A slope monitoring method and system for complex terrain and vegetation coverage environment

Abstract

The present invention provides a slope monitoring method and system for complex terrain and vegetation-covered environments, belonging to the technical field of slope monitoring. The invention introduces ground laser scanners, MEMS accelerometers, gyroscopes, wind speed and direction sensing units, and at the same time, adopts a single Beidou satellite reception optimization algorithm, an installation environment obstacle avoidance satellite reception optimization algorithm, an extreme weather displacement correction algorithm, and a multi-source parameter fusion correction algorithm to analyze and adjust the configuration parameters of the slope monitoring system, obtain the best reception effect of a Beidou receiving terminal, ensure that the Beidou receiving terminal obtains high-precision positioning data in a complex environment, thereby improving the accuracy of early warning information.

Description

Technical Field

[0001] The present invention relates to the technical field of slope monitoring, and in particular to a slope monitoring method and system for complex terrain and vegetation covered environments. Background Art

[0002] Slope refers to the soil or rock interface with a certain inclination angle, which is common in natural environments and artificial projects. The stability of slopes is affected by factors such as geological structure, soil structure, and hydrological conditions. The types of disasters that occur on slopes mainly include landslides, collapses, and mudslides. These natural disasters are characterized by suddenness and great destructiveness.

[0003] Among the key indicators of slope monitoring, the "displacement" indicator has the longest use cycle and the widest application scenario. Real-time monitoring and diagnosis of displacement data is an important means to prevent slopes from evolving into landslides. Modern commonly used surface displacement monitoring equipment is a GNSS receiver, which can sense abnormal conditions such as deformation and displacement of the slope body in real time, and automatically identify signs of slope instability through intelligent analysis algorithms, thereby early warning of geological disaster risks. With the development of the Beidou satellite navigation system and the needs of national security, traditional GNSS receivers are gradually unable to meet market demand and are replaced by single Beidou receivers. Compared with GNSS receivers, single Beidou receivers can only receive Beidou satellites, and the number of received satellites is much reduced. In some environments, such as urban canyons or dense forests, the number of visible satellites may decrease. In some cases, satellite signals may be blocked or interfered. Slopes and collapses in geological disasters in my country often occur in natural environments. Single Beidou receivers are often deployed on slopes in complex terrains of high mountain canyons and areas with severe vegetation coverage. These environments cause great interference to the number and ability of single Beidou receivers to receive satellites. How to obtain high-precision positioning data in complex environments is an urgent problem to be solved. Summary of the invention

[0004] In order to solve the problems in the above-mentioned prior art, the present invention provides a slope monitoring method and system for complex terrain and vegetation-covered environments. The invention introduces ground laser scanners, MEMS accelerometers, gyroscopes, wind speed and direction sensing units, and at the same time, uses a single Beidou satellite reception optimization algorithm, an installation environment obstacle avoidance satellite reception optimization algorithm, an extreme weather displacement correction algorithm, and a multi-source parameter fusion correction algorithm to analyze and adjust the configuration parameters of the slope monitoring system, obtain the best reception effect of the Beidou receiving terminal, and ensure that the Beidou receiving terminal obtains high-precision positioning data in a complex environment, thereby improving the accuracy of the early warning information. To achieve the above purpose, the technical solution is as follows:

[0005] In one aspect, the present invention provides a slope monitoring method for complex terrain and vegetation covered environment, the method comprising:

[0006] S1. Install a Beidou receiving terminal, a ground laser scanner, a MEMS sensor, and a wind speed and direction sensor on a vertical pole to obtain a slope monitoring device;

[0007] S2. According to the slope monitoring device, data of the debugging period is collected and uploaded to the cloud platform system to obtain monitoring data of the debugging period;

[0008] S3, according to the monitoring data of the debugging period, the configuration parameters of the slope monitoring system are obtained by optimizing the correction algorithm;

[0009] S4. According to the configuration parameters of the slope monitoring system, the slope monitoring device is configured to obtain an optimized slope monitoring system;

[0010] S5. Through the optimized slope monitoring system, data is collected and analyzed regularly to obtain slope warning information.

[0011] Optionally, the Beidou receiving terminal, the ground laser scanner, the MEMS sensor and the wind speed and direction sensor share a power supply system;

[0012] The Beidou receiving terminal is installed on the top of the pole.

