Hydropower station dam abutment slope GNSS automatic surface deformation monitoring system and method

Abstract

The invention provides a hydropower station dam abutment slope GNSS automatic surface deformation monitoring system and method, and the system comprises a sensing layer which is used for collecting the GNSS original observation data of each monitoring point in a slope monitoring region at each moment within a preset time length; the data resolving module is used for preprocessing the GNSS original observation data and then solving the preprocessed data by using a multi-base-station differential positioning algorithm to obtain three-dimensional coordinates of each monitoring point at each moment; the data resolving module is also used for determining the deformation data of each monitoring point in a preset duration; the linkage triggering module is used for performing deformation monitoring in the slope monitoring area by using an appearance monitoring automation system when the current comprehensive judgment displacement change rate is greater than or equal to a preset displacement change rate threshold value; and the early warning management module is used for determining an early warning level and performing early warning. According to the technical scheme provided by the invention, the intelligent level of slope safety monitoring and the slope safety emergency management and control capability of the hydropower station can be further improved.

Description

Technical Field

[0001] The present application relates to the field of slope safety monitoring, and in particular to a GNSS automated surface deformation monitoring system and method for a hydropower station dam abutment slope. Background Art

[0002] The dam shoulder slope is the top priority of the safety monitoring work of the hydropower station. Its safety directly affects the safe and stable operation of the hydraulic structures in the entire hub area. At present, the slopes in the hub area of ​​many hydropower stations are generally observed manually using surface deformation observation points, or using the appearance monitoring automation system to use the total station to carry out automatic observation of the surface deformation observation points. These methods have basically met the needs of automatic monitoring of surface deformation, but they cannot carry out effective monitoring under special working conditions (such as heavy rain and earthquakes), and they do not have real-time online monitoring functions. There are certain deficiencies in the effectiveness of slope surface deformation monitoring and the continuity of data, and the emergency monitoring capabilities of slopes need to be improved. Summary of the invention

[0003] The present application provides a GNSS automated surface deformation monitoring system and method for a hydropower station dam shoulder slope, in order to at least solve the technical problem that effective monitoring cannot be carried out under special working conditions.

[0004] The first aspect of the present application provides a GNSS automated surface deformation monitoring system for a hydropower station dam abutment slope, the system comprising: a perception layer, a data transmission layer and a control layer, wherein the control layer comprises a data solution module;

[0005] The perception layer is used to collect GNSS raw observation data of each monitoring point in the slope monitoring area at each time within a preset time period based on the pre-deployed GNSS reference station and GNSS monitoring station;

[0006] The data transmission layer is used to transmit the GNSS raw observation data of each monitoring point at each time within a preset time period to the control layer;

[0007] The data solving module is used to pre-process the GNSS original observation data of each monitoring point at each time within a preset time length to obtain the GNSS pre-processed data at each time within the preset time length, and then use the multi-reference station differential positioning algorithm to solve the GNSS pre-processed data at each time within the preset time length to obtain the three-dimensional coordinates of each monitoring point at each time;

[0008] The data solving module is further used to determine the deformation data of each monitoring point within a preset time period according to the three-dimensional coordinates of each monitoring point at each moment, wherein the deformation data includes: displacement, horizontal combined displacement, and displacement change rate.

[0009] Preferably, the control layer further comprises: a linkage trigger module;

[0010] The linkage trigger module is used to determine the current comprehensive evaluation displacement change rate of the slope monitoring area according to the displacement change rate of each monitoring point. When the current comprehensive evaluation displacement change rate is greater than or equal to a preset displacement change rate threshold, a monitoring instruction is sent to the appearance monitoring automation system, and deformation monitoring is performed in the slope monitoring area using the appearance monitoring automation system.

[0011] Furthermore, the data solution module includes: a data preprocessing unit and a GNSS baseline solution unit;

[0012] The data preprocessing unit is used to remove gross errors in the GNSS original observation data at each moment within a preset time length by using an intelligent cleaning method, and then use the least squares method to fit and smooth the observation data after the gross errors are removed to obtain the GNSS preprocessed data at each moment within the preset time length;

[0013] The GNSS baseline solution unit is used to solve the GNSS preprocessed data at each moment within the preset time length using a multi-reference station differential positioning algorithm to obtain the three-dimensional coordinates of each monitoring point at each moment, and then determine the deformation data of each monitoring point within the preset time length based on the three-dimensional coordinates of each monitoring point at each moment.

[0014] Furthermore, the control layer also includes: a device remote control module;

[0015] The equipment remote control module is used to debug and access the GNSS reference station and the GNSS monitoring station.

[0016] Furthermore, the control layer also includes: a device management module and a display module;

[0017] The device management module is used to obtain the operating status data of the number of satellite searches, power, horizontal precision factor and elevation precision factor of the GNSS reference station and the GNSS monitoring station in real time;

[0018] The display module is used to display the operating status data.

[0019] Furthermore, the control layer also includes: a data management module;

[0020] The data management module is used to perform data management and chart analysis on the deformation data of each monitoring point within a preset time period, obtain a data analysis chart, and then send the data analysis chart to the display module;

[0021] The display module is also used to display the data analysis chart.

