A correction method for slope radar monitoring data

Abstract

The invention discloses a correction method for slope radar monitoring data, comprising: fitting a fitting function calculation model between the coordinate offset of the slope radar and the offset monitoring duration; counting the slope monitoring time points corresponding to each monitoring of the monitored area of ​​the open-pit mine by the slope radar, and forming a slope monitoring time axis and slope monitoring data; counting the time points of each displacement monitoring of the slope radar by a GNSS displacement detector, and forming a radar displacement monitoring time axis, and calculating the coordinate offset of the slope radar obtained by the displacement monitoring of the GNSS displacement detector; determining the displacement start time of the slope radar by combining the coordinate offset monitored by the GNSS displacement detector and the fitting function calculation model, calculating the radar displacement duration, calculating the coordinate offset coefficient corresponding to the slope monitoring time point within the radar displacement duration, and performing coordinate correction on the monitoring point; the invention improves the accuracy of radar imaging correction and the accuracy of slope deformation recognition.

Description

Technical Field

[0001] The invention relates to the technical field of radar monitoring data correction, and in particular to a correction method for slope radar monitoring data. Background Art

[0002] The application scenario of the correction method of slope radar monitoring data of the present invention is specifically as follows: an open-pit mine is divided into several areas to be monitored, and a slope radar is installed opposite to the area to be monitored to realize deformation data monitoring of the area to be monitored.

[0003] However, due to external influences, such as problems with the slope below the installation location of the slope radar, the coordinate position of the slope radar will shift, and thus the coordinate position of each monitoring point formed by it will also shift. When the coordinate position of the slope radar changes, the coordinates of the monitoring points in the area to be monitored will change accordingly, causing the monitoring patrol image formed by the slope radar to shift. Therefore, a certain error will be caused after determining the deformation changes of the monitoring points in the area to be monitored. Summary of the invention

[0004] The object of the present invention is to provide a method for correcting slope radar monitoring data to solve the technical problem in the prior art that when the coordinate position of the slope radar changes, the coordinates of the monitoring points in the monitored area will change accordingly.

[0005] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0006] A method for correcting slope radar monitoring data comprises the following steps:

[0007] Step 100: fitting the historical data of the coordinate offset of the slope radar to obtain a fitting function calculation model between the coordinate offset of the slope radar and the offset monitoring duration;

[0008] Step 200, counting the slope monitoring time points corresponding to each monitoring of the monitored area of ​​the open-pit mine by the slope radar, and forming a slope monitoring time axis, and forming slope monitoring data from the monitoring points and monitoring data corresponding to each slope monitoring;

[0009] Step 300: Count the time points of each displacement monitoring of the slope radar by the GNSS displacement detector, and form a radar displacement monitoring time axis; calculate the coordinate offset of the slope radar obtained by the displacement monitoring of the GNSS displacement detector based on the initial coordinate value of the slope radar and the real-time coordinate value corresponding to each displacement monitoring;

[0010] Step 400: Determine the displacement start time of the slope radar in combination with the coordinate offset monitored by the GNSS displacement detector and the fitting function calculation model, fit the displacement start time to the slope monitoring time axis to calculate the radar displacement duration, and use the fitting function calculation model and the radar displacement duration to calculate the coordinate offset coefficient corresponding to the slope monitoring time point within the radar displacement duration to correct the coordinate value of the monitoring point.

[0011] As a preferred solution of the present invention, in step 100, the implementation method of obtaining the fitting function calculation model is:

[0012] Determining the position and orientation of the slope radar relative to the entire open-pit mine;

[0013] Counting the three-dimensional coordinate values ​​corresponding to each displacement monitoring of the slope radar and the time point of each displacement monitoring of the slope radar;

[0014] The X-axis displacement monitoring coordinate value, Y-axis displacement monitoring coordinate value and Z-axis displacement monitoring coordinate value of the slope radar are obtained for each displacement monitoring respectively, and the coordinate offsets of the X-axis displacement monitoring coordinate value, the Y-axis displacement monitoring coordinate value and the Z-axis displacement monitoring coordinate value relative to the X-axis initial coordinate, the Y-axis initial coordinate and the Z-axis initial coordinate are calculated. The X-axis coordinate offset, the Y-axis coordinate offset and the Z-axis coordinate offset of the slope radar at each displacement monitoring and the time point of each displacement monitoring are fitted to obtain an X-offset function calculation model between the X-axis coordinate offset and the monitoring duration, a Y-offset function calculation model between the Y-axis coordinate offset and the monitoring duration, and a Z-offset function calculation model between the Z-axis coordinate offset and the monitoring duration.

