Landslide micro-displacement detection system, method and device and readable storage medium

Abstract

The invention relates to the technical field of geological exploration, in particular to a landslide micro-displacement detection system, method and device and a readable storage medium, the detection system comprises a center anchor rod, the center anchor rod is provided with a ground receiver, and the ground receiver is used for receiving satellite signals to determine displacement data of the center anchor rod; the annular body is arranged around the central anchor rod, a plurality of distributed capacitors are arranged on the annular body, and each distributed capacitor is internally provided with a capacitor plate so as to detect displacement data of the distributed capacitors on the annular body; and the processor is used for receiving the displacement data of the central anchor rod and the plurality of distributed capacitors and carrying out data fusion according to weights so as to obtain the overall displacement condition in a set area. According to the invention, the displacement data of the central anchor rod and the displacement data of the distributed capacitors are fused, so that the change condition of the overall geologic structure in the area where the detection system is located can be reflected, the detection reliability is improved, and the occurrence of false alarms is reduced.

Description

Technical Field

[0001] The present invention relates to the field of geological detection technology, and in particular to a landslide micro-displacement detection system, method, device and readable storage medium. Background Art

[0002] Landslide is a serious geological disaster, usually caused by natural factors such as earthquakes, rainfall or snowmelt, or human factors such as excavation and mining. It has caused serious harm to the life safety, daily life and economic development of mountain residents. Therefore, how to detect landslides has become a problem that needs to be solved urgently.

[0003] In the related art, the detection of landslides is mostly achieved by indirect detection, such as groundwater detection, water level change detection, atmospheric precipitation detection, etc. However, the above-mentioned indirect judgment method of the possibility of landslides through climate and geological phenomena has low reliability. In addition, the related art also adopts sensors for directly measuring ground displacement to achieve early warning effects to detect point displacements. However, this point displacement detection method has poor detection accuracy and reliability and is prone to false alarms. Summary of the invention

[0004] In view of at least one of the above technical problems, the present invention provides a landslide micro-displacement detection system, method, device and readable storage medium to improve the accuracy of overall displacement detection.

[0005] According to a first aspect of the present invention, there is provided a landslide micro-displacement detection system, comprising:

[0006] A central anchor rod, wherein the central anchor rod has a ground receiver, and the ground receiver is used to receive satellite signals to determine displacement data of the central anchor rod;

[0007] An annular body, the annular body is arranged around the central anchor rod, and has a plurality of distributed capacitors on the annular body, each of the plurality of distributed capacitors has a capacitor plate to detect displacement data of the distributed capacitors on the annular body;

[0008] The processor is used to receive the displacement data of the central anchor rod and the plurality of distributed capacitors, and perform data fusion according to weights to obtain the overall displacement situation within a set area.

[0009] According to a second aspect of the present invention, a method for detecting micro-displacement of a landslide is further provided, using the micro-displacement detection system of a landslide as described in the first aspect, comprising the following steps:

[0010] Obtain the displacement data of the central anchor rod;

[0011] Acquiring displacement data of a plurality of distributed capacitors distributed around the central anchor rod;

[0012] The displacement data of the central anchor rod and the displacement data of multiple distributed capacitors are integrated to obtain the overall displacement data within a set area.

[0013] In some embodiments of the present invention, the method for obtaining the displacement data of the central anchor comprises the following steps:

[0014] Calculate the pseudorange from the center anchor to the satellite;

[0015] Solve the position information of the central anchor rod and obtain the unit coordinates of the central anchor rod. The equation for solving the position information of the central anchor rod is:

[0016] (xx i ) 2 +(yy i ) 2 +(zz i ) 2 =(d i -c(t i -t r ) 2 )

[0017] where (x, y, z) is the location of the receiver, d i is the pseudorange of the ith satellite, t i is the time when the satellite transmits the signal, t r is the time when the receiver receives the signal, (x i ,y i , z i ) represents the position of the i-th satellite.

[0018] In some embodiments of the present invention, the displacement data of the distributed capacitor is calculated by the change in the area of ​​the capacitor plates, wherein the calculation formula of the capacitor is:

[0019]

[0020] Where: C is the capacitance value;

[0021] ε 0 is the dielectric constant of vacuum;

[0022] ε r is the relative permittivity of the dielectric material;

[0023] A is the overlapping area of ​​the two metal plates;

[0024] d is the initial distance between the two metal plates;

[0025] The displacement of the distributed capacitor on the ring body is reflected by detecting the change in the overlapping area of ​​the two metal plates through the change in capacitance value.

