Highway landslide monitoring system and method based on Beidou positioning

Abstract

The invention provides an expressway landslide monitoring system and method based on Beidou positioning. The method comprises the following steps: firstly, acquiring position information of each satellite receiver through a Beidou positioning system; extracting a position mapping relation between each satellite receiver and the highway slope; further determining the position feedback of each satellite receiver in the landslide process, and then determining the position fluctuation of each satellite receiver in the landslide process according to all the position feedback and the position mapping relation; determining the settlement stability of each satellite receiver according to the distribution of rock strata in the highway slope and the settlement amount of each satellite receiver in the vertical direction, and determining the aging deformation of the highway slope in the landslide process; therefore, the position confidence value of each satellite receiver in the landslide process of the highway slope is determined. By adopting the scheme of the invention, the influence of the multipath effect on slope slippage trend monitoring can be reduced, so that the accuracy of landslide prediction is improved.

Description

Technical Field

[0001] The present application relates to the field of Beidou satellite application technology, and more specifically, to a highway landslide monitoring system and method based on Beidou positioning. Background Art

[0002] Beidou satellite is a global satellite navigation system independently developed by China. It provides high-precision and high-reliability positioning, navigation and timing services to users around the world. Beidou satellite has a wide range of applications, covering transportation, marine fisheries, hydrological monitoring, earthquake prediction, public safety and other fields. It plays a key role in the field of transportation, especially in highway monitoring. It can track vehicle positions in real time and provide accurate data for highway traffic monitoring, so that traffic management departments can grasp road conditions in a timely manner, effectively guide traffic and reduce congestion. At the same time, Beidou satellite can be used to monitor the status of highway infrastructure, such as small displacements of bridges and slopes, to warn of safety hazards in advance and ensure the safety of highway facilities. In short, the application of Beidou satellite is an indispensable key technical support in modern highway systems, which is of great significance to ensuring the safe and stable operation of highways.

[0003] Existing highway landslide monitoring uses the Beidou positioning system to obtain slope location information in real time, and monitors soil displacement and deformation through sensor networks (such as tilt and acceleration sensors). Machine learning is used to analyze historical data to identify landslide patterns, providing effective support for landslide warning and prevention. However, Beidou satellite signals will reflect or refract with surrounding objects (such as trees and terrain) to produce multipath effects, especially during rainfall. Rainfall will have a significant impact on the multipath effect. Rainfall will cause signal attenuation and increase the resistance to signal propagation. In addition, a humid environment may make the surface of the ground and other objects smooth, enhance the reflection effect of the signal, further aggravate the multipath effect, reduce positioning accuracy, thereby masking the real sliding trend and failing to identify potential landslide risks in a timely manner. Therefore, how to reduce the impact of the multipath effect on slope sliding trend monitoring and thus improve the accuracy of landslide prediction has become a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides a highway landslide monitoring system and method based on Beidou positioning, which can reduce the impact of multipath effect on slope sliding trend monitoring, thereby improving the accuracy of landslide prediction.

[0005] In a first aspect, the present application provides a highway landslide monitoring method based on Beidou positioning, comprising the following steps:

[0006] Monitor the satellite receivers at different locations of the highway slope during the landslide process, and obtain the location information of each satellite receiver through the Beidou positioning system;

[0007] Extract the position mapping relationship between each satellite receiver and the highway slope from all the position information;

[0008] Determining the position feedback of each satellite receiver during the landslide process by the accumulated displacement of each satellite receiver in the horizontal direction, and determining the position fluctuation of each satellite receiver during the landslide process according to all the position feedbacks and the position mapping relationship;

[0009] Obtaining the internal rock layer distribution in the highway slope, determining the stability of the position settlement of each satellite receiver during the landslide process according to the internal rock layer distribution and the settlement of each satellite receiver in the vertical direction, and then determining the time-dependent deformation of the highway slope during the landslide process through all the stabilities and satellite images of each satellite in the Beidou positioning system at different time points;

[0010] The confidence value of the position of each satellite receiver during the landslide process is determined by all position fluctuations and the time-dependent deformation of the highway slope during the landslide process.

[0011] In some embodiments, extracting the position mapping relationship between each satellite receiver and the highway slope from all the position information specifically includes:

[0012] Construct slope analysis model;

[0013] Obtaining rainfall data for the area where the highway slope is located;

[0014] setting parameters for the slope analysis model in combination with the rainfall data;

[0015] Determine the displacement change of each satellite receiver through all the position information;

[0016] The position mapping relationship between each satellite receiver and the highway slope is determined according to all displacement changes and the slope analysis model.

[0017] In some embodiments, determining the position feedback of each satellite receiver during the landslide process by the accumulated displacement of each satellite receiver in the horizontal direction specifically includes:

[0018] Performing a time series analysis on the accumulated displacement of each satellite receiver in the horizontal direction to obtain a displacement trend characteristic of each satellite receiver;

[0019] The position feedback of each satellite receiver during the landslide process is determined according to the gradient variation of the accumulated displacement of each satellite receiver in the horizontal direction and the displacement trend characteristics of each satellite receiver.

