Deformation monitoring method based on airborne millimeter wave radar of unmanned aerial vehicle

Abstract

The invention relates to an unmanned aerial vehicle airborne millimeter wave radar-based deformation monitoring method, which comprises the following steps of: establishing an unmanned aerial vehicle cluster comprising a plurality of unmanned aerial vehicles, and carrying a millimeter wave radar on each unmanned aerial vehicle; sending a corresponding deformation monitoring task instruction to each unmanned aerial vehicle; each unmanned aerial vehicle in the unmanned aerial vehicle cluster is controlled to fly, so that each unmanned aerial vehicle enters a corresponding deformation monitoring area, and each unmanned aerial vehicle executes a corresponding radar scanning strategy in the deformation monitoring area and obtains a corresponding target detection result; according to the target detection result, whether target deformation monitoring needs to be carried out is judged, and if it is considered that target deformation monitoring needs to be carried out, fixed-point deformation monitoring is carried out on the target to obtain deformation monitoring data. According to the invention, the unmanned aerial vehicle cluster and the millimeter wave radar can be combined to form a multi-unmanned aerial vehicle cooperative deformation monitoring system, and target detection and deformation monitoring requirements in different area ranges can be considered at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of construction monitoring, and in particular to a deformation monitoring method based on a millimeter-wave radar carried by an unmanned aerial vehicle. Background Art

[0002] During and after the construction of bridges, tunnels, pipelines and other projects, it is necessary to monitor whether the relevant structures and equipment have deformed. Traditional deformation monitoring is usually achieved using millimeter-wave radar, which is mainly based on the principle of frequency-modulated continuous waves. It uses long slide rails and motors to drive the millimeter-wave radar to scan the target area, and monitors the target's tiny deformation by transmitting and receiving millimeter-wave signals and analyzing phase changes.

[0003] However, this traditional millimeter-wave radar monitoring equipment has limitations such as large size, high cost, and low product universality. It can often only monitor deformation in a single scene and is not suitable for multi-dimensional deformation monitoring in complex environments. Summary of the invention

[0004] To solve the above problems, the present invention proposes a deformation monitoring method based on UAV-mounted millimeter-wave radar, which combines a UAV cluster with a millimeter-wave radar to form a multi-UAV collaborative deformation monitoring system, which can simultaneously take into account target detection and deformation monitoring needs in different areas.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A deformation monitoring method based on UAV airborne millimeter wave radar is provided, which includes the following steps:

[0007] Form a drone cluster consisting of several drones, and equip each drone with a millimeter-wave radar;

[0008] Sending corresponding deformation monitoring task instructions to each UAV;

[0009] Controlling the flight of each drone in the drone cluster so that each drone enters the corresponding deformation monitoring area, and each drone executes the corresponding radar scanning strategy in the deformation monitoring area and obtains the corresponding target detection result;

[0010] Whether target deformation monitoring is necessary is determined based on the target detection results. If it is considered necessary, the drone is controlled to hover in the deformation monitoring area and perform fixed-point deformation monitoring on the target to obtain deformation monitoring data.

[0011] Preferably, each UAV executes a corresponding radar scanning strategy in the deformation monitoring area and obtains a corresponding target detection result, which includes the following contents:

[0012] If it is necessary to detect hidden metal targets underground in the deformation monitoring area and below the ground, the drone is controlled to fly in a straight line in the deformation monitoring area, and during the flight, the millimeter-wave radar is used to collect ground echo data in the deformation monitoring area in real time;

[0013] Repeat the above process to obtain several ground echo data of the same deformation monitoring area through the millimeter wave radars of different drones in the drone cluster;

[0014] Associating each ground echo data with a drone equipped with a millimeter-wave radar that collects the ground echo data and / or the track of the drone, so as to associate the ground echo data with the millimeter-wave radar;

[0015] All ground echo data are fused according to formula (1) to obtain the total ground echo data:

[0016]

[0017] in, is the total ground echo data, ω i is the weight factor of the i-th ground echo data, z i is the i-th ground echo data;

[0018] Determine whether there is a hidden metal target in the deformation monitoring area according to the total ground echo data.

[0019] Preferably, judging whether target deformation monitoring is required according to the target detection result includes the following contents:

[0020] If it is determined that there is a hidden metal target underground, it is determined whether to perform target deformation monitoring based on the characteristic information of the hidden metal target.