[0022] Furthermore, the control layer also includes: an early warning management module;

[0023] The early warning management module is used to obtain the average displacement change rate of the slope monitoring area in the historical period, and then determine the ratio of the displacement change rate of each monitoring point in the preset time period to the average displacement change rate. If the ratio is less than a first early warning threshold, no early warning is issued. If the ratio is greater than or equal to the first early warning threshold and less than a second early warning threshold, a yellow early warning signal is generated and a yellow early warning is issued. If the ratio is greater than or equal to the second early warning threshold and less than a third early warning threshold, an orange early warning signal is generated and an orange early warning is issued. If the ratio is greater than or equal to the third early warning threshold, a red early warning signal is generated and a red early warning is issued.

[0024] The warning management module is further used to send the yellow warning signal, the orange warning signal, and the red warning signal to the display module;

[0025] The display module is also used to display the yellow warning signal, the orange warning signal, and the red warning signal.

[0026] The second embodiment of the present application provides a GNSS automated surface deformation monitoring method for a hydropower station dam abutment slope, the method comprising:

[0027] Based on the pre-deployed GNSS base stations and GNSS monitoring stations, the original GNSS observation data of each monitoring point in the slope monitoring area at each time within the preset time period are collected;

[0028] Preprocessing the GNSS raw observation data of each monitoring point at each time within a preset time length to obtain GNSS preprocessed data at each time within the preset time length, and then solving the GNSS preprocessed data at each time within the preset time length using a multi-reference station differential positioning algorithm to obtain the three-dimensional coordinates of each monitoring point at each time;

[0029] The deformation data of each monitoring point within a preset time period is determined according to the three-dimensional coordinates of each monitoring point at each time, wherein the deformation data includes: displacement, horizontal combined displacement, and displacement change rate.

[0030] Preferably, the method further comprises:

[0031] Obtaining an average displacement change rate of the slope monitoring area during a historical period;

[0032] The ratio of the displacement change rate of each monitoring point within the preset time period to the average value of the displacement change rate is determined respectively. If the ratio is less than the first warning threshold, no warning is issued. If the ratio is greater than or equal to the first warning threshold and less than the second warning threshold, a yellow warning is issued. If the ratio is greater than or equal to the second warning threshold and less than the third warning threshold, an orange warning is issued. If the ratio is greater than or equal to the third warning threshold, a red warning is issued.

[0033] Preferably, the method further comprises:

[0034] Determine the current comprehensive evaluation displacement change rate of the slope monitoring area according to the displacement change rate of each monitoring point;

[0035] When the current comprehensive evaluation displacement change rate is greater than or equal to a preset displacement change rate threshold, a monitoring instruction is sent to the appearance monitoring automation system, and the appearance monitoring automation system is used to perform deformation monitoring in the slope monitoring area.

[0036] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0037] The present application proposes a GNSS automated surface deformation monitoring system and method for a hydropower station dam shoulder slope, wherein the method comprises: a perception layer, a data transmission layer and a control layer, wherein the control layer comprises a data solution module; the perception layer is used to collect GNSS original observation data of each monitoring point in the slope monitoring area at each time within a preset time length based on pre-deployed GNSS reference stations and GNSS monitoring stations; the data transmission layer is used to transmit the GNSS original observation data of each monitoring point at each time within the preset time length to the control layer; the data solution module is used to pre-process the GNSS original observation data of each monitoring point at each time within the preset time length to obtain the GNSS pre-processed data at each time within the preset time length, and then use a multi-reference station differential positioning algorithm to solve the GNSS pre-processed data at each time within the preset time length to obtain the three-dimensional coordinates of each monitoring point at each time; the data solution module is also used to determine the deformation data of each monitoring point within the preset time length according to the three-dimensional coordinates of each monitoring point at each time, wherein the deformation data comprises: displacement, horizontal combined displacement, and displacement change rate. The technical solution proposed in this application can further improve the intelligence level of slope safety monitoring and the emergency control capability of slope safety in hydropower stations.

[0038] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0040] Figure 1 A structural diagram of a GNSS automated surface deformation monitoring system for a hydropower station dam abutment slope provided according to one embodiment of the present application;

[0041] Figure 2A structural block diagram of a control layer provided according to an embodiment of the present application;

[0042] Figure 3 A schematic diagram of a data transmission process provided according to an embodiment of the present application;

[0043] Figure 4 A schematic diagram of a GNSS baseline solution process according to an embodiment of the present application;

[0044] Figure 5 A schematic diagram of a single baseline calculation process provided according to an embodiment of the present application;

[0045] Figure 6 A module design flow chart of a GNSS automated surface deformation monitoring system for a hydropower station dam abutment slope according to an embodiment of the present application;

[0046] Figure 7 A flow chart of a method for GNSS automated surface deformation monitoring of a hydropower station dam abutment slope according to an embodiment of the present application;

[0047] Figure 8 A detailed flow chart of a method for GNSS automated surface deformation monitoring of a hydropower station dam abutment slope according to an embodiment of the present application;