[0026] In some embodiments of the present invention, when fusing the displacement data of the central anchor rod and the displacement data of multiple distributed capacitors, the following steps are included:

[0027] Measure the distance S from each distributed capacitor to the central anchor n , set the unit weight of each distributed capacitor to P n , and normalized, where: P n represents the information weight of the nth distributed capacitor, and N represents the number of distributed capacitors;

[0028] Calculate the displacement W of the central anchor and set its weight to P w ;

[0029] Set the initial position of the central anchor rod to O, and define the distributed capacitance space quadrant angle matrix as:

[0030] O=[cosα,cosβ,cosγ]

[0031] The final displacement of the entire module is S = [X, Y, Z]

[0032]

[0033] Wherein, Ow represents the spatial quadrant angle matrix of the Beidou satellite sensor; On represents the spatial quadrant angle matrix of the nth capacitive sensor, and cosγ=0.

[0034] According to a third aspect of the present invention, there is also provided a landslide micro-displacement detection device, which uses the landslide micro-displacement detection system as described in the first aspect, and comprises:

[0035] A first acquisition module is used to acquire displacement data of the central anchor rod;

[0036] A second acquisition module is used to acquire displacement data of a plurality of distributed capacitors distributed around the central anchor rod;

[0037] The calculation module is used to fuse the displacement data of the central anchor rod and the displacement data of multiple distributed capacitors to obtain the overall displacement data within a set area.

[0038] In some embodiments of the present invention, the first acquisition module is used to: calculate the pseudorange from the central anchor to the satellite;

[0039] Solve the position information of the central anchor rod and obtain the unit coordinates of the central anchor rod. The equation for solving the position information of the central anchor rod is:

[0040] (xx i ) 2+(yy i ) 2 +(zz i ) 2 =(d i -c(t i -t r ) 2 )

[0041] where (x, y, z) is the location of the receiver, d i is the pseudorange of the ith satellite, t i is the time when the satellite transmits the signal, t r is the time when the receiver receives the signal, (x i ,y i , z i ) represents the position of the i-th satellite.

[0042] In some embodiments of the present invention, the second acquisition module is used to calculate the capacitance by the change in the area of ​​the capacitor plates, wherein the capacitance is calculated as follows:

[0043]

[0044] Where: C is the capacitance value;

[0045] ε 0 is the dielectric constant of vacuum;

[0046] ε r is the relative permittivity of the dielectric material;

[0047] A is the overlapping area of ​​the two metal plates;

[0048] d is the initial distance between the two metal plates;

[0049] The displacement of the distributed capacitor on the ring body is reflected by detecting the change in the overlapping area of ​​the two metal plates through the change in capacitance value.

[0050] In some embodiments of the present invention, the calculation module is used to measure the distance S from each distributed capacitor to the central anchor rod. n , set the unit weight of each distributed capacitor to P n , and normalized, where: P n represents the information weight of the nth distributed capacitor, and N represents the number of distributed capacitors;

[0051] Calculate the displacement W of the central anchor and set its weight to P w ;

[0052] Set the initial position of the central anchor rod to O, and define the distributed capacitance space quadrant angle matrix as:

[0053] O=[cosα,cosβ,cosγ]

[0054] The final displacement of the entire module is S = [X, Y, Z]

[0055]

[0056] Wherein, Ow represents the spatial quadrant angle matrix of the Beidou satellite sensor; On represents the spatial quadrant angle matrix of the nth capacitive sensor, and cosγ=0.

[0057] According to a fourth aspect of the present invention, a computer-readable storage medium is further provided, wherein a program is stored in the computer-readable storage medium, and when the program is executed by a processor, the method as described in any one of the second aspects is implemented.