[0021] Preferably, judging whether to perform target deformation monitoring according to the characteristic information includes the following contents:

[0022] The deformation information of the hidden metal target is obtained according to the characteristic information, and the deformation information is compared with the preset deformation condition. If the deformation information meets the preset deformation condition, it is considered that target deformation monitoring is required.

[0023] Preferably, each UAV executes a corresponding radar scanning strategy in the deformation monitoring area and obtains a corresponding target detection result, which includes the following contents:

[0024] If it is necessary to detect the ground target in the deformation monitoring area, the UAV is controlled to fly along a circular flight trajectory in the deformation monitoring area and around the ground target. During the flight, the millimeter-wave radar is used to collect the echo data of the ground target in the deformation monitoring area in real time.

[0025] Repeat the above process to obtain several ground target echo data of the same ground target through the millimeter wave radars of different drones in the drone cluster;

[0026] Associating each ground target echo data with a UAV equipped with a millimeter-wave radar for collecting the ground target echo data and / or the track of the UAV, and acquiring characteristic information of the same ground target according to each ground target echo data;

[0027] According to formula (2), all ground target echo data are fused to obtain the total ground target echo data:

[0028]

[0029] in, is the total echo data of the ground target, ω k is the weight factor of the kth ground target echo data, z k is the kth ground target echo data;

[0030] The ground target contour is reconstructed according to the total echo data of the ground target to obtain the ground target contour information.

[0031] Preferably, judging whether target deformation monitoring is required according to the target detection result includes the following contents:

[0032] Each UAV executes a corresponding radar scanning strategy in the deformation monitoring area and obtains a corresponding target detection result, which includes the following contents: after obtaining the contour information of the ground target, judging whether the size of the ground target is consistent with the preset value according to the contour information of the ground target, and / or judging whether there is a sudden change in the position of the ground target, and / or judging whether the elevation data of the ground target is abnormal, and / or judging whether there is structural damage to the ground target, and / or judging whether there is a landslide on the ground target;

[0033] If the size of the ground target does not match the preset value, and / or the ground target has a sudden position change, and / or the elevation data of the ground target is abnormal, and / or the ground target has structural damage, and / or the ground target has a landslide, it is considered that target deformation monitoring is required.

[0034] Preferably, if it is considered necessary to perform deformation monitoring of the target, the drone is controlled to hover in the deformation monitoring area and perform fixed-point deformation monitoring of the target to obtain deformation monitoring data:

[0035] Determine a deformation strong point according to the total echo data of the ground or the total echo data of the ground target, wherein the deformation strong point refers to a position on the target that is prone to deformation;

[0036] Control the UAV to hover in the deformation monitoring area and adjust the millimeter-wave radar to a predetermined angle so that the target is within the monitoring range of the millimeter-wave radar;

[0037] Keep the millimeter-wave radar angle unchanged, and use the millimeter-wave radar to collect echo data of all deformation points of the same target in real time;

[0038] Repeat the above process to obtain the echo data of all deformation points of the same target through the millimeter-wave radars of different drones in the drone cluster;

[0039] The echo data of all deformation points of the same target obtained by all millimeter-wave radars are fused to obtain one-dimensional total echo data;

[0040] The one-dimensional total echo data is processed to obtain deformation monitoring data.

[0041] Preferably, if it is considered necessary to perform deformation monitoring of the target, the drone is controlled to hover in the deformation monitoring area and perform fixed-point deformation monitoring of the target to obtain deformation monitoring data:

[0042] Determine several monitoring sites within the deformation monitoring area;

[0043] The same UAV is controlled to hover at each monitoring location, and at each monitoring location, a millimeter wave radar is used to scan to obtain echo data of a scanning area corresponding to the monitoring location;

[0044] Repeat the above process to obtain echo data of the scanning area corresponding to each monitoring point through the millimeter wave radars of different drones in the drone cluster;

[0045] The echo data of the scanning area corresponding to all monitoring sites obtained by all millimeter-wave radars are fused to obtain two-dimensional total echo data;

[0046] The two-dimensional total echo data is processed to obtain deformation monitoring data.

[0047] Preferably, the deformation monitoring method further comprises: judging whether the target is deformed according to the deformation monitoring data, so as to generate and output a deformation monitoring result.