[0013] Optionally, in S2, data of the debugging period is collected according to the slope monitoring device and uploaded to the cloud platform system to obtain the monitoring data of the debugging period, including:

[0014] S21, according to the slope monitoring device, obtaining satellite reception data during the debugging period through the Beidou receiving terminal;

[0015] S22, obtaining point cloud data of the debugging period through the ground laser scanner according to the slope monitoring device;

[0016] S23, according to the slope monitoring device, obtaining acceleration data and inclination data of the debugging period through the MEMS sensor;

[0017] S24, according to the slope monitoring device, obtaining wind speed and direction data during the debugging period through the wind speed and direction sensor;

[0018] S25. According to the slope monitoring device, through the pole, the installation position data of the Beidou receiving terminal, the installation position data of the ground laser scanner, the installation position data of the MEMS sensor, and the installation position data of the wind speed and direction sensor are obtained;

[0019] S26, obtaining the data of the debugging period by integrating the satellite reception data of the debugging period, the point cloud data of the debugging period, the acceleration data of the debugging period, the tilt data of the debugging period, the wind speed and direction data of the debugging period, the installation position data of the Beidou receiving terminal, the installation position data of the ground laser scanner, the installation position data of the MEMS sensor, and the installation position data of the wind speed and direction sensor;

[0020] S27. Upload the data of the debugging period to the cloud platform system to obtain the monitoring data of the debugging period.

[0021] Optionally, the optimization correction algorithm includes: a single Beidou satellite reception optimization algorithm, an installation environment obstacle avoidance satellite reception optimization algorithm, an extreme weather displacement correction algorithm and a multi-source parameter fusion correction algorithm.

[0022] Optionally, the calculation process of the single Beidou satellite reception optimization algorithm includes:

[0023] S311, obtaining the ephemeris information of the Beidou satellite according to the monitoring data during the debugging period;

[0024] S312, according to the ephemeris information of the Beidou satellite, calculate through formula (1) to obtain the ephemeris quality score of the Beidou satellite,

[0025] Q_i = S_i / [1 + (El_i / El_max) 2 ] (1)

[0026] Where, Q_i is the ephemeris quality score of BeiDou satellite i, S_i is the signal strength of BeiDou satellite i, El_i is the elevation angle of BeiDou satellite i, and El_max is the maximum elevation that the receiver can reach;

[0027] S313. According to the ephemeris quality scores of the Beidou satellites, by comparison, a satellite with the highest ephemeris quality score of the Beidou satellite is selected to obtain the elevation angle of the satellite with the highest ephemeris quality score of the Beidou satellite;

[0028] S314. According to the ephemeris quality score of the Beidou satellite, the total ephemeris of the Beidou satellite is obtained by formula (2).

[0029] Q_ttal = Σ Q_i (2)

[0030] Where, Q_ttal is the total ephemeris of Beidou satellite;

[0031] S315, according to the elevation angle of the satellite with the highest ephemeris quality score of the Beidou satellite and the total ephemeris of the Beidou satellite, the optimal elevation angle of the Beidou satellite is obtained by formula (3),

[0032] El_pt = El_main + k (1 - Q_ttal / Q_threshld) (3)

[0033] Where El_pt is the optimal elevation angle of the Beidou satellite, El_main is the elevation angle of the satellite with the highest Beidou satellite ephemeris quality score, Q_threshld is the threshold of the Beidou satellite ephemeris quality score, and k is the adjustment coefficient.

[0034] Optionally, the calculation process of the installation environment obstacle avoidance satellite reception optimization algorithm includes:

[0035] S321, obtaining three-dimensional point cloud data and MEMS sensor data of the ground surface according to the monitoring data during the debugging period;

[0036] S322. According to the three-dimensional point cloud data of the surface, the occlusion factor in each direction is obtained by formula (4):

[0037] o_factr(θ_directin) = (1 - o_terrain(θ_directin)) (1 - o_vegetatin(θ_directin))(4)

[0038] Wherein, o_factr(θ_directin) is the occlusion factor of the direction angle θ_directin, o_terrain(θ_directin) is the terrain occlusion ratio of the direction angle θ_directin, and o_vegetatin(θ_directin) is the vegetation occlusion ratio of the direction angle θ_directin;

[0039] S323, obtaining a total occlusion effect in each direction by summing up the occlusion factors in each direction;

[0040] S324. According to the total occlusion effect in each direction, the best receiving direction is obtained by formula (5).