[0015] As a preferred solution of the present invention, in step 200, the installation position of the slope radar is determined, and the corresponding X offset function calculation model, Y offset function calculation model and Z offset function calculation model are selected. The coordinate values ​​of the monitoring points corresponding to each slope monitoring of the monitored area of ​​the open-pit mine are respectively (x tj ,y tj , z tj ), t j The time point at which the slope radar monitors the area to be monitored in the open-pit mine each time;

[0016] The slope monitoring data corresponding to each monitoring point is R= , where the monitoring period of the slope radar to be monitored area is .

[0017] As a preferred solution of the present invention, the slope surface deformation data corresponding to each monitoring point in multiple monitoring cycles is:

[0018] =F ;

[0019] Where n=1 / 2 / 3…;

[0020] It is considered that the slope radar has no coordinate deviation and the monitoring data corresponding to the first slope monitoring of the monitored area;

[0021] F is the slope monitoring data difference corresponding to each monitoring point in at least one monitoring cycle.

[0022] As a preferred solution of the present invention, in step 200, the slope monitoring time axis formed based on the time point of each slope monitoring by the slope radar is:

[0023] tj= ;

[0024] tj+ = ;

[0025] tj+n = ;

[0026] in, When the slope radar monitors the entire area to be monitored in sequence, the monitoring time point corresponding to each monitoring point;

[0027] When the slope radar performs periodic slope monitoring on the entire monitored area in sequence, each monitoring point in each monitoring cycle corresponds to the slope monitoring time point.

[0028] As a preferred solution of the present invention, in step 300, the time point at which the GNSS displacement detector monitors the slope radar each time is counted, and a radar displacement monitoring time axis is formed, and the radar displacement monitoring time axis tw= , The time point at which the GNSS displacement detector monitors each displacement of the slope radar;

[0029] The three-dimensional coordinate value of the slope radar when the GNSS displacement detector monitors the displacement of the slope radar for the first time is used as the initial coordinate value;

[0030] When calculating the coordinate offset of the slope radar obtained by the displacement monitoring of the GNSS displacement detector, the X coordinate offset, Y coordinate offset and Z coordinate offset of the slope radar are calculated respectively, and the X offset function calculation model, the Y offset function calculation model and the Z offset function calculation model are adjusted in real time based on the X coordinate offset, the Y coordinate offset and the Z coordinate offset.

[0031] As a preferred solution of the present invention, in step 400, when the X-coordinate offset is greater than zero, the X-coordinate offset obtained by the GNSS displacement detector from the displacement monitoring of the slope radar and the current displacement monitoring time point are input into the X-offset function calculation model to determine the offset start time point when the slope radar has an X-coordinate offset;

[0032] Fitting the offset start time point of the X-coordinate offset to the slope monitoring time axis, and determining the duration of the radar displacement formed by the offset start time point of the X-coordinate offset and the slope monitoring time axis;

[0033] In combination with the radar displacement duration and the X-offset function calculation model, determine the X-axis offset coefficient corresponding to the slope monitoring time point within the radar displacement duration on the slope monitoring time axis;

[0034] Combined with the X-axis offset coefficient, the coordinate values ​​corresponding to the monitoring points of the slope monitoring are corrected to obtain the corrected coordinate values ​​of each monitoring point ( ±X-axis offset coefficient, , ), where n is 1, 2, 3, etc.

[0035] As a preferred solution of the present invention, in step 400, when the Y coordinate offset is greater than zero, the Y coordinate offset obtained by the GNSS displacement detector from the displacement monitoring of the slope radar and the current displacement monitoring time point are input into the Y offset function calculation model to determine the offset start time point when the slope radar has a Y coordinate offset;

[0036] Fitting the offset start time point of the Y coordinate offset to the slope monitoring time axis, and determining the duration of the radar displacement formed by the offset start time point of the Y coordinate offset and the slope monitoring time axis;

[0037] In combination with the radar displacement duration and the Y-offset function calculation model, determine the Y-axis offset coefficient corresponding to the slope monitoring time point within the radar displacement duration on the slope monitoring time axis;

[0038] Combined with the Y-axis offset coefficient, the coordinate value of the monitoring point corresponding to the slope monitoring is corrected, and the corrected coordinate value of the monitoring point is ( , ±Y-axis offset factor, ), where n is 1, 2, 3, etc.

[0039] As a preferred solution of the present invention, in step 400, when the Z coordinate offset is greater than zero, the Z coordinate offset obtained by the GNSS displacement detector from the displacement monitoring of the slope radar and the current displacement monitoring time point are input into the Z offset function calculation model to determine the offset start time point when the slope radar has a Z coordinate offset;

[0040] Fitting the offset start time point of the Z coordinate offset to the slope monitoring time axis, and determining the duration of the radar displacement formed by the offset start time point of the Z coordinate offset and the slope monitoring time axis;

[0041] In combination with the radar displacement duration and the Z-offset function calculation model, a Z-axis offset coefficient corresponding to a slope monitoring time point on the slope monitoring time axis that is within the radar displacement duration is determined;

[0042] Combined with the Z-axis offset coefficient, the coordinate value of the monitoring point corresponding to the slope monitoring is corrected, and the corrected coordinate value of the monitoring point is ( , , ±Z-axis offset coefficient), where n is 1, 2, 3, etc.