[0048] Reference numerals

[0049] Perception layer 1, data transmission layer 2, control layer 3, data solution module 3-1, linkage trigger module 3-2, equipment remote control module 3-3, equipment management module 3-4, display module 3-5, data management module 3-6, early warning management module 3-7, data preprocessing unit 3-1-1 and GNSS baseline solution unit 3-1-2. DETAILED DESCRIPTION

[0050] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0051] The present application proposes a GNSS automated surface deformation monitoring system and method for a hydropower station abutment slope, wherein the method comprises: a perception layer, a data transmission layer and a control layer, wherein the control layer comprises a data solution module; the perception layer is used to collect GNSS original observation data of each monitoring point in the slope monitoring area at each time within a preset time length based on pre-deployed GNSS reference stations and GNSS monitoring stations; the data transmission layer is used to transmit the GNSS original observation data of each monitoring point at each time within the preset time length to the control layer; the data solution module is used to pre-process the GNSS original observation data of each monitoring point at each time within the preset time length to obtain the GNSS pre-processed data at each time within the preset time length, and then use a multi-reference station differential positioning algorithm to solve the GNSS pre-processed data at each time within the preset time length to obtain the three-dimensional coordinates of each monitoring point at each time; the data solution module is also used to determine the deformation data of each monitoring point within the preset time length according to the three-dimensional coordinates of each monitoring point at each time, wherein the deformation data comprises: displacement, horizontal combined displacement, and displacement change rate. The technical solution proposed in this application can further improve the intelligence level of slope safety monitoring and the emergency control capability of slope safety in hydropower stations.

[0052] A GNSS automated surface deformation monitoring system and method for a hydropower station dam abutment slope according to an embodiment of the present application will be described below with reference to the accompanying drawings.

[0053] Embodiment 1

[0054] Figure 1 FIG. 1 is a structural diagram of a GNSS automated surface deformation monitoring system for a hydropower station dam abutment slope according to an embodiment of the present application. Figure 1 As shown, the system includes: a perception layer 1, a data transmission layer 2 and a control layer 3, wherein the control layer 3 includes a data solution module 3-1;

[0055] The perception layer 1 is used to collect GNSS raw observation data of each monitoring point in the slope monitoring area at each time within a preset time period based on the pre-deployed GNSS reference station and GNSS monitoring station;

[0056] The GNSS original observation data includes: ephemeris data and observation data, wherein the observation data includes observation data of the starting station and the end station, single-point positioning coordinates, observation time, C / A code pseudorange, P code pseudorange, and carrier phase.

[0057] It should be noted that the GNSS base station is used to continuously track and observe Beidou satellite signals for a long time, transmit GNSS raw observation data to the control center in real time through data communication optical fiber, and provide high-precision carrier phase differential data and starting coordinates to each monitoring station in real time. The GNSS monitoring station is a measuring point used to monitor the surface displacement changes of the slope where it is located, and is arranged in the form of a monitoring section at the key parts of the dam shoulder slope in the hub area. The specific layout plan can be as follows:

[0058] Monitoring station: A GNSS monitoring station based on the Beidou satellite navigation system is set up at the key position of the dam shoulder slope in the hub area of ​​a power station. The equipment used is the Net20p l us receiver and CM100 choke antenna.

[0059] Three monitoring sections are set up on the 2# and 4# ridges (two on the 2# ridge and one on the 4# ridge), and four GNSS monitoring stations are set up on each section, numbered ZS11~ZS14, ZS21~ZS24, and ZS31~ZS34. One monitoring section is set up on the slope of the water cushion pond behind the left bank dam, and two GNSS monitoring stations are set up, numbered ZX01 and ZX02.

[0060] Base station: Two observation base stations are arranged on the left bank slope and one on the right bank slope as the base points for system solution, forming a three-base point solution. The equipment uses the domestic UniStrong Net20 plus receiver and CM100 choke antenna. The base station is set on a stable bedrock or foundation, with good satellite search conditions, an open point location, and no electromagnetic interference sources such as high-voltage lines and substations around.

[0061] The data transmission layer 2 is used to transmit the GNSS original observation data of each monitoring point at each time within a preset time period to the control layer;

[0062] It should be noted that both the GNSS monitoring station and the GNSS base station use optical fiber communication and are equipped with communication equipment such as optical terminals and switches. The original data is transmitted from the GNSS base station and the monitoring station receiver to the control layer 3.

[0063] The main functions of the perception layer 1 and the data transmission layer 2 are to use the Net20 plus receiver and the CM100 choke antenna to receive satellite signals, and to process them into the international standard Rinex format raw data through the internal board of the receiver, and to store the Rinex format raw data into a designated folder in a specific data disk of the server using communication optical fiber and communication equipment, and to perform calculation, analysis and management through the control center monitoring platform, i.e., the control layer 3. The data transmission process is as follows: Figure 3 As shown.