[0058] The beneficial effects of the present invention are as follows: the present invention uses satellite positioning through the ground receiver on the central anchor rod, and can detect small displacements over a long period of time, with high reliability and accurate relative displacement calculation; through the annular arrangement of multiple distributed capacitors, the overall changes in modular geology can be reflected, thereby overcoming the problem that single-point measurement data in the prior art is prone to misjudgment; in addition, by fusing the central anchor rod displacement data with the distributed capacitor displacement data, the overall geological structure changes in the area where the detection system is located can be reflected, thereby improving the reliability of detection and reducing the occurrence of false alarms. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0060] Figure 1 It is a structural schematic diagram of a landslide micro-displacement detection system in an embodiment of the present invention;

[0061] Figure 2 is a flow chart of the steps of the landslide micro-displacement detection method in an embodiment of the present invention;

[0062] Figure 3 A schematic diagram of a distributed capacitor space quadrant in an embodiment of the present invention;

[0063] Figure 4 It is a structural diagram of a landslide micro-displacement detection device in an embodiment of the present invention;

[0064] Figure 5Schematic diagram of the structure of the storage medium in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0066] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0068] like Figure 1 The landslide micro-displacement detection system shown in the figure includes a central anchor rod 1, a ring body 2 and a processor (not shown in the figure). In an embodiment of the present invention, the central anchor rod 1 has a ground receiver 11, and the ground receiver 11 is used to receive satellite signals to determine the displacement data of the central anchor rod 1; in an embodiment of the present invention, the central anchor rod 1 can be anchored in the rock mass by expansion bolts, and the ground receiver 11 is used to communicate with the navigation satellite, which receives signals transmitted by different satellites, measures the propagation time of the signal from the satellite to the ground receiver 11, and can calculate the distance between the satellite and the ground receiver according to the speed of light; in an embodiment of the present invention, Beidou satellites can be used for positioning; the position of the ground receiver 11 is determined by the signals of at least four satellites on the earth, each satellite can provide a distance measurement, and the position requires three coordinates, namely longitude, latitude and altitude to determine, and the signal of the fourth satellite can be used to correct the time error. The ground receiver 11 is a prior art, and its specific structure and receiving principle are not repeated here.

[0069] Please continue to refer to Figure 1In an embodiment of the present invention, the annular body 2 is arranged around the central anchor rod 1, and has a plurality of distributed capacitors 21 on the annular body 2, and each of the plurality of distributed capacitors 21 has a capacitor plate to detect the displacement data of the distributed capacitors 21 on the annular body 2; in some embodiments of the present invention, the annular body 2 can adopt a steel wire rope structure, and the plurality of distributed capacitors 21 are connected to form an annular structure around the central anchor rod 1. The distributed capacitor 21 can be translated along the annular body 2, and the displacement distance of the distributed capacitor 21 can be detected by using the change in the area of ​​the two electrode plates in the distributed capacitor 21, thereby obtaining the displacement data of each distributed capacitor 21.

[0070] In an embodiment of the present invention, the processor is used to receive the displacement data of the central anchor rod 1 and the multiple distributed capacitors 21, and perform data fusion according to weights to obtain the overall displacement situation within a set area. In an embodiment of the present invention, by combining the displacement data of the multiple distributed capacitors 21 with the displacement data of the ground receiver 11, and performing data fusion according to weights, the overall displacement situation within the area around the annular body 2 can be obtained. In the following implementation of the present invention, the data processing part will be described in detail.

[0071] like Figure 2 As shown in , in an embodiment of the present invention, a landslide micro-displacement detection method using the above-mentioned landslide micro-displacement detection system is also provided, comprising the following steps:

[0072] S10: obtaining displacement data of the central anchor rod 1; the displacement data of the central anchor rod 1 has been mentioned above and will not be described again here;

[0073] S20: Acquire displacement data of a plurality of distributed capacitors 21 distributed around the central anchor rod 1; the displacement data of each distributed capacitor 21 is described in detail below.

[0074] S30: Fusion the displacement data of the central anchor rod 1 and the displacement data of the multiple distributed capacitors 21 to obtain the overall displacement data within the set area. The set area here refers to the area occupied by the annular body 2, and those skilled in the art can set the area occupied by the annular body 2 as needed.

[0075] In the above embodiment, by positioning the ground receiver 11 on the central anchor rod 1 through satellite, it is possible to detect small displacements over a long period of time, with high reliability and accurate relative displacement calculation; through the annular arrangement of multiple distributed capacitors 21, the overall changes in modular geology can be reflected, thereby overcoming the problem that single-point measurement data in the prior art is prone to misjudgment; in addition, by fusing the displacement data of the central anchor rod 1 with the displacement data of the distributed capacitors 21, the overall geological structure changes in the area where the detection system is located can be reflected, thereby improving the reliability of detection and reducing the occurrence of false alarms.