[0043] As a preferred solution of the present invention, in step 500, the slope surface deformation data corresponding to the same monitoring point is calculated as follows:

[0044] =F ;

[0045] Where n=1, 2, 3... :

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The present invention determines the starting time point of the coordinate offset of the slope radar based on the coordinate offset monitored by the GNSS displacement detector, and can determine whether there is a slope monitoring time point of the slope radar for the monitored area between the starting time point of the coordinate offset and each displacement monitoring, and then can determine the corresponding radar coordinate offset at the slope monitoring time point, so as to correct the coordinate value of the monitoring point corresponding to the slope monitoring time point, and can trace back to all the monitoring points with coordinate deviations in the slope monitoring data, so as to ensure that all the monitoring points with coordinate deviations in the imaging diagram can be corrected, thereby improving the accuracy of correcting the imaging diagram of the slope radar, and then improving the accuracy of slope deformation recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0049] Figure 1 A schematic diagram of a flow chart of a radar monitoring data correction method according to an embodiment of the present invention; DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] The present invention uses three GNSS displacement detectors as reference reference points around the slope radar, which are arranged in a stable area without potential slippage. Therefore, the GNSS is assumed to be stationary. Other GNSS can measure their own coordinate changes through these three reference points to calculate the displacement changes. Through this principle, the GNSS can be used to accurately locate the slope radar, calculate the coordinate position and offset of the slope radar during monitoring, and thus provide a calibration reference for the imaging image of the slope radar.

[0052] Based on the above, if Figure 1 As shown, the present invention provides a method for correcting slope radar monitoring data, comprising the following steps:

[0053] Step 100: Fitting the historical data of the slope radar's coordinate offset to obtain a fitting function calculation model between the slope radar's coordinate offset and the offset monitoring duration.

[0054] Step 200: Count the slope monitoring time points corresponding to each monitoring of the monitored area of ​​the open-pit mine by the slope radar, and form a slope monitoring time axis, and form slope monitoring data with the monitoring points and monitoring data corresponding to each slope monitoring.

[0055] Step 300: Count the time points of each displacement monitoring of the slope radar by the GNSS displacement detector, and form a radar displacement monitoring time axis; based on the initial coordinate value of the slope radar and the real-time coordinate value corresponding to each displacement monitoring, calculate the coordinate offset of the slope radar obtained by the displacement monitoring of the GNSS displacement detector.

[0056] Step 400, combining the coordinate offset monitored by the GNSS displacement detector and the fitting function calculation model, determining the displacement start time of the slope radar, fitting the displacement start time to the slope monitoring time axis to calculate the radar displacement duration, and using the fitting function calculation model and the radar displacement duration to calculate the coordinate offset coefficient corresponding to the slope monitoring time point within the radar displacement duration, so as to correct the coordinate value of the monitoring point.

[0057] Step 500: Obtain the corrected slope radar monitoring data corresponding to the same monitoring point to calculate the slope surface deformation data corresponding to the same monitoring point.

[0058] In this embodiment, based on the historical data of the coordinate offset of the slope radar, a fitting function calculation model between the coordinate offset of the slope radar and the offset monitoring time is determined, that is, the functional relationship between the coordinate position offset of the slope radar and time is first determined, so that the offset monitoring time and the specific offset start time point when the coordinate position of the slope radar starts to offset can be determined based on the coordinate position offset.

[0059] The reason for first determining the fitting function calculation model between the coordinate offset of the slope radar and the offset monitoring time is that when the slope radar is used to monitor the slope of the monitored area, the slope monitoring time axis can be formed according to the monitoring time points of the slope radar, and when the GNSS displacement detector is used to monitor the position of the slope radar, the radar displacement monitoring time axis can be formed according to the time points of the radar displacement monitoring.

[0060] Since the slope radar monitoring time points on the slope monitoring timeline and the radar displacement monitoring time points on the radar displacement monitoring timeline do not completely coincide one by one, when the GNSS displacement detector finds that the coordinate position of the radar has shifted, then the data collected by the slope radar contains data with coordinate deviations of the monitoring points, and the coordinates of the monitoring points need to be corrected, so as to correct the coordinates of all the monitoring points that have shifted in the imaging map of the slope radar, and compare the monitoring data belonging to the same monitoring point in the imaging map of the corrected slope radar one by one, so as to realize slope early warning.

[0061] Based on the above, after the GNSS displacement detector monitors the offset of the coordinates of the slope radar, this embodiment determines the displacement start time of the slope radar in combination with the coordinate offset monitored by the GNSS displacement detector and the fitting function calculation model, and fits the displacement start time to the slope monitoring time axis to calculate the duration of the radar displacement, thereby correcting the coordinate position of the monitoring point within the duration of the radar displacement. The specific coordinate offset coefficient is determined according to the duration of the radar displacement and the fitting function calculation model.

