Target displacement measurement method, device, equipment and medium

Abstract

The invention discloses a target displacement measurement method, device and equipment and a medium, and belongs to the technical field of deformation monitoring. The method comprises the following steps: acquiring initial position coordinate data of a target and a radar in a Cartesian coordinate system; acquiring distance change data between the target and the radar after the target moves; and on the basis of the initial position coordinate data of the target and the radar in the Cartesian coordinate system and the distance change data between the target and the radar after the target moves, the displacement distances of the target in multiple orthogonal directions of the Cartesian coordinate system after the target moves are obtained. According to the target displacement measurement method provided by the invention, a plurality of radars are used for observing the moving distance of a target to obtain a plurality of observed quantities, and then the observed quantities are calculated into the displacement distances of two or three orthogonal directions in a Cartesian coordinate system through calculation to obtain the two-dimensional or three-dimensional displacement of the target; and the resolving precision can be improved by adding range radars in more directions, and the method is flexible, universal, simple, efficient and high in resolving precision.

Description

Technical Field

[0001] The invention belongs to the technical field of deformation monitoring, and relates to a target displacement measurement method, device, equipment and medium. Background Art

[0002] Interferometric radar is an important deformation monitoring device that can obtain tiny displacements of targets with an accuracy of 0.1 mm or even 0.01 mm. Since its basic principle is electromagnetic wave ranging, a radar can actually only obtain one observation of the target displacement, that is, a one-dimensional observation, which represents the change in the distance between the target and the radar. In actual situations, the target often has two-dimensional or even three-dimensional displacements, and the one-dimensional observation cannot accurately restore the deformation of the target. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a target displacement measurement method, device, equipment and medium to accurately calculate the original observation of the radar on the target movement distance into the displacement in two or three orthogonal directions of the Cartesian coordinate system.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0005] In a first aspect, the present invention provides a method for measuring target displacement, comprising:

[0006] Obtain the initial position coordinate data of the target and the radar in the Cartesian coordinate system;

[0007] Obtain the distance change data between the target and the radar after it moves;

[0008] Based on the initial position coordinate data of the target and the radar in the Cartesian coordinate system, and the distance change data between the target and the radar after the target moves, the displacement distances of the target in multiple orthogonal directions in the Cartesian coordinate system after the target moves are obtained.

[0009] Furthermore, the number of the radars is at least two.

[0010] Furthermore, multiple radars are time synchronized through satellite timing, network timing or electromagnetic wave communication.

[0011] Furthermore, the displacement of the target in three directions is measured by three radars to obtain the displacement distance of the target in three orthogonal directions of the Cartesian coordinate system after the target moves;

[0012] The three radars include a first direction radar, a second direction radar and a third direction radar.

[0013] Furthermore, the displacement of the target in three directions is measured by three radars to obtain the displacement distance of the target in three orthogonal directions of the Cartesian coordinate system after the target moves, including:

[0014] The initial position coordinates of the target in the Cartesian coordinate system are ;

[0015] The initial position coordinates of the first direction radar in the Cartesian coordinate system are: ;

[0016] The initial position coordinates of the second direction radar in the Cartesian coordinate system are: ;

[0017] The initial position coordinates of the third direction radar in the Cartesian coordinate system are: ;

[0018] The initial distance between the target and the first direction radar is:

[0019] ;

[0020] The initial distance between the target and the second direction radar is:

[0021] ;

[0022] The initial distance between the target and the third direction radar is:

[0023] ;

[0024] Assume that the displacement distance of the target in the three orthogonal directions of the Cartesian coordinate system after it moves is ;

[0025] After the target moves, the distance between it and the radar in the first direction is:

[0026] ,

[0027] Then the distance change between the target and the radar in the first direction is:

[0028] ;

[0029] After the target moves, the distance between it and the second direction radar is:

[0030] ,

[0031] Then the distance change between the target and the second direction radar is:

[0032] ;

