Geological disaster monitoring system and method of dynamic base station

Abstract

The invention relates to the technical field of geological monitoring, and particularly provides a geological disaster monitoring system and method of a dynamic reference station. In the monitoring method, when the reference station is abnormal and has no data, the processing is not simply abandoned; a possible stable station is screened as a new reference station by checking historical data of other monitoring stations and accelerometer data, so that the emergency situation that the reference station has no data is effectively handled, and the monitoring data is prevented from having holes; after the base station is switched, the monitoring result under the new base station can be converted into the coordinate system of the original base station, data continuity and comparability are guaranteed, the new base station can be adjusted according to the acceleration stability index in dynamic monitoring, and stability and accuracy of data processing are guaranteed. The monitoring system provided by the invention does not need to additionally add a plurality of standby reference stations, so that the construction cost and the operation and maintenance cost of the reference stations are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of geological monitoring, and in particular to a geological disaster monitoring system and method of a dynamic reference station. Background Art

[0002] In the field of geological disaster monitoring, the accuracy and stability of Beidou data are of key significance for timely and accurate grasp of geological disaster-related information and ensuring project safety. However, there are many technical challenges in current geological disaster monitoring. On the one hand, during the data processing process, a single base station is susceptible to a variety of complex factors, such as harsh natural environment (such as heavy rain, earthquakes, landslides and other geological disasters themselves may cause damage to the base station), equipment failure, signal interference, etc., resulting in interruption of its data transmission or data anomaly, resulting in no data. This situation of no data in a single base station will cause serious loss of geological disaster monitoring data based on it, thereby affecting the integrity and accuracy of the entire monitoring data, and unable to provide a reliable decision-making basis for geological disaster monitoring projects, seriously threatening the safe operation of the project and the effective early warning and response to geological disasters; on the other hand, traditional data processing methods lack effective response mechanisms when facing the lack of data from a single base station, and it is difficult to quickly and efficiently use other available information to supplement and correct data, and it is impossible to ensure the continuity and stability of the data processing process, and it is difficult to meet the strict requirements of geological disaster monitoring for data real-time and accuracy.

[0003] Some existing technologies attempt to use a multi-reference station data fusion method. In this solution, multiple reference stations collect data simultaneously, and then transmit the data of each reference station to the data processing center, which performs a simple weighted average or direct splicing process on the data from multiple reference stations. Although this multi-reference station data fusion solution can improve the reliability of data by utilizing the data of multiple reference stations to a certain extent, under this solution, the monitoring project needs to build more than two reference stations. In addition to the main reference station, the backup reference station is mostly not used, which increases the construction and operation costs.

[0004] In summary, there is an urgent need to provide a geological disaster monitoring system and method for a dynamic reference station to solve the technical problems existing in the prior art. Summary of the invention

[0005] The present invention aims to provide a geological disaster monitoring system and method of a dynamic reference station to solve the technical problems existing in the prior art. The specific technical scheme is as follows:

[0006] A method for monitoring geological disasters using a dynamic reference station comprises the following steps:

[0007] S1. Data collection and processing: Collect data from base stations and monitoring stations; perform Beidou data analysis on the collected historical data and establish a historical database;

[0008] S2, base station status monitoring: determine whether the base station status is normal. If normal, perform Beidou data solution on the data of the base station and monitoring station and display the results; if abnormal, enter S3;

[0009] S3, preliminary analysis of the stability of all monitoring stations: threshold determination is performed on the acceleration of all monitoring stations. If there is a monitoring station that meets the threshold standard, the monitoring station that meets the threshold standard is used as a candidate reference station and enters S4; if there is no monitoring station that meets the threshold standard, enter S7;

[0010] S4, evaluate the stability of candidate reference stations according to the historical database, and select the candidate reference station with the best stability as the new reference station;

[0011] S5, evaluating the stability of the new reference station. If the new reference station is unstable, repeat steps S3 and S4; if the new reference station is stable, proceed to S6;

[0012] S6. Perform BeiDou data calculation on the data of the new reference station and the monitoring station, and convert the results into the coordinate system of the original reference station;

[0013] S7. Results display.

[0014] Furthermore, in S1, the cloud platform collects and analyzes the data of the base station and the monitoring station to obtain the location information of each monitoring station; calculates the displacement and displacement rate of each monitoring point in different time periods, stores the displacement and displacement rate in the database, and establishes a historical database.

[0015] Furthermore, in S2, during the reference station status monitoring, if the reference station has no data, it is determined that the reference station status is abnormal.