[0062] After the coordinate position of the monitoring point is corrected using the coordinate offset coefficient, the imaging map of the slope radar within the monitoring period can be corrected as a whole, and the imaging map within the monitoring period can be compared with the imaging map before the slope radar coordinates are offset and the first slope monitoring of the monitored area is performed to determine the slope deformation of the monitored area. Since the present embodiment can determine the starting time point of the coordinate offset of the slope radar based on the coordinate offset monitored by the GNSS displacement detector, and can determine whether there is a slope monitoring time point of the monitored area by the slope radar between the starting time point of the coordinate offset and each displacement monitoring, and thus can determine the corresponding radar coordinate offset at the slope monitoring time point, thereby correcting the coordinate value of the monitoring point corresponding to the slope monitoring time point, and can trace back to all monitoring points with coordinate deviations in the slope monitoring data, to ensure that all monitoring points with coordinate deviations in the imaging map can be corrected, thereby improving the accuracy of correcting the imaging map of the slope radar, and thereby improving the accuracy of slope deformation identification.

[0063] Furthermore, in step 100, the implementation method of obtaining the fitting function calculation model is:

[0064] Determine the position and orientation of the slope radar relative to the entire open pit mine.

[0065] The three-dimensional coordinate values ​​corresponding to each displacement monitoring of the slope radar and the time point of each displacement monitoring of the slope radar are counted.

[0066] The X-axis displacement monitoring coordinate value, Y-axis displacement monitoring coordinate value and Z-axis displacement monitoring coordinate value of the slope radar are obtained for each displacement monitoring respectively, and the coordinate offsets of the X-axis displacement monitoring coordinate value, the Y-axis displacement monitoring coordinate value and the Z-axis displacement monitoring coordinate value relative to the initial X-axis coordinate, the initial Y-axis coordinate and the initial Z-axis coordinate are calculated. The X-axis coordinate offset, the Y-axis coordinate offset and the Z-axis coordinate offset of the slope radar at each displacement monitoring and the time point of each displacement monitoring are fitted to obtain the X-offset function calculation model between the X-axis coordinate offset and the monitoring time, the Y-offset function calculation model between the Y-axis coordinate offset and the monitoring time, and the Z-offset function calculation model between the Z-axis coordinate offset and the monitoring time.

[0067] In this embodiment, since the installation positions of the slope radar relative to the open-pit mine are different, the corresponding X offset function calculation model, Y offset function calculation model and Z offset function calculation model also have corresponding differences.

[0068] This embodiment forms an X-offset function calculation model, a Y-offset function calculation model and a Z-offset function calculation model for each slope radar based on the installation position of the slope radar and the displacement change history data of the slope radar.

[0069] Among them, the X offset function calculation model, the Y offset function calculation model and the Z offset function calculation model are specifically used to represent the functional relationship between the offset duration and the offset amount, so as to determine the offset start time point of the slope radar based on the offset amount corresponding to the displacement monitoring of the slope radar by the GNSS displacement detector.

[0070] In this embodiment, the slope radar can form a three-dimensional monitoring coordinate. Therefore, this embodiment splits the fitting function calculation model into an X offset function calculation model, a Y offset function calculation model, and a Z offset function calculation model to respectively determine the functional relationship between the offset amount and the offset duration of the X coordinate, Y coordinate, and Z coordinate of the slope radar.

[0071] In step 200, the installation position of the slope radar is determined, and the corresponding X offset function calculation model, Y offset function calculation model and Z offset function calculation model are selected. The coordinate values ​​of the monitoring points corresponding to each slope monitoring of the area to be monitored in the open-pit mine are (x tj ,y tj，ztj ), t j It is the time point when the slope radar conducts slope monitoring on the monitored area of ​​the open-pit mine each time.

[0072] The slope monitoring data corresponding to each monitoring point is R= , where the monitoring period of the slope radar to be monitored area is .

[0073] It should be noted that, in this embodiment, when the slope radar performs slope monitoring on the monitored area of ​​the open-pit mine, a radar shock wave is emitted each time the slope monitoring is performed, which corresponds to a slope monitoring time point, and the monitoring range corresponding to the slope monitoring can be a monitoring point or a monitoring area. In this embodiment, (x tj ,y tj，ztj ), that is, in a monitoring cycle, each radar shock wave emitted by the slope radar is regarded as corresponding to a slope monitoring time point, so that after completing a monitoring cycle, multiple slope monitoring time points are formed, so that a slope monitoring time axis can be formed, and each slope monitoring time point corresponds to a monitoring point, and its coordinate value is (x tj，ytj , z tj）。

[0074] In step 200, when the slope radar performs cyclic monitoring on the monitored area according to the monitoring cycle, the slope monitoring time axis formed based on the time point of each slope monitoring by the slope radar is:

[0075] tj= ;

[0076] tj+ = ;

[0077] tj+n = ;

[0078] in, When the slope radar monitors the entire area to be monitored in sequence, the monitoring time point corresponding to each monitoring point;

[0079] When the slope radar performs periodic slope monitoring on the entire monitored area in sequence, each monitoring point in each monitoring cycle corresponds to the slope monitoring time point.

