Deformation monitoring method, device and system, storage medium and electronic equipment

Abstract

The invention provides a deformation monitoring method, device and system, electronic equipment and a computer readable storage medium, and relates to the technical field of deformation monitoring. The method comprises the following steps: receiving deformation monitoring data of each deformation monitoring point uploaded by a satellite data acquisition terminal; transmitting the deformation monitoring data to a deformation monitoring data center, and receiving a control command sent by the deformation monitoring data center; the control command is sent to a monitoring device through the data acquisition terminal so as to change acquisition parameters of the monitoring device through the control command, and the monitoring device is used for acquiring the deformation monitoring data and transmitting the deformation monitoring data to the satellite data acquisition terminal. The deformation monitoring data and the control command are transmitted through the low earth orbit satellite, the problems of insufficient coverage area, small transmission data volume and the like of a current network are solved, and the application requirements of full-coverage, real-time, refined and automatic deformation monitoring are met.

Description

Technical Field

[0001] The present disclosure relates to the technical field of deformation monitoring, and in particular to a deformation monitoring method, a deformation monitoring device, a deformation monitoring system, an electronic device, and a computer-readable storage medium. Background Art

[0002] Deformation monitoring refers to the use of special instruments and methods to continuously observe the deformation phenomenon of the deformable body, analyze the deformation morphology of the deformable body, and predict the development trend of the deformation of the deformable body.

[0003] In the current deformation monitoring field, in terms of monitoring data transmission, communication methods such as 2G / 3G / 4G / LoRa / NB-IoT / Beidou short messages are usually used to realize data feedback of deformation monitoring sensors, which has problems such as insufficient coverage area and small data volume, and cannot meet the needs of global and large-scale deformation monitoring data transmission; in terms of deformation monitoring, network RTK is usually used to achieve high-precision displacement monitoring, but its service area is limited by the distribution area / density of ground-based reference stations and ground network coverage, and cannot provide global high-precision positioning.

[0004] Therefore, in order to solve the above problems, the embodiments of the present disclosure provide a deformation monitoring method, a deformation monitoring device, a deformation monitoring system, an electronic device and a computer-readable storage medium. Summary of the invention

[0005] The purpose of the embodiments of the present disclosure is to provide a deformation monitoring method, a deformation monitoring device, a deformation monitoring system, an electronic device and a computer-readable storage medium, thereby to a certain extent solving the problems existing in the related technologies in terms of monitoring data transmission, such as insufficient coverage area, small data volume, and inability to meet the needs of global and large-scale deformation monitoring data transmission, as well as the problem of inability to provide global high-precision positioning in deformation monitoring.

[0006] According to a first aspect of the present disclosure, a deformation monitoring method is provided, which is applied to a low earth orbit satellite, including: receiving deformation monitoring data of each deformation monitoring point uploaded by a satellite data acquisition terminal; transmitting the deformation monitoring data to a deformation monitoring data center, and receiving a control command sent by the deformation monitoring data center; sending the control command to a monitoring device via the data acquisition terminal, so as to change the acquisition parameters of the monitoring device through the control command, wherein the monitoring device is used to collect the deformation monitoring data and transmit the deformation monitoring data to the satellite data acquisition terminal.

[0007] In an exemplary embodiment of the present disclosure, the monitoring equipment includes a LEO-GNSS monitoring receiver and at least one of a ground-based interferometric radar measurement system, a three-dimensional lidar measurement system, a displacement meter, an inclinometer, and a rain gauge; the monitoring equipment is used to collect the deformation monitoring data and transmit the deformation monitoring data to the satellite data collection terminal, including: the LEO-GNSS monitoring receiver is used to collect GNSS satellite ranging signals, LEO satellite ranging signals and navigation enhancement information, and based on the GNSS satellite ranging signals, the LEO satellite ranging signals and the navigation enhancement information, the deformation monitoring points are calculated. The position information of the deformation monitoring point is uploaded to the satellite data acquisition terminal; the ground-based interferometric radar measurement system is used to collect the two-dimensional displacement of the surface of the deformation monitoring point and upload it to the satellite data acquisition terminal; the three-dimensional laser radar measurement system is used to collect the three-dimensional displacement of the surface of the deformation monitoring point and upload it to the satellite data acquisition terminal; the displacement meter is used to measure the deformation and displacement of the structure or mechanical part and upload it to the satellite data acquisition terminal; the inclinometer is used to measure the inclination angle and direction of the underground soil layer or rock mass and upload it to the satellite data acquisition terminal; the rain gauge is used to measure the precipitation and upload it to the satellite data acquisition terminal.