[0016] Furthermore, in S3, a threshold determination is performed on the acceleration of all monitoring stations. If the acceleration exceeds the set threshold, it is preliminarily determined that the monitoring station is in an unstable state and is excluded from the candidate reference station.

[0017] Furthermore, S4 is specifically:

[0018] S4.1. Extract historical monitoring data of candidate reference stations from the historical database, and calculate the displacement stability index, displacement curve slope comprehensive index and acceleration stability index for each candidate reference station;

[0019] S4.2. Perform a comprehensive stability analysis based on the displacement stability index, the comprehensive index of the displacement curve slope and the acceleration stability index, and select the candidate reference station with the best stability as the new reference station.

[0020] Furthermore, in S4.1:

[0021] The displacement stability index is obtained by calculating the standard deviation of the coordinates of the monitoring points within a certain period of time. The smaller the standard deviation, the smaller the displacement stability index value, indicating that the displacement changes monitored by the candidate benchmark station in the historical period are more stable;

[0022] The displacement curve slope comprehensive index is obtained by calculating the slope of the displacement results of each candidate reference station from the beginning of monitoring to the current time. The larger the slope, the smaller the displacement curve slope comprehensive index value, indicating that the monitoring point is more unstable;

[0023] The acceleration stability index is obtained by analyzing the changing pattern of accelerometer data in the historical time period and calculating the acceleration variance. The smaller the variance, the smaller the acceleration stability index value, indicating that the candidate base station has higher stability.

[0024] Furthermore, S4.2 specifically states:

[0025] S4.2.1. Normalize the displacement stability index, the displacement curve slope comprehensive index, and the acceleration stability index;

[0026] S4.2.2. Calculate the comprehensive score of each candidate base station by weighted average;

[0027] S4.2.3. Select the candidate reference station with the smallest comprehensive score as the new reference station.

[0028] Furthermore, the stability of the new reference station is evaluated and judged according to the acceleration stability index of the new reference station. If the acceleration stability index value is greater than a threshold, the station is unstable and is not suitable as a new reference station.

[0029] A geological disaster monitoring system with a dynamic reference station adopts the monitoring method as described above to perform geological disaster monitoring, including a reference station, multiple monitoring stations and a cloud platform. The reference station and the monitoring station are used to obtain observation data. The cloud platform is connected to the reference station and the monitoring station and is used to collect, analyze and process the observation data.

[0030] Furthermore, the cloud platform includes a data acquisition module, a data processing module, a base station status monitoring module, a candidate base station stability judgment module, a new base station solution and result conversion module and a result display module. The data acquisition module is connected to the base station and the monitoring station for collecting observation data, and the data processing module is connected to the data acquisition module for analyzing and processing the observation data; the base station status monitoring module, the candidate base station stability judgment module, the new base station solution and result conversion module and the result display module are all connected to the data acquisition module and the data processing module.

[0031] The application of the technical solution of the present invention has the following beneficial effects:

[0032] (1) The present invention provides a geological disaster monitoring method. When a base station has no data, the method does not simply abandon the processing. Instead, the method selects possible stable stations as new base stations by checking the historical data and accelerometer data of other monitoring stations, thereby effectively responding to the emergency situation of no data at the base station and avoiding gaps in the monitoring data.

[0033] (2) The present invention evaluates the stability of the monitoring station based on historical data. When there is no data at the base station, the acceleration data of the monitoring station is first checked to exclude unstable stations, and then the displacement stability index, the displacement curve slope comprehensive index and the acceleration stability index are integrated. These indicators are normalized and weighted averaged to comprehensively evaluate the stability of each monitoring station. The most stable monitoring station is simply and effectively selected from multiple monitoring stations as the new base station. The data processing is more accurate than the simple fusion solution of multiple base stations in the prior art, thereby ensuring the reliability of the monitoring data.

[0034] (3) After the base station is switched, the present invention can convert the monitoring results under the new base station into the coordinate system of the original base station to ensure data consistency and comparability. In addition, the new base station can be adjusted according to the acceleration stability index in dynamic monitoring to ensure the stability and accuracy of data processing.

[0035] (4) The monitoring system provided by the present invention does not need to add multiple backup reference stations. It only needs to arrange monitoring stations. When a reference station is abnormal, a new reference station is selected from the monitoring stations, which reduces the purchase and installation costs of hardware such as antennas and receivers, and reduces operating costs such as power supply and line maintenance.