[0041] θ_best = argmax(o_ttal(θ_directin)) (5)

[0042] Where θ_best is the best receiving direction, o_ttal(θ_directin) is the total occlusion effect of the direction angle θ_directin;

[0043] S325, obtaining a corrected ephemeris quality score by correcting the ephemeris quality score of the Beidou satellite according to the MEMS sensor data and the optimal receiving direction;

[0044] S326. According to the corrected ephemeris quality score, select the Beidou satellite combination with the highest corrected ephemeris quality score, and obtain final positioning data parameters through calculation.

[0045] Optionally, the calculation process of the extreme weather displacement correction algorithm includes:

[0046] S331. Obtain wind speed, wind direction, installation height of the Beidou receiving terminal and MEMS sensor data according to the monitoring data during the debugging period;

[0047] S332, obtaining the wind-induced displacement of the Beidou receiving terminal through calculation according to the wind speed, the wind direction and the installation height of the Beidou receiving terminal;

[0048] S333, obtaining the attitude displacement of the Beidou receiving terminal through calculation according to the MEMS sensor data and the installation height of the Beidou receiving terminal;

[0049] S334, according to the wind displacement of the Beidou receiving terminal and the attitude displacement of the Beidou receiving terminal, after correction by formula (6), the corrected positioning data of the Beidou receiver is obtained,

[0050] Δd_bds_crrected = Δd_bds - Δd_wind + Δd_mems (6)

[0051] Wherein, Δd_bds_crrected is the corrected positioning data of the Beidou receiver, Δd_bds is the original positioning data of the Beidou receiver, Δd_wind is the wind-induced displacement of the Beidou receiving terminal, and Δd_mems is the attitude displacement of the Beidou receiving terminal.

[0052] Optionally, the calculation method of the multi-source parameter fusion correction algorithm includes:

[0053] Δd_bds_crrecteds =Δd_bds_crrected + Σ(ω_i Δd_i) + Δd_tls (7)

[0054] Wherein, Δd_bds_crrecteds is the positioning data of the Beidou receiver after multi-source parameter fusion correction, ω_i is the weight factor of the i-th sensor, Δd_i is the displacement correction value measured by the i-th sensor, and Δd_tls is the displacement correction value calculated by the ground laser scanner data.

[0055] Optionally, the method for calculating the displacement correction value calculated by the terrestrial laser scanner data includes:

[0056] Δd_tls = h(pint_clud_data, vegetatin_height, terrain_slpe) (8)

[0057] Where pint_clud_data is the 3D point cloud data obtained by TLS, vegetation_height is the vegetation height, terrain_slpe is the terrain slope, and h is a function determined by experiments or simulations.

[0058] On the other hand, the present invention provides a slope monitoring system for complex terrain and vegetation covered environment, the system is applied to a slope monitoring method for complex terrain and vegetation covered environment, the system comprising:

[0059] The device installation module installs the Beidou receiving terminal, the ground laser scanner, the MEMS sensor and the wind speed and direction sensor on a vertical pole to obtain a slope monitoring device;

[0060] The first acquisition module collects the data of the debugging period according to the slope monitoring device and uploads it to the cloud platform system to obtain the monitoring data of the debugging period;

[0061] The second acquisition module obtains the configuration parameters of the slope monitoring system through an optimization correction algorithm based on the monitoring data during the debugging period;

[0062] A system optimization module, which configures the slope monitoring device according to the configuration parameters of the slope monitoring system to obtain an optimized slope monitoring system;

[0063] The information warning module collects and analyzes data regularly through the optimized slope monitoring system to obtain slope warning information.