[0033] After the target moves, the distance between it and the third direction radar is:

[0034] ,

[0035] Then the distance change between the target and the third direction radar is:

[0036] ;

[0037] Since the distance between the radar and the target is much greater than the displacement of the target, , and The calculation formulas are:

[0038] ,

[0039] ,

[0040] ,

[0041] in, represents the partial derivative, Representation function right The partial derivative of , , ; , , ; , , ;

[0042] Said , and The calculation formula is combined into J ⋅ [ D x 1 D y 1 D z 1 ] = [ D L ( AB ) D L ( AC ) D L ( AD ) ] ,

[0043] in, represents the Jacobian matrix, J = [ x 1 − x 2 L ( AB ) y 1 − y 2 L ( AB ) z 1 − z 2 L ( AB ) x 1 − x 3 L ( AC ) y 1 − y 3 L ( AC ) z 1 − z 3 L ( AC ) x 1 − x 4 L ( AD ) y 1 − y 4 L ( AD ) z 1 − z 4 L ( AD ) ] ;

[0044] Then, the displacement distance of the target in three orthogonal directions of the Cartesian coordinate system is obtained. The calculation formula is:

[0045] [ D x 1 D y 1 D z 1 ] = J − 1 ⋅ [ D L ( AB ) D L ( AC ) D L ( AD ) ] .

[0046] In a second aspect, the present invention further provides a target displacement measuring device, the device comprising:

[0047] An initial position coordinate acquisition module is used to obtain the initial position coordinate data of the target and the radar in a Cartesian coordinate system;

[0048] The distance change data acquisition module is used to obtain the distance change data between the target and the radar after the target moves;

[0049] The displacement distance acquisition module is used to obtain the displacement distance of the target in multiple orthogonal directions of the Cartesian coordinate system after the target moves based on the initial position coordinate data of the target and the radar in the Cartesian coordinate system and the distance change data between the target and the radar after the target moves.

[0050] In a third aspect, the present invention further provides a computer device, comprising:

[0051] Memory for storing computer programs;

[0052] A processor is used to execute the computer program to implement the steps of the above-mentioned target displacement measurement method.

[0053] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the steps of the above-mentioned target displacement measurement method.

[0054] Compared with the prior art, the present invention has the following beneficial effects:

[0055] The target displacement measurement method provided by the present invention uses multiple radars to observe the moving distance of the target in multiple directions, obtains multiple original observation quantities, and then solves the original observation quantities into two-dimensional or three-dimensional displacement quantities of the target in the orthogonal directions of the Cartesian coordinate system by calculation. The method is simple and efficient, and the solving accuracy is high. When two radars are used for synchronous observation, the two-dimensional displacement of the target can be obtained; when three radars are used for synchronous observation, the three-dimensional displacement of the target can be obtained; more radars can also be used for synchronous observation, and the increased observation quantities can be used to improve the solving accuracy. The method is flexible and universal. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic diagram of a flow chart of a target displacement measurement method provided by an embodiment of the present invention;

[0057] Figure 2 A schematic diagram of the structure of a target displacement measurement device provided by an embodiment of the present invention;

[0058] Figure 3 An internal structure diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. The embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0060] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0061] Embodiment 1:

[0062] like Figure 1 As shown, an embodiment of the present invention provides a method for measuring target displacement. Figure 1 The flowchart is a schematic diagram of the target displacement measurement method. This flowchart only shows the logical sequence of the method described in this embodiment. Under the premise of no conflict, in other possible embodiments of the present invention, different methods can be used. Figure 1 The steps shown or described are accomplished in the order shown.

[0063] The target displacement measurement method provided in this embodiment can be applied to a terminal, and can be executed by a target displacement measurement device, which can be implemented by software and / or hardware, and can be integrated in a terminal.

