A highway landslide monitoring system and method based on Beidou positioning

Abstract

This application provides a highway landslide monitoring system and method based on Beidou positioning. The system first obtains the position information of each satellite receiver through the Beidou positioning system; then, it extracts the position mapping relationship between each satellite receiver and the highway slope; further, it determines the position feedback of each satellite receiver during the landslide process; and then, based on all the position feedback and the position mapping relationship, it determines the position fluctuation of each satellite receiver during the landslide process; then, based on the distribution of rock layers within the highway slope and the vertical settlement of each satellite receiver, it determines the stability of the settlement of each satellite receiver position, and then determines the time-dependent deformation of the highway slope during the landslide process; and finally, it determines the position confidence value of each satellite receiver during the highway slope during the landslide process. The solution of this application can reduce the impact of multipath effects on slope slip trend monitoring, thereby improving the accuracy of landslide prediction.

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, providing high-precision and high-reliability positioning, navigation and timing services to users around the world. Beidou satellites are widely used, covering transportation, marine fisheries, hydrological monitoring, earthquake prediction, public safety and other fields. They play a key role in the field of transportation, especially in highway monitoring. They 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 satellites can be used to monitor the status of highway infrastructure, such as small displacements of bridges and slopes, to provide early warning of safety hazards and ensure the safety of highway facilities. In short, the application of Beidou satellites is an indispensable key technical support in modern highway systems, and 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 a sensor network (such as tilt and accelerometers). Machine learning is applied to analyze historical data to identify landslide patterns, providing effective support for landslide early warning and prevention. However, Beidou satellite signals will be reflected or refracted by surrounding objects (such as trees and terrain), resulting in a multipath effect. Rainfall has a significant impact on the multipath effect, especially during rainfall. Rainfall can 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, enhancing the reflection effect of the signal, further exacerbating the multipath effect, reducing positioning accuracy, thereby obscuring the actual slip trend and resulting in the inability to timely identify potential landslide risks. Therefore, how to reduce the impact of the multipath effect on slope slip trend monitoring and thus improve the accuracy of landslide prediction has become a difficult problem facing 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 on 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 a position feedback of each satellite receiver during the landslide process by means of a cumulative displacement of each satellite receiver in a horizontal direction, and determining a position fluctuation of each satellite receiver during the landslide process according to all position feedbacks and the position mapping relationship;

[0009] Obtaining the distribution of internal rock layers in the highway slope, determining the stability of the position settlement of each satellite receiver during the landslide based on the distribution of internal rock layers and the vertical settlement of each satellite receiver, and then determining the time-dependent deformation of the highway slope during the landslide based on 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 characteristic 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] Determining a 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 eigenvectors.

[0024] 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 vertical settlement of each satellite receiver 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 a deviation analysis on the vertical settlement of each satellite receiver to obtain a settlement deviation degree of each satellite receiver position;

[0027] The stability of the settlement of each satellite receiver during the landslide process is determined according to the stability characteristics 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 using all stabilities and satellite images of each satellite in the BeiDou positioning system at different time points specifically includes:

[0029] Determining the deformation characteristic value of the highway slope during the landslide process by using 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 based on 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 slip 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 satellite receivers at different monitoring locations on 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 is used to extract the position mapping relationship between each satellite receiver and the highway slope from all the position information;

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

[0038] The processing module is further configured to obtain the distribution of internal rock layers in the highway slope, determine the stability of the position settlement of each satellite receiver during the landslide process based on the distribution of internal rock layers and the vertical settlement of each satellite receiver, and further determine the time-dependent deformation of the highway slope during the landslide process based on all the stabilities and 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 a code, and the processor is configured to obtain the code 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 storing a computer program, which, when executed by a processor, implements the above-mentioned highway landslide monitoring method based on Beidou positioning.

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

[0043] The Beidou positioning-based highway landslide monitoring system and method provided in the present application first monitor satellite receivers at different monitoring locations on the highway slope during the landslide process, and obtain the position 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; 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 based on all the position feedback and the position mapping relationship; 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 based on the internal rock layer distribution and the vertical settlement of each satellite receiver, and then determine the time-dependent deformation of the highway slope during the landslide process based on all the stabilities and satellite images of each satellite in the Beidou positioning system at different time points; and determine the position confidence value of each satellite receiver during the highway slope during the landslide process based on all the position fluctuations and the time-dependent deformation of the highway slope during the landslide.