[0008] In an exemplary embodiment of the present disclosure, the deformation monitoring data is a deformation monitoring result obtained by the satellite data acquisition terminal based on analysis of received data.

[0009] According to a second aspect of the present disclosure, a deformation monitoring device is provided, comprising: a data receiving module, used to receive deformation monitoring data of each deformation monitoring point uploaded by a satellite data acquisition terminal; a data transmission module, used to transmit the deformation monitoring data to a deformation monitoring data center, and receive a control command sent by the deformation monitoring data center; a deformation monitoring module, used to send the control command to a monitoring device via the data acquisition terminal, so as to change the acquisition parameters of the monitoring device through the control command, wherein the monitoring device is used to collect the deformation monitoring data and transmit the deformation monitoring data to the satellite data acquisition terminal.

[0010] According to a third aspect of the present disclosure, a deformation monitoring system is provided, comprising: a monitoring device, used to collect deformation monitoring data of a deformation monitoring point and transmit it to a satellite data acquisition terminal, and receive a control command sent by the satellite data acquisition terminal, and change the sampling parameters of the deformation monitoring point based on the control command; a satellite data acquisition terminal, used to receive the deformation monitoring data transmitted by the monitoring device, obtain a deformation monitoring result based on the deformation monitoring data, and transmit the deformation monitoring data and the deformation monitoring result to a low earth orbit satellite, and receive the control command sent by the low earth orbit satellite; a low earth orbit satellite, used to receive the deformation monitoring data transmitted by the monitoring device, obtain a deformation monitoring result based on the deformation monitoring data, and transmit the deformation monitoring data and the deformation monitoring result to a low earth orbit satellite. The deformation monitoring data and the deformation monitoring results transmitted by the satellite data acquisition terminal are transmitted to a satellite gateway station, and the control command sent by the satellite gateway station is received; the satellite gateway station is used to receive the deformation monitoring data and the deformation monitoring results transmitted by the low earth orbit satellite, and send them to a deformation monitoring data center, and the control command sent by the deformation monitoring data center is received; the deformation monitoring data center is used to receive the deformation monitoring data and the deformation monitoring results sent by the satellite gateway station, generate the control command based on the deformation monitoring data and the deformation monitoring result, and send the control command to the satellite gateway station.

[0011] In an exemplary embodiment of the present disclosure, the monitoring equipment includes a LEO-GNSS monitoring receiver and antenna, a ground-based interferometric radar measurement system, a three-dimensional lidar measurement system, a displacement meter, an inclinometer, and a rain gauge.

[0012] In an exemplary embodiment of the present disclosure, the LEO-GNSS monitoring receiver and antenna are used to receive GNSS satellite ranging signals, LEO satellite ranging signals and navigation enhancement information, and calculate the position information of the deformation monitoring point in real time through the PPP-RTK positioning algorithm, and transmit the position information to the satellite data acquisition and processing terminal; the ground-based interferometric radar measurement system is used to collect the two-dimensional surface displacement of the deformation monitoring point and upload it to the satellite data acquisition terminal; the three-dimensional lidar measurement system is used to collect the three-dimensional surface displacement of the deformation monitoring point and upload it to the satellite data acquisition terminal.

[0013] In an exemplary embodiment of the present disclosure, the satellite data acquisition terminal receives the deformation monitoring data transmitted by the monitoring equipment, and obtains deformation monitoring results based on the deformation monitoring data analysis, including: inputting the deformation monitoring data into a corresponding pre-trained deformation monitoring model to obtain the equipment deformation monitoring results corresponding to each of the monitoring equipment; and determining the deformation monitoring results of the deformation monitoring points based on the deformation monitoring results of each of the equipment.

[0014] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute any one of the above-mentioned methods by executing the executable instructions.

[0015] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, any one of the methods described above is implemented.