[0048] Preferably, the millimeter wave radar includes an interferometric synthetic aperture radar.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] This application combines drone clusters with millimeter-wave radars to form a multi-drone collaborative deformation monitoring system, which can simultaneously take into account target detection and deformation monitoring needs in different areas, and can complete multi-point deformation monitoring and surface deformation monitoring, and can meet the deformation detection needs of different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of the steps of the deformation monitoring method in the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the technical solution more clear, the technical solution is further described in detail below in conjunction with specific implementation methods. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the technical solution.

[0053] Embodiment 1:

[0054] like Figure 1 As shown, this embodiment provides a deformation monitoring method based on a UAV airborne millimeter wave radar, which includes the following steps:

[0055] S1. Establishing a drone cluster including a plurality of drones, and equipping each drone with a millimeter wave radar. In this embodiment, the millimeter wave radar includes an interferometric synthetic aperture radar.

[0056] S2. Sending a corresponding deformation monitoring task instruction to each UAV, wherein the deformation monitoring task instruction includes a deformation monitoring area, UAV flight parameters (such as UAV flight altitude, speed, etc.), etc., and the deformation monitoring task instructions received by each UAV may be the same or different;

[0057] S3, control the flight of each drone in the drone cluster, so that each drone enters the corresponding deformation monitoring area, and each drone executes the corresponding radar scanning strategy in the deformation monitoring area, and obtains the corresponding target (including underground hidden targets and ground targets) detection results, which specifically include the following contents:

[0058] (1) If it is necessary to detect hidden metal targets within the deformation monitoring area and within 2-5 m below the ground, the UAV is controlled to fly in a straight line within the deformation monitoring area, and during the flight, the millimeter wave radar is used to collect ground echo data in the deformation monitoring area in real time;

[0059] Repeat the above process to obtain several ground echo data of the same deformation monitoring area through the millimeter wave radars of different drones in the drone cluster;

[0060] Associating each ground echo data with a drone equipped with a millimeter-wave radar that collects the ground echo data and / or the track of the drone, so as to associate the ground echo data with the millimeter-wave radar;

[0061] All ground echo data are fused according to formula (1) to obtain the total ground echo data:

[0062]

[0063] in, is the total ground echo data, ω i is the weight factor of the i-th ground echo data, z i is the i-th ground echo data, where the weight factor ω of the i-th ground echo data i The setting may be made according to the performance index (such as ranging accuracy) of the millimeter wave radar that collects the ground echo data and the quality of the echo data (such as target signal-to-noise ratio, etc.);

[0064] Determine whether there is a hidden metal target in the deformation monitoring area according to the total ground echo data. For example, in this embodiment, the total ground echo data can be processed based on a two-dimensional imaging algorithm, a constant false alarm rate (CFAR) detection algorithm, and a range Doppler (RD) to determine whether there is a hidden metal target;

[0065] After determining that there is a hidden metal target, characteristic information of the same hidden target is obtained according to the total ground echo data, and the characteristic information of the hidden target includes one or more of the target echo characteristics, the distance between the target and the millimeter-wave radar, the azimuth of the target relative to the millimeter-wave radar, the target phase, the moving speed of the target relative to the millimeter-wave radar, the energy intensity of the target reflection, the radar cross-section RCS (Radar-Cross Section), the target shape, the target size, the target surface characteristics, the target elevation data, etc.; for example, in this embodiment, the total ground echo data can be subjected to FFT transformation (i.e., Fourier transformation) to output a frequency domain signal, and the target echo characteristics can be extracted according to the frequency domain signal, the distance between the target and the millimeter-wave radar can be calculated based on the echo delay information, the moving speed of the target relative to the millimeter-wave radar can be obtained according to the Doppler frequency shift information, and the radar cross-section RCS can be obtained according to the energy intensity of the target reflection, etc.;

[0066] (2) If it is necessary to detect ground targets in the deformation monitoring area, the UAV is controlled to fly along a circular flight trajectory in the deformation monitoring area and around the ground targets. During the flight, the millimeter-wave radar is used to collect echo data of the ground targets in the deformation monitoring area in real time, wherein the ground targets include one or more of buildings, bridges, and landforms (such as mountains and hills);