[0080] When calculating the deformation data of the monitored area, the deformation data of each monitoring point in each monitoring cycle is specifically calculated, and the slope surface deformation data corresponding to each monitoring point in multiple monitoring cycles is calculated.

[0081] =F ; Where n=1 / 2 / 3...; It can be considered that there is no coordinate offset of the slope radar, and F is the monitoring data corresponding to the first slope monitoring of the monitored area, and the slope monitoring data difference corresponding to each monitoring point in multiple monitoring cycles.

[0082] If the coordinate offset of the slope radar during monitoring is not considered, then the above The calculation formula is used to determine the surface deformation in the monitored area, thereby realizing landslide early warning.

[0083] However, due to external influences, such as problems with the slope below the slope radar installation location, the coordinate position of the slope radar is offset, and the coordinate position of each monitoring point formed by it is also offset, causing the monitoring patrol image formed by the slope radar to be offset, thereby calculating the slope surface deformation data. An error occurred.

[0084] In order to solve the above technical problems, this embodiment proposes to use a GNSS displacement detector to monitor the displacement of the slope radar to monitor whether the slope radar is offset, as well as the specific corresponding offset occurrence time point, the current offset duration and the corresponding offset amount, to form the monitoring point offset coefficient of the slope radar, so as to correct the coordinate values ​​of all monitoring points after the slope radar coordinate offset occurs, regenerate the imaging map, and then obtain the slope surface deformation data corresponding to each monitoring point in multiple monitoring cycles with high accuracy. , which can improve the accuracy of early warning.

[0085] In step 300, the time point at which the GNSS displacement detector monitors the slope radar for each displacement is counted, and a radar displacement monitoring time axis is formed. The radar displacement monitoring time axis tw= , It is the time point when the GNSS displacement detector monitors each displacement of the slope radar.

[0086] The three-dimensional coordinate value of the slope radar when the GNSS displacement detector monitors the displacement of the slope radar for the first time is taken as the initial coordinate value.

[0087] When calculating the coordinate offset of the slope radar obtained by the displacement monitoring of the GNSS displacement detector, the X coordinate offset, Y coordinate offset and Z coordinate offset of the slope radar are calculated respectively, and the X offset function calculation model, the Y offset function calculation model and the Z offset function calculation model are adjusted in real time based on the X coordinate offset, the Y coordinate offset and the Z coordinate offset.

[0088] Among them, X coordinate offset = XP (twn) - XP (t 1), where n=2, 3, 4, ..., twn is the time point at which the GNSS displacement detector monitors the slope radar each time. is the time point of the first displacement monitoring of the slope radar; XP(twn) is the X-axis coordinate of the GNSS displacement detector for each displacement monitoring of the slope radar, XP( ) is the X-axis coordinate of the first displacement monitoring of the slope radar by the GNSS displacement detector.

[0089] Y coordinate offset = YP(twn)-YP(t 1), where n=2, 3, 4, ..., twn is the time point at which the GNSS displacement detector monitors the slope radar each time. is the time point of the first displacement monitoring of the slope radar; YP(twn) is the Y-axis coordinate of the GNSS displacement detector for each displacement monitoring of the slope radar, YP( ) is the Y-axis coordinate of the first displacement monitoring of the slope radar by the GNSS displacement detector.

[0090] Y coordinate offset = ZP (twn) - ZP ( ), where n=2, 3, 4, ..., twn is the time point at which the GNSS displacement detector monitors the slope radar each time. is the time point of the first displacement monitoring of the slope radar; ZP(twn) is the Z-axis coordinate of the GNSS displacement detector for each displacement monitoring of the slope radar. ) is the Z-axis coordinate of the first displacement monitoring of the slope radar by the GNSS displacement detector.

[0091] In step 400, when the X-coordinate offset is greater than zero, the X-coordinate offset obtained by the GNSS displacement detector from monitoring the displacement of the slope radar and the current displacement monitoring time point are input into the X-offset function calculation model to determine the offset start time point when the slope radar has an X-coordinate offset.

[0092] The offset start time point of the X-coordinate offset is fitted on the slope monitoring time axis, and the duration of the radar displacement formed by the offset start time point of the X-coordinate offset and the slope monitoring time axis is determined.

[0093] Combined with the radar displacement duration and the X-offset function calculation model, the X-axis offset coefficient corresponding to the slope monitoring time point within the radar displacement duration on the slope monitoring time axis is determined.

