Road damage all-weather real-time monitoring and early warning system based on Beidou-R

Abstract

The invention discloses a road damage all-weather real-time monitoring and early warning system based on Beidou-R, and relates to the technical field of road monitoring. According to the invention, the direct signal received by the monitoring station, the reflection signal of the target road, the propagation path difference between the direct signal and the reflection signal, and the difference value between the actual phase difference and the theoretical phase difference between the direct signal and the reflection signal are analyzed, so that the height change of the reflection surface of the monitoring area is obtained. According to the method and the system, all-weather and real-time monitoring of road damage is realized according to the characteristics of all-weather and continuous monitoring and no influence of visibility of a Beidou system, and a non-contact monitoring mode of a Beidou-R technology is adopted, so that the damage condition of a target road is identified according to the change of the height of the target road, and the damage condition of the target road is identified according to the change of the height of the target road, so that an early warning is given to a driving vehicle, and a maintenance scheme is formulated. The surface scene continuous monitoring based on the single base station is realized, so that the purposes of time and space bicontinuous monitoring and road monitoring cost reduction are achieved.

Description

Technical Field

[0001] The present application relates to the field of road monitoring technology, and specifically to a 24 / 7 real-time monitoring and early warning system for road damage based on BeiDou-R. Background Art

[0002] At present, the BeiDou-R technology has a relatively mature theoretical system in terms of sea surface wind field, sea water height measurement, snow depth monitoring, etc. The BeiDou-R road deformation monitoring has also initially formed three mainstream directions based on imaging, mirror reflection and target detection. The BeiDou-R road damage monitoring is a research direction with development potential in the field of GNSS reflection signal remote sensing research. Therefore, this application proposes a 24-hour real-time monitoring and early warning system for road damage based on BeiDou-R.

[0003] The prior art, such as the road pavement monitoring method and device based on vehicle vibration data disclosed in the invention patent application with announcement number: CN115798194A, includes: obtaining the vertical acceleration, vehicle information and calibrated pavement information during vehicle driving, the vehicle information includes vehicle type, driving speed and geographical location, and the calibrated pavement information includes the calibrated pavement type corresponding to the current geographical location queried from the preset pavement condition database based on the geographical location; determining the correlation parameter according to the correlation between the vertical acceleration and the vehicle information and the calibrated pavement information, and using the correlation parameter as the weight coefficient to perform weighted calculation on the vertical acceleration to obtain the comprehensive vertical vibration amplitude of the current geographical location of the current road; determining whether the pavement of the current road is abnormal according to the comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road. The method automatically determines the weight coefficient to perform weighted processing on the vertical acceleration, monitors the pavement from multiple dimensions, has a small amount of calculation, and has high accuracy and robustness.

[0004] With respect to the above scheme, the following technical problems exist: 1. The current technology mainly performs weighted processing on the vertical acceleration by determining the weight coefficient, and then monitors the road surface. It lacks monitoring of the road surface during the time period when no vehicles are traveling. Therefore, it cannot realize all-weather real-time monitoring of the road surface. Different types of vehicles have different vibration data on the road surface, which also leads to the lack of accuracy and completeness of the current technology in monitoring the road surface.

[0005] 2. Current technology mainly monitors the road surface based on the vibration data generated when the vehicle is driving on the road. It does not take into account the problem of road surface monitoring when the road surface is severely damaged and the vehicle cannot drive. There is a lack of real-time monitoring and early warning of road damage. The current technology's neglect of this level will lead to untimely monitoring of road damage, which in turn will cause the vehicle to be unable to avoid the damaged area, leading to accidents. Summary of the invention

[0006] The purpose of this application is to provide a 24 / 7 real-time monitoring and early warning system for road damage based on Beidou-R, which solves the problems existing in the background technology.

[0007] To solve the above technical problems, this application adopts the following technical solutions: This application provides an all-weather real-time monitoring and early warning system for road damage based on "Beidou-R", including: Information acquisition module: used to obtain basic information of the transmission signal of a certain frequency band of the Beidou system from the monitoring center.