[0016] The exemplary embodiments of the present disclosure may have some or all of the following beneficial effects:

[0017] In the deformation monitoring method provided in the exemplary implementation of the present disclosure, a low-orbit earth satellite receives deformation monitoring data of each deformation monitoring point uploaded by a satellite data acquisition terminal; transmits the deformation monitoring data to a deformation monitoring data center, and receives a control command sent by the deformation monitoring data center; sends the control command to a monitoring device via a data acquisition terminal to change the acquisition parameters of the monitoring device through the control command, wherein the monitoring device is used to collect deformation monitoring data and transmit the deformation monitoring data to a satellite data acquisition terminal. The deformation monitoring method provided by the present disclosure transmits deformation monitoring data through a low-orbit earth satellite, which solves the problems of insufficient coverage area, small amount of transmitted data, and insufficient coverage area of ​​network RTK services in the current network, and realizes the application requirements of deformation monitoring in any area, in real time, in a refined and automated manner.

[0018] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0020] Figure 1 A schematic diagram of a process of a deformation monitoring method according to an embodiment of the present disclosure is schematically shown;

[0021] Figure 2 A schematic diagram of a deformation monitoring system applicable to a deformation monitoring method according to an embodiment of the present disclosure is schematically shown;

[0022] Figure 3 Schematically shows a workflow diagram of a LEO satellite data acquisition and processing terminal processing deformation monitoring data according to an embodiment of the present disclosure;

[0023] Figure 4 A block diagram of a deformation monitoring device according to an embodiment of the present disclosure is schematically shown;

[0024] Figure 5 A schematic diagram of an electronic device according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0025] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the example embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0026] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0027] Deformation monitoring refers to the use of special instruments and methods to continuously observe the deformation phenomenon of the deformable body, analyze the deformation morphology of the deformable body, and predict the development trend of the deformation of the deformable body.

[0028] At present, in the field of deformation monitoring, in terms of monitoring data transmission, communication methods such as 2G / 3G / 4G / LoRa / NB-IoT / Beidou short messages are usually used to realize data transmission of deformation monitoring sensors, but some of these communication methods have insufficient coverage areas and some have small data volumes, and cannot meet the needs of global and large-scale deformation monitoring data transmission. In terms of deformation monitoring, network RTK is usually used to achieve high-precision displacement monitoring, but its service area is limited by the distribution area / density of ground-based reference stations and ground network coverage, and cannot provide global high-precision positioning.

[0029] In order to solve the problems existing in the above methods, this exemplary embodiment proposes a deformation monitoring method, a deformation monitoring device, a deformation monitoring system, an electronic device and a computer-readable storage medium. The technical solution of the embodiment of the present disclosure is described in detail below:

[0030] This exemplary embodiment first provides a deformation monitoring method, which is applied to a low earth orbit satellite. Figure 1 As shown, the deformation monitoring method specifically includes the following steps:

[0031] Step S110: receiving deformation monitoring data of each deformation monitoring point uploaded by the satellite data acquisition terminal;

[0032] Step S120: transmitting the deformation monitoring data to the deformation monitoring data center, and receiving a control command sent by the deformation monitoring data center;

[0033] Step S130: sending a control command to the monitoring device via the data acquisition terminal to change the acquisition parameters of the monitoring device through the control command, wherein the monitoring device is used to collect deformation monitoring data and transmit the deformation monitoring data to the satellite data acquisition terminal.

[0034] In the deformation monitoring method provided in the example implementation mode of the present disclosure, deformation monitoring data is transmitted through low-orbit earth satellites, which solves the problems of insufficient coverage area of ​​the current network, small amount of transmission data, and insufficient coverage area of ​​network RTK services, and realizes the deformation monitoring application needs that can be met in any area, in real time, in a refined and automated manner.

[0035] Next, in another embodiment, the above steps are described in more detail.

[0036] In step S110, the deformation monitoring data of each deformation monitoring point uploaded by the satellite data collection terminal is received.

[0037] In the disclosed embodiment, the above deformation monitoring point is used to monitor the deformation condition of the deformation monitoring object, and should be set at a position or monitoring section that can reflect the deformation characteristics of the deformation monitoring object. Among them, the above deformation monitoring object can be a region or a certain engineering building (structure). Deformation monitoring refers to the real-time or regular observation, recording and analysis of the deformation state of an object, structure or landform to understand its shape, position and change amount, which plays a very important role in civil engineering, oil extraction, mining exploration, seismology and other fields. Deformation monitoring can be achieved in a variety of ways, such as using tools such as GPS, inclinometers, displacement meters, strain gauges, etc. to monitor the dynamic changes of objects. With the rapid development of integrated satellite Internet constellations, on the one hand, it can provide low-orbit navigation enhancement services to achieve high-precision positioning with global coverage; on the other hand, it can provide mobile communications, Internet of Things, broadband access and other services, with many advantages such as wide coverage, large bandwidth and low latency. The deformation monitoring method provided in the disclosed embodiment is based on LEO satellites (Low-Earth-Orbit Satellites).