[0020] In some embodiments, determining the position fluctuation of each satellite receiver during the landslide process according to all position feedbacks and the position mapping relationship specifically includes:

[0021] Perform linear fitting on all position feedback to obtain the position feedback curve;

[0022] Determine the position characteristic vector of each satellite receiver during the landslide process according to the position feedback curve and the position mapping relationship;

[0023] The position fluctuation of each satellite receiver during the landslide process is determined through all position feature vectors.

[0024] In some embodiments, determining the stability of the position settlement of each satellite receiver during the landslide according to the internal rock formation distribution and the settlement amount of each satellite receiver in the vertical direction specifically includes:

[0025] Determining stability characteristics of the internal rock layer distribution according to a cross-sectional view of the internal rock layer distribution in the highway slope;

[0026] Performing deviation analysis on the settlement amount of each satellite receiver in the vertical direction to obtain the settlement deviation degree of each satellite receiver position;

[0027] The stability of the settlement of each satellite receiver during the landslide is determined according to the stability feature and the settlement deviation of each satellite receiver position.

[0028] In some embodiments, determining the time-dependent deformation of the highway slope during the landslide process through all the stabilities and satellite images of each satellite in the Beidou positioning system at different time points specifically includes:

[0029] Determine the deformation characteristic value of the highway slope during the landslide process through satellite images of each satellite in the Beidou positioning system at different time points;

[0030] The time-dependent deformation of the highway slope during the landslide process is determined according to all the stabilities and the deformation characteristic values.

[0031] In some embodiments, determining the position confidence value of each satellite receiver during the highway slope landslide process through all position fluctuations and the time-dependent deformation of the highway slope during the landslide process specifically includes:

[0032] Performing spatial interpolation on all position fluctuations to generate a sliding fluctuation distribution map of the highway slope;

[0033] The position confidence value of each satellite receiver on the highway slope during the landslide process is determined by the slip fluctuation distribution map and the time-dependent deformation of the highway slope during the landslide process.

[0034] In a second aspect, the present application provides a highway landslide monitoring system based on Beidou positioning, comprising:

[0035] The monitoring module is used to monitor the satellite receivers at different monitoring locations of the highway slope during the landslide process, and obtain the location information of each satellite receiver through the Beidou positioning system;

[0036] A processing module, used for extracting the position mapping relationship between each satellite receiver and the highway slope from all the position information;

[0037] The processing module is further used to determine the position feedback of each satellite receiver during the landslide process through the accumulated displacement of each satellite receiver in the horizontal direction, and determine the position fluctuation of each satellite receiver during the landslide process according to all the position feedbacks and the position mapping relationship;

[0038] The processing module is further used to obtain the internal rock layer distribution in the highway slope, determine the stability of the position settlement of each satellite receiver during the landslide process according to the internal rock layer distribution and the settlement of each satellite receiver in the vertical direction, and then determine the time-dependent deformation of the highway slope during the landslide process through all the stabilities and the satellite images of each satellite in the Beidou positioning system at different time points;

[0039] The execution module is used to determine the position confidence value of each satellite receiver during the highway slope landslide process through all position fluctuations and the time-dependent deformation of the highway slope during the landslide process.

[0040] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned highway landslide monitoring method based on Beidou positioning.

[0041] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned highway landslide monitoring method based on Beidou positioning.

[0042] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects:

[0043] In the highway landslide monitoring system and method based on Beidou positioning provided in the present application, first, satellite receivers at different monitoring positions of the highway slope during the landslide process are monitored, and the position information of each satellite receiver is obtained through the Beidou positioning system; the position mapping relationship between each satellite receiver and the highway slope is extracted from all the position information; the position feedback of each satellite receiver during the landslide process is determined by the accumulated displacement of each satellite receiver in the horizontal direction, and the position fluctuation of each satellite receiver during the landslide process is determined according to all the position feedback and the position mapping relationship; the internal rock layer distribution in the highway slope is obtained, and the stability of the position settlement of each satellite receiver during the landslide process is determined according to the internal rock layer distribution and the settlement of each satellite receiver in the vertical direction, and then the time-dependent deformation of the highway slope during the landslide process is determined through all the stabilities and the satellite images of each satellite in the Beidou positioning system at different time points; the position confidence value of each satellite receiver during the highway slope during the landslide process is determined according to all the position fluctuations and the time-dependent deformation of the highway slope during the landslide process.