[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 by all position fluctuations and the time-dependent deformation of the highway slope during the landslide process; wherein, first, 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 vertical settlement of each satellite receiver, 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 slip 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 the spatial position of each satellite receiver and the highway slope. The stability of the highway slope can be dynamically evaluated through the position mapping relationship. Furthermore, the cumulative displacement of each satellite receiver in the horizontal direction is obtained. The position feedback of the satellite receiver during the landslide process can be used to track the horizontal sliding trend of the highway slope 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 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. Then, all the position fluctuations are spatially interpolated to obtain the sliding fluctuation distribution map of the highway slope. 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 highway slope landslide is determined by 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 satellite receiver's position during the highway slope landslide process. The position confidence value can compensate for the multipath effect generated by the satellite signal, thereby improving the accuracy of the landslide monitoring data. In summary, the solution of the present application can reduce the impact of the multipath effect on slope slip trend monitoring, 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 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 structural diagram of a highway landslide monitoring system based on Beidou positioning in some embodiments of the present application;

[0049] Figure 5 It is a structural 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 with reference to 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 on the highway slope are monitored during the landslide process, and the position information of each satellite receiver is obtained through the Beidou positioning system.

[0053] In specific implementation, on-site surveys are conducted 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 position 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 diagram of the satellite receiver positioning principle shown in some embodiments of the present application. By measuring the distance and angle between the satellite receiver and 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 slope analysis model can be constructed 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 for implementation, which is not limited here.

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

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

[0066] In a specific implementation, determining the displacement change of each satellite receiver using all the position information can be achieved in the following manner: for each piece of position information, the longitude, latitude, and altitude in each piece of position information are arranged in a time series, and the differences in longitude, latitude, and altitude at adjacent time points are calculated. All the calculated differences are then 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 a 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. This can be achieved in the following manner: 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 all the multiplied values ​​are summed. The summed value is used as the position mapping relationship between each satellite receiver and the highway slope. In other embodiments, other methods can also be used for implementation, which is not limited here.

[0068] It should be noted that the position mapping relationship described in this application represents the mapping relationship between the spatial positions of each satellite receiver and the highway slope. 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 based on 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 achieved 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 characteristic of each satellite receiver.

[0073] It should be noted that the cumulative displacement described in this application represents the sum of the horizontal position changes of the satellite receiver within a specific time period, where the specific time period is 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 to obtain the displacement trend characteristics of each satellite receiver. This can be achieved in the following manner: a satellite receiver is selected as the selected satellite receiver, and the cumulative displacement data of the selected satellite receiver in the horizontal direction for the past three days is obtained. An existing time series analysis method (for example, exponential smoothing method, which is not limited here) is used to perform a trend assessment on the cumulative displacement data. The trend strength obtained after the trend assessment is used as the displacement trend characteristic of the selected satellite receiver. The displacement trend characteristics of the remaining satellite receivers are further 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 this application represents the trend strength of the satellite receiver's displacement 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 a specific implementation, determining the position feedback of each satellite receiver during the landslide process based on the gradient change of the cumulative displacement of each satellite receiver in the horizontal direction and the displacement trend characteristics of each satellite receiver can be achieved in the following manner: selecting a satellite receiver as the selected satellite receiver, calculating the standard deviation and mean of all the gradient changes of the cumulative displacement of the selected satellite receiver in the horizontal direction, dividing the standard deviation by the mean, and then multiplying the value obtained by the division by the displacement trend characteristics of the selected satellite receiver, thereby using the multiplied value as the position feedback of the selected satellite receiver during the landslide process, and continuously determining the position feedback of the remaining satellite receivers during the landslide process. In other embodiments, other methods can also be used for implementation, which are not limited here.

[0078] It should be noted that the position feedback mentioned in this 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 position feedback.

[0079] In some embodiments, reference Figure 3 As shown in FIG. 1 , this figure is a schematic diagram of a process for 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 based on all position feedback and the position mapping relationship, which can be achieved by the following steps:

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

[0081] Next, in step 1032, a position characteristic vector of each satellite receiver during the landslide process is determined based on 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 using all position feature vectors.

[0083] In a specific implementation, linear fitting is performed on all position feedbacks to obtain a position feedback curve, which can be achieved in the following manner: all position feedbacks are sorted in ascending order, and then the sequence obtained after ascending sorting 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 ​​obtained by fitting on the position feedback curve are all used as position feedback fitting values. In other embodiments, other fitting algorithms can also be used, which are not limited here.