[0038] For example, the deformation monitoring method provided by the embodiment of the present disclosure can be applied to Figure 2 The deformation monitoring system shown in FIG. Figure 2 As shown, the deformation monitoring system includes monitoring sensors, LEO satellite data acquisition and processing terminals, LEO satellite constellations, LEO gateway stations and deformation monitoring data centers. Among them:

[0039] Monitoring sensors are sensors used to monitor the deformation or strain of structures. They can evaluate the health of the structure by measuring the linear or nonlinear deformation of the structure and provide early warning signals when necessary. They usually use strain gauges, resistance strain gauges, piezoelectric ceramics and other technologies to achieve high-precision, high-reliability and long-term stability monitoring effects.

[0040] The LEO satellite data acquisition and processing terminal has data storage and data processing and analysis functions, supports LEO satellite data sending and receiving, and can flexibly select mobile communications, Internet of Things, broadband and other data transmission methods according to the amount of data.

[0041] LEO satellite constellation refers to a group of satellite networks composed of low-orbit satellites. These satellites are usually located at an altitude of about 500 to 2,000 kilometers from the earth. They can provide global, high-speed, low-latency communication services, with functions such as mobile communications, Internet of Things, broadband transmission, and navigation enhancement, and can realize global services.

[0042] LEO gateways are used to realize communication relays between satellites and ground stations. They usually have high dynamic tracking capabilities and fast signaling processing capabilities, and can realize functions such as communication, navigation, and control command transmission between satellites and ground stations. LEO gateways can receive monitoring data leaked from LEO satellites and transmit the data to the deformation monitoring data center through the network; at the same time, they can inject sensor control commands from the deformation monitoring data center to the LEO satellite constellation.

[0043] The deformation monitoring data center is used to receive monitoring data from the LEO satellite gateway station and analyze the deformation monitoring data using the corresponding model; at the same time, it can send sensor control instructions to the LEO satellite gateway station according to the actual monitoring needs.

[0044] In one embodiment of the present disclosure, Figure 2 As shown, the above monitoring sensors include LEO-GNSS monitoring receivers and antennas, ground-based interferometric radar measurement systems, three-dimensional laser radar measurement systems, displacement meters, inclinometers, rain gauges, etc. Among them:

[0045] The above-mentioned LEO-GNSS monitoring receiver and antenna are used to collect GNSS (Global Navigation Satellite System) satellite ranging signals, LEO satellite ranging signals and navigation enhancement information, and solve the position information of the deformation monitoring point based on the GNSS satellite ranging signals, LEO satellite ranging signals and navigation enhancement information, and upload the position information to the satellite data acquisition terminal. Exemplarily, the LEO-GNSS monitoring receiver and antenna can obtain the above-mentioned position information in real time based on the PPP-RTK (Precise Point Positioning Real-Time Kinematic) positioning algorithm. Among them, the GNSS satellite ranging signal refers to the signal used by the receiver to calculate its position in the process of electromagnetic wave signals transmitted by satellites and propagating to the receiver through the earth's atmosphere. The ranging signals of the above-mentioned LEO satellites are mainly realized by two technologies: one is based on two-way measurement (TWO-WAY) communication between the satellite and the ground station, and the distance is determined by calculating the time difference between the satellite transmission signal reaching the ground station and the received signal returning to the satellite; the other is one-way ranging based on the precise code uploaded by the navigation satellite and the receiving end decoder.

[0046] The navigation enhancement information mentioned above improves the accuracy of position and speed measurement by adding additional information to the GPS signal. The navigation enhancement information includes information such as terrain, weather, vehicle speed, traffic information, bridge height, etc., which can help the GPS receiver better process signals and reduce errors, thereby improving positioning and navigation accuracy.