[0044] It can be seen that in this application, the position confidence value of each satellite receiver in the highway slope during the landslide process can be determined through all position fluctuations and the time-dependent deformation of the highway slope during the landslide process; wherein, firstly, the stability of the position settlement of each satellite receiver during the landslide process is extracted from the internal rock layer distribution in the highway slope through the settlement of each satellite receiver in the vertical direction, wherein the stability represents an indicator for measuring the stability of the settlement change of the satellite receiver during the landslide process, and the stability can identify the potential sliding risk of the slope, and then, the monitoring slope of the highway slope during the landslide process is extracted from the satellite images of each satellite in the Beidou positioning system at different time points. The deformation characteristic value of the deformation is obtained, and then the time-dependent deformation of the highway slope during the landslide process is obtained according to all the stability and deformation characteristic values, wherein the time-dependent deformation represents the parameter value of the deformation accumulation of the highway slope at different time points. The time-dependent deformation can correct the hysteresis effect caused by the multipath effect when monitoring the slope deformation response, thereby improving the judgment of the slope sliding trend. Secondly, all the position information is quantified to obtain the position mapping relationship between each satellite receiver and the highway slope mapping spatial position. The stability of the highway slope can be dynamically evaluated through the position mapping relationship. Furthermore, the horizontal cumulative displacement of each satellite receiver is obtained. The position feedback of the satellite receiver during the landslide process can be used to track the sliding trend of the highway slope in the horizontal direction through the position feedback. Then, all the position feedback and the position mapping relationship are quantified to obtain the position fluctuation of each satellite receiver during the landslide process, wherein the position fluctuation represents the characteristic value of the fluctuation of the position of the satellite receiver over time during the landslide process, and the position fluctuation reflects the sliding trend of the slope during the landslide process. The greater the position fluctuation, the greater the sliding trend of the slope during the landslide process, and vice versa. Then, all the position fluctuations are spatially interpolated to obtain the sliding fluctuation distribution map of the highway slope, and the sliding fluctuation distribution map can reduce the error caused by the multipath effect in the single-point data. Even if some monitoring points are affected by the multipath effect, the distribution map can still accurately reflect the stability of the slope as a whole, thereby improving the reliability of the data. Furthermore, the position confidence value of each satellite receiver during the landslide of the highway slope is determined through the slip fluctuation distribution map and the time-dependent deformation of the highway slope during the landslide process, wherein the position confidence value represents an indicator for evaluating the credibility of the position of the satellite receiver during the highway slope landslide process. The multipath effect generated by the satellite signal can be compensated by the position confidence value, thereby improving the accuracy of the landslide monitoring data. In summary, the scheme of the present application can reduce the impact of the multipath effect on the monitoring of the slope slip trend, thereby improving the accuracy of landslide prediction. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1is an exemplary flow chart of a highway landslide monitoring method based on Beidou positioning according to some embodiments of the present application;

[0046] Figure 2 It is a structural schematic diagram of the satellite receiver positioning principle shown in some embodiments of the present application.

[0047] Figure 3 is a schematic diagram of a process for determining position fluctuations in some embodiments of the present application;

[0048] Figure 4 is a schematic diagram of the structure of a highway landslide monitoring system based on Beidou positioning in some embodiments of the present application;

[0049] Figure 5 It is a structural schematic diagram of a computer device for implementing a highway landslide monitoring method based on Beidou positioning according to some embodiments of the present application. DETAILED DESCRIPTION

[0050] In order to better understand the technical solution of the present application, the technical solution of the present application will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0051] refer to Figure 1 , which is an exemplary flow chart of a highway landslide monitoring method based on Beidou positioning according to some embodiments of the present application. The highway landslide monitoring method 100 based on Beidou positioning mainly includes the following steps:

[0052] In step 101, satellite receivers at different monitoring locations of the highway slope during the landslide process are monitored, and the position information of each satellite receiver is obtained through the Beidou positioning system.

[0053] In the specific implementation, on-site surveys are carried out on the slopes of the highway to select monitoring locations suitable for arranging satellite receivers. These monitoring locations should avoid tall buildings and dense trees to reduce signal obstruction and multipath effects, and obtain the location information of satellite receivers at different monitoring locations in real time.

[0054] It should be noted that the location information described in this application represents information consisting of longitude, latitude and altitude at 5-minute intervals over the last three days.

[0055] In addition, it should be noted that the reference Figure 2 This figure is a structural schematic diagram of the satellite receiver positioning principle shown in some embodiments of the present application. By measuring the distance and angle from the satellite receiver to each satellite, the absolute coordinates of the satellite receiver in the coordinate system are calculated. The main function of the satellite receiver is to receive the real-time broadcast ranging signal transmitted by the satellite.

[0056] In step 102, the position mapping relationship between each satellite receiver and the highway slope is extracted from all the position information.

[0057] In some embodiments, extracting the position mapping relationship between each satellite receiver and the highway slope from all the position information can be achieved by using the following steps:

[0058] Construct slope analysis model;

[0059] Obtaining rainfall data for the area where the highway slope is located;

[0060] setting parameters for the slope analysis model in combination with the rainfall data;

[0061] Determine the displacement change of each satellite receiver through all the position information;

[0062] The position mapping relationship between each satellite receiver and the highway slope is determined according to all displacement changes and the slope analysis model.

[0063] In specific implementation, the construction of the slope analysis model can be achieved in the following manner, namely: a model constructed by combining the Richards equation seepage model with the limit equilibrium method slope stability analysis model is selected as the slope analysis model, wherein the Richards equation can better describe the water flow movement in unsaturated soil, and the limit equilibrium method can be used to evaluate the stability of the slope. In other embodiments, other methods can also be used, which are not limited here.

[0064] It should be noted that the rainfall data of the area where the highway slope is located in the present application is composed of the rainfall at intervals of 5 minutes in the last three days.

[0065] In specific implementation, the following method can be used to set the parameters of the slope analysis model in combination with the rainfall data, namely: first, collect geological data of the highway slope, including physical parameters such as rock and soil type, soil thickness, and permeability coefficient, input the rock and soil physical parameters and rainfall data into the Richards equation seepage model in the slope analysis model, and then use the seepage calculation results as input conditions of the limit equilibrium method slope stability analysis model in the slope analysis model, thereby completing the setting of the slope analysis model parameters. In other embodiments, other methods can also be used for implementation, which is not limited here.