[0064] See also Figure 1 The method of the embodiment of the present invention specifically includes the following steps:

[0065] Obtain the initial position coordinate data of the target and the radar in the Cartesian coordinate system;

[0066] Obtain the distance change data between the target and the radar after it moves;

[0067] Based on the initial position coordinate data of the target and the radar in the Cartesian coordinate system, and the distance change data between the target and the radar after the target moves, the displacement distances of the target in multiple orthogonal directions in the Cartesian coordinate system after the target moves are obtained.

[0068] The orthogonal directions of the Cartesian coordinate system are its X-axis, Y-axis and Z-axis directions.

[0069] Among them, the number of radars is at least two. Multiple radars are used to obtain the displacement (original observation) of the target in two or more directions. These observations are the distance changes of the target relative to each radar, and then the observations of multiple radars are solved into the Cartesian coordinate system through calculation.

[0070] When two radars are used for synchronous observation, the original observation amount can be used to solve the target's two-dimensional displacement; when three radars are used for synchronous observation, the original observation amount can be used to solve the target's three-dimensional displacement. In addition, more radars can be used for synchronous observation, and the additional observation amount can be used to improve the solution accuracy.

[0071] When multiple radars are used, they must be time synchronized. Only synchronized observation data can accurately obtain the displacement of the target through data processing. Synchronous observation of radars can be achieved through satellite timing, network timing or electromagnetic wave communication.

[0072] When the radar is installed in an open environment, you can choose to synchronize using the GNSS (Global Navigation Satellite System) timing method, or you can use network synchronization technology (such as time synchronization technology based on protocols such as NTP and PTP), or use time synchronization technology using a custom protocol.

[0073] When the radar is installed in a shielded environment, network synchronization technology (such as time synchronization technology based on protocols such as NTP and PTP) can be used, or time synchronization technology based on a custom protocol can be used. Alternatively, GNSS signals can be introduced into the shielded environment through a GNSS signal repeater, and then GNSS timing can be used for time synchronization.

[0074] The time synchronization accuracy requirement is determined by the observation method and the properties of the target. Generally speaking, the observation target of a real aperture radar is generally a vibrating target with a fast displacement speed. Its observation rate can reach up to tens of hertz, so the time synchronization accuracy can reach the millisecond level. The observation target of a synthetic aperture radar is generally a slow displacement, and the observation cycle is at most seconds, so the time synchronization requirement can reach 0.1 seconds. The above-mentioned NTP, PTP, and GNSS timing can meet the requirements.

[0075] The following takes the displacement measurement of the target in three directions by three radars as an example to explain how the present invention converts the radar observation quantity into the displacement distance in three orthogonal directions of the Cartesian coordinate system. The three radars are respectively a first direction radar, a second direction radar and a third direction radar.

[0076] The initial position coordinate data of the target in the Cartesian coordinate system is ;

[0077] The initial position coordinate data of the first direction radar in the Cartesian coordinate system is: ;

[0078] The initial position coordinate data of the second direction radar in the Cartesian coordinate system is: ;

[0079] The initial position coordinate data of the third direction radar in the Cartesian coordinate system is: .

[0080] According to the initial position coordinate data of the target and the radar in the Cartesian coordinate system , , and , we can get the initial distance between the target and the three radars:

[0081] The initial distance between the target and the first direction radar is:

[0082] ;

[0083] The initial distance between the target and the second direction radar is:

[0084] ;

[0085] The initial distance between the target and the third direction radar is:

[0086] .

[0087] Assume that after the target moves, the displacement distance in the three orthogonal directions of the Cartesian coordinate system is , the distance between the target and the three radars after moving and the change from the initial distance can be obtained.

[0088] After the target moves, the distance between it and the radar in the first direction is:

[0089] ,

[0090] The distance change between the target and the first direction radar is:

[0091] ;

[0092] After the target moves, the distance between it and the second direction radar is:

[0093] ,

[0094] Then the distance change between the target and the second direction radar is:

[0095] ;

[0096] After the target moves, the distance between it and the third direction radar is:

[0097] ,

[0098] Then the distance change between the target and the third direction radar is:

[0099] .