[0076] On the basis of the above embodiment, the method for obtaining the displacement data of the central anchor rod 1 comprises the following steps:

[0077] S11: Calculate the pseudorange from the center anchor 1 to the satellite; the pseudorange here refers to the distance between the ground receiver 11 and the satellite, and the specific calculation formula is pseudorange = c × (receiving time-transmitting time), where c refers to the speed of light.

[0078] S12: Calculate the position information of the central anchor rod 1 and obtain the unit coordinates of the central anchor rod 1. The equation for calculating the position information of the central anchor rod 1 is:

[0079] (xx i ) 2 +(yy i ) 2 +(zz i ) 2 =(d i -c(t i -t r ) 2 )

[0080] where (x, y, z) is the location of the receiver, d i is the pseudorange of the ith satellite, t i is the time when the satellite transmits the signal, t r is the time when the receiver receives the signal, (x i ,y i , z i ) represents the position of the i-th satellite. By solving this equation, the three-dimensional coordinates of the ground receiver 11 can be determined. Finally, the error of the real-time position is reduced by Kalman filtering. Kalman filtering is an algorithm that uses a linear system state equation, inputs and outputs observation data of the system, removes noise from it, and achieves an optimal evaluation of the system state. Kalman filtering is a prior art, and its specific algorithm will not be described in detail here.

[0081] In the embodiment of the present invention, the displacement data of the distributed capacitor 21 is calculated by the change in the area of ​​the capacitor plates, wherein the calculation formula of the capacitor is:

[0082]

[0083] Where: C is the capacitance value in farads;

[0084] ε 0 is the dielectric constant of vacuum, which is 8.854×10 -12 F / m;

[0085] ε r is the relative permittivity of the dielectric material;

[0086] A is the overlapping area of ​​two metal plates, where the metal plates refer to two opposite capacitor plates in the distributed capacitor 21;

[0087] d is the initial distance between the two metal plates; the distributed capacitor 21 in the embodiment of the present invention reflects the displacement of the distributed capacitor 21 on the annular body 2 by ensuring that the initial distance between the two metal plates remains unchanged and detecting the change in the overlapping area of ​​the two metal plates through the change in capacitance value.

[0088] In an embodiment of the present invention, when the displacement data of the central anchor rod 1 and the displacement data of the plurality of distributed capacitors 21 are integrated, the following steps are included:

[0089] S31: Measure the distance S from each distributed capacitor 21 to the central anchor rod 1 n , where n represents the nth distributed capacitance. In some embodiments of the present invention, S n The unit is m and is greater than 1m; the unit weight of each distributed capacitor 21 is set to P n , and normalized, where: P n represents the information weight of the nth distributed capacitor 21, and N represents the number of distributed capacitors 21;

[0090] S32: Calculate the displacement W of the center anchor rod 1 and set its weight to P w ;

[0091] S33: Set the initial position of the central anchor rod 1 to O, as follows Figure 3 As shown in , the distributed capacitor 21 spatial quadrant angle matrix is ​​defined as:

[0092] O=[cosα,cosβ,cosγ]

[0093] S34: In the embodiment of the present invention, the final displacement of the entire module is S = [X, Y, Z]

[0094]

[0095] Wherein, Ow represents the spatial quadrant angle matrix of the Beidou satellite sensor; On represents the spatial quadrant angle matrix of the nth capacitive sensor, and cosγ=0.

[0096] In an embodiment of the present invention, through the above-mentioned setting, a displacement network is formed with the central anchor as the center and the distributed capacitor surrounding the central anchor. Through the setting of this structural form, the topography around the central anchor can be included. In this way, the traditional single-point displacement information is expanded into modular multi-point displacement. Then, by processing the overall data of the module displacement in the later stage, the movement of the module can be analyzed to make accurate geological movement judgments, avoiding the large single-point displacement measurement error in the related technology and the possible misjudgment of the local displacement being out of touch with the surrounding geology. In addition, in an embodiment of the present invention, the distributed capacitor can measure sub-millimeter displacement, which improves the accuracy of the overall displacement sensing.

[0097] Those skilled in the art should know that the embodiments of the present application can be provided as methods, devices, storage media or computing and program products. Therefore, the embodiments of the present application can completely adopt hardware embodiments, embodiments combining hardware and software, or pure software embodiments. The landslide micro-displacement detection device in the embodiments of the present application is introduced below. The device embodiments below correspond to the method embodiments above. Those skilled in the art can understand the implementation process below based on the above description, and no detailed description is given here.