[0066] In specific implementation, the displacement change of each satellite receiver can be determined through all the position information in the following manner, namely: for each position information, the longitude, latitude and altitude in each position information are arranged in a time series, and the difference between the longitude, latitude and altitude at adjacent points in time is calculated, and then all the calculated differences are summed, and the summed value is used as the displacement change of the satellite receiver corresponding to each position, thereby obtaining the displacement change of each satellite receiver. Other methods can also be used in other embodiments, which will not be repeated here.

[0067] In specific implementation, the position mapping relationship between each satellite receiver and the highway slope is determined based on all displacement changes and the slope analysis model. The following method is used for implementation, namely: first, the calculation result of the limit equilibrium method model in the slope analysis model is used as the dynamic safety factor of the analyzed slope. The dynamic safety factor represents the trend characteristic value of the dynamic change of the overall stability of the slope over time. Then, all displacement changes are multiplied by the dynamic safety factor, and then all multiplied values ​​are summed, and the summed value is used as the position mapping relationship between each satellite receiver and the highway slope. Other methods can also be used in other embodiments, which are not limited here.

[0068] It should be noted that the position mapping relationship described in the present application represents the mapping relationship between the spatial positions of each satellite receiver and the highway slope, and the stability of the highway slope can be dynamically evaluated through the position mapping relationship.

[0069] In step 103, the position feedback of each satellite receiver during the landslide process is determined by the accumulated displacement of each satellite receiver in the horizontal direction, and the position fluctuation of each satellite receiver during the landslide process is determined according to all the position feedbacks and the position mapping relationship.

[0070] In some embodiments, determining the position feedback of each satellite receiver during the landslide process by the accumulated displacement of each satellite receiver in the horizontal direction can be implemented by the following steps:

[0071] Performing a time series analysis on the accumulated displacement of each satellite receiver in the horizontal direction to obtain a displacement trend characteristic of each satellite receiver;

[0072] The position feedback of each satellite receiver during the landslide process is determined according to the gradient variation of the accumulated displacement of each satellite receiver in the horizontal direction and the displacement trend characteristics of each satellite receiver.

[0073] It should be noted that the cumulative displacement described in the present application represents the sum of the horizontal position changes of the satellite receiver within a specific time period, wherein the specific time period refers to an interval of 5 minutes.

[0074] In a specific implementation, a time series analysis is performed on the cumulative displacement of each satellite receiver in the horizontal direction, and the displacement trend characteristics of each satellite receiver can be obtained in the following manner, namely: a satellite receiver is selected as the selected satellite receiver, and the cumulative displacement data of the selected satellite receiver in the horizontal direction in the past three days is obtained, and the cumulative displacement data is evaluated using an existing time series analysis method (for example: exponential smoothing method, which is not limited here), and the trend strength obtained after the trend evaluation is used as the displacement trend characteristic of the selected satellite receiver, and the displacement trend characteristics of the remaining satellite receivers are continued to be determined. Other methods can also be used in other embodiments, which will not be repeated here.

[0075] It should be noted that the displacement trend feature in the present application represents the trend strength of the displacement of the satellite receiver changing over time.

[0076] In addition, it should be noted that the gradient change amount described in this application represents the rate of change of the satellite receiver's cumulative displacement in the horizontal direction relative to time;

[0077] In specific implementation, the position feedback of each satellite receiver during the landslide process is determined according to the gradient change of the cumulative displacement of each satellite receiver in the horizontal direction and the displacement trend characteristics of each satellite receiver. The following method is used for implementation, namely: a satellite receiver is selected as the selected satellite receiver, the standard deviation and the mean are calculated for all the gradient changes of the cumulative displacement of the selected satellite receiver in the horizontal direction, the standard deviation is divided by the mean, and the value obtained by the division is multiplied by the displacement trend characteristics of the selected satellite receiver, so that the multiplied value is used as the position feedback of the selected satellite receiver during the landslide process, and the position feedback of the remaining satellite receivers during the landslide process is continuously determined. Other methods may also be used in other embodiments, which are not limited here.

[0078] It should be noted that the position feedback described in the present application refers to the parameter value of the position change of the feedback satellite receiver during the landslide process. The sliding trend of the highway slope in the horizontal direction can be tracked through the position feedback.

[0079] In some embodiments, reference Figure 3 As shown, this figure is a schematic diagram of the process of determining position fluctuations in some embodiments of the present application. In this embodiment, the position fluctuations of each satellite receiver during the landslide process are determined according to all position feedbacks and the position mapping relationship, which can be implemented by the following steps:

[0080] First, in step 1031, linear fitting is performed on all position feedbacks to obtain a position feedback curve;

[0081] Secondly, in step 1032, the position characteristic vector of each satellite receiver during the landslide process is determined according to the position feedback curve and the position mapping relationship;

[0082] Then, in step 1033, the position fluctuation of each satellite receiver during the landslide process is determined through all the position feature vectors.