[0064] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects:

[0065] The above scheme, on the one hand, introduces ground laser scanners, MEMS accelerometers, gyroscopes, wind speed and direction and other sensor units; on the other hand, it adopts a single Beidou satellite reception optimization algorithm, an installation environment obstacle avoidance satellite reception optimization algorithm, an extreme weather displacement correction algorithm and a multi-source parameter fusion correction algorithm to analyze and adjust the configuration parameters of the slope monitoring system to obtain the best reception effect of the Beidou receiving terminal, ensure that the Beidou receiving terminal can obtain high-precision positioning data in a complex environment, and thus improve the accuracy of the early warning information. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0067] Figure 1 It is a flow chart of an embodiment of a slope monitoring method for complex terrain and vegetation covered environment of the present invention;

[0068] Figure 2 It is a flow chart of obtaining the monitoring data during the debugging period in the embodiment of the slope monitoring method for complex terrain and vegetation covered environment of the present invention;

[0069] Figure 3 It is a flow chart of the calculation process of a single Beidou satellite reception optimization algorithm in an embodiment of the slope monitoring method for complex terrain and vegetation coverage environment of the present invention;

[0070] Figure 4 It is a flow chart of the calculation process of the installation environment obstacle avoidance satellite reception optimization algorithm in the embodiment of the slope monitoring method for complex terrain and vegetation covered environment of the present invention;

[0071] Figure 5 It is a flow chart of the calculation process of the extreme weather displacement correction algorithm in the embodiment of the slope monitoring method for complex terrain and vegetation covered environment of the present invention;

[0072] Figure 6 It is a system block diagram of a system embodiment of a slope monitoring method embodiment for complex terrain and vegetation covered environment of the present invention. DETAILED DESCRIPTION

[0073] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0074] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0075] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0076] like Figure 1The flowchart of the embodiment of the slope monitoring method for complex terrain and vegetation covered environment of the present invention is shown in FIG. The present invention provides a slope monitoring method for complex terrain and vegetation covered environment, which is implemented by a slope monitoring system for complex terrain and vegetation covered environment, and the method includes:

[0077] S1. Install a Beidou receiving terminal, a ground laser scanner, a MEMS sensor, and a wind speed and direction sensor on a vertical pole to obtain a slope monitoring device;

[0078] Specifically, the Beidou receiving terminal, the ground laser scanner, the MEMS sensor and the wind speed and direction sensor share a power supply system;

[0079] The Beidou receiving terminal is installed on the top of the pole.

[0080] Furthermore, the height of the pole is 3m, and the Beidou receiving terminal, the ground laser scanner, the MEMS sensor and the wind speed and direction sensor adopt RS485 communication mode.

[0081] S2. According to the slope monitoring device, data of the debugging period is collected and uploaded to the cloud platform system to obtain monitoring data of the debugging period;

[0082] Specifically, Figure 2 The flowchart of obtaining the monitoring data of the debugging period in the embodiment of the slope monitoring method for complex terrain and vegetation coverage environment of the present invention is shown. In S2, according to the slope monitoring device, the data of the debugging period is collected and uploaded to the cloud platform system to obtain the monitoring data of the debugging period, including:

[0083] S21, according to the slope monitoring device, obtaining satellite reception data during the debugging period through the Beidou receiving terminal;

[0084] Furthermore, the Beidou receiving terminal is turned on around the clock to receive data from Beidou satellites every 10 / 15 seconds.

[0085] S22, obtaining point cloud data of the debugging period through the ground laser scanner according to the slope monitoring device;

[0086] S23, according to the slope monitoring device, obtaining acceleration data and inclination data of the debugging period through the MEMS sensor;

[0087] S24, according to the slope monitoring device, obtaining wind speed and direction data during the debugging period through the wind speed and direction sensor;

[0088] S25. According to the slope monitoring device, through the pole, the installation position data of the Beidou receiving terminal, the installation position data of the ground laser scanner, the installation position data of the MEMS sensor, and the installation position data of the wind speed and direction sensor are obtained;

[0089] S26, obtaining the data of the debugging period by integrating the satellite reception data of the debugging period, the point cloud data of the debugging period, the acceleration data of the debugging period, the tilt data of the debugging period, the wind speed and direction data of the debugging period, the installation position data of the Beidou receiving terminal, the installation position data of the ground laser scanner, the installation position data of the MEMS sensor, and the installation position data of the wind speed and direction sensor;

[0090] Furthermore, the satellite reception data during the debugging period is checked against the point cloud data during the debugging period, the acceleration data during the debugging period, the tilt data during the debugging period, and the wind speed and direction data during the debugging period.

