying platform is provided with two through holes 302 for passing the monitoring data line 10 .

[0056] Preferably, a thread 5 is provided on the upper end of the base 1 to connect to the top cover 2, and a rubber gasket 6 is placed at the threaded connection portion between the base 1 and the top cover 2 to close the device.

[0057] Preferably, threads 7 are provided on the lower part of the base 1 and the upper part of the top cover 2 for installing the socket 8, and a rubber gasket 701 is provided for protecting the circuit.

[0058] Preferably, the socket 8 includes a socket mounting thread 801 , a socket connecting thread 802 , and a socket rubber gasket 803 . The socket 8 is installed on the base 1 and the top cover 2 via the socket mounting thread 801 , and the socket 8 is connected to the plug 9 via the socket connecting thread 802 .

[0059] Preferably, the plug 9 includes an anti-drop screw 901 , an anti-drop buckle 902 , and a pressure-resistant housing 903 . The plug 9 is connected to the socket 8 via the anti-drop screw 901 for data transmission, and the anti-drop buckle 902 fixes and restricts the movement of the plug 9 .

[0060] Preferably, the cable 11 is connected to the socket 8 via a plug 9 for data transmission, and the cable 11 is fixed to the pressure-resistant housing 903 via an anti-drop bolt 12 .

[0061] Preferably, the cable 11 includes a four-core conductor 1101 , a metal coating 1102 , and an insulating rubber 1103 .

[0062] In addition, the present invention also discloses a monitoring method of a slope deep displacement monitoring device based on inertial navigation, which includes the following steps:

[0063] Step 1: After the construction of the monitoring hole is completed, the device is lowered vertically into the hole, connected to the external monitoring equipment, and the hole is backfilled after the test is correct;

[0064] Step 2: The displacement device senses the movement of the external rock and soil, measures and outputs the acceleration of the MEMS sensor device, and obtains the initial acceleration information;

[0065] Step 3: Perform error analysis on the initial acceleration information of the MEMS sensor device to obtain the relative acceleration in the sensor coordinate system.

[0066]

[0067] Among them, a r1 is the relative acceleration in the sensor coordinate system, a is the initial acceleration measured by the sensor, and a e is the zero bias error and installation error when the sensor is stationary;

[0068] Step 4: Convert the relative acceleration information in the sensor coordinate system into the relative acceleration information in the geographic coordinate system. The acceleration information in the geographic coordinate system reflects the actual acceleration information of the measured object.

[0069]

[0070] Among them, R is the transformation matrix between the acceleration sensor coordinate system and the geographic coordinate system, a r1 is the relative acceleration in the sensor coordinate system, a r2 is the relative acceleration in the geographic coordinate system;

[0071] Step 5: Subtract the gravity acceleration vector from the relative acceleration in the geographic coordinate system to obtain the absolute acceleration of the MEMS sensor device.

[0072]

[0073]

[0074] Among them, a a is the absolute acceleration in the geographic coordinate system, a r2 is the relative acceleration in the geographic coordinate system, a m is the gravitational acceleration vector;

[0075] Step 6: Using the time domain integration theory, the acceleration signal is integrated twice to obtain the corresponding displacement signal of the MEMS sensor device. The displacement change inside the slope can be calculated based on the displacement signal of the MEMS sensor device.

[0076]

[0077] Among them, a a is the absolute acceleration in the geographic coordinate system, v1(t) is the primitive function of v(t), v0 is the initial velocity; s1(t) is the primitive function of s(t), s0 is the initial displacement.

[0078] The above embodiments are merely preferred technical solutions of the present invention and should not be construed as limiting the present invention. The scope of protection of the present invention shall be the technical solutions set forth in the claims, including equivalent alternatives to the technical features of the technical solutions set forth in the claims. In other words, equivalent alternatives and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A monitoring method for a deep slope displacement monitoring device based on inertial navigation, characterized in that: The slope deep displacement monitoring device based on inertial navigation includes an ellipsoidal monitoring unit, and a single ellipsoidal monitoring unit includes a base and a top cover, which are connected by threads; a carrying platform is provided on the upper part of the base, a chip packaging box is connected to the carrying platform, and a monitoring chip is provided in the chip packaging box; a monitoring data cable connects the chip to a socket, and the socket is installed on the base and the top cover, and the plug includes an anti-slip screw, an anti-slip buckle, and a pressure-resistant shell, and the plug is connected to the socket through the anti-slip screw for data transmission, and the anti-slip buckle fixes and restricts the movement of the plug, and the cable is connected to the socket through the plug for data transmission, and the cable is fixed to the pressure-resistant shell through the anti-slip bolt, and the cable includes a core conductor, a metal coating, and an insulating rubber. A carrying platform is provided on the upper part of the base, and the carrying platform has four holes for placing the chip packaging box, and the carrying platform has two holes passing through it, and the holes are used to pass the monitoring data cable, and multiple ellipsoidal monitoring units are connected in series through cables; The monitoring method includes the following steps: Step 1: After the construction of the monitoring hole is completed, multiple ellipsoidal monitoring units are vertically lowered into the hole through cables, connected to external monitoring equipment, and backfilled after the inspection is correct; Step 2: The displacement device senses the movement of the external rock and soil, measures and outputs the acceleration of the MEMS sensor device, and obtains the initial acceleration information; Step 3: Perform error analysis on the initial acceleration information of the MEMS sensor device to obtain the relative acceleration in the sensor coordinate system. ； in, is the relative acceleration in the sensor coordinate system, a is the initial acceleration measured by the sensor, is the zero bias error and installation error when the sensor is stationary; Step 4: Convert the relative acceleration information in the sensor coordinate system into the relative acceleration information in the geographic coordinate system. The acceleration information in the geographic coordinate system reflects the actual acceleration information of the measured object. ； ； Where R is the transformation matrix between the accelerometer coordinate system and the geographic coordinate system, which is based on quaternion theory; is the relative acceleration value in the geographic coordinate system; Step 5: Subtract the gravity acceleration vector from the relative acceleration in the geographic coordinate system to obtain the absolute acceleration of the MEMS sensor device. ； ； in, is the absolute acceleration in the geographic coordinate system, is the gravitational acceleration vector; Step 6: Using the time domain integration theory, the acceleration signal is integrated twice to obtain the corresponding displacement signal of the MEMS sensor device. The displacement change inside the slope can be calculated based on the displacement signal of the MEMS sensor device. ； ； in, for The original function of is the initial velocity; for The original function of is the initial displacement.

2. The monitoring method of a slope deep displacement monitoring device based on inertial navigation according to claim 1 is characterized by: A thread is set on the upper end of the base to connect the top cover, and a rubber gasket is placed at the threaded connection part between the base and the top cover to close the device.

3. The monitoring method of a deep slope displacement monitoring device based on inertial navigation according to claim 1 is characterized in that: There are threads on the lower part of the base and the upper part of the top cover for installing the socket, and rubber washers are provided to protect the circuit.

4. The monitoring method of a slope deep displacement monitoring device based on inertial navigation according to claim 1 is characterized in that: The socket includes a socket mounting thread, a socket connecting thread, and a socket rubber gasket. The socket is mounted on the base and the top cover via the socket mounting thread, and the socket is connected to the plug via the socket connecting thread.

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