[0067] Repeat the above process to obtain several ground target echo data of the same ground target through the millimeter wave radars of different drones in the drone cluster;

[0068] Associating each ground target echo data with a UAV equipped with a millimeter-wave radar that collects the ground target echo data and / or the track of the UAV, and acquiring characteristic information of the same ground target according to each ground target echo data; the characteristic information of the ground target includes one or more of the target echo characteristics, the distance between the target and the millimeter-wave radar, the azimuth of the target relative to the millimeter-wave radar, the target phase, the moving speed of the target relative to the millimeter-wave radar, the energy intensity of the target reflection, the radar cross-sectional area RCS (Radar-Cross Section), the target shape, the target size, the target surface characteristics, the target elevation data, etc., and the acquisition method can be the same as the characteristic information of the hidden target;

[0069] According to formula (2), all ground target echo data are fused to obtain the total ground target echo data:

[0070]

[0071] in, is the total echo data of the ground target, ω k is the weight factor of the kth ground target echo data, z k is the kth ground target echo data, where the weight factor ω of the kth ground target echo data k The setting can be made according to the performance index (such as ranging accuracy) of the millimeter wave radar that collects the echo data of the ground target and the quality of the echo data (such as the target signal-to-noise ratio, etc.);

[0072] The contour of the ground target is reconstructed according to the total echo data of the ground target to obtain the contour information of the ground target; for example, in this embodiment, the total echo data of the ground target can be processed based on a three-dimensional imaging algorithm and a DEM feature extraction algorithm to reconstruct the contour of the ground target and obtain the contour information;

[0073] The above-mentioned information on whether there is a hidden metal target and the contour information of the target on the ground is recorded as the target detection result;

[0074] S4. Determine whether target deformation monitoring is required based on the target detection result, which specifically includes the following contents:

[0075] (1) If it is determined that there is a hidden metal target underground, whether to perform target deformation monitoring is determined based on the characteristic information of the hidden metal target;

[0076] Determining whether to perform target deformation monitoring according to the characteristic information includes the following contents:

[0077] Obtaining deformation information of the hidden metal target according to the characteristic information, and comparing the deformation information with a preset deformation condition. If the deformation information satisfies the preset deformation condition, it is considered that target deformation monitoring is required;

[0078] The deformation information includes: one or more of deformation amplitude, deformation rate, deformation trend, etc., and the preset deformation conditions include: the deformation amplitude exceeds a preset deformation amplitude threshold, the deformation rate exceeds a preset deformation rate threshold, the deformation trend is a continuous abnormal nonlinear change, etc., one or more of the above;

[0079] (2) After obtaining the contour information of the ground target, judging whether the size of the ground target is consistent with the preset value according to the contour information of the ground target, and / or judging whether there is a sudden change in the position of the ground target, and / or judging whether the elevation data of the ground target is abnormal, and / or judging whether there is structural damage to the ground target, and / or judging whether there is a landslide on the ground target; if the size of the ground target does not meet the preset value, and / or there is a sudden change in the position of the ground target, and / or the elevation data of the ground target is abnormal, and / or there is structural damage to the ground target, and / or there is a landslide on the ground target, it is considered that target deformation monitoring is required;

[0080] S5. If it is deemed necessary to perform deformation monitoring of the target, the drone is controlled to hover in the deformation monitoring area and perform fixed-point deformation monitoring of the target to obtain deformation monitoring data, which specifically includes the following contents:

[0081] (1) Determining deformation strong points based on total ground echo data or total ground target echo data, wherein the deformation strong points refer to locations on the target that are prone to deformation, and the deformation data of the locations can be stably extracted from the total ground echo data or the total building echo data or the total terrain echo data. The deformation strong points can be determined in advance by comprehensive evaluation based on the characteristics of the target type, structure, etc., and based on stability, reflectivity, fixity, and traceability;

[0082] Control the drone to hover in the deformation monitoring area, and adjust the millimeter-wave radar to a predetermined angle (such as 45° downward, which can be adjusted according to the actual measurement situation) so that the target is within the monitoring range of the millimeter-wave radar;

[0083] Keep the millimeter-wave radar angle unchanged, and use the millimeter-wave radar to collect echo data of all deformation points of the same target in real time;

[0084] Repeat the above process to obtain the echo data of all deformation points of the same target through the millimeter-wave radars of different drones in the drone cluster;