[0064] The data solving module 3-1 is used to pre-process the GNSS original observation data of each monitoring point at each moment within a preset time length to obtain the GNSS pre-processed data at each moment within the preset time length, and then use the multi-reference station differential positioning algorithm to solve the GNSS pre-processed data at each moment within the preset time length to obtain the three-dimensional coordinates of each monitoring point at each moment;

[0065] The data solving module 3-1 is also used to determine the deformation data of each monitoring point within a preset time period according to the three-dimensional coordinates of each monitoring point at each moment, wherein the deformation data includes: displacement, horizontal combined displacement, and displacement change rate.

[0066] It should be noted that the control layer 3 is composed of a server, a database, and a Beidou automated monitoring platform for dam shoulder slopes, among which a data solution module 3-1, a linkage trigger module 3-2, an equipment remote control module 3-3, an equipment management module 3-4, a display module 3-5, a data management module 3-6, and an early warning management module 3-7 are all set in the Beidou automated monitoring platform for dam shoulder slopes.

[0067] In the embodiments of the present disclosure, Figure 2 As shown, the control layer 3 also includes: a linkage trigger module 3-2;

[0068] The linkage trigger module 3-2 is used to determine the current comprehensive evaluation displacement change rate of the slope monitoring area according to the displacement change rate of each monitoring point. When the current comprehensive evaluation displacement change rate is greater than or equal to a preset displacement change rate threshold, a monitoring instruction is sent to the appearance monitoring automation system, and the appearance monitoring automation system is used to perform deformation monitoring in the slope monitoring area.

[0069] It should be noted that the linkage trigger module 3-2 can promptly request the establishment of monitoring automation system for the appearance monitoring of the slope, so as to realize real-time monitoring of the operating status of the slope; through the monitoring data in the real-time monitoring data management module, the linkage trigger mechanism set by the monitoring system is used for judgment. When it is judged as trigger information, the trigger information is pushed to the established appearance monitoring automation system to start the measurement work of the corresponding monitoring area.

[0070] The preset displacement change rate threshold is α in the linkage trigger mechanism table. 限值 .

[0071] The specific steps of the linkage trigger mechanism are as follows: the monitored slope range is divided into several areas, and the monitoring station position weight m is assigned to each area. i According to the importance of the location of each regional station, the supervisor weighting method is adopted, and professional and technical personnel are required to score according to the actual production situation, and then the statistics are concentrated as the station location weight m iThen, the deformation characteristics of the historical data observed by the appearance monitoring automation system are analyzed to obtain the displacement change rate limit α of each monitoring station. i限值 , through the displacement change rate α of each monitoring area station i and the station location weight m i , calculate the current comprehensive evaluation displacement change rate α of the monitoring area 现时 =∑m i α i Using the displacement change rate limit α of the measuring station i限值 and the station location weight m i , calculate α limit = ∑miαi limit, when α 现时 ≥α 限值 When the displacement change rate α is judged comprehensively in slope A area, the information is pushed to the appearance monitoring automation system to start monitoring the over-limit slope monitoring area. The over-limit push information of each monitoring area is set to 1, 2, 3... 现时 ≥α 限值 , immediately push information 1 to the appearance monitoring automation system to start monitoring of slope area A. The following is the linkage trigger mechanism table 1:

[0072] Linkage trigger mechanism table 1

[0073]

[0074] For example, the linkage trigger mechanism uses 2# ridge, 3# ridge, 4# ridge, and the slope of the water cushion pond behind the dam as different monitoring areas, and assigns the monitoring station location weight m in each area. i According to the importance of the location of each regional station, the supervisor weighting method is adopted, and professional and technical personnel are required to score according to the actual production situation, and then the statistics are concentrated as the station location weight m i Then, the deformation characteristics of the historical data observed by the appearance monitoring automation system are analyzed to obtain the displacement change rate limit α of each monitoring station. i限值 , through the displacement change rate α of each monitoring area station i and the station location weight m i , calculate the current comprehensive evaluation displacement change rate α of the monitoring area 现时 =∑m i α i Using the displacement change rate limit α of the measuring station i限值 and the station location weight m i , calculate α limit = Σmiαi limit, when α 现时 ≥α 限值 When the information is pushed to the appearance monitoring automation system, the monitoring of the over-limit slope monitoring area is started. The over-limit push information of each monitoring area is set to 1, 2, 3, etc. For example, the comprehensive evaluation displacement change rate α of the 2# ridge monitoring area现时 ≥α 限值 , then immediately push information 1 to the appearance monitoring automation system to start the monitoring of the 2# ridge area. The linkage trigger mechanism table 2 of this example is as follows:

[0075] Linkage trigger mechanism table 2

[0076]

[0077] Further, such as Figure 2 As shown, the data solution module includes: a data preprocessing unit 3-1-1 and a GNSS baseline solution unit 3-1-2;

[0078] The data preprocessing unit 3-1-1 is used to remove gross errors in the GNSS original observation data at each moment within a preset time length by using an intelligent cleaning method, and then use the least squares method to fit and smooth the observation data after the gross errors are removed to obtain the GNSS preprocessed data at each moment within the preset time length;

[0079] It should be noted that in the monitoring of dam shoulder slopes, the GNSS monitoring equipment may have deviations in the measurement results and form abnormal values ​​due to the multipath effect and electromagnetic interference during measurement, which may cause misjudgment of the slope deformation trend and have a certain impact on the data solution and accuracy. Therefore, it is necessary to eliminate gross errors in the data preprocessing process.