[0098] In an embodiment of the present invention, a landslide micro-displacement detection device is also provided. The above landslide micro-displacement detection system is applied. It should be noted that the device in the embodiment of the present invention is as follows: Figure 4 As shown in, including:

[0099] A first acquisition module 100 is used to acquire displacement data of the central anchor rod;

[0100] The second acquisition module 200 is used to acquire displacement data of a plurality of distributed capacitors distributed around the central anchor rod;

[0101] The calculation module 300 is used to fuse the displacement data of the central anchor rod and the displacement data of multiple distributed capacitors to obtain the overall displacement data within a set area.

[0102] In some embodiments of the present invention, the first acquisition module 100 is used to: calculate the pseudorange from the central anchor to the satellite;

[0103] Solve the position information of the central anchor rod and obtain the unit coordinates of the central anchor rod. The equation for solving the position information of the central anchor rod is:

[0104] (xx i ) 2 +(yy i ) 2 +(zz i ) 2 =(d i -c(t i -t r ) 2 )

[0105] where (x, y, z) is the location of the receiver, d i is the pseudorange of the ith satellite, t i is the time when the satellite transmits the signal, t r is the time when the receiver receives the signal, (x i ,y i , z i ) represents the position of the i-th satellite.

[0106] In some embodiments of the present invention, the second acquisition module 200 is used to calculate the capacitance by the change in the area of ​​the capacitor plates, wherein the capacitance is calculated as follows:

[0107]

[0108] Where: C is the capacitance value;

[0109] ε 0 is the dielectric constant of vacuum;

[0110] ε r is the relative permittivity of the dielectric material;

[0111] A is the overlapping area of ​​the two metal plates;

[0112] d is the initial distance between the two metal plates;

[0113] The displacement of the distributed capacitor on the ring body is reflected by detecting the change in the overlapping area of ​​the two metal plates through the change in capacitance value.

[0114] In some embodiments of the present invention, the calculation module 300 is used to measure the distance S from each distributed capacitor to the central anchor rod. n , set the unit weight of each distributed capacitor to P n , and normalized, where: P n represents the information weight of the nth distributed capacitor, and N represents the number of distributed capacitors;

[0115] Calculate the displacement W of the central anchor and set its weight to P w ;

[0116] Set the initial position of the central anchor rod to O, and define the distributed capacitance space quadrant angle matrix as:

[0117] O=[cosα,cosβ,cosγ]

[0118] The final displacement of the entire module is S = [X, Y, Z]

[0119]

[0120] Wherein, Ow represents the spatial quadrant angle matrix of the Beidou satellite sensor; On represents the spatial quadrant angle matrix of the nth capacitive sensor, and cosγ=0.

[0121] According to another aspect of the embodiment of the present invention, Figure 5 As shown in , a computer-readable storage medium 400 is also provided, in which a program 500 is stored. When the program 500 is executed by a processor, any of the above-mentioned landslide micro-displacement detection methods is implemented.

[0122] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0123] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0124] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A landslide micro-displacement detection system, characterized in that: include: A central anchor rod, wherein the central anchor rod has a ground receiver, and the ground receiver is used to receive satellite signals to determine displacement data of the central anchor rod; An annular body, the annular body is arranged around the central anchor rod, and has a plurality of distributed capacitors on the annular body, each of the plurality of distributed capacitors has a capacitor plate to detect displacement data of the distributed capacitors on the annular body; The processor is used to receive the displacement data of the central anchor rod and the plurality of distributed capacitors, and perform data fusion according to weights to obtain the overall displacement situation within a set area.

2. The landslide micro-displacement detection method according to claim 1, using the landslide micro-displacement detection system according to claim 1, characterized in that: The following steps are involved: Obtain the displacement data of the central anchor rod; Acquiring displacement data of a plurality of distributed capacitors distributed around the central anchor rod; The displacement data of the central anchor rod and the displacement data of multiple distributed capacitors are integrated to obtain the overall displacement data within a set area.