[0100] The observations of the first direction radar, the second direction radar and the third direction radar are the changes in their respective distances from the target. , and So the goal becomes to use three distance changes , and Solve the above .

[0101] Since the distance between the radar and the target (usually several hundred meters) is much larger than the displacement of the target (usually several millimeters), the solution process can be linearized with the help of partial derivatives:

[0102] , and The calculation formulas are expressed as follows:

[0103] ,

[0104] ,

[0105] ,

[0106] in, represents the partial derivative, Representation function right The partial derivative of , , ; , , ; , , .

[0107] Said , and The calculation formula can be combined into J ⋅ [ D x 1 D y 1 D z 1 ] = [ D L ( AB ) D L ( AC ) D L ( AD ) ] ,

[0108] in, represents the Jacobian matrix, J = [ x 1 − x 2 L ( AB ) y 1 − y 2 L ( AB ) z 1 − z 2 L ( AB ) x 1 − x 3 L ( AC ) y 1 − y 3 L ( AC ) z 1 − z 3 L ( AC ) x 1 − x 4 L ( AD ) y 1 − y 4 L ( AD ) z 1 − z 4 L ( AD ) ] ;

[0109] Will J ⋅ [ D x 1 D y 1 D z 1 ] = [ D L ( AB ) D L ( AC ) D L ( AD ) ] The displacement distance of the target in the three orthogonal directions of the Cartesian coordinate system can be obtained by conversion. The calculation formula is:

[0110] [ D x 1 D y 1 D z 1 ] = J − 1 ⋅ [ D L ( AB ) D L ( AC ) D L ( AD ) ] ,

[0111] In the above formula, the right side of the equal sign is a known quantity. So far, based on the initial position coordinates of the target in the Cartesian coordinate system before movement and the coordinates of the three radars, as well as the distance change data between the radar and the target obtained through radar observation after the target moves, the displacement of the target in the three orthogonal directions of the Cartesian coordinate system is calculated.

[0112] If the displacement characteristics of the target in a certain direction have been mastered, for example, high-rise buildings can generally only displace in the horizontal direction in a short period of time, and the displacement in the vertical direction can be ignored, then only two radars can be used to calculate the displacement of the target in two orthogonal directions in the Cartesian coordinate system, and the calculation method can be simplified accordingly.

[0113] The method of the present invention can adapt to the situation where the radar observation directions are not orthogonal, and finally decompose the observation results into different axes of the coordinate system, so there is no need to be strict about the radar observation direction. However, if the angle between the radars is close to 0 degrees or 180 degrees, it will lead to large errors or even no solution. Therefore, in order to obtain higher results, the line connecting the radar and the target should be perpendicular to each other as much as possible.

[0114] Embodiment 2:

[0115] Based on the same inventive concept as in Example 1, the embodiment of the present invention further provides a target displacement measurement device for implementing the above target displacement measurement method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the target displacement measurement device embodiment provided below can refer to the limitations of the target displacement measurement method above, and will not be repeated here.

[0116] like Figure 2 As shown, an embodiment of the present invention provides a target displacement measuring device, comprising:

[0117] An initial position coordinate acquisition module is used to obtain the initial position coordinate data of the target and the radar in a Cartesian coordinate system;

[0118] The distance change data acquisition module is used to obtain the distance change data between the target and the radar after the target moves;

[0119] The displacement distance acquisition module is used to obtain the displacement distance of the target in multiple orthogonal directions of the Cartesian coordinate system after the target moves based on the initial position coordinate data of the target and the radar in the Cartesian coordinate system and the distance change data between the target and the radar after the target moves.

[0120] Embodiment 3:

[0121] The embodiment of the present invention further provides a computer device, which may be a server, and its internal structure diagram may be as shown in FIG. Figure 3 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the target displacement measurement method in the aforementioned embodiment is implemented.