[0083] In specific implementation, linear fitting is performed on all position feedbacks to obtain a position feedback curve which can be implemented in the following manner, namely, all position feedbacks are sorted in ascending order, and then the sequence obtained after the ascending order is fitted using the least squares support vector machine algorithm in the prior art, and the fitted sequence is used as the position feedback curve. At the same time, the values ​​fitted on the position feedback curve are all used as position feedback fitting values. Other fitting algorithms may also be used in other embodiments, which are not limited here.

[0084] In specific implementation, the position characteristic vector is determined according to the position feedback curve and the position mapping relationship, which can be implemented in the following manner, namely: first, the derivative of the position feedback curve is obtained to obtain derivatives corresponding to multiple position feedbacks, and the obtained derivatives are all used as position feedback derivatives, and then the position mapping relationship is multiplied by each position feedback, and the multiplied values ​​are all used as position mapping values. Further, the vector of the combination of the position feedback, position feedback derivative, position feedback fitting value and position mapping value of each satellite receiver is used as the position characteristic vector of each satellite receiver. Other methods can also be used in other embodiments, which will not be repeated here.

[0085] It should be noted that the position feature vector described in the present application represents a feature vector of the position of the satellite receiver changing dynamically over time during the landslide process.

[0086] In addition, it should be noted that in the present application, the pre-training of the long short-term memory network can obtain multiple position feature vectors through historical data, and then obtain the parameter values ​​of other satellite receivers' historical deformations over time as input labels, wherein the parameter value indicating stable position in the input label is 0.1, the parameter value indicating slight movement of position is 0.2, the parameter value indicating moderate movement of position is 0.3, and the parameter value indicating severe movement of position is 0.4, thereby training the long short-term memory network.

[0087] In specific implementation, determining the position fluctuation of each satellite receiver during the landslide process through the position feature vector can be achieved in the following manner, namely: inputting the position feature vector into a pre-trained long short-term memory network, and using the output result of the long short-term memory network as the position fluctuation of each satellite receiver during the landslide process. Other methods can also be used in other embodiments, which are not limited here.

[0088] It should be noted that the position fluctuation described in the present application represents the characteristic value of the position of the satellite receiver fluctuating over time during the landslide process. The position fluctuation reflects the sliding trend of the slope during the landslide process. The greater the position fluctuation, the greater the sliding trend of the slope during the landslide process, and vice versa.

[0089] In step 104, the internal rock layer distribution in the highway slope is obtained, and the stability of the position settlement of each satellite receiver during the landslide is determined based on the internal rock layer distribution and the settlement of each satellite receiver in the vertical direction. Then, the time-dependent deformation of the highway slope during the landslide is determined through all the stabilities and the satellite images of each satellite in the Beidou positioning system at different time points.

[0090] In a specific implementation, the internal rock strata distribution in the highway slope is determined by geological radar.

[0091] In some embodiments, determining the stability of the position settlement of each satellite receiver during the landslide according to the internal rock layer distribution and the settlement amount of each satellite receiver in the vertical direction can be achieved by using the following steps:

[0092] Determining stability characteristics of the internal rock layer distribution according to a cross-sectional view of the internal rock layer distribution in the highway slope;

[0093] Performing deviation analysis on the settlement amount of each satellite receiver in the vertical direction to obtain the settlement deviation degree of each satellite receiver position;

[0094] The stability of the settlement of each satellite receiver during the landslide is determined according to the stability feature and the settlement deviation of each satellite receiver position.

[0095] In specific implementation, the following method can be used to determine the stable characteristics of the internal rock stratum distribution according to the cross-sectional diagram of the internal rock stratum distribution in the highway slope, namely: first, use an edge detection algorithm (for example, the Canny edge detection algorithm, which is not limited here) to detect different rock strata in the cross-sectional diagram, and use a corner detection algorithm (for example, the Harris corner detection algorithm, which is not limited here) to detect each corner point in different rock strata, and then use the corner points of each rock stratum as input to fit the inclined straight line of each rock stratum using a linear fitting algorithm such as the least squares method, and calculate the slope of each inclined straight line, further calculate the standard deviation of all slopes, and use the obtained standard deviation as the stable characteristics of the internal rock stratum distribution. In other embodiments, other methods can also be used to achieve this, which will not be repeated here.

[0096] It should be noted that the stability characteristics described in the present application represent parameter values ​​that reflect the stability of the internal rock distribution tendency. The larger the stability characteristics, the lower the stability of the internal rock distribution tendency, and vice versa.

[0097] It should be noted that the settlement amount described in the present application refers to the height of the satellite receiver settling in the vertical direction within a specific time period, where the time period refers to an interval of 5 minutes.

[0098] In specific implementation, deviation analysis is performed on the settlement amount of each satellite receiver in the vertical direction, and the settlement deviation degree of each satellite receiver position is obtained, which can be achieved in the following manner, namely: first, the mean of the settlement amounts of all satellite receivers in the vertical direction is calculated, and the obtained mean value is used as the settlement balance value, and then the settlement amount of each satellite receiver in the vertical direction is subtracted from the settlement balance value, and the subtracted values ​​are divided by the settlement amount of each satellite receiver in the vertical direction, and the divided values ​​are used as the settlement deviation degree of each satellite receiver position. Other methods can also be used in other embodiments, which are not limited here.

[0099] It should be noted that the settlement deviation described in the present application represents an index of the volatility of settlement amount during landslide at a satellite receiver, and the settlement deviation can reflect the influence of the multipath effect.