[0091] S27, upload the data of the debugging period to the cloud platform system to obtain the monitoring data of the debugging period,

[0092] S3, according to the monitoring data of the debugging period, the configuration parameters of the slope monitoring system are obtained by optimizing the correction algorithm;

[0093] Specifically, the optimization correction algorithm includes: a single Beidou satellite reception optimization algorithm, an installation environment obstacle avoidance satellite reception optimization algorithm, an extreme weather displacement correction algorithm and a multi-source parameter fusion correction algorithm.

[0094] Specifically, Figure 3 The flowchart of the calculation process of the single Beidou satellite reception optimization algorithm in the embodiment of the slope monitoring method for complex terrain and vegetation coverage environment of the present invention is shown, and the calculation process of the single Beidou satellite reception optimization algorithm includes:

[0095] S311, obtaining the ephemeris information of the Beidou satellite according to the monitoring data during the debugging period;

[0096] S312, according to the ephemeris information of the Beidou satellite, calculate through formula (1) to obtain the ephemeris quality score of the Beidou satellite,

[0097] Q_i = S_i / [1 + (El_i / El_max) 2 ] (1)

[0098] Where, Q_i is the ephemeris quality score of BeiDou satellite i, S_i is the signal strength of BeiDou satellite i, El_i is the elevation angle of BeiDou satellite i, and El_max is the maximum elevation that the receiver can reach;

[0099] S313. According to the ephemeris quality scores of the Beidou satellites, by comparison, a satellite with the highest ephemeris quality score of the Beidou satellite is selected to obtain the elevation angle of the satellite with the highest ephemeris quality score of the Beidou satellite;

[0100] S314. According to the ephemeris quality score of the Beidou satellite, the total ephemeris of the Beidou satellite is obtained by formula (2).

[0101] Q_ttal = Σ Q_i (2)

[0102] Where, Q_ttal is the total ephemeris of Beidou satellite;

[0103] S315, according to the elevation angle of the satellite with the highest ephemeris quality score of the Beidou satellite and the total ephemeris of the Beidou satellite, the optimal elevation angle of the Beidou satellite is obtained by formula (3),

[0104] El_pt = El_main + k (1 - Q_ttal / Q_threshld) (3)

[0105] Wherein, El_pt is the optimal elevation angle of Beidou satellite, El_main is the elevation angle of the satellite with the highest ephemeris quality score of Beidou satellite, Q_threshld is the threshold of the ephemeris quality score of Beidou satellite, and k is the adjustment coefficient;

[0106] Furthermore, when the best elevation angle of the Beidou satellite exceeds the maximum pitch angle achievable by the receiver, the best elevation angle of the Beidou satellite takes the maximum pitch angle achievable by the receiver; when the best elevation angle of the Beidou satellite is less than the minimum pitch angle achievable by the receiver, the best elevation angle of the Beidou satellite takes the minimum pitch angle achievable by the receiver.

[0107] Specifically, Figure 4 The flowchart of the calculation process of the installation environment obstacle avoidance satellite reception optimization algorithm in the embodiment of the slope monitoring method for complex terrain and vegetation coverage environment of the present invention is shown, and the calculation process of the installation environment obstacle avoidance satellite reception optimization algorithm includes:

[0108] S321, obtaining three-dimensional point cloud data and MEMS sensor data of the ground surface according to the monitoring data during the debugging period;

[0109] S322. According to the three-dimensional point cloud data of the surface, the occlusion factor in each direction is obtained by formula (4):

[0110] o_factr(θ_directin) = (1 - o_terrain(θ_directin)) (1 - o_vegetatin(θ_directin))(4)

[0111] Wherein, o_factr(θ_directin) is the occlusion factor of the direction angle θ_directin, o_terrain(θ_directin) is the terrain occlusion ratio of the direction angle θ_directin, and o_vegetatin(θ_directin) is the vegetation occlusion ratio of the direction angle θ_directin;

[0112] S323, obtaining a total occlusion effect in each direction by summing up the occlusion factors in each direction;

[0113] S324. According to the total occlusion effect in each direction, the best receiving direction is obtained by formula (5).