[0008] Monitoring module: used to analyze the signal according to the basic information of the signal, and then realize the monitoring of the target road.

[0009] Damage identification module: used to analyze whether the road surface height has changed based on the monitoring results of the target road, and then determine whether the target road is damaged and obtain the damage type of the target road.

[0010] Early warning module: used to develop maintenance plans when damage is detected on the target road, and to issue early warning prompts to vehicles on the road.

[0011] Preferably, the basic information of the transmission signal of a certain frequency band of the Beidou system includes signal strength, signal carrier frequency and signal carrier phase.

[0012] Preferably, the monitoring module includes: a signal analysis unit: used to analyze the basic information of the transmitted signal of a certain frequency band of the Beidou system to obtain the transmitted signal, the direct signal received by the monitoring station and the reflected signal of the target road.

[0013] Path difference analysis unit: used to analyze the propagation path difference between the direct signal and the reflected signal based on the direct signal received by the monitoring station and the reflected signal of the target road.

[0014] Phase difference analysis unit: used to analyze the difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal.

[0015] Preferably, the signal strength, signal carrier frequency and signal carrier phase are extracted from the basic information of the transmitted signal of a certain frequency band of the Beidou system and are recorded as , and , according to the calculation formula: Analyze and obtain the transmission signal of a certain frequency band of the Beidou system , denoted as the transmitted signal, where represents the C / A code sequence, Indicates the satellite navigation message. The duration of signal transmission.

[0016] The delay of the transmitted signal from the satellite to the monitoring station is recorded as , according to the calculation formula Analyze the direct signal received by the monitoring station , denoted as the direct signal, where represents the amplitude of the direct signal, represents the direct signal carrier frequency, The Doppler frequency is the frequency caused by the relative motion between the satellite transmitting the signal and the receiver of the monitoring station. represents the carrier phase of the direct signal received by the monitoring station, is the signal transmission time, Represents measurement noise; when the transmitted signal reaches the target road, it is reflected by the road surface to obtain the reflected signal of the target road surface, and the direct signal received by the monitoring station is obtained according to the analysis The reflected signal of the target road surface is obtained by analyzing the , recorded as the reflected signal.

[0017] Preferably, the analysis obtains the propagation path difference between the direct signal and the reflected signal, and the specific process is as follows: based on the direct signal and the reflected signal, the carrier phases of the direct signal and the reflected signal are extracted, and the carrier phases of the direct signal and the reflected signal are calculated according to the formula The propagation path difference between the direct signal and the reflected signal is obtained by analysis. , denoted as the propagation path difference, where Indicates the reflected signal of the target road, Indicates the wavelength of the transmitted signal in a certain frequency band of the Beidou system. is the ratio of pi.

[0018] Preferably, the analysis of the difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal is specifically performed as follows: , at any time Established, of which It represents the propagation path difference between the direct signal and the reflected signal after the reflecting surface is displaced along the normal line. is the displacement of the reflecting surface along the normal direction, and Respectively represent the elevation angle of the reflecting surface before deformation and after deformation. When , the phase difference between the direct signal and the reflected signal is recorded as , the expression of phase difference change is: ,in Expressed as the phase difference caused by the motion of the satellite transmitting the signal, , It is expressed as the height difference between the target road and the monitoring station receiver, which is obtained according to the GNSS carrier height measurement principle. , combining the above calculation formula, the theoretical phase difference between the direct signal and the reflected signal can be obtained as , and then the phase difference between the actual direct signal and the reflected signal is obtained according to the processing of the monitoring station receiver software module , according to the calculation formula The difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal is obtained by analysis. .

[0019] Preferably, the target road damage information is obtained, and the specific process is as follows: when the target road is damaged, the difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal is obtained. When the difference between the actual phase difference and the theoretical phase difference between the transmitted signal and the reflected signal is less than 0, it indicates that landslide accumulation has occurred on the target road.

[0020] When the difference between the actual phase difference between the transmitted signal and the reflected signal and the theoretical phase difference is greater than 0, it indicates that the target road has sunk.