3. The landslide micro-displacement detection method according to claim 2, characterized in that: The method for obtaining the displacement data of the central anchor comprises the following steps: Calculate the pseudorange from the center anchor to the satellite; Solve the position information of the central anchor rod and obtain the unit coordinates of the central anchor rod. The equation for solving the position information of the central anchor rod is: (x-x i ) 2 +(y-y i ) 2 +(z-z i ) 2 =(d i -c(t i -t r ) 2 ), where (x, y, z) is the location of the receiver, d i is the pseudorange of the ith satellite, t i is the time when the satellite transmits the signal, t r is the time when the receiver receives the signal, (x i ,y i , z i ) represents the position of the i-th satellite.

4. The landslide micro-displacement detection method according to claim 2, characterized in that: The displacement data of the distributed capacitor is calculated by the change in the area of ​​the capacitor plates, where the calculation formula of the capacitor is: Where: C is the capacitance value; ε0 is the dielectric constant of vacuum; ε r is the relative permittivity of the dielectric material; A is the overlapping area of ​​the two metal plates; d is the initial distance between the two metal plates; The displacement of the distributed capacitor on the ring body is reflected by detecting the change in the overlapping area of ​​the two metal plates through the change in capacitance value.

5. The landslide micro-displacement detection method according to claim 3, characterized in that: When the displacement data of the central anchor rod and the displacement data of multiple distributed capacitors are integrated, the following steps are included: Measure the distance S from each distributed capacitor to the central anchor n , set the unit weight of each distributed capacitor to P n , and normalized, where: P n represents the information weight of the nth distributed capacitor, and N represents the number of distributed capacitors; Calculate the displacement W of the central anchor and set its weight to P w ; Set the initial position of the central anchor rod to O, and define the distributed capacitance space quadrant angle matrix as: O=[cosα,cosβ,cosγ], The final displacement of the entire module is S = [X, Y, Z], Wherein, Ow represents the spatial quadrant angle matrix of the Beidou satellite sensor; On represents the spatial quadrant angle matrix of the nth capacitive sensor, and cosγ=0.

6. A landslide micro-displacement detection device, characterized in that: The landslide micro-displacement detection system as described in right 1 is applied, comprising: A first acquisition module is used to acquire displacement data of the central anchor rod; A second acquisition module is used to acquire displacement data of a plurality of distributed capacitors distributed around the central anchor rod; The calculation module is used to fuse the displacement data of the central anchor rod and the displacement data of multiple distributed capacitors to obtain the overall displacement data within a set area.

7. The landslide micro-displacement detection device according to claim 6, characterized in that: The first acquisition module is used for: Calculate the pseudorange from the center anchor to the satellite; Solve the position information of the central anchor rod and obtain the unit coordinates of the central anchor rod. The equation for solving the position information of the central anchor rod is: (x-x i ) 2 +(y-y i ) 2 +(z-z i ) 2 =(d i -c(t i -t r ) 2 ), where (x, y, z) is the location of the receiver, d i is the pseudorange of the ith satellite, t i is the time when the satellite transmits the signal, t r is the time when the receiver receives the signal, (x i ,y i , z i ) represents the position of the i-th satellite.

8. The landslide micro-displacement detection device according to claim 6, characterized in that: The second acquisition module is used to calculate the capacitance by the change in the area of ​​the capacitor plates, wherein the capacitance is calculated as follows: Where: C is the capacitance value; ε0 is the dielectric constant of vacuum; ε r is the relative permittivity of the dielectric material; A is the overlapping area of ​​the two metal plates; d is the initial distance between the two metal plates; The displacement of the distributed capacitor on the ring body is reflected by detecting the change in the overlapping area of ​​the two metal plates through the change in capacitance value.

9. The landslide micro-displacement detection device according to claim 1, characterized in that: The calculation module is used to measure the distance S from each distributed capacitor to the central anchor rod. n , set the unit weight of each distributed capacitor to P n , and normalized, where: P n represents the information weight of the nth distributed capacitor, and N represents the number of distributed capacitors; Calculate the displacement W of the central anchor and set its weight to P w ; Set the initial position of the central anchor rod to O, and define the distributed capacitance space quadrant angle matrix as: O=[cosα,cosβ,cosγ], The final displacement of the entire module is S = [X, Y, Z], Wherein, Ow represents the spatial quadrant angle matrix of the Beidou satellite sensor; On represents the spatial quadrant angle matrix of the nth capacitive sensor, and cosγ=0.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, which, when executed by a processor, implements the method according to any one of claims 2 to 5.

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