[0114] θ_best = argmax(o_ttal(θ_directin)) (5)

[0115] Where θ_best is the best receiving direction, o_ttal(θ_directin) is the total occlusion effect of the direction angle θ_directin;

[0116] S325, obtaining a corrected ephemeris quality score by correcting the ephemeris quality score of the Beidou satellite according to the MEMS sensor data and the optimal receiving direction;

[0117] S326. According to the corrected ephemeris quality score, select the Beidou satellite combination with the highest corrected ephemeris quality score, and obtain final positioning data parameters through calculation.

[0118] Specifically, Figure 5 The flowchart of the calculation process of the extreme weather displacement correction algorithm in the embodiment of the slope monitoring method for complex terrain and vegetation coverage environment of the present invention is shown, and the calculation process of the extreme weather displacement correction algorithm includes:

[0119] S331. Obtain wind speed, wind direction, installation height of the Beidou receiving terminal and MEMS sensor data according to the monitoring data during the debugging period;

[0120] S332, obtaining the wind-induced displacement of the Beidou receiving terminal through calculation according to the wind speed, the wind direction and the installation height of the Beidou receiving terminal;

[0121] S333, obtaining the attitude displacement of the Beidou receiving terminal through calculation according to the MEMS sensor data and the installation height of the Beidou receiving terminal;

[0122] S334, according to the wind displacement of the Beidou receiving terminal and the attitude displacement of the Beidou receiving terminal, after correction by formula (6), the corrected positioning data of the Beidou receiver is obtained,

[0123] Δd_bds_crrected = Δd_bds - Δd_wind + Δd_mems (6)

[0124] Wherein, Δd_bds_crrected is the corrected positioning data of the Beidou receiver, Δd_bds is the original positioning data of the Beidou receiver, Δd_wind is the wind-induced displacement of the Beidou receiving terminal, and Δd_mems is the attitude displacement of the Beidou receiving terminal.

[0125] Specifically, the calculation method of the multi-source parameter fusion correction algorithm includes:

[0126] Δd_bds_crrecteds =Δd_bds_crrected + Σ(ω_i Δd_i) + Δd_tls (7)

[0127] Wherein, Δd_bds_crrecteds is the positioning data of the Beidou receiver after multi-source parameter fusion correction, ω_i is the weight factor of the i-th sensor, Δd_i is the displacement correction value measured by the i-th sensor, and Δd_tls is the displacement correction value calculated by the ground laser scanner data.

[0128] Specifically, the method for calculating the displacement correction value calculated by the terrestrial laser scanner data includes:

[0129] Δd_tls = h(pint_clud_data, vegetatin_height, terrain_slpe) (8)

[0130] Where pint_clud_data is the 3D point cloud data obtained by TLS, vegetation_height is the vegetation height, terrain_slpe is the terrain slope, and h is a function determined by experiments or simulations.

[0131] S4. According to the configuration parameters of the slope monitoring system, the slope monitoring device is configured to obtain an optimized slope monitoring system;

[0132] S5. Through the optimized slope monitoring system, data is collected and analyzed regularly to obtain slope warning information.

[0133] like Figure 6The system block diagram of the system embodiment of the slope monitoring method embodiment for complex terrain and vegetation covered environment of the present invention is shown. The present invention provides a slope monitoring system for complex terrain and vegetation covered environment. The system is applied to a slope monitoring method for complex terrain and vegetation covered environment. The system includes a device installation module, a first acquisition module, a second acquisition module, a system optimization module and an information warning module. Specifically,

[0134] The device installation module installs the Beidou receiving terminal, the ground laser scanner, the MEMS sensor and the wind speed and direction sensor on a vertical pole to obtain a slope monitoring device;

[0135] The first acquisition module collects the data of the debugging period according to the slope monitoring device and uploads it to the cloud platform system to obtain the monitoring data of the debugging period;

[0136] The second acquisition module obtains the configuration parameters of the slope monitoring system through an optimization correction algorithm based on the monitoring data during the debugging period;

[0137] A system optimization module, which configures the slope monitoring device according to the configuration parameters of the slope monitoring system to obtain an optimized slope monitoring system;

[0138] The information warning module collects and analyzes data regularly through the optimized slope monitoring system to obtain slope warning information.