[0080] The data preprocessing process uses an intelligent cleaning method to eliminate gross errors. Starting from the monitoring database, intelligent cleaning is performed on all stored monitoring data. That is, once new monitoring data is stored, the intelligent cleaning program is started and the cleaned data labels are written back to the database.

[0081] At the same time, when using GNSS monitoring equipment to monitor the dam shoulder slope, due to the influence of various factors in the surrounding environment, noise will inevitably exist in the monitoring data set. If these noises are not processed, when performing GNSS baseline solution, it is very likely that the noise will be amplified and affect the final solution result.

[0082] The monitoring data smoothing and denoising of the present invention is to fit and smooth the monitoring data using the least squares method to achieve data smoothing and denoising. The least squares method is a linear regression algorithm that finds the best match for the data by minimizing the variance and is the most commonly used method for solving curve fitting problems. The principle of the least squares method is as follows:

[0083] Let (x, y) be a pair of observations, and x = [x1, x2, ..., x n ] T ∈R n, y=R satisfies the following function. y=f(x,ω),ω=[ω1,ω2,...,ω n ] T For a specific parameter, in order to find the optimal estimate of the parameter ω of the function y = (x, ω), for a given m set of observations, solve the objective function (x i ,y i )(i=1,2,3...,m), solve the objective function The parameter ω that takes the minimum value i (i=1,2,...,m), the expression of least squares is as follows: Where L i (x)(i=1,2,...,m) is called the residual function.

[0084] The GNSS baseline solution unit 3-1-2 is used to use a multi-reference station differential positioning algorithm to solve the GNSS preprocessed data at each moment within the preset time length to obtain the three-dimensional coordinates of each monitoring point at each moment, and then determine the deformation data of each monitoring point within the preset time length based on the three-dimensional coordinates of each monitoring point at each moment.

[0085] It should be noted that slope deformation monitoring mainly involves obtaining the three-dimensional coordinates of the monitoring points through GNSS positioning of the monitoring stations, and converting the deformation data of the monitoring points through the changes in the three-dimensional coordinates.

[0086] This embodiment adopts a multi-reference station differential positioning algorithm to perform differential processing on the reference station data and the data of each monitoring station to solve the precise three-dimensional coordinates of each monitoring point. Differential positioning is also called relative positioning. Receivers placed at both ends of the baseline perform synchronous observations to obtain observation data of the same epoch and satellite, and use data solution processing to determine the relative positions of the two end points of the baseline.

[0087] The specific steps of GNSS baseline solution are: use multiple reference stations to perform single baseline solution on the same monitoring station, then use the least square method to perform weighted averaging of different baseline solution results, and perform real-time independent baseline network adjustment at the same time, and finally obtain the solution result, such as Figure 4 shown.

[0088] Among them, Figure 5 As shown, the specific steps of the single baseline solution are as follows:

[0089] (1) Baseline solution parameter control: The baseline is optimized by setting control parameters. The control parameters mainly include data sampling interval, cutoff angle, reference satellite and its ionosphere, and solution model settings.

[0090] (2) Baseline solution self-check: Before baseline solution, self-check the settings of baseline solution control parameters, observation data and ephemeris files, starting coordinates, etc.

[0091] (3) Read in ephemeris data: extract the ephemeris data from the original data.

[0092] (4) Reading in observation data: Reading the observation data of the original data, including the observation data of the starting station and the end station, single-point positioning coordinates, observation time, C / A code pseudorange, P code pseudorange, and carrier phase.

[0093] (5) Triple difference solution: The double difference observations are subtracted between epochs to form triple difference observations. The observation equation is established and solved to obtain the triple difference solution.

[0094] (6) Cycle slip repair: Correct the observation value error caused by cycle slip.

[0095] (7) Perform double-difference floating-point solution: If the signals of N satellites are observed in total, the double-difference observation equation group will increase N-1 unknowns compared to the triple-difference observation equation group. The double-difference solution obtains further unknown point coordinates and integer ambiguities expressed in floating-point numbers.

[0096] (8) Integer ambiguity resolution: FARA and LAMBDA methods are used to quickly resolve integer ambiguities.

[0097] (9) Double difference fix solution: After the integer ambiguity is correctly fixed, double difference fix solution is performed.

[0098] (10) The solution result is output through the Kalman filter algorithm.

[0099] It should be noted that the data solution module 3-1 performs preprocessing, smoothing and denoising, and GNSS baseline solution on the Beidou satellite raw data collected by the GNSS base stations in the database and the GNSS monitoring stations arranged in the monitoring section. The preprocessing uses the above-mentioned intelligent cleaning method to eliminate the gross errors in the database, and then uses the least squares method to fit and smooth the monitoring data to achieve data smoothing and denoising. Then, through the multi-base station differential positioning algorithm, the base station data is differentially processed with the data of each monitoring station to solve the precise three-dimensional coordinates of each monitoring station. The cumulative displacement, horizontal combined displacement, and displacement change rate of the monitoring station are converted through the changes in the three-dimensional coordinates, and finally the processed data is written into the database.