[0100] In specific implementation, the stability of the settlement of each satellite receiver during the landslide process can be determined based on the stability characteristics and the settlement deviation of each satellite receiver position in the following manner, namely: the stability characteristics are multiplied by the settlement deviation of each satellite receiver position, and the multiplied value is used as the stability of the settlement of each satellite receiver during the landslide process. Other methods can also be used in other embodiments, which will not be repeated here.

[0101] It should be noted that the stability in this application refers to an indicator that measures the stability of the change in settlement of a satellite receiver during a landslide, and the stability can identify the potential sliding risk of the slope.

[0102] In some embodiments, determining the time-dependent deformation of the highway slope during the landslide process through all the stabilities and satellite images of each satellite in the Beidou positioning system at different time points can be achieved by the following steps:

[0103] Determine the deformation characteristic value of the highway slope during the landslide process through satellite images of each satellite in the Beidou positioning system at different time points;

[0104] The time-dependent deformation of the highway slope during the landslide process is determined according to all the stabilities and the deformation characteristic values.

[0105] It should be noted that the time points for acquiring satellite images in the present application can be set as the early and middle stages of rainfall, wherein the satellite images in the early stage of rainfall can be collected at intervals of one hour 12 hours before rainfall, and the satellite images in the middle stage of rainfall can be collected at intervals of one minute during the rainfall process.

[0106] In specific implementation, the following method can be used to determine the deformation characteristic value of the highway slope during the landslide process through the satellite images of each satellite in the Beidou positioning system at different time points, namely: first, select a satellite from all the satellites in the Beidou positioning system as the selected satellite, perform image difference between each satellite image of the selected satellite in the early stage of rainfall and each satellite image of the selected satellite in the middle stage of rainfall, then sum all the values ​​obtained after the difference, and use the summed value as the local deformation characteristic value of the highway slope during the landslide process, continue to perform the above processing on the satellite images of the remaining satellites, so as to obtain multiple local deformation characteristic values ​​of the highway slope during the landslide process, and then use the sum of all local deformation characteristic values ​​as the deformation characteristic value of the highway slope during the landslide process.

[0107] It should be noted that the deformation characteristic value described in the present application represents an indicator for monitoring the deformation of the slope during the landslide process.

[0108] In specific implementation, the time-dependent deformation of the highway slope during the landslide process can be determined based on all the stabilities and the deformation characteristic values ​​in the following manner, namely: each stability is multiplied by the deformation characteristic value, all the multiplied values ​​are summed, and the summed value is used as the time-dependent deformation of the highway slope during the landslide process.

[0109] It should be noted that the time-dependent deformation described in this application represents the parameter value of the deformation accumulation of the highway slope at different time points. The time-dependent deformation can correct the hysteresis effect caused by the multipath effect when monitoring the slope deformation response, thereby improving the judgment of the slope sliding trend.

[0110] In step 105, the position confidence value of each satellite receiver during the highway slope landslide process is determined based on all position fluctuations and the time-dependent deformation of the highway slope during the landslide process.

[0111] In some embodiments, determining the position confidence value of each satellite receiver during the highway slope during the landslide process through all position fluctuations and the time-dependent deformation of the highway slope during the landslide process can be achieved by the following steps:

[0112] Performing spatial interpolation on all position fluctuations to generate a sliding fluctuation distribution map of the highway slope;

[0113] The position confidence value of each satellite receiver on the highway slope during the landslide process is determined by the slip fluctuation distribution map and the time-dependent deformation of the highway slope during the landslide process.

[0114] In specific implementation, all position fluctuations are spatially interpolated to generate the slip fluctuation distribution map of the highway slope. This can be achieved in the following manner, namely: using the spatial interpolation algorithm in the prior art (for example: Kriging interpolation method, inverse distance weighted method, which are not limited here) to interpolate the position fluctuations of the satellite receiver at each position monitoring location, and using the interpolated position fluctuations as position fluctuation interpolation, and using the interpolation results to generate the slip fluctuation distribution map of the highway slope. In other embodiments, other methods can also be used, which are not limited here.

[0115] It should be noted that the slip fluctuation distribution map described in the present application represents a global distribution map composed of the position fluctuations obtained after spatial interpolation. The slip fluctuation distribution map can reduce the error caused by the multipath effect in single-point data. Even if some monitoring points are affected by the multipath effect, the distribution map can still accurately reflect the stability of the slope as a whole, thereby improving the reliability of the data.

[0116] In a specific implementation, the position confidence value of each satellite receiver on the highway slope during the landslide process is determined by the slip fluctuation distribution map and the time-dependent deformation of the highway slope during the landslide process. The following method can be used, namely: first, the total number of position fluctuations on the slip fluctuation distribution map is taken as the square root and then rounded down, and the rounded value is used as the local area quantity. Then, a position fluctuation is selected from the slip fluctuation distribution map as the selected position fluctuation, and the position fluctuations that are closest to the selected position fluctuation and have the same number as the local area quantity are interpolated, and the area composed of all the interpolated position fluctuations is selected as The local position fluctuation area, and then the largest position fluctuation interpolation and the smallest position fluctuation interpolation are selected from the local position fluctuation area, and then the position fluctuation degree is divided by the difference between the largest position fluctuation interpolation and the smallest position fluctuation interpolation, and the value obtained by the division is further multiplied by the time-dependent deformation of the highway slope during the landslide process, and the multiplied value is used as the position confidence value of the satellite receiver corresponding to the selected position fluctuation on the highway slope during the landslide process, and the position confidence values ​​of the satellite receiver corresponding to the remaining position fluctuations on the highway slope during the landslide process are continued to be determined. Other methods can also be used to achieve this in other embodiments, which will not be repeated here.