[0139] The present invention provides a slope monitoring method and system for complex terrain and vegetation-covered environments. The present invention introduces ground laser scanners, MEMS accelerometers, gyroscopes, wind speed and direction sensing units, and adopts a single Beidou satellite reception optimization algorithm, an installation environment obstacle avoidance satellite reception optimization algorithm, an extreme weather displacement correction algorithm, and a multi-source parameter fusion correction algorithm to analyze and adjust the configuration parameters of the slope monitoring system, obtain the best reception effect of a Beidou receiving terminal, ensure that the Beidou receiving terminal obtains high-precision positioning data in a complex environment, and thus improve the accuracy of early warning information.

[0140] It is to be understood that the present invention is described by the above embodiments and should not be construed as limiting the embodiments of the present invention and the scope of the present invention. It is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A slope monitoring method for complex terrain and vegetation covered environment, characterized in that: The method comprises: S1. Install a Beidou receiving terminal, a ground laser scanner, a MEMS sensor, and a wind speed and direction sensor on a vertical pole to obtain a slope monitoring device; S2. According to the slope monitoring device, data of the debugging period is collected and uploaded to the cloud platform system to obtain monitoring data of the debugging period; S3, obtaining the configuration parameters of the slope monitoring system by optimizing and correcting the algorithm according to the monitoring data during the debugging period; S4. Configuring the slope monitoring device according to the configuration parameters of the slope monitoring system to obtain an optimized slope monitoring system; S5. Regularly collect and analyze data through the optimized slope monitoring system to obtain slope warning information; The optimization correction algorithms include: single Beidou satellite reception optimization algorithm, installation environment obstacle avoidance satellite reception optimization algorithm, extreme weather displacement correction algorithm and multi-source parameter fusion correction algorithm; The calculation process of the single Beidou satellite reception optimization algorithm includes: S311, obtaining the ephemeris information of the Beidou satellite according to the monitoring data during the debugging period; S312, according to the ephemeris information of the Beidou satellite, calculate by formula (1) to obtain the ephemeris quality score of the Beidou satellite, （1） Where, Q_i is the ephemeris quality score of BeiDou satellite i, S_i is the signal strength of BeiDou satellite i, El_i is the elevation angle of BeiDou satellite i, and El_max is the maximum elevation that the receiver can reach; S313. According to the ephemeris quality scores of the Beidou satellites, by comparison, select the satellite with the highest ephemeris quality score of the Beidou satellite, and obtain the elevation angle of the satellite with the highest ephemeris quality score of the Beidou satellite; S314. According to the ephemeris quality score of the Beidou satellite, the total ephemeris of the Beidou satellite is obtained by formula (2). （2） Where, Q_ttal is the total ephemeris of Beidou satellite; S315, according to the elevation angle of the satellite with the highest ephemeris quality score of the Beidou satellite and the total ephemeris of the Beidou satellite, obtain the optimal elevation angle of the Beidou satellite by formula (3), （3） Where El_pt is the optimal elevation angle of the Beidou satellite, El_main is the elevation angle of the Beidou satellite with the highest ephemeris quality score, Q_threshld is the threshold of the Beidou satellite ephemeris quality score, and k is the adjustment coefficient.

2. The slope monitoring method for complex terrain and vegetation coverage environment according to claim 1 is characterized in that: The Beidou receiving terminal, the ground laser scanner, the MEMS sensor and the wind speed and direction sensor share a power supply system; The Beidou receiving terminal is installed on the top of the pole.

3. The slope monitoring method for complex terrain and vegetation covered environment according to claim 1 is characterized in that: In S2, according to the slope monitoring device, data of the debugging period is collected and uploaded to the cloud platform system to obtain the monitoring data of the debugging period, including: S21, according to the slope monitoring device, obtaining satellite reception data during the debugging period through the Beidou receiving terminal; S22, obtaining point cloud data of the debugging period through the ground laser scanner according to the slope monitoring device; S23, obtaining acceleration data and inclination data of the debugging period through the MEMS sensor according to the slope monitoring device; S24, obtaining wind speed and direction data during the debugging period through the wind speed and direction sensor according to the slope monitoring device; S25. According to the slope monitoring device, through the pole, obtain the installation position data of the Beidou receiving terminal, the installation position data of the ground laser scanner, the installation position data of the MEMS sensor, and the installation position data of the wind speed and direction sensor; S26, obtaining the data of the debugging period by integrating the satellite reception data of the debugging period, the point cloud data of the debugging period, the acceleration data of the debugging period, the tilt data of the debugging period, the wind speed and direction data of the debugging period, the installation position data of the Beidou receiving terminal, the installation position data of the ground laser scanner, the installation position data of the MEMS sensor and the installation position data of the wind speed and direction sensor; S27, uploading the data of the debugging period to the cloud platform system to obtain the monitoring data of the debugging period.