[0047] The above-mentioned ground-based interferometric radar measurement system has the advantages of short monitoring cycle, high speed and low cost. The monitoring accuracy can reach the millimeter level. It is suitable for large-scale regional surface two-dimensional displacement monitoring. It can be used to collect the surface two-dimensional displacement of the above-mentioned deformation monitoring points and upload it to the satellite data acquisition terminal. Among them, the above-mentioned surface two-dimensional displacement monitoring is a method of continuous detection of the surface using modern technical means. It can monitor the movement state of the surface at different time points by measuring the horizontal and vertical displacement of the surface, as well as the surface deformation.

[0048] The above-mentioned three-dimensional laser radar measurement system has the advantages of short monitoring cycle, high speed and low cost, and the monitoring accuracy is at the millimeter-centimeter level. It is suitable for large-scale regional three-dimensional surface displacement monitoring, and can be used to collect the three-dimensional surface displacement of the above-mentioned deformation monitoring points and upload them to the satellite data acquisition terminal. Among them, the above-mentioned three-dimensional surface displacement monitoring can be achieved through a variety of technical means, such as the global positioning system (GPS), InSAR synthetic aperture radar interferometry technology, plasma emission spectroscopy (LIBS), etc.

[0049] The above displacement meter, inclinometer, rain gauge, etc. can be flexibly deployed in the deformation monitoring area as needed to collect corresponding data and upload it to the LEO satellite data acquisition and processing terminal. Among them, the above displacement meter is a sensor used to measure the deformation and displacement of structures or mechanical parts. By measuring the displacement of a specific point on the structure, the force applied to the structure is understood, so as to determine whether it has deformation and deformation value and other information. The above inclinometer is an instrument used to measure the inclination angle and direction of underground soil or rock. It uses a gravity acceleration sensor and a rotor to detect the inclination and deformation of the ground or rock, and output the results in the form of digital or analog signals. The use of an inclinometer can monitor the settlement, displacement and deformation of the surface or rock in real time. The above rain gauge is an instrument used to measure the amount of precipitation. Common types of rain gauges include funnel rain gauges and tipping bucket rain gauges. The funnel rain gauge is usually composed of a funnel, a scale pan, a measuring cup, etc. When precipitation enters the funnel, a layer of water is formed on the scale pan, and the precipitation can be obtained after weighing. The working principle of a tipping bucket rain gauge is to use a tipping bucket rotor, which dumps out when a certain volume is reached and records it.

[0050] In the embodiments of the present disclosure, the deformation monitoring data may be data collected by the monitoring sensors. Exemplarily, the deformation monitoring data may include GNSS satellite ranging signals, LEO satellite ranging signals, navigation enhancement information and position information of deformation monitoring points obtained by calculation collected by the LEO-GNSS monitoring receiver and antenna, two-dimensional surface displacement of deformation monitoring points collected by the ground-based interferometric radar measurement system, three-dimensional surface displacement of deformation monitoring points collected by the three-dimensional lidar measurement system, and data collected by displacement meters, inclinometers, rain gauges, etc.

[0051] In the embodiment of the present disclosure, after the deformation monitoring data is collected by the monitoring sensor, the deformation monitoring data can be transmitted to the LEO satellite data collection and processing terminal through WIFI, Bluetooth, serial port, etc. After receiving the deformation monitoring data, the LEO satellite data collection and processing terminal can Figure 3 As shown in the figure, firstly, the received observation data of each type of sensor is preprocessed, and the data containing gross errors is eliminated; then, the monitoring data of each sensor is analyzed using the deformation monitoring model corresponding to each sensor to obtain the monitoring results of each sensor type; finally, the monitoring results of each sensor are comprehensively analyzed based on the multi-source sensor deformation monitoring fusion analysis module to obtain the results of regional deformation monitoring, and the sensor observation data and deformation monitoring results are uploaded to the LEO satellite constellation. Since the above-mentioned LEO satellite data acquisition and processing terminal has the function of data processing and analysis, it can efficiently discover risks in real time and reduce the amount of satellite data transmission accordingly.

[0052] In step S120, the deformation monitoring data is transmitted to the deformation monitoring data center, and a control command sent by the deformation monitoring data center is received.

[0053] In the disclosed embodiment, after receiving the deformation monitoring data uploaded by the LEO satellite data acquisition and processing terminal, the LEO satellite constellation transmits the deformation monitoring data to the deformation monitoring data center. Transmitting deformation monitoring data through the LEO satellite constellation can not only solve a series of problems existing in the current network, such as insufficient coverage area and small amount of transmitted data, but also solve the problem of insufficient coverage area of ​​network RTK services.