[0036] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0038] Figure 1 is a flow chart of the monitoring method of the present invention;

[0039] Figure 2 It is a schematic diagram of the structure of the monitoring system. DETAILED DESCRIPTION

[0040] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered.

[0041] Embodiment:

[0042] Refer to Figure 1 , this embodiment provides a geological disaster monitoring method for a dynamic reference station, including the following steps:

[0043] S1. Data collection and processing: Collect data from the reference station and the monitoring stations; the cloud platform analyzes the data of the reference station and the monitoring stations to obtain the position information of each monitoring station; calculate the displacement and displacement rate of each monitoring point at different time periods, store the displacement and displacement rate in the database, and establish a historical database.

[0044] S2. Reference station status monitoring: Judge whether the status of the reference station is normal. If there is no data in the reference station during the reference station status monitoring, it is determined that the status of the reference station is abnormal, otherwise it is normal; if it is normal, perform Beidou data calculation on the data of the reference station and the monitoring stations and display the results; if it is abnormal, go to S3.

[0045] S3. Conduct a preliminary analysis of the stability of all monitoring stations: Determine the threshold for the acceleration of all monitoring stations. If the acceleration exceeds the set threshold, it is preliminarily determined that the monitoring station is in an unstable state, exclude it from the candidate reference stations, and use the monitoring stations whose acceleration does not exceed the set threshold as candidate reference stations and enter S4; if the acceleration of all monitoring stations exceeds the set threshold, all monitoring stations are not suitable as candidate reference stations, no Beidou calculation is performed on all monitoring points, only the monitoring results of the accelerometers are transmitted back to the cloud platform, and directly enter S7.

[0046] S4. Evaluate the stability of the candidate reference stations according to the historical database, and select the candidate reference station with the best stability as the new reference station; specifically:

[0047] S4.1. Extract the historical monitoring data of the candidate reference stations from the historical database, and calculate the displacement stability index, the comprehensive index of the displacement curve slope, and the acceleration stability index for each candidate reference station;

[0048] Displacement stability index:

[0049] Calculate the standard deviation of the coordinates of the monitoring points within a certain time period (the past d days (10 < d < 30)). The smaller the standard deviation, the smaller the value of the displacement stability index, indicating that the displacement change monitored by the candidate reference station in the historical period is more stable;

[0050] Let the coordinates of the i-th monitoring point of the monitoring station be (x i , y i , z i), there are n data points in total, and the standard deviations of the coordinates in the x, y, and z directions are σ x , σ y and σ z :

[0051]

[0052] Displacement stability index S d for:

[0053] S d =w x σ x +w y σ y +w z σ z ;

[0054] Among them, w x 、w y 、w z are the standard deviation weights of the coordinates in the three directions of x, y, and z, respectively, x +w y +w z =1, are the average values ​​of the three direction coordinates of the monitoring point in the past d days.

[0055] Displacement curve slope comprehensive index:

[0056] Calculate the slope of the displacement results of each candidate base station from the beginning of monitoring to the current time. The larger the slope, the smaller the comprehensive index value of the displacement curve slope, indicating that the monitoring point is more unstable;

[0057] Assume that there are m monitoring moments from the beginning of monitoring to the current time, and the coordinates of the monitoring point at the jth moment are (x j ,y j ,z j ), the corresponding time is t j ;

[0058] The displacement Δx in the x, y, and z directions at the jth moment j , Δy j and Δz j The calculation is as follows:

[0059] Δx j =x j -x1;

[0060] Δy j =y j -y1;

[0061] Δz j =z j -z1;

[0062] The slope k in the x, y, and z directions x , k y and k z The calculation is as follows:

[0063]

[0064]

[0065] in, represents the average time, and It represents the average displacement in the x, y and z directions;

[0066] Displacement curve slope comprehensive index S k for:

[0067] S′ k =v x k x +v y k y +v z k z ,

[0068]

[0069] Among them, v x 、v y 、v z is the weight of the slope of the x, y, and z coordinates and v x +v y +v z =1.

[0070] Acceleration stability index:

[0071] Analyze the variation pattern of accelerometer data in the historical time period and calculate the acceleration variance. The smaller the variance, the smaller the acceleration stability index value, indicating that the acceleration change is more stable, indicating that the candidate base station is less affected by external interference and has higher stability.