[0100] Further, such as Figure 2 As shown, the control layer 3 also includes: a device remote control module 3-3;

[0101] The equipment remote control module 3 - 3 is used to debug and access the GNSS reference station and the GNSS monitoring station.

[0102] It should be noted that the device remote control module 3-3 accesses and debugs the perception layer GNSS monitoring station and the base station Net20 plus lus receiver, which is mainly used for device IP address modification, viewing raw data and daily equipment maintenance.

[0103] Further, such as Figure 2 As shown, the control layer 3 also includes: a device management module 3-4 and a display module 3-5;

[0104] The device management module 3-4 is used to obtain the operating status data of the number of satellite searches, power, horizontal precision factor and elevation precision factor of the GNSS reference station and the GNSS monitoring station in real time;

[0105] The display module 3-5 is used to display the operating status data.

[0106] It should be noted that the device management module 3-4 can obtain the number of satellite searches, device power, horizontal precision factor, and elevation precision factor of the GNSS device in real time, feedback the operating status of the GNSS equipment of the base station and the monitoring station, and send the equipment operating status to the display module 3-5 for the monitoring personnel to view and understand the equipment operating status. If it is found that the number of satellite searches and the device power of the receiver are abnormal, and there are problems with the horizontal precision factor and the elevation precision factor, the monitoring personnel can go to the site for maintenance in time.

[0107] Further, such as Figure 2 As shown, the control layer 3 also includes: a data management module 3-6;

[0108] The data management module 3-6 is used to perform data management and chart analysis on the deformation data of each monitoring point within a preset time period, obtain a data analysis chart, and then send the data analysis chart to the display module;

[0109] The display module 3-5 is also used to display the data analysis chart.

[0110] It should be noted that the data management module 3-6 can perform data management and graphical analysis on the coordinates, cumulative displacement, horizontal total displacement, and displacement change rate of the monitoring station in the database, and the final analysis results are sent to the display module 3-5 and output in a visual manner for monitoring personnel to analyze the working status of the monitored parts.

[0111] Further, such as Figure 2 As shown, the control layer 3 also includes: an early warning management module 3-7;

[0112] The warning management module 3-7 is used to obtain the average displacement change rate of the slope monitoring area in the historical period, and then determine the ratio of the displacement change rate of each monitoring point in the preset time period to the average displacement change rate. If the ratio is less than the first warning threshold, no warning is issued. If the ratio is greater than or equal to the first warning threshold and less than the second warning threshold, a yellow warning signal is generated and a yellow warning is issued. If the ratio is greater than or equal to the second warning threshold and less than the third warning threshold, an orange warning signal is generated and an orange warning is issued. If the ratio is greater than or equal to the third warning threshold, a red warning signal is generated and a red warning is issued. The first warning threshold may be 1.5, the second warning threshold may be 2, and the third warning threshold may be 4.

[0113] The warning management module 3-7 is also used to send the yellow warning signal, orange warning signal and red warning signal to the display module;

[0114] The display module 3 - 5 is also used to display the yellow warning signal, orange warning signal, and red warning signal.

[0115] It should be noted that in the early warning management module 3-7, a slope monitoring graded early warning mechanism is formulated for the displacement change rate of the slope GNSS monitoring station. Based on this mechanism, an early warning is issued for the displacement change rate of the monitoring station obtained by real-time solution. When the real-time solved measurement point data exceeds the set displacement change rate limit, yellow, orange, and red early warning information will be displayed on the platform interface.

[0116] The specific steps of the slope monitoring graded early warning mechanism are as follows:

[0117] ① Analyze the deformation characteristics of historical data observed by the original appearance monitoring automation system through statistical analysis, probability analysis and other methods, obtain empirical warning indicators that characterize the operational stability of the monitoring point, and divide the warning mechanism level of the GNSS single monitoring station. And divide the accelerated deformation stage of a single monitoring station into three levels: yellow, orange, and red. Among them, Xn mm / d is the historical average displacement change rate obtained by calculating and analyzing the displacement data observed by the previous appearance monitoring automation system. The graded warning table is as follows:

[0118] Graded warning table

[0119]

[0120] ② Monitor and warn the monitoring station data updated in real time by the data management module 3-6, store the warning status value of the monitoring station, and display the warning information on the display module 3-5.

[0121] Based on the above implementation method, the module design process of the GNSS automatic surface deformation monitoring system of the dam abutment slope of a hydropower station in this application is as follows: Figure 6As shown, no further description is given here.

[0122] In summary, the GNSS automated surface deformation monitoring system for the dam shoulder slope of a hydropower station proposed in this embodiment has the following advantages: 1. It realizes automatic collection, intelligent processing, and real-time analysis and early warning of monitoring data of key parts of the dam shoulder slope. 2. It formulates a hierarchical early warning mechanism for dam shoulder slope monitoring, monitors and warns the real-time updated displacement change rate data of the monitoring station, and improves the early warning management capability of the dam shoulder slope. 3. It formulates a linkage trigger mechanism, and in special working conditions (such as heavy rain, earthquake), promptly proposes the requirement to start monitoring to the established appearance monitoring automation system of the slope, so as to realize the joint monitoring of the slope surface deformation in daily and emergency conditions, meet the needs of comprehensive analysis of multi-source data, and improve the level of intelligent monitoring of the slope.