[0117] It should be noted that the position confidence value described in this application represents an indicator for evaluating the credibility of the position of the satellite receiver during a highway slope landslide. The position confidence value can be used to compensate for the multipath effect of the satellite signal, thereby improving the accuracy of the landslide monitoring data.

[0118] In addition, in another aspect of the present application, in some embodiments, the present application provides a highway landslide monitoring system based on Beidou positioning, referring to Figure 4 , which is a schematic diagram of the structure of a highway landslide monitoring system based on Beidou positioning according to some embodiments of the present application. The highway landslide monitoring system based on Beidou positioning 400 includes: a monitoring module 401, a processing module 402 and an execution module 403, which are described as follows:

[0119] Monitoring module 401, in this application, monitoring module 401 is mainly used to monitor satellite receivers at different monitoring locations of the highway slope during the landslide process, and obtain the location information of each satellite receiver through the Beidou positioning system;

[0120] Processing module 402, in the present application, is used to extract the position mapping relationship between each satellite receiver and the highway slope from all the position information;

[0121] It should be noted that the processing module 402 in the present application is also used to determine the position feedback of each satellite receiver during the landslide process through the accumulated displacement of each satellite receiver in the horizontal direction, and determine the position fluctuation of each satellite receiver during the landslide process according to all the position feedbacks and the position mapping relationship;

[0122] In addition, the processing module 402 in the present application is also used to obtain the internal rock layer distribution in the highway slope, determine the stability of the position settlement of each satellite receiver during the landslide process according to the internal rock layer distribution and the settlement of each satellite receiver in the vertical direction, and then determine the time-dependent deformation of the highway slope during the landslide process through all the stabilities and the satellite images of each satellite in the Beidou positioning system at different time points;

[0123] Execution module 403, in the present application, is mainly used to determine the position confidence value of each satellite receiver on the highway slope during the landslide process through all position fluctuations and the time-dependent deformation of the highway slope during the landslide process.

[0124] In addition, the present application also provides a computer device, which includes a memory and a processor, the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned highway landslide monitoring method based on Beidou positioning.

[0125] In some embodiments, reference Figure 5, which is a schematic diagram of the structure of a computer device for implementing a highway landslide monitoring method based on Beidou positioning according to some embodiments of the present application. The highway landslide monitoring method based on Beidou positioning in the above embodiment can be achieved by Figure 5 The computer device 500 shown in the figure is implemented, and the computer device 500 includes at least one processor 501, a communication bus 502, a memory 503 and at least one communication interface 504.

[0126] The processor 501 may be a general-purpose central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more processors for controlling the execution of the highway landslide monitoring method based on Beidou positioning in the present application.

[0127] The communication bus 502 may be used to transmit information between the above-mentioned components.

[0128] The memory 503 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a disk or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 503 may exist independently and be connected to the processor 501 via the communication bus 502. The memory 503 may also be integrated with the processor 501.

[0129] The memory 503 is used to store the program code for executing the solution of the present application, and the execution is controlled by the processor 501. The processor 501 is used to execute the program code stored in the memory 503. The program code may include one or more software modules. The method described in the above method embodiment can be implemented by the processor 501 and one or more software modules in the program code in the memory 503.

[0130] The communication interface 504 uses any transceiver or other device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0131] In a specific implementation, as an embodiment, a computer device may include multiple processors, each of which may be a single-CPU processor or a multi-CPU processor. The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0132] The above-mentioned computer device can be a general-purpose computer device or a special-purpose computer device. In a specific implementation, the computer device can be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device or an embedded device. The embodiment of the present application does not limit the type of computer device.

[0133] In addition, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned highway landslide monitoring method based on Beidou positioning.

[0134] In summary, in the highway landslide monitoring system and method based on Beidou positioning disclosed in the embodiment of the present application, first, satellite receivers at different monitoring positions of the highway slope during the landslide process are monitored, and the position information of each satellite receiver is obtained through the Beidou positioning system; the position mapping relationship between each satellite receiver and the highway slope is extracted from all the position information; the position feedback of each satellite receiver during the landslide process is determined by the cumulative displacement of each satellite receiver in the horizontal direction, and the position fluctuation of each satellite receiver during the landslide process is determined according to all the position feedback and the position mapping relationship; the internal rock layer distribution in the highway slope is obtained, and the stability of the position settlement of each satellite receiver during the landslide process is determined according to the internal rock layer distribution and the settlement of each satellite receiver in the vertical direction, and then the time-dependent deformation of the highway slope during the landslide process is determined through all the stabilities and the satellite images of each satellite in the Beidou positioning system at different time points; the position confidence value of each satellite receiver in the highway slope during the landslide process is determined through all the position fluctuations and the time-dependent deformation of the highway slope during the landslide process. The solution of the present application can reduce the impact of the multipath effect on slope sliding trend monitoring, thereby improving the accuracy of landslide prediction.