[0094] Combined with the X-axis offset coefficient, the coordinate values ​​corresponding to the monitoring points of the slope monitoring are corrected to obtain the corrected coordinate values ​​of each monitoring point ( ±X-axis offset coefficient, , ), where n is 1, 2, 3, etc.

[0095] In step 400, when the Y coordinate offset is greater than zero, the Y coordinate offset obtained by the GNSS displacement detector from monitoring the displacement of the slope radar and the current displacement monitoring time point are input into the Y offset function calculation model to determine the offset start time point when the slope radar has a Y coordinate offset.

[0096] The offset start time point of the Y coordinate offset is fitted on the slope monitoring time axis, and the duration of the radar displacement formed by the offset start time point of the Y coordinate offset and the slope monitoring time axis is determined.

[0097] Combined with the radar displacement duration and the Y-offset function calculation model, the Y-axis offset coefficient corresponding to the slope monitoring time point within the radar displacement duration on the slope monitoring time axis is determined.

[0098] Combined with the Y-axis offset coefficient, the coordinate value of the monitoring point corresponding to the slope monitoring is corrected, and the corrected coordinate value of the monitoring point is ( , ±Y-axis offset factor, ), where n is 1, 2, 3, etc.

[0099] In step 400, when the Z coordinate offset is greater than zero, the Z coordinate offset obtained by the GNSS displacement detector from the displacement monitoring of the slope radar and the current displacement monitoring time point are input into the Z offset function calculation model to determine the offset start time point when the slope radar has a Z coordinate offset;

[0100] Fitting the offset start time point of the Z coordinate offset to the slope monitoring time axis, and determining the duration of the radar displacement formed by the offset start time point of the Z coordinate offset and the slope monitoring time axis;

[0101] Combined with the radar displacement duration and the Z-offset function calculation model, the Z-axis offset coefficient corresponding to the slope monitoring time point within the radar displacement duration on the slope monitoring time axis is determined;

[0102] Combined with the Z-axis offset coefficient, the coordinate value of the monitoring point corresponding to the slope monitoring is corrected, and the corrected coordinate value of the monitoring point is ( , , ±Z-axis offset coefficient), where n is 1, 2, 3, etc.

[0103] After the GNSS displacement detector of this embodiment monitors the X-coordinate offset of the slope radar, the displacement start time point of the slope radar X-coordinate offset is determined based on the current displacement monitoring time point of the GNSS displacement detector and the X-offset function calculation model.

[0104] The duration of the radar displacement is determined based on the displacement monitoring time point and the offset start time point. Combined with the offset start time point, the offset start time point and the slope monitoring time axis, it is determined whether there is a corresponding slope monitoring time point on the slope monitoring time axis.

[0105] When there is a slope monitoring time point, it means that the coordinate value of the monitoring point corresponding to the slope monitoring time point also has an X-coordinate offset phenomenon. Therefore, the X-axis offset coefficient corresponding to the slope monitoring time point is determined by combining the radar displacement duration and the X-offset function calculation model, so that the coordinate value of each monitoring point can be changed from ( , , ) is corrected to ( ±X-axis offset coefficient, , ).

[0106] Similarly, after the GNSS displacement detector of this embodiment monitors the Y coordinate offset of the slope radar, it determines the start time point of the Y coordinate offset of the slope radar based on the current displacement monitoring time point of the GNSS displacement detector and the Y offset function calculation model.

[0107] The duration of the radar displacement is determined based on the displacement monitoring time point and the offset start time point. Combined with the offset start time point, the offset start time point and the slope monitoring time axis, it is determined whether there is a corresponding slope monitoring time point on the slope monitoring time axis.

[0108] When there is a slope monitoring time point, it means that the coordinate value of the monitoring point corresponding to the slope monitoring time point also has a Y coordinate offset phenomenon. Therefore, the Y-axis offset coefficient corresponding to the slope monitoring time point is determined by combining the radar displacement duration and the Y offset function calculation model, so that the coordinate value of each monitoring point can be changed from ( , , ) is corrected to ( , ±Y-axis offset factor, ).

[0109] Similarly, after the GNSS displacement detector of this embodiment monitors the Z coordinate of the slope radar and detects the Z coordinate offset, the offset start time point of the slope radar Z coordinate offset is determined based on the current displacement monitoring time point of the GNSS displacement detector and the Z offset function calculation model.

[0110] The duration of the radar displacement is determined based on the displacement monitoring time point and the offset start time point. Combined with the offset start time point, the offset start time point and the slope monitoring time axis, it is determined whether there is a corresponding slope monitoring time point on the slope monitoring time axis.

[0111] When there is a slope monitoring time point, it means that the coordinate value of the monitoring point corresponding to the slope monitoring time point also has a Z coordinate offset phenomenon. Therefore, the Z-axis offset coefficient corresponding to the slope monitoring time point is determined by combining the radar displacement duration and the Z offset function calculation model, so that the coordinate value of each monitoring point can be changed from ( , , ) is corrected to ( , , ±Z-axis offset factor).