[0072] Acceleration stability index S a for:

[0073] S a =u x σ ax +u y σ ay +u z σ az ;

[0074] Among them, σ ax , σ ay , σ azare the variances of the accelerations in the x, y, and z directions, u x 、u y 、u z are the weights of the acceleration variance in the three directions respectively.

[0075] S4.2. Perform a comprehensive stability analysis based on the displacement stability index, the comprehensive index of the displacement curve slope and the acceleration stability index, and select the candidate reference station with the best stability as the new reference station.

[0076] Specifically:

[0077] S4.2.1. Normalize the displacement stability index, displacement curve slope comprehensive index and acceleration stability index:

[0078]

[0079] in, are the normalized displacement stability index, displacement curve slope comprehensive index and acceleration stability index of the i-th candidate reference station; S d_max , S k_max , S a_max are the maximum values ​​of displacement stability index, displacement curve slope comprehensive index and acceleration stability index respectively; S d_min , S k_min , S a_min They are the minimum values ​​of displacement stability index, displacement curve slope comprehensive index and acceleration stability index respectively; They are respectively the displacement stability index value, displacement curve slope comprehensive index value and acceleration stability index value of the i-th candidate reference station.

[0080] S4.2.2. Calculate the comprehensive score of each candidate base station by weighted average

[0081]

[0082] Among them, w d 、w k 、w a They are the weights of displacement stability index, displacement curve slope comprehensive index, and acceleration stability index respectively.

[0083] S4.2.3. Select comprehensive score The smallest candidate base station is selected as the new base station.

[0084] S5. Evaluate the stability of the new reference station and make a judgment based on the acceleration stability index of the new reference station. If the acceleration stability index value is greater than the threshold, it indicates that the reference station is unstable and the station is not suitable as a new reference station, then repeat steps S3 and S4; if the new reference station is stable, proceed to S6.

[0085] S6. Perform BeiDou data calculation on the data of the new reference station and the monitoring station, and convert the results into the coordinate system of the original reference station;

[0086] Assuming that the original reference station is A and the monitoring stations are B, C, and D, the monitoring results in the cloud platform are normally:

[0087] The baseline result of monitoring point B is: (x AB ,y AB ,z AB ), the baseline result of monitoring point C is: (x AC ,y AC ,z AC ); The baseline result of monitoring point D is: (x AD ,y AD ,z AD );

[0088] When base station A is offline and has no data, assuming that the comprehensive score of monitoring point B The minimum value is then switched to monitoring station B as the new reference station. The result of monitoring point C is: (x' BC ,y' BC ,z' BC ); The result of monitoring point D is: (x' BD ,y' BD ,z' BD );

[0089] Convert the monitoring results of the monitoring point and the new reference station B to the coordinate system of the original reference station A:

[0090] The monitoring results after the conversion of monitoring point C are:

[0091]

[0092] The monitoring results after the conversion of monitoring point D are:

[0093]

[0094] in, is the average value of the historical monitoring results in the last e days with A as the reference station and B as the monitoring station, 1≤e≤10.

[0095] S7. Results display.

[0096] See also Figure 2This embodiment also provides a geological disaster monitoring system of a dynamic reference station, which adopts the monitoring method as described above to perform geological disaster monitoring, including a reference station, multiple monitoring stations and a cloud platform. The reference station and the monitoring station are used to obtain observation data. The cloud platform is connected to the reference station and the monitoring station and is used to collect, analyze and process the observation data.

[0097] The cloud platform includes a data acquisition module, a data processing module, a reference station status monitoring module, a candidate reference station stability judgment module, a new reference station solution and result conversion module and a result display module. The data acquisition module is connected to the reference station and the monitoring station for collecting observation data. The data processing module is connected to the data acquisition module for analyzing and processing the observation data. The reference station status monitoring module, the candidate reference station stability judgment module, the new reference station solution and result conversion module and the result display module are all connected to the data acquisition module and the data processing module.

[0098] The monitoring system provided in this embodiment does not need to add multiple additional backup reference stations. It only needs to arrange monitoring stations. When a reference station is abnormal, a new reference station is selected from the monitoring stations, which reduces the purchase and installation costs of hardware such as antennas and receivers, and reduces operating costs such as power supply and line maintenance.