[0085] The echo data of all deformation points of the same target obtained by all millimeter-wave radars are fused to obtain one-dimensional total echo data;

[0086] Perform motion compensation, imaging processing, interferometry and other processing on the one-dimensional total echo data to obtain deformation monitoring data;

[0087] (2) Determine several monitoring sites within the deformation monitoring area;

[0088] The same UAV is controlled to hover at each monitoring location, and at each monitoring location, a millimeter wave radar is used to scan to obtain echo data of a scanning area corresponding to the monitoring location, thereby obtaining echo data of a plurality of scanning areas corresponding to the plurality of monitoring locations one by one;

[0089] Repeat the above process to obtain echo data of the scanning area corresponding to each monitoring point through the millimeter wave radars of different drones in the drone cluster;

[0090] The echo data of the scanning area corresponding to all monitoring sites obtained by all millimeter-wave radars are fused to obtain two-dimensional total echo data;

[0091] Perform motion compensation, imaging processing, interferometry and other processing on the two-dimensional total echo data to obtain deformation monitoring data;

[0092] S6. judging whether the target is deformed according to the deformation monitoring data to generate a deformation monitoring result and output it;

[0093] For example, when a certain deformation strong point is located at the top of a building, and the change in the position of the deformation strong point relative to the initial position exceeds a preset value, it indicates that the building is sinking; or, when a certain deformation strong point is located on a mountain, and the deformation curve of the deformation strong point jumps, it indicates that a landslide has occurred in the mountain; or, when a certain deformation strong point is located on a fixed part of a bridge, the position change of the deformation strong point exceeds a preset value under temperature changes or vehicle loads, which indicates that the bridge structure has deformed due to changes in the external environment.

[0094] To sum up, the deformation monitoring method in the present application has high monitoring efficiency and low cost. It combines drone clusters with millimeter-wave radars to form a multi-drone collaborative deformation monitoring system, which can take into account target detection and deformation monitoring needs in different areas at the same time, and can complete multi-point deformation monitoring and surface deformation monitoring, which can meet the deformation detection needs of different scenarios.

[0095] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, many changes can be made in the specific implementation methods and application scopes based on the ideas of the present technical content. As long as these changes do not deviate from the concept of the present invention, they all fall within the scope of protection of this patent.

Claims

1. A deformation monitoring method based on UAV airborne millimeter wave radar, characterized in that: The steps include: Form a drone cluster consisting of several drones, and equip each drone with a millimeter-wave radar; Sending corresponding deformation monitoring task instructions to each UAV; Controlling the flight of each drone in the drone cluster so that each drone enters the corresponding deformation monitoring area, and each drone executes the corresponding radar scanning strategy in the deformation monitoring area and obtains the corresponding target detection result; Whether target deformation monitoring is necessary is determined based on the target detection results. If it is considered necessary, the drone is controlled to hover in the deformation monitoring area and perform fixed-point deformation monitoring on the target to obtain deformation monitoring data.

2. The deformation monitoring method according to claim 1, characterized in that: Each UAV executes the corresponding radar scanning strategy in the deformation monitoring area and obtains the corresponding target detection results, which include the following: If it is necessary to detect hidden metal targets underground in the deformation monitoring area and below the ground, the drone is controlled to fly in a straight line in the deformation monitoring area, and during the flight, the millimeter-wave radar is used to collect ground echo data in the deformation monitoring area in real time; Repeat the above process to obtain several ground echo data of the same deformation monitoring area through the millimeter wave radars of different drones in the drone cluster; Associating each ground echo data with a drone equipped with a millimeter-wave radar that collects the ground echo data and / or the track of the drone, so as to associate the ground echo data with the millimeter-wave radar; All ground echo data are fused according to formula (1) to obtain the total ground echo data: in, is the total ground echo data, ω i is the weight factor of the i-th ground echo data, z i is the i-th ground echo data; Determine whether there is a hidden metal target in the deformation monitoring area according to the total ground echo data.

3. The deformation monitoring method according to claim 2, characterized in that: Determine whether target deformation monitoring is required based on the target detection results, which includes the following: If it is determined that there is a hidden metal target underground, it is determined whether to perform target deformation monitoring based on the characteristic information of the hidden metal target.