[0135] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0136] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A highway landslide monitoring method based on Beidou positioning, characterized in that: The steps include: Monitor the satellite receivers at different locations of the highway slope during the landslide process, and obtain the location information of each satellite receiver through the Beidou positioning system; Extract the position mapping relationship between each satellite receiver and the highway slope from all the position information; Determining the position feedback of each satellite receiver during the landslide process by the accumulated displacement of each satellite receiver in the horizontal direction, and determining the position fluctuation of each satellite receiver during the landslide process according to all the position feedbacks and the position mapping relationship; Obtaining the internal rock layer distribution in the highway slope, determining the stability of the position settlement of each satellite receiver during the landslide process according to the internal rock layer distribution and the settlement of each satellite receiver in the vertical direction, and then determining the time-dependent deformation of the highway slope during the landslide process through all the stabilities and satellite images of each satellite in the Beidou positioning system at different time points; The confidence value of the position of each satellite receiver during the landslide process is determined by all position fluctuations and the time-dependent deformation of the highway slope during the landslide process.

2. The method according to claim 1, characterized in that The position mapping relationship between each satellite receiver and the highway slope is extracted from all the position information, including: Construct slope analysis model; Obtaining rainfall data for the area where the highway slope is located; setting parameters for the slope analysis model in combination with the rainfall data; Determine the displacement change of each satellite receiver through all the position information; The position mapping relationship between each satellite receiver and the highway slope is determined according to all displacement changes and the slope analysis model.

3. The method according to claim 1, characterized in that Determining the position feedback of each satellite receiver during the landslide process by the accumulated displacement of each satellite receiver in the horizontal direction specifically includes: Performing a time series analysis on the accumulated displacement of each satellite receiver in the horizontal direction to obtain a displacement trend characteristic of each satellite receiver; The position feedback of each satellite receiver during the landslide process is determined according to the gradient variation of the accumulated displacement of each satellite receiver in the horizontal direction and the displacement trend characteristics of each satellite receiver.

4. The method according to claim 1, characterized in that Determining the position fluctuation of each satellite receiver during the landslide process according to all position feedbacks and the position mapping relationship specifically includes: Perform linear fitting on all position feedback to obtain the position feedback curve; Determine the position characteristic vector of each satellite receiver during the landslide process according to the position feedback curve and the position mapping relationship; The position fluctuation of each satellite receiver during the landslide process is determined through all position feature vectors.

5. The method according to claim 1, characterized in that Determining the stability of the position settlement of each satellite receiver during the landslide according to the internal rock layer distribution and the settlement amount of each satellite receiver in the vertical direction specifically includes: Determining stability characteristics of the internal rock layer distribution according to a cross-sectional view of the internal rock layer distribution in the highway slope; Performing deviation analysis on the settlement amount of each satellite receiver in the vertical direction to obtain the settlement deviation degree of each satellite receiver position; The stability of the settlement of each satellite receiver during the landslide is determined according to the stability feature and the settlement deviation of each satellite receiver position.

6. The method according to claim 1, characterized in that Determining the time-dependent deformation of the highway slope during the landslide process by using all the stabilities and satellite images of each satellite in the Beidou positioning system at different time points specifically includes: Determine the deformation characteristic value of the highway slope during the landslide process through satellite images of each satellite in the Beidou positioning system at different time points; The time-dependent deformation of the highway slope during the landslide process is determined according to all the stabilities and the deformation characteristic values.

7. The method according to claim 1, characterized in that Determining the position confidence value of each satellite receiver on the highway slope during the landslide process through all position fluctuations and the time-dependent deformation of the highway slope during the landslide process specifically includes: Performing spatial interpolation on all position fluctuations to generate a sliding fluctuation distribution map of the highway slope; The position confidence value of each satellite receiver on the highway slope during the landslide process is determined by the slip fluctuation distribution map and the time-dependent deformation of the highway slope during the landslide process.

8. A highway landslide monitoring system based on Beidou positioning, characterized in that: include: The monitoring module is used to monitor the satellite receivers at different monitoring locations of the highway slope during the landslide process, and obtain the location information of each satellite receiver through the Beidou positioning system; A processing module, used for extracting the position mapping relationship between each satellite receiver and the highway slope from all the position information; The processing module is further used to determine the position feedback of each satellite receiver during the landslide process through the accumulated displacement of each satellite receiver in the horizontal direction, and determine the position fluctuation of each satellite receiver during the landslide process according to all the position feedbacks and the position mapping relationship; The processing module is further used to obtain the internal rock layer distribution in the highway slope, determine the stability of the position settlement of each satellite receiver during the landslide process according to the internal rock layer distribution and the settlement of each satellite receiver in the vertical direction, and then determine the time-dependent deformation of the highway slope during the landslide process through all the stabilities and the satellite images of each satellite in the Beidou positioning system at different time points; The execution module is used to determine the position confidence value of each satellite receiver during the highway slope landslide process through all position fluctuations and the time-dependent deformation of the highway slope during the landslide process.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the highway landslide monitoring method based on Beidou positioning according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the highway landslide monitoring method based on Beidou positioning as described in any one of claims 1 to 7 is implemented.

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