[0054] After receiving the deformation monitoring data transmitted by the LEO satellite constellation, the deformation monitoring data center can generate the above control command according to the actual needs of the monitoring area and transmit the control command to the LEO satellite constellation. The above control command is used to change the data sampling interval, collection type and other parameters of the above monitoring equipment to meet the actual monitoring needs.

[0055] In step S130, a control command is sent to the monitoring device via the data acquisition terminal to change the acquisition parameters of the monitoring device through the control command, wherein the monitoring device is used to collect deformation monitoring data and transmit the deformation monitoring data to the satellite data acquisition terminal.

[0056] In the disclosed embodiment, after receiving the control command transmitted by the deformation monitoring data center via the LEO satellite gateway, the LEO satellite constellation sends the control command to the above-mentioned LEO satellite data acquisition and processing terminal through the inter-satellite link. After being parsed by the LEO satellite data acquisition and processing terminal, the corresponding instruction is transmitted to the corresponding monitoring device through WIFI, Bluetooth, serial port, etc., so as to change the data sampling interval, collection type and other parameters of the monitoring device to meet the actual monitoring needs. The above-mentioned monitoring device can be the above-mentioned monitoring sensor.

[0057] It should be noted that although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0058] Correspondingly, this exemplary embodiment also provides a deformation monitoring device, referring to Figure 4 As shown, the deformation monitoring device 400 may include a data receiving module 410, a data transmission module 420 and a deformation monitoring module 430. Among them:

[0059] The data receiving module 410 may be used to receive deformation monitoring data of each deformation monitoring point uploaded by the satellite data collection terminal;

[0060] The data transmission module 420 may be used to transmit the deformation monitoring data to the deformation monitoring data center and receive the control command sent by the deformation monitoring data center;

[0061] The deformation monitoring module 430 can be used to send a control command to the monitoring device via the data acquisition terminal to change the acquisition parameters of the monitoring device through the control command, wherein the monitoring device is used to collect deformation monitoring data and transmit the deformation monitoring data to the satellite data acquisition terminal.

[0062] In the disclosed embodiment, the monitoring equipment includes a LEO-GNSS monitoring receiver, and at least one of a ground-based interferometric radar measurement system, a three-dimensional laser radar measurement system, a displacement meter, an inclinometer, and a rain gauge; wherein:

[0063] The above-mentioned LEO-GNSS monitoring receiver is used to collect GNSS satellite ranging signals, LEO satellite ranging signals and navigation enhancement information, and calculate the position information of the deformation monitoring point based on the GNSS satellite ranging signals, LEO satellite ranging signals and navigation enhancement information, and upload the position information to the satellite data acquisition terminal; the above-mentioned ground-based interferometric radar measurement system is used to collect the two-dimensional surface displacement of the deformation monitoring point and upload it to the satellite data acquisition terminal; the above-mentioned three-dimensional lidar measurement system is used to collect the three-dimensional surface displacement of the deformation monitoring point and upload it to the satellite data acquisition terminal; the above-mentioned displacement meter is used to measure the deformation and displacement of structures or mechanical parts and upload them to the satellite data acquisition terminal; the above-mentioned inclinometer is used to measure the inclination angle and direction of underground soil layers or rock masses and upload them to the satellite data acquisition terminal; the above-mentioned rain gauge is used to measure precipitation and upload it to the satellite data acquisition terminal.

[0064] In the disclosed embodiment, the above deformation monitoring data is the deformation monitoring result obtained by the satellite data acquisition terminal based on the analysis of received data.

[0065] The specific implementation details of the above deformation monitoring device have been described in detail in the corresponding position of the above deformation monitoring method, so they will not be repeated here.