[0084] In specific implementation, determining the position characteristic vector based on the position feedback curve and the position mapping relationship can be achieved in the following manner: first, taking the derivative of the position feedback curve to obtain derivatives corresponding to multiple position feedbacks, and using the obtained derivatives as position feedback derivatives, then multiplying the position mapping relationship by each position feedback, and using the multiplied values ​​as position mapping values. Furthermore, a vector of the combination of the position feedback, position feedback derivative, position feedback fitting value and position mapping value of each satellite receiver is sequentially 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 characteristic vector mentioned in this application represents the characteristic vector of the position of the satellite receiver changing dynamically with 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 that have deformed over time as input labels. Among them, the parameter value indicating stable position in the input label is 0.1, the parameter value indicating slight position movement is 0.2, the parameter value indicating moderate position movement is 0.3, and the parameter value indicating severe position movement is 0.4, thereby training the long short-term memory network.

[0087] In a specific implementation, determining the position fluctuation of each satellite receiver during the landslide process using 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 of the long short-term memory network as the position fluctuation of each satellite receiver during the landslide process. In other embodiments, other methods can also be used for implementation, which are not limited here.

[0088] It should be noted that the position fluctuation described in this 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 vertical settlement of each satellite receiver. Then, the time-dependent deformation of the highway slope during the landslide is determined based on 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 layer 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 vertical settlement of each satellite receiver 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 a deviation analysis on the vertical settlement of each satellite receiver to obtain a settlement deviation degree of each satellite receiver position;

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

[0095] In a specific implementation, the stable characteristics of the internal rock stratum distribution in the highway slope can be determined based on the cross-sectional view of the internal rock stratum distribution. This can be achieved in the following manner: first, an edge detection algorithm (for example, the Canny edge detection algorithm, which is not limited here) is used to detect different rock strata in the cross-sectional view, and a corner detection algorithm (for example, the Harris corner detection algorithm, which is not limited here) is used to detect each corner point in the different rock strata. Then, the corner points of each rock stratum are used as input to fit the inclined straight line of each rock stratum using a linear fitting algorithm such as the least squares method, and the slope of each inclined straight line is calculated. The standard deviation of all the slopes is further calculated, and the obtained standard deviation is used as the stable characteristics of the internal rock stratum distribution. In other embodiments, other methods can also be used for implementation, which will not be repeated here.

[0096] It should be noted that the stability characteristics described in this 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 this application refers to the height of the satellite receiver settling in the vertical direction within a specific time period, where the time period is an interval of 5 minutes.

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

[0099] It should be noted that the settlement deviation degree mentioned in this application represents an indicator of the fluctuation of settlement amount during landslide at a satellite receiver, and the settlement deviation degree can reflect the influence degree of multipath effect.

[0100] In specific implementation, the stability of the position 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. This can be achieved in the following manner: 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 position settlement of each satellite receiver during the landslide process. In other embodiments, other methods can also be used for implementation, 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 settlement change of the satellite receiver during the landslide process. 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 by using all stabilities and satellite images of each satellite in the Beidou positioning system at different time points can be achieved by the following steps:

[0103] Determining the deformation characteristic value of the highway slope during the landslide process by using 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 obtaining satellite images in this application can be set as the early and middle stages of rainfall. The satellite images in the early stage of rainfall can be collected at intervals of 1 hour 12 hours before rainfall, and the satellite images in the middle stage of rainfall can be collected at intervals of 1 minute during the rainfall process.

[0106] In a specific implementation, the following method can be used to determine the deformation characteristic value of the highway slope during the landslide process using satellite images of each satellite in the Beidou positioning system at different time points, namely: first, select one satellite from all satellites in the Beidou positioning system as a 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, thereby obtaining 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 this application represents an indicator for monitoring the deformation of the slope during the landslide process.

[0108] In a 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 ​​by multiplying each stability by the deformation characteristic value, summing all the multiplied values, and using the summed value 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 slip trend.

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

[0111] In some embodiments, determining the position confidence value of each satellite receiver during the highway slope landslide process based on 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 slip 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 a 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: using a 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 for implementation, which are not limited here.

[0115] It should be noted that the slip fluctuation distribution map described in this application represents a global distribution map composed of 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. This can be achieved in the following manner: first, the square root of the total number of position fluctuations on the slip fluctuation distribution map is taken and 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 consisting of all the interpolated position fluctuations is used as the local area quantity. The local position fluctuation area, and then the maximum position fluctuation interpolation and the minimum position fluctuation interpolation are selected from the local position fluctuation area, and then the position fluctuation degree is divided by the difference between the maximum position fluctuation interpolation and the minimum 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. In other embodiments, other methods can also be used to achieve this, 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 compensate for the multipath effect generated by 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 This figure is a schematic structural diagram 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, is mainly used to monitor satellite receivers at different monitoring locations on the highway slope during the landslide process, and obtain the position information of each satellite receiver through the Beidou positioning system;