[0112] When the X-coordinate, Y-coordinate and Z-coordinate of the slope radar have X-coordinate offset, Y-coordinate offset and Z-coordinate offset at the same time, the coordinate value of each monitoring point can be changed from ( , , ) is corrected to ( ±X-axis offset coefficient, ±Y-axis offset factor, ±Z-axis offset factor)

[0113] Therefore, the implementation method for calculating the slope surface deformation data corresponding to the same monitoring point in different monitoring periods is as follows:

[0114] =F ;

[0115] Where n=1, 2, 3... :

[0116] It is believed that there is no coordinate offset of the slope radar, and the corresponding monitoring data is the first slope monitoring of the monitored area.

[0117] This implementation can determine the starting time point of the coordinate offset of the slope radar based on the coordinate offset monitored by the GNSS displacement detector, and can determine whether there is a slope monitoring time point of the slope radar for the monitored area between the starting time point of the coordinate offset and each displacement monitoring, and then can determine the corresponding radar coordinate offset at the slope monitoring time point, so as to correct the coordinate value of the monitoring point corresponding to the slope monitoring time point, and can trace back to all the monitoring points with coordinate deviations in the slope monitoring data, to ensure that all the monitoring points with coordinate deviations in the imaging image can be corrected, thereby improving the accuracy of correcting the imaging image of the slope radar, and then improving the accuracy of slope deformation identification.

[0118] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A method for correcting slope radar monitoring data, characterized in that: The following steps are involved: Step 100: fitting the historical data of the coordinate offset of the slope radar to obtain a fitting function calculation model between the coordinate offset of the slope radar and the offset monitoring duration; Step 200, counting the slope monitoring time points corresponding to each monitoring of the monitored area of ​​the open-pit mine by the slope radar, and forming a slope monitoring time axis, and forming slope monitoring data from the monitoring points and monitoring data corresponding to each slope monitoring; Step 300: Count the time points of each displacement monitoring of the slope radar by the GNSS displacement detector, and form a radar displacement monitoring time axis; calculate the coordinate offset of the slope radar obtained by the displacement monitoring of the GNSS displacement detector based on the initial coordinate value of the slope radar and the real-time coordinate value corresponding to each displacement monitoring; Step 400: Determine the displacement start time of the slope radar in combination with the coordinate offset monitored by the GNSS displacement detector and the fitting function calculation model, fit the displacement start time to the slope monitoring time axis to calculate the radar displacement duration, and use the fitting function calculation model and the radar displacement duration to calculate the coordinate offset coefficient corresponding to the slope monitoring time point within the radar displacement duration to correct the coordinate value of the monitoring point.

2. The method for correcting slope radar monitoring data according to claim 1, characterized in that: In step 100, the method for obtaining the fitting function calculation model is: Determining the position and orientation of the slope radar relative to the entire open-pit mine; Counting the three-dimensional coordinate values ​​corresponding to each displacement monitoring of the slope radar and the time point of each displacement monitoring of the slope radar; The X-axis displacement monitoring coordinate value, Y-axis displacement monitoring coordinate value and Z-axis displacement monitoring coordinate value of the slope radar are obtained for each displacement monitoring respectively, and the coordinate offsets of the X-axis displacement monitoring coordinate value, the Y-axis displacement monitoring coordinate value and the Z-axis displacement monitoring coordinate value relative to the X-axis initial coordinate, the Y-axis initial coordinate and the Z-axis initial coordinate are calculated. The X-axis coordinate offset, the Y-axis coordinate offset and the Z-axis coordinate offset of the slope radar at each displacement monitoring and the time point of each displacement monitoring are fitted to obtain an X-offset function calculation model between the X-axis coordinate offset and the monitoring duration, a Y-offset function calculation model between the Y-axis coordinate offset and the monitoring duration, and a Z-offset function calculation model between the Z-axis coordinate offset and the monitoring duration.

3. The method for correcting slope radar monitoring data according to claim 2, characterized in that: In step 200, the installation position of the slope radar is determined, and the corresponding X offset function calculation model, Y offset function calculation model and Z offset function calculation model are selected. The coordinate values ​​of the monitoring points corresponding to each slope monitoring of the area to be monitored in the open-pit mine are respectively (x tj ,y tj，ztj ), t j The time point at which the slope radar monitors the area to be monitored in the open-pit mine each time; The slope monitoring data corresponding to each monitoring point is R= , where the monitoring period of the slope radar to be monitored area is .

4. The method for correcting slope radar monitoring data according to claim 3, characterized in that: The slope surface deformation data corresponding to each monitoring point in multiple monitoring cycles is: ; ; Where n=1 / 2 / 3...; It is considered that the slope radar has no coordinate offset and the monitoring data corresponds to the first slope monitoring of the monitored area; F is the difference in slope monitoring data corresponding to each monitoring point in at least one monitoring cycle.