[0066] Furthermore, this exemplary embodiment also provides a deformation monitoring system. Figure 2 As shown, the deformation monitoring system may include monitoring equipment, a satellite data acquisition terminal, a low earth orbit satellite, a satellite gateway station and a deformation monitoring module. Among them:

[0067] A monitoring device for collecting deformation monitoring data of deformation monitoring points and transmitting the data to a satellite data collection terminal, and receiving a control command sent by the satellite data collection terminal and changing sampling parameters of the deformation monitoring points based on the control command;

[0068] A satellite data acquisition terminal is used to receive deformation monitoring data transmitted by the monitoring equipment, obtain deformation monitoring results based on the deformation monitoring data analysis, transmit the deformation monitoring data and the deformation monitoring results to the low earth orbit satellite, and receive control commands sent by the low earth orbit satellite;

[0069] A low earth orbit satellite is used to receive deformation monitoring data and deformation monitoring results transmitted by a satellite data acquisition terminal, and transmit them to a satellite gateway station, and receive control commands sent by the satellite gateway station;

[0070] A satellite gateway station is used to receive deformation monitoring data and deformation monitoring results transmitted by low earth orbit satellites and send them to the deformation monitoring data center, and receive control commands sent by the deformation monitoring data center;

[0071] The deformation monitoring data center is used to receive the deformation monitoring data and deformation monitoring results sent by the satellite gateway station, generate control commands based on the deformation monitoring data and deformation monitoring results, and send the control commands to the satellite gateway station.

[0072] In the disclosed embodiment, the above-mentioned monitoring equipment includes a LEO-GNSS monitoring receiver and antenna, a ground-based interferometric radar measurement system, a three-dimensional lidar measurement system, a displacement meter, an inclinometer, and a rain gauge.

[0073] In the disclosed embodiment, the LEO-GNSS monitoring receiver and antenna are used to receive GNSS satellite ranging signals, LEO satellite ranging signals and navigation enhancement information, and calculate the position information of the deformation monitoring point in real time through the PPP-RTK positioning algorithm, and transmit the position information to the satellite data acquisition and processing terminal; the ground-based interferometric radar measurement system is used to collect the two-dimensional surface displacement of the deformation monitoring point and upload it to the satellite data acquisition terminal; the three-dimensional lidar measurement system is used to collect the three-dimensional surface displacement of the deformation monitoring point and upload it to the satellite data acquisition terminal.

[0074] In the disclosed embodiment, the satellite data acquisition terminal receives deformation monitoring data transmitted by the monitoring equipment, and obtains deformation monitoring results based on the deformation monitoring data analysis, including: inputting the deformation monitoring data into the corresponding pre-trained deformation monitoring model to obtain the equipment deformation monitoring results corresponding to each monitoring equipment; and determining the deformation monitoring results of the deformation monitoring point based on the deformation monitoring results of each equipment.

[0075] The specific implementation details of the above deformation monitoring system have been described in detail in the corresponding position of the above deformation monitoring method, so they will not be repeated here.

[0076] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0077] Figure 5 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Figure 5 , which shows a structural schematic diagram of an electronic device 500 suitable for implementing the embodiments of the present disclosure. Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0078] like Figure 5As shown, the electronic device 500 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 to a random access memory (RAM) 503 to implement the voice control method of the embodiment described in the present disclosure. In the RAM 503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0079] Typically, the following devices may be connected to the I / O interface 505: an input device 506 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 508 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 509. The communication device 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 5 The electronic device 500 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0080] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart, thereby implementing the voice control method as described above. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0081] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0082] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0083] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0084] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0085] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0086] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0087] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0088] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A deformation monitoring method, characterized in that: Applications in low earth orbit satellites include: Receive deformation monitoring data of each deformation monitoring point uploaded by the satellite data acquisition terminal; Transmitting the deformation monitoring data to a deformation monitoring data center, and receiving a control command sent by the deformation monitoring data center; The control command is sent to the monitoring device via the data acquisition terminal to change the acquisition parameters of the monitoring device through the control command, wherein the monitoring device is used to collect the deformation monitoring data and transmit the deformation monitoring data to the satellite data acquisition terminal.