[0021] When the actual phase difference between the transmitted signal and the reflected signal cannot be analyzed, it indicates that the monitoring station cannot receive the reflected signal of the target road, indicating that the target road has collapsed.

[0022] Preferably, a maintenance plan is formulated when damage is detected on the target road, and the specific process is as follows: for secondary damage, relevant staff are dispatched to arrive at the scene as soon as possible to survey the damaged area, remove debris from the landslide accumulation area, and use filling materials to fill and repair the road surface in the subsidence area.

[0023] For level one damage, a road survey team composed of experts will be dispatched to demolish and rebuild the damaged road surface, analyze the cause of the damage, and repair and reinforce the roadbed of the target road based on the cause of the damage.

[0024] The beneficial effects of the present application are: 1. The all-weather real-time monitoring and early warning system for road damage based on "Beidou-R" provided by the present application analyzes the direct signal received by the monitoring station, the reflected signal of the target road, the propagation path difference between the direct signal and the reflected signal, and the difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal, thereby obtaining the change in the height of the reflecting surface in the monitoring area, and identifying the damage to the target road based on the height change, thereby issuing an early warning to the moving vehicles and formulating a maintenance plan. This application realizes all-weather real-time monitoring of road damage based on the characteristics of the Beidou system's all-weather, continuous monitoring and not being affected by visibility, and the non-contact monitoring mode of the "Beidou-R" technology realizes continuous monitoring of surface scenes based on a single base station, thereby achieving dual continuous monitoring in time and space and reducing the cost of road monitoring.

[0025] 2. This application obtains the basic information of the signal transmitted by the satellite, and then analyzes the direct signal, the reflected signal, the propagation path difference between the direct signal and the reflected signal, and the phase difference between the direct signal and the reflected signal, thereby laying the foundation for target road damage monitoring.

[0026] 3. This application realizes real-time road monitoring through the "Beidou-R" technology. This technology is not affected by weather and can realize real-time monitoring around the clock, overcoming the problem of inaccurate monitoring results of existing monitoring technologies in environments with insufficient visibility such as at night, rainy and snowy weather. At the same time, the "Beidou-R" technology can realize real-time monitoring of target scenes based on a single base station, which can effectively reduce the cost of base station construction. At the same time, this application transforms the monitoring method of road damage from traditional fixed-point monitoring to scene-oriented monitoring, ensuring the intelligence of the monitoring method and effectively reducing the monitoring cost of road damage.

[0027] 4. This application analyzes road damage, and then warns driving vehicles and formulates maintenance plans. When the road is damaged, the original height of the road changes. The reflection characteristics of the Beidou signal can detect the change in road surface height and warn the driving vehicle, avoiding the problem of road damage not being discovered in time, and also avoiding the problem of drivers driving into damaged sections due to untimely warning messages, greatly reducing casualties and economic losses caused by road damage. At the same time, this application formulates different maintenance plans according to the degree of road damage, reasonably allocates manpower, material resources and economy, effectively avoids the waste of resources caused by road maintenance, and greatly ensures the integrity and rationality of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 This is a schematic diagram of the system structure connection for this application.

[0030] Figure 2 This is the ground reflection model diagram of Beidou-R signal.

[0031] Figure 3 Schematic diagram of the BeiDou-R altimetry principle.

[0032] Figure 4 Schematic diagram of Beidou-R road damage monitoring.

[0033] Figure 4A is a schematic diagram of height monitoring and analysis of normal road surface; B is a schematic diagram of height monitoring and analysis of road surface with landslide accumulation; C is a schematic diagram of height monitoring and analysis when the road surface sinks; and D is a schematic diagram of height monitoring and analysis when the road collapses. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] Reference Figure 1 As shown, the present application provides a 24 / 7 real-time monitoring and early warning system for road damage based on "Beidou-R", including the following modules: Information acquisition module: used to obtain basic information of the transmission signal of a certain frequency band of the Beidou system from the monitoring center.