5. The method for correcting slope radar monitoring data according to claim 3, characterized in that: In step 200, the slope monitoring time axis formed based on the time point of each slope monitoring by the slope radar is: tj= ; tj+ = ; <h2 style=";text-align:left;direction:ltr">tj+n<h2 style=";text-align:left;direction:ltr"> <h2 style=";text-align:left;direction:ltr"> =<h2 style=";text-align:left;direction:ltr"> <h2 style=";text-align:left;direction:ltr"> ; in, When the slope radar monitors the entire area to be monitored in sequence, the monitoring time point corresponding to each monitoring point; When the slope radar performs periodic slope monitoring on the entire monitored area in sequence, each monitoring point in each monitoring cycle corresponds to the slope monitoring time point.

6. The method for correcting slope radar monitoring data according to claim 3, characterized in that: In step 300, the time point at which the GNSS displacement detector monitors the slope radar each time is counted, and a radar displacement monitoring time axis is formed. The radar displacement monitoring time axis tw= , The time point at which the GNSS displacement detector monitors each displacement of the slope radar; The three-dimensional coordinate value of the slope radar when the GNSS displacement detector monitors the displacement of the slope radar for the first time is used as the initial coordinate value; When calculating the coordinate offset of the slope radar obtained by the displacement monitoring of the GNSS displacement detector, the X coordinate offset, Y coordinate offset and Z coordinate offset of the slope radar are calculated respectively, and the X offset function calculation model, the Y offset function calculation model and the Z offset function calculation model are adjusted in real time based on the X coordinate offset, the Y coordinate offset and the Z coordinate offset.

7. The method for correcting slope radar monitoring data according to claim 6, characterized in that: In step 400, when the X-coordinate offset is greater than zero, the X-coordinate offset obtained by the GNSS displacement detector from monitoring the displacement of the slope radar and the current displacement monitoring time point are input into the X-offset function calculation model to determine the offset start time point when the slope radar has an X-coordinate offset; Fitting the offset start time point of the X-coordinate offset to the slope monitoring time axis, and determining the duration of the radar displacement formed by the offset start time point of the X-coordinate offset and the slope monitoring time axis; In combination with the radar displacement duration and the X-offset function calculation model, determine the X-axis offset coefficient corresponding to the slope monitoring time point within the radar displacement duration on the slope monitoring time axis; Combined with the X-axis offset coefficient, the coordinate values ​​corresponding to the monitoring points of the slope monitoring are corrected to obtain the corrected coordinate values ​​of each monitoring point ( ±X-axis offset coefficient, , ), where n is 1, 2, 3, etc.

8. The method for correcting slope radar monitoring data according to claim 6, characterized in that: In step 400, when the Y coordinate offset is greater than zero, the Y coordinate offset obtained by the GNSS displacement detector from monitoring the displacement of the slope radar and the current displacement monitoring time point are input into the Y offset function calculation model to determine the offset start time point when the slope radar has a Y coordinate offset; Fitting the offset start time point of the Y coordinate offset to the slope monitoring time axis, and determining the duration of the radar displacement formed by the offset start time point of the Y coordinate offset and the slope monitoring time axis; In combination with the radar displacement duration and the Y-offset function calculation model, determine the Y-axis offset coefficient corresponding to the slope monitoring time point within the radar displacement duration on the slope monitoring time axis; Combined with the Y-axis offset coefficient, the coordinate value of the monitoring point corresponding to the slope monitoring is corrected, and the corrected coordinate value of the monitoring point is ( , ±Y-axis offset factor, ), where n is 1, 2, 3, etc.

9. The method for correcting slope radar monitoring data according to claim 6, characterized in that: In step 400, when the Z coordinate offset is greater than zero, the Z coordinate offset obtained by the GNSS displacement detector from the displacement monitoring of the slope radar and the current displacement monitoring time point are input into the Z offset function calculation model to determine the offset start time point when the slope radar has a Z coordinate offset; Fitting the offset start time point of the Z coordinate offset to the slope monitoring time axis, and determining the duration of the radar displacement formed by the offset start time point of the Z coordinate offset and the slope monitoring time axis; In combination with the radar displacement duration and the Z-offset function calculation model, a Z-axis offset coefficient corresponding to a slope monitoring time point on the slope monitoring time axis that is within the radar displacement duration is determined; Combined with the Z-axis offset coefficient, the coordinate value of the monitoring point corresponding to the slope monitoring is corrected, and the corrected coordinate value of the monitoring point is ( , , ±Z-axis offset coefficient), where n is 1, 2, 3, etc.

10. The method for correcting slope radar monitoring data according to claim 6, characterized in that: The implementation method of calculating the slope surface deformation data corresponding to the same monitoring point is: =F ； Where n=1, 2, 3…

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