[0123] Based on the above hydropower station dam abutment slope GNSS automated surface deformation monitoring system, this application also proposes a hydropower station dam abutment slope GNSS automated surface deformation monitoring method, such as Figure 7 As shown, the method includes:

[0124] Step 1: Based on the pre-deployed GNSS reference station and GNSS monitoring station, collect the GNSS original observation data of each monitoring point in the slope monitoring area at each time within the preset time period;

[0125] Step 2: pre-processing the GNSS raw observation data of each monitoring point at each time within the preset time length to obtain the GNSS pre-processed data at each time within the preset time length, and then using the multi-reference station differential positioning algorithm to solve the GNSS pre-processed data at each time within the preset time length to obtain the three-dimensional coordinates of each monitoring point at each time;

[0126] In the embodiment of the present disclosure, step 2 specifically includes:

[0127] The intelligent cleaning method is used to remove the gross errors in the original GNSS observation data at each moment within the preset time length, and then the least squares method is used to fit and smooth the observation data after the gross errors are removed to obtain the GNSS preprocessed data at each moment within the preset time length;

[0128] The multi-reference station differential positioning algorithm is used to solve the GNSS preprocessed data at each moment within the preset time length to obtain the three-dimensional coordinates of each monitoring point at each moment, and then the deformation data of each monitoring point within the preset time length is determined based on the three-dimensional coordinates of each monitoring point at each moment.

[0129] Step 3: Determine the deformation data of each monitoring point within a preset time period according to the three-dimensional coordinates of each monitoring point at each moment, wherein the deformation data includes: displacement, horizontal combined displacement, and displacement change rate.

[0130] In an embodiment of the present disclosure, the method further includes:

[0131] Obtaining an average displacement change rate of the slope monitoring area during a historical period;

[0132] The ratio of the displacement change rate of each monitoring point within the preset time period to the average value of the displacement change rate is determined respectively. If the ratio is less than the first warning threshold, no warning is issued. If the ratio is greater than or equal to the first warning threshold and less than the second warning threshold, a yellow warning is issued. If the ratio is greater than or equal to the second warning threshold and less than the third warning threshold, an orange warning is issued. If the ratio is greater than or equal to the third warning threshold, a red warning is issued.

[0133] In an embodiment of the present disclosure, the method further includes:

[0134] Determine the current comprehensive evaluation displacement change rate of the slope monitoring area according to the displacement change rate of each monitoring point;

[0135] When the current comprehensive evaluation displacement change rate is greater than or equal to a preset displacement change rate threshold, a monitoring instruction is sent to the appearance monitoring automation system, and the appearance monitoring automation system is used to perform deformation monitoring in the slope monitoring area.

[0136] Specific as Figure 8 As shown, the method includes:

[0137] 1. Use the GNSS equipment of the perception layer monitoring station and the base station to continuously track and observe satellite signals for a long time and obtain GNSS original observation data.

[0138] 2. The data solution module of the control center monitoring platform is used to pre-process the original data, smooth and denoise it, and then the multi-reference station differential positioning algorithm is used to perform differential processing on the reference station data and the data of each monitoring station to solve the precise three-dimensional coordinates of each monitoring point, that is, the three-dimensional coordinates.

[0139] 3. Use the precise three-dimensional coordinates of the monitoring station at different times to convert the cumulative displacement, horizontal total displacement, and displacement change rate, and manage and analyze the monitoring data through the data management module.

[0140] 4. Use the slope monitoring graded warning mechanism of the early warning management module to issue yellow, orange, and red warnings for displacement change rates that exceed the set limit, and display the warning information on the monitoring platform.

[0141] 5. Use the linkage trigger mechanism of the linkage trigger module to judge the current comprehensive evaluation displacement change rate α 现时 Whether it exceeds the comprehensive evaluation displacement change rate start limit α limit, if α 现时 ≥α 限值, the information will be immediately pushed to the appearance monitoring automation system to carry out monitoring work in the corresponding area.

[0142] In summary, the GNSS automated surface deformation monitoring method for a hydropower station abutment slope proposed in this embodiment can further improve the intelligence level of slope safety monitoring and the emergency control capability of the hydropower station slope safety.

[0143] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0144] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0145] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A GNSS automated surface deformation monitoring system for abutment slopes of a hydropower station, characterized in that: The system comprises: a perception layer, a data transmission layer and a control layer, wherein the control layer comprises a data solution module; The perception layer is used to collect GNSS raw observation data of each monitoring point in the slope monitoring area at each time within a preset time period based on the pre-deployed GNSS reference station and GNSS monitoring station; The data transmission layer is used to transmit the GNSS raw observation data of each monitoring point at each time within a preset time period to the control layer; The data solving module is used to pre-process the GNSS original observation data of each monitoring point at each time within a preset time length to obtain the GNSS pre-processed data at each time within the preset time length, and then use the multi-reference station differential positioning algorithm to solve the GNSS pre-processed data at each time within the preset time length to obtain the three-dimensional coordinates of each monitoring point at each time; The data solving module is further used to determine the deformation data of each monitoring point within a preset time period according to the three-dimensional coordinates of each monitoring point at each moment, wherein the deformation data includes: displacement, horizontal combined displacement, and displacement change rate.