4. The deformation monitoring method according to claim 3, characterized in that: Determining whether to perform target deformation monitoring according to the characteristic information includes the following contents: The deformation information of the hidden metal target is obtained according to the characteristic information, and the deformation information is compared with the preset deformation condition. If the deformation information meets the preset deformation condition, it is considered that target deformation monitoring is required.

5. The deformation monitoring method according to claim 1, characterized in that: Each UAV executes the corresponding radar scanning strategy in the deformation monitoring area and obtains the corresponding target detection results, which include the following: If it is necessary to detect the ground target in the deformation monitoring area, the UAV is controlled to fly along a circular flight trajectory in the deformation monitoring area and around the ground target. During the flight, the millimeter-wave radar is used to collect the echo data of the ground target in the deformation monitoring area in real time. Repeat the above process to obtain several ground target echo data of the same ground target through the millimeter wave radars of different drones in the drone cluster; Associating each ground target echo data with a UAV equipped with a millimeter-wave radar for collecting the ground target echo data and / or the track of the UAV, and acquiring characteristic information of the same ground target according to each ground target echo data; According to formula (2), all ground target echo data are fused to obtain the total ground target echo data: in, is the total echo data of the ground target, ω k is the weight factor of the kth ground target echo data, z k is the kth ground target echo data; The ground target contour is reconstructed according to the total echo data of the ground target to obtain the ground target contour information.

6. The deformation monitoring method according to claim 5, characterized in that: Determine whether target deformation monitoring is required based on the target detection results, which includes the following: Each UAV executes a corresponding radar scanning strategy in the deformation monitoring area and obtains a corresponding target detection result, which includes the following contents: after obtaining the contour information of the ground target, judging whether the size of the ground target is consistent with the preset value according to the contour information of the ground target, and / or judging whether there is a sudden change in the position of the ground target, and / or judging whether the elevation data of the ground target is abnormal, and / or judging whether there is structural damage to the ground target, and / or judging whether there is a landslide on the ground target; If the size of the ground target does not match the preset value, and / or the ground target has a sudden position change, and / or the elevation data of the ground target is abnormal, and / or the ground target has structural damage, and / or the ground target has a landslide, it is considered that target deformation monitoring is required.

7. The deformation monitoring method according to claim 1, characterized in that: If it is considered necessary to monitor the target deformation, the drone is controlled to hover in the deformation monitoring area and perform fixed-point deformation monitoring on the target to obtain deformation monitoring data: Determine a deformation strong point according to the total echo data of the ground or the total echo data of the ground target, wherein the deformation strong point refers to a position on the target that is prone to deformation; Control the UAV to hover in the deformation monitoring area and adjust the millimeter-wave radar to a predetermined angle so that the target is within the monitoring range of the millimeter-wave radar; Keep the millimeter-wave radar angle unchanged, and use the millimeter-wave radar to collect echo data of all deformation points of the same target in real time; Repeat the above process to obtain the echo data of all deformation points of the same target through the millimeter-wave radars of different drones in the drone cluster; The echo data of all deformation points of the same target obtained by all millimeter-wave radars are fused to obtain one-dimensional total echo data; The one-dimensional total echo data is processed to obtain deformation monitoring data.

8. The deformation monitoring method according to claim 1, characterized in that: If it is considered necessary to monitor the target deformation, the drone is controlled to hover in the deformation monitoring area and perform fixed-point deformation monitoring on the target to obtain deformation monitoring data: Determine several monitoring sites within the deformation monitoring area; The same UAV is controlled to hover at each monitoring location, and at each monitoring location, a millimeter wave radar is used to scan to obtain echo data of a scanning area corresponding to the monitoring location; Repeat the above process to obtain echo data of the scanning area corresponding to each monitoring point through the millimeter wave radars of different drones in the drone cluster; The echo data of the scanning area corresponding to all monitoring sites obtained by all millimeter-wave radars are fused to obtain two-dimensional total echo data; The two-dimensional total echo data is processed to obtain deformation monitoring data.

9. The deformation monitoring method according to claim 1, characterized in that: The deformation monitoring method further includes: judging whether the target is deformed according to the deformation monitoring data to generate a deformation monitoring result and output it.

10. The deformation monitoring method according to claim 1, characterized in that: The millimeter wave radar includes an interferometric synthetic aperture radar.

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