[0120] Processing module 402, in this 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 further configured to determine the position feedback of each satellite receiver during the landslide process based on the accumulated horizontal displacement of each satellite receiver, and determine the position fluctuation of each satellite receiver during the landslide process based on all the position feedbacks and the position mapping relationship;

[0122] In addition, the processing module 402 in the present application is further configured 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 based on the internal rock layer distribution and the vertical settlement of each satellite receiver, and then determine the time-dependent deformation of the highway slope during the landslide process based on all the stabilities and satellite images of each satellite in the Beidou positioning system at different time points;

[0123] The execution module 403 in this 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 code, and the processor is configured to obtain the code 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 FIG. 5 is implemented as shown in FIG. 5 . 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 can 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 this application.

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

[0128] The memory 503 may be a read-only memory (ROM) or other static storage device that can store static information and instructions, a random access memory (RAM) or other dynamic storage device 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, an optical disc storage (including a compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk or other magnetic storage device, or any other medium that can be used to carry or store 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 be independent and 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 program code for executing the solution of the present application, and 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 network (WLAN), etc.

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

[0132] The aforementioned computer device may be a general-purpose computer device or a dedicated computer device. In a specific implementation, the computer device may 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 embodiments of the present application do 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 Beidou positioning-based highway landslide monitoring system and method disclosed in the embodiments of the present application, satellite receivers at different monitoring locations on the highway slope during the landslide process are first 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 based on 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 based on 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 based on 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 slip 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 additional 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 that fall within the scope of the present application.

[0136] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is 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 on 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 a position feedback of each satellite receiver during the landslide process by means of a cumulative displacement of each satellite receiver in a horizontal direction, and determining a position fluctuation of each satellite receiver during the landslide process according to all position feedbacks and the position mapping relationship; Obtaining the distribution of internal rock layers in the highway slope, determining the stability of the position settlement of each satellite receiver during the landslide based on the distribution of internal rock layers and the vertical settlement of each satellite receiver, and then determining the time-dependent deformation of the highway slope during the landslide based on all the stabilities and satellite images of each satellite in the Beidou positioning system at different time points; determining a position confidence value of each satellite receiver at the highway slope during the landslide process based on all position fluctuations and the time-dependent deformation of the highway slope during the landslide process; The position mapping relationship between each satellite receiver and the highway slope is extracted from all the position information, specifically 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; Determining a position mapping relationship between each satellite receiver and the highway slope based on all displacement changes and the slope analysis model; The method of 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: Determining the deformation characteristic value of the highway slope during the landslide process by using 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.

2. The method according to claim 1, wherein 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 characteristic of each satellite receiver.

3. The method according to claim 1, wherein Determining the position fluctuation of each satellite receiver during the landslide process based on all position feedback and the position mapping relationship specifically includes: Perform linear fitting on all position feedback to obtain the position feedback curve; Determining a 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 eigenvectors.

4. The method according to claim 1, wherein Determining the stability of the position settlement of each satellite receiver during the landslide according to the internal rock layer distribution and the vertical settlement of each satellite receiver 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 a deviation analysis on the vertical settlement of each satellite receiver to obtain a settlement deviation degree of each satellite receiver position; The stability of the settlement of each satellite receiver during the landslide process is determined according to the stability characteristics and the settlement deviation of each satellite receiver position.

5. The method according to claim 1, wherein Determining the position confidence value of each satellite receiver on the highway slope during the landslide process by 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 slip 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.

6. A highway landslide monitoring system based on Beidou positioning, which uses the method according to any one of claims 1 to 5 to perform highway landslide monitoring, characterized in that: The system includes: The monitoring module is used to monitor satellite receivers at different monitoring locations on the highway slope during the landslide process and obtain the location information of each satellite receiver through the Beidou positioning system; A processing module is used to extract the position mapping relationship between each satellite receiver and the highway slope from all the position information; The processing module is further configured to determine position feedback of each satellite receiver during the landslide process based on the accumulated displacement of each satellite receiver in the horizontal direction, and determine position fluctuation of each satellite receiver during the landslide process based on all position feedbacks and the position mapping relationship; The processing module is further configured to obtain the distribution of internal rock layers in the highway slope, determine the stability of the position settlement of each satellite receiver during the landslide process based on the distribution of internal rock layers and the vertical settlement of each satellite receiver, and further determine the time-dependent deformation of the highway slope during the landslide process based on all the stabilities and 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.

7. 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 5 is implemented.

8. 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 according to any one of claims 1 to 5 is implemented.

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