2. The deformation monitoring method according to claim 1, characterized in that: The monitoring equipment includes a LEO-GNSS monitoring receiver and at least one of a ground-based interferometric radar measurement system, a three-dimensional laser radar measurement system, a displacement meter, an inclinometer, and a rain gauge; The monitoring device is used to collect the deformation monitoring data and transmit the deformation monitoring data to the satellite data collection terminal, including: The LEO-GNSS monitoring receiver is used to collect GNSS satellite ranging signals, LEO satellite ranging signals and navigation enhancement information, and calculate the position information of the deformation monitoring point based on the GNSS satellite ranging signals, the LEO satellite ranging signals and the navigation enhancement information, and upload the position information to the satellite data collection terminal; The ground-based interferometric radar measurement system is used to collect the two-dimensional displacement of the surface of the deformation monitoring point and upload it to the satellite data acquisition terminal; The three-dimensional laser radar measurement system is used to collect the three-dimensional displacement of the deformation monitoring point and upload it to the satellite data acquisition terminal; The displacement meter is used to measure the deformation and displacement of a structure or mechanical part and upload it to the satellite data acquisition terminal; The inclinometer is used to measure the inclination angle and direction of underground soil layers or rock masses and upload them to the satellite data acquisition terminal; The rain gauge is used to measure precipitation and upload it to the satellite data collection terminal.

3. The deformation monitoring method according to claim 2, characterized in that: The deformation monitoring data is the deformation monitoring result obtained by the satellite data acquisition terminal based on the analysis of received data.

4. A deformation monitoring device, characterized in that: include: A data receiving module is used to receive deformation monitoring data of each deformation monitoring point uploaded by a satellite data acquisition terminal; A data transmission module, used to transmit the deformation monitoring data to a deformation monitoring data center and receive a control command sent by the deformation monitoring data center; The deformation monitoring module is used to send the control command to the monitoring device via the data acquisition terminal to change the acquisition parameters of the monitoring device through the control command, wherein the monitoring device is used to collect the deformation monitoring data and transmit the deformation monitoring data to the satellite data acquisition terminal.

5. A deformation monitoring system, characterized in that: include: A monitoring device, used for collecting deformation monitoring data of deformation monitoring points and transmitting the data to a satellite data collection terminal, and receiving a control command sent by the satellite data collection terminal and changing sampling parameters of the deformation monitoring points based on the control command; A satellite data acquisition terminal, configured to receive the deformation monitoring data transmitted by the monitoring device, obtain a deformation monitoring result based on the deformation monitoring data analysis, transmit the deformation monitoring data and the deformation monitoring result to a low earth orbit satellite, and receive the control command sent by the low earth orbit satellite; A low earth orbit satellite, used to receive the deformation monitoring data and the deformation monitoring result transmitted by the satellite data acquisition terminal, and transmit them to a satellite gateway station, and receive the control command sent by the satellite gateway station; A satellite gateway station, used for receiving the deformation monitoring data and the deformation monitoring result transmitted by the low earth orbit satellite, and sending them to a deformation monitoring data center, and receiving the control command sent by the deformation monitoring data center; The deformation monitoring data center is used to receive the deformation monitoring data and the deformation monitoring result sent by the satellite gateway station, generate the control command based on the deformation monitoring data and the deformation monitoring result, and send the control command to the satellite gateway station.

6. The deformation monitoring system according to claim 5, characterized in that: The monitoring equipment includes a LEO-GNSS monitoring receiver and antenna, a ground-based interferometric radar measurement system, a three-dimensional lidar measurement system, a displacement meter, an inclinometer, and a rain gauge.

7. The deformation monitoring system according to claim 6, characterized in that: The LEO-GNSS monitoring receiver and antenna are used to receive GNSS satellite ranging signals, LEO satellite ranging signals and navigation enhancement information, calculate the position information of the deformation monitoring point in real time through the PPP-RTK positioning algorithm, and transmit the position information to the satellite data acquisition and processing terminal; The ground-based interferometric radar measurement system is used to collect the two-dimensional displacement of the surface of the deformation monitoring point and upload it to the satellite data acquisition terminal; The three-dimensional laser radar measurement system is used to collect the three-dimensional displacement of the surface of the deformation monitoring point and upload it to the satellite data collection terminal.

8. The deformation monitoring system according to claim 6, characterized in that: The satellite data collection terminal receives the deformation monitoring data transmitted by the monitoring device, and obtains deformation monitoring results based on the deformation monitoring data analysis, including: Inputting the deformation monitoring data into a corresponding pre-trained deformation monitoring model to obtain a device deformation monitoring result corresponding to each monitoring device; The deformation monitoring result of the deformation monitoring point is determined based on the deformation monitoring result of each device.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 3 is implemented.

10. An electronic device, characterized in that: include: processor; A memory, configured to store executable instructions of the processor; The processor is configured to perform the method according to any one of claims 1 to 3 by executing the executable instructions.

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