[0036] In a specific example, the basic information of the transmission signal of a certain frequency band of the Beidou system includes signal strength, signal carrier frequency and signal carrier phase.

[0037] Reference Figure 2 and Figure 3 As shown, the monitoring module is used to analyze the signal according to the basic information of the signal, so as to realize the monitoring of the target road.

[0038] In a specific example, the monitoring module includes: a signal analysis unit: used to analyze the basic information of the transmitted signal of a certain frequency band of the Beidou system to obtain the transmitted signal, the direct signal received by the monitoring station, and the reflected signal of the target road.

[0039] Path difference analysis unit: used to analyze the propagation path difference between the direct signal and the reflected signal based on the direct signal received by the monitoring station and the reflected signal of the target road.

[0040] Phase difference analysis unit: used to analyze the difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal.

[0041] In a specific example, the analysis obtains the transmitted signal, the direct signal received by the monitoring station, and the reflected signal of the target road. The specific analysis process is as follows: the signal strength, signal carrier frequency, and signal carrier phase are extracted from the basic information of the transmitted signal of a certain frequency band of the Beidou system, and are recorded as , and , according to the calculation formula: Analyze and obtain the transmission signal of a certain frequency band of the Beidou system , denoted as the transmitted signal, where represents the C / A code sequence, Indicates the satellite navigation message. The duration of signal transmission.

[0042] The delay of the transmitted signal from the satellite to the monitoring station is recorded as , according to the calculation formula Analyze the direct signal received by the monitoring station , denoted as the direct signal, where represents the amplitude of the direct signal, represents the direct signal carrier frequency, The Doppler frequency is the frequency caused by the relative motion between the satellite transmitting the signal and the receiver of the monitoring station. represents the carrier phase of the direct signal received by the monitoring station, is the signal transmission time, Represents measurement noise; when the transmitted signal reaches the target road, it is reflected by the road surface to obtain the reflected signal of the target road surface, and the direct signal received by the monitoring station is obtained according to the analysis The reflected signal of the target road surface is obtained by analyzing the , recorded as the reflected signal.

[0043] It should be noted that when the transmitted signal reaches the target road and is reflected by the road surface, the target road reflection area is described using the first Fresnel zone, and the Beidou-R technology is applied to detect the position of the sensing area.

[0044] In a specific example, the analysis obtains the propagation path difference between the direct signal and the reflected signal. The specific process is as follows: based on the direct signal and the reflected signal, the carrier phases of the direct signal and the reflected signal are extracted. According to the calculation formula The propagation path difference between the direct signal and the reflected signal is obtained by analysis. , denoted as the propagation path difference, where Indicates the reflected signal of the target road, Indicates the wavelength of the transmitted signal in a certain frequency band of the Beidou system. is the ratio of pi.

[0045] In a specific example, the difference between the actual phase difference and the theoretical phase difference of the direct signal and the reflected signal is analyzed in the following specific analysis process: , at any time Established, of which It represents the propagation path difference between the direct signal and the reflected signal after the reflecting surface is displaced along the normal line. is the displacement of the reflecting surface along the normal direction, and Respectively represent the elevation angle of the reflecting surface before deformation and after deformation. When , the phase difference between the direct signal and the reflected signal is recorded as , the expression of phase difference change is: ,in Expressed as the phase difference caused by the motion of the satellite transmitting the signal, , It is expressed as the height difference between the target road and the monitoring station receiver, which is obtained according to the GNSS carrier height measurement principle. , combining the above calculation formula, the theoretical phase difference between the direct signal and the reflected signal can be obtained as , and then the phase difference between the actual direct signal and the reflected signal is obtained according to the processing of the monitoring station receiver software module , according to the calculation formula The difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal is obtained by analysis. .

[0046] It should be noted that the theoretical phase difference is the phase difference between the direct signal and the reflected signal that should be measured at the current moment when the target road height has not changed, and the actual phase difference is the phase difference between the direct signal and the reflected signal actually measured at the current moment. When the difference between the actual phase difference and the theoretical phase difference is 0, it means that the target road height change is 0, that is, the target road height has not changed, otherwise the target road height has changed.