2. The system according to claim 1, characterized in that The control layer also includes: a linkage trigger module; The linkage trigger module is used to determine the current comprehensive evaluation displacement change rate of the slope monitoring area according to the displacement change rate of each monitoring point. When the current comprehensive evaluation displacement change rate is greater than or equal to a preset displacement change rate threshold, a monitoring instruction is sent to the appearance monitoring automation system, and deformation monitoring is performed in the slope monitoring area using the appearance monitoring automation system.

3. The system according to claim 2, characterized in that The data solution module includes: a data preprocessing unit and a GNSS baseline solution unit; The data preprocessing unit is used to remove gross errors in the GNSS original observation data at each moment within a preset time length by using an intelligent cleaning method, and then use the least squares method to fit and smooth the observation data after the gross errors are removed to obtain the GNSS preprocessed data at each moment within the preset time length; The GNSS baseline solution unit is used to solve the GNSS preprocessed data at each moment within the preset time length using a multi-reference station differential positioning algorithm to obtain the three-dimensional coordinates of each monitoring point at each moment, and then determine the deformation data of each monitoring point within the preset time length based on the three-dimensional coordinates of each monitoring point at each moment.

4. The system according to claim 3, characterized in that The control layer also includes: a device remote control module; The equipment remote control module is used to debug and access the GNSS reference station and the GNSS monitoring station.

5. The system according to claim 4, characterized in that The control layer also includes: a device management module and a display module; The device management module is used to obtain the operating status data of the number of satellite searches, power, horizontal precision factor and elevation precision factor of the GNSS reference station and the GNSS monitoring station in real time; The display module is used to display the operating status data.

6. The system according to claim 5, characterized in that The control layer also includes: a data management module; The data management module is used to perform data management and chart analysis on the deformation data of each monitoring point within a preset time period, obtain a data analysis chart, and then send the data analysis chart to the display module; The display module is also used to display the data analysis chart.

7. The system according to claim 6, characterized in that The control layer also includes: an early warning management module; The early warning management module is used to obtain the average displacement change rate of the slope monitoring area in the historical period, and then determine the ratio of the displacement change rate of each monitoring point in the preset time period to the average displacement change rate. If the ratio is less than a first early warning threshold, no early warning is issued. If the ratio is greater than or equal to the first early warning threshold and less than a second early warning threshold, a yellow early warning signal is generated and a yellow early warning is issued. If the ratio is greater than or equal to the second early warning threshold and less than a third early warning threshold, an orange early warning signal is generated and an orange early warning is issued. If the ratio is greater than or equal to the third early warning threshold, a red early warning signal is generated and a red early warning is issued. The warning management module is further used to send the yellow warning signal, the orange warning signal, and the red warning signal to the display module; The display module is also used to display the yellow warning signal, the orange warning signal, and the red warning signal.

8. A method for GNSS automated surface deformation monitoring of abutment slopes of a hydropower station based on the GNSS automated surface deformation monitoring system for abutment slopes of a hydropower station according to any one of claims 1 to 7, characterized in that: The method comprises: Based on the pre-deployed GNSS base stations and GNSS monitoring stations, the original GNSS observation data of each monitoring point in the slope monitoring area at each time within the preset time period are collected; Preprocessing the GNSS raw observation data of each monitoring point at each time within a preset time length to obtain GNSS preprocessed data at each time within the preset time length, and then solving the GNSS preprocessed data at each time within the preset time length using a multi-reference station differential positioning algorithm to obtain the three-dimensional coordinates of each monitoring point at each time; The deformation data of each monitoring point within a preset time period is determined according to the three-dimensional coordinates of each monitoring point at each time, wherein the deformation data includes: displacement, horizontal combined displacement, and displacement change rate.

9. The method according to claim 8, characterized in that The method further comprises: Obtaining an average displacement change rate of the slope monitoring area during a historical period; The ratio of the displacement change rate of each monitoring point within the preset time period to the average value of the displacement change rate is determined respectively. If the ratio is less than the first warning threshold, no warning is issued. If the ratio is greater than or equal to the first warning threshold and less than the second warning threshold, a yellow warning is issued. If the ratio is greater than or equal to the second warning threshold and less than the third warning threshold, an orange warning is issued. If the ratio is greater than or equal to the third warning threshold, a red warning is issued.

10. The method according to claim 8, characterized in that The method further comprises: Determine the current comprehensive evaluation displacement change rate of the slope monitoring area according to the displacement change rate of each monitoring point; When the current comprehensive evaluation displacement change rate is greater than or equal to a preset displacement change rate threshold, a monitoring instruction is sent to the appearance monitoring automation system, and the appearance monitoring automation system is used to perform deformation monitoring in the slope monitoring area.

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