4. The slope monitoring method for complex terrain and vegetation covered environment according to claim 1 is characterized in that: The calculation process of the installation environment obstacle avoidance satellite reception optimization algorithm includes: S321, obtaining three-dimensional point cloud data and MEMS sensor data of the ground surface according to the monitoring data during the debugging period; S322. According to the three-dimensional point cloud data of the ground surface, the occlusion factor in each direction is obtained by formula (4): （4） Wherein, o_factr(θ_directin) is the occlusion factor of the direction angle θ_directin, o_terrain(θ_directin) is the terrain occlusion ratio of the direction angle θ_directin, and o_vegetatin(θ_directin) is the vegetation occlusion ratio of the direction angle θ_directin; S323, obtaining a total occlusion effect in each direction by summing up the occlusion factors in each direction; S324, according to the total occlusion effect in each direction, the best receiving direction is obtained by formula (5), （5） Where θ_best is the best receiving direction, o_ttal(θ_directin) is the total occlusion effect of the direction angle θ_directin; S325, obtaining a corrected ephemeris quality score by correcting the ephemeris quality score of the Beidou satellite according to the MEMS sensor data and the optimal receiving direction; S326. According to the corrected ephemeris quality score, select the Beidou satellite combination with the highest corrected ephemeris quality score, and obtain final positioning data parameters through calculation.

5. The slope monitoring method for complex terrain and vegetation covered environment according to claim 4 is characterized in that: The calculation process of the extreme weather displacement correction algorithm includes: S331. Obtain wind speed, wind direction, installation height of the Beidou receiving terminal and MEMS sensor data according to the monitoring data during the debugging period; S332, obtaining the wind-induced displacement of the Beidou receiving terminal through calculation according to the wind speed, the wind direction and the installation height of the Beidou receiving terminal; S333, obtaining the posture displacement of the Beidou receiving terminal through calculation according to the MEMS sensor data and the installation height of the Beidou receiving terminal; S334, according to the wind-induced displacement of the Beidou receiving terminal and the attitude displacement of the Beidou receiving terminal, the corrected positioning data of the Beidou receiver is obtained after correction by formula (6), （6） In the formula, is the corrected positioning data of the Beidou receiver, is the original Beidou receiver positioning data, is the wind-induced displacement of the Beidou receiving terminal, is the attitude displacement of the Beidou receiving terminal.

6. The slope monitoring method for complex terrain and vegetation covered environment according to claim 5 is characterized in that: The calculation method of the multi-source parameter fusion correction algorithm includes: （7） Wherein, is the positioning data of the Beidou receiver after multi-source parameter fusion correction, is the weight factor of the th sensor, is the displacement correction value measured by the th sensor, and is the displacement correction value calculated by the ground laser scanner data.

7. The slope monitoring method for complex terrain and vegetation covered environment according to claim 6 is characterized in that: The method for calculating the displacement correction value calculated by the terrestrial laser scanner data includes: （8） Where pint_clud_data is the 3D point cloud data obtained by TLS, vegetation_height is the vegetation height, terrain_slpe is the terrain slope, and h is a function determined by experiments or simulations.

8. A slope monitoring system for complex terrain and vegetation covered environment, used to implement the slope monitoring method for complex terrain and vegetation covered environment as claimed in any one of claims 1 to 7, characterized in that: The system comprises: The device installation module installs the Beidou receiving terminal, the ground laser scanner, the MEMS sensor and the wind speed and direction sensor on a vertical pole to obtain a slope monitoring device; A first acquisition module collects data from the debugging period according to the slope monitoring device and uploads the data to the cloud platform system to obtain monitoring data from the debugging period; The second acquisition module obtains the configuration parameters of the slope monitoring system through an optimization correction algorithm according to the monitoring data during the debugging period; A system optimization module, which configures the slope monitoring device according to the configuration parameters of the slope monitoring system to obtain an optimized slope monitoring system; The information warning module collects and analyzes data regularly through the optimized slope monitoring system to obtain slope warning information.

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