[0122] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0123] Embodiment 4:

[0124] The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the following method are implemented:

[0125] Obtain the initial position coordinate data of the target and the radar in the Cartesian coordinate system;

[0126] Obtain the distance change data between the target and the radar after it moves;

[0127] Based on the initial position coordinate data of the target and the radar in the Cartesian coordinate system, and the distance change data between the target and the radar after the target moves, the displacement distances of the target in multiple orthogonal directions in the Cartesian coordinate system after the target moves are obtained.

[0128] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products, and therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0129] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure one A process or multiple processes and / or boxes Figure one A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure one A process or multiple processes and / or boxes Figure one A function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure one A process or multiple processes and / or boxes Figure one The steps for the functions specified in one or more boxes.

[0132] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A method for measuring target displacement, characterized in that: include: Obtain the initial position coordinate data of the target and the radar in the Cartesian coordinate system; Obtain the distance change data between the target and the radar after it moves; Based on the initial position coordinate data of the target and the radar in the Cartesian coordinate system, and the distance change data between the target and the radar after the target moves, the displacement distances of the target in multiple orthogonal directions in the Cartesian coordinate system after the target moves are obtained.

2. The target displacement measurement method according to claim 1, characterized in that: The number of the radars is at least two.

3. The target displacement measurement method according to claim 2, characterized in that: Multiple radars are synchronized through satellite timing, network timing or electromagnetic wave communication.

4. The target displacement measurement method according to claim 1, characterized in that: The displacement of the target in three directions is measured by three radars to obtain the displacement distance of the target in three orthogonal directions of the Cartesian coordinate system after the target moves; The three radars include a first direction radar, a second direction radar and a third direction radar.

5. The target displacement measurement method according to claim 4, characterized in that: The displacement of the target in three directions is measured by three radars to obtain the displacement distance of the target in three orthogonal directions of the Cartesian coordinate system after the target moves, including: The initial position coordinates of the target in the Cartesian coordinate system are ; The initial position coordinates of the first direction radar in the Cartesian coordinate system are: ; The initial position coordinates of the second direction radar in the Cartesian coordinate system are: ; The initial position coordinates of the third direction radar in the Cartesian coordinate system are: ; The initial distance between the target and the first direction radar is: ； The initial distance between the target and the second direction radar is: ； The initial distance between the target and the third direction radar is: ； Assume that the displacement distance of the target in the three orthogonal directions of the Cartesian coordinate system after it moves is ; After the target moves, the distance between it and the radar in the first direction is: ， Then the distance change between the target and the radar in the first direction is: ； After the target moves, the distance between it and the second direction radar is: ， Then the distance change between the target and the second direction radar is: ； After the target moves, the distance between it and the third direction radar is: ， Then the distance change between the target and the third direction radar is: ； Since the distance between the radar and the target is much greater than the displacement of the target, , and The calculation formulas are: ， ， ， in, represents the partial derivative, Representation function right The partial derivative of , , ; , , ; , , ; Said , and The calculation formula is combined into , in, represents the Jacobian matrix, ; Then, the displacement distance of the target in three orthogonal directions of the Cartesian coordinate system is obtained. The calculation formula is: 。 6. A target displacement measuring device, characterized in that: include: An initial position coordinate acquisition module is used to obtain the initial position coordinate data of the target and the radar in a Cartesian coordinate system; The distance change data acquisition module is used to obtain the distance change data between the target and the radar after the target moves; The displacement distance acquisition module is used to obtain the displacement distance of the target in multiple orthogonal directions of the Cartesian coordinate system after the target moves based on the initial position coordinate data of the target and the radar in the Cartesian coordinate system and the distance change data between the target and the radar after the target moves.

7. A computer device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program to implement the steps of the target displacement measurement method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the target displacement measurement method according to any one of claims 1 to 5 are implemented.

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