[0099] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for monitoring geological disasters using a dynamic reference station, characterized in that: The steps include: S1. Data collection and processing: Collect data from base stations and monitoring stations; perform Beidou data analysis on the collected historical data and establish a historical database; S2, base station status monitoring: determine whether the base station status is normal. If normal, perform Beidou data solution on the data of the base station and monitoring station and display the results; if abnormal, enter S3; S3. Perform a preliminary analysis on the stability of all monitoring stations: perform threshold determination on the acceleration of all monitoring stations. If there is a monitoring station that meets the threshold standard, the monitoring station that meets the threshold standard is used as a candidate reference station and enters S4; if there is no monitoring station that meets the threshold standard, enter S7; S4, evaluate the stability of candidate reference stations according to the historical database, and select the candidate reference station with the best stability as the new reference station; S5, evaluating the stability of the new reference station. If the new reference station is unstable, repeat steps S3 and S4; if the new reference station is stable, proceed to S6; S6. Perform BeiDou data calculation on the data of the new reference station and the monitoring station, and convert the results into the coordinate system of the original reference station; S7. Results display.

2. The method for monitoring geological disasters using a dynamic reference station according to claim 1, characterized in that: In S1, the cloud platform collects and analyzes the data from the base station and the monitoring station to obtain the location information of each monitoring station; calculates the displacement and displacement rate of each monitoring point in different time periods, stores the displacement and displacement rate in the database, and establishes a historical database.

3. The method for monitoring geological disasters using a dynamic reference station according to claim 1, characterized in that: In S2, during the base station status monitoring, if the base station has no data, it is determined that the base station status is abnormal.

4. The method for monitoring geological disasters using a dynamic reference station according to claim 1, characterized in that: In S3, a threshold determination is performed on the acceleration of all monitoring stations. If the acceleration exceeds the set threshold, it is preliminarily determined that the monitoring station is in an unstable state and is excluded from the candidate base station.

5. The method for monitoring geological disasters using a dynamic reference station according to claim 1, characterized in that: S4 specifically: S4.

1. Extract historical monitoring data of candidate reference stations from the historical database, and calculate the displacement stability index, displacement curve slope comprehensive index and acceleration stability index for each candidate reference station; S4.

2. Perform a comprehensive stability analysis based on the displacement stability index, the comprehensive index of the displacement curve slope and the acceleration stability index, and select the candidate reference station with the best stability as the new reference station.

6. The method for monitoring geological disasters using a dynamic reference station according to claim 5, characterized in that: In S4.1: The displacement stability index is obtained by calculating the standard deviation of the coordinates of the monitoring points within a certain period of time. The smaller the standard deviation, the smaller the displacement stability index value, indicating that the displacement changes monitored by the candidate benchmark station in the historical period are more stable; The displacement curve slope comprehensive index is obtained by calculating the slope of the displacement results of each candidate reference station from the beginning of monitoring to the current time. The larger the slope, the smaller the displacement curve slope comprehensive index value, indicating that the monitoring point is more unstable; The acceleration stability index is obtained by analyzing the changing pattern of accelerometer data in the historical time period and calculating the acceleration variance. The smaller the variance, the smaller the acceleration stability index value, indicating that the candidate base station has higher stability.

7. The method for monitoring geological disasters using a dynamic reference station according to claim 6, characterized in that: S4.2 specifically states: S4.2.

1. Normalize the displacement stability index, the displacement curve slope comprehensive index, and the acceleration stability index; S4.2.

2. Calculate the comprehensive score of each candidate base station by weighted average; S4.2.

3. Select the candidate reference station with the smallest comprehensive score as the new reference station.

8. The method for monitoring geological disasters using a dynamic reference station according to claim 5, characterized in that: The stability of the new reference station is evaluated based on the acceleration stability index of the new reference station. If the acceleration stability index value is greater than the threshold, the station is unstable and is not suitable as a new reference station.

9. A geological disaster monitoring system of a dynamic reference station, which uses the monitoring method according to any one of claims 1 to 8 to monitor geological disasters, characterized in that: It includes a reference station, multiple monitoring stations and a cloud platform. The reference station and the monitoring station are used to obtain observation data. The cloud platform is connected to the reference station and the monitoring station and is used to collect, analyze and process the observation data.

10. A geological disaster monitoring system of a dynamic reference station according to claim 9, characterized in that: The cloud platform includes a data acquisition module, a data processing module, a reference station status monitoring module, a candidate reference station stability judgment module, a new reference station solution and result conversion module and a result display module. The data acquisition module is connected to the reference station and the monitoring station for collecting observation data. The data processing module is connected to the data acquisition module for analyzing and processing the observation data. The reference station status monitoring module, the candidate reference station stability judgment module, the new reference station solution and result conversion module and the result display module are all connected to the data acquisition module and the data processing module.

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