[0047] It should be noted that the phase difference caused by the motion of the satellite transmitting the signal can be eliminated through the geometric model.

[0048] It should be noted that the height difference between the target road and the monitoring station receiver is a fixed value, which causes the phase difference between the direct signal and the reflected signal received by the receiver to change continuously only with the movement of the satellite. After eliminating the trend term of the influence of satellite movement on the phase difference through the geometric model, the remaining phase difference should theoretically be a fixed value. However, when a significant change in the residual phase difference is detected, it can be identified that the height difference between the target road and the monitoring station receiver has changed. After excluding the displacement of the monitoring station, it can be determined that the pavement height of the target road has changed, and there is a possibility of landslide accumulation on the pavement, pavement subsidence or road collapse.

[0049] Reference Figure 4 As shown, the damage identification module is used to analyze whether the road surface height has changed according to the monitoring results of the target road, and then determine whether the target road is damaged and obtain the damage type of the target road.

[0050] It should be noted that the damage types of the target roads include landslide accumulation road surface, road subsidence and road collapse.

[0051] Reference Figure 4 As shown in A, in a specific example, the monitoring result of the target road is used to analyze whether the road surface height has changed, and then determine whether the target road is damaged. The specific process is as follows: when the difference between the actual phase difference between the direct signal and the reflected signal and the theoretical phase difference is 0, it indicates that the target road surface height has not changed, and it is determined that the target road is not damaged.

[0052] When the difference between the actual phase difference obtained between the direct signal and the reflected signal and the theoretical phase difference is not 0, it indicates that the surface height of the target road has changed, and it is determined that the target road is damaged.

[0053] It should be noted that ,in and They respectively represent the actual height difference and theoretical height difference between the target road and the monitoring station.

[0054] Reference Figure 4 As shown in B, in a specific example, the target road damage information is obtained, and the specific process is as follows: when the target road is damaged, the difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal is obtained. When the difference between the actual phase difference and the theoretical phase difference between the transmitted signal and the reflected signal is less than 0, it indicates that landslide accumulation occurs on the target road.

[0055] Reference Figure 4 As shown in C, when the difference between the actual phase difference between the transmitted signal and the reflected signal and the theoretical phase difference is greater than 0, it indicates that the target road has sunk.

[0056] Reference Figure 4 As shown in D, when the actual phase difference between the transmitted signal and the reflected signal cannot be analyzed, it indicates that the monitoring station cannot receive the reflected signal of the target road, indicating that the target road has collapsed.

[0057] In a specific example, the specific process of obtaining the damage type of the target road is as follows: when a landslide accumulates on the target road, the height difference between the target road and the test station receiver before and after the landslide accumulates is obtained. and , and calculated by the formula The difference in height between the target road and the test station receiver before and after the landslide accumulation is obtained by analysis. According to the analysis method of analyzing the difference in height between the target road and the test station receiver before and after the landslide accumulation, the difference in height between the target road and the test station receiver before and after the landslide accumulation can be analyzed to obtain when the target road pavement sinks.

[0058] The difference in height between the target road and the test station receiver before and after the landslide accumulation is compared with the threshold of the difference in height between the target road and the test station receiver before and after the landslide accumulation. When the difference in height between the target road and the test station receiver before and after the landslide accumulation is greater than or equal to the threshold of the difference in height between the target road and the test station receiver before and after the landslide accumulation, the landslide accumulation on the target road is recorded as a first-level dangerous landslide accumulation; otherwise, the landslide accumulation on the target road is recorded as a second-level dangerous landslide accumulation.

[0059] The difference in height between the target road and the test station receiver before and after the pavement subsidence is compared with the threshold of the difference in height between the target road and the test station receiver before and after the pavement subsidence. When the difference in height between the target road and the test station receiver before and after the pavement subsidence is less than or equal to the threshold of the difference in height between the target road and the test station receiver before and after the pavement subsidence, the pavement subsidence of the target road is recorded as a first-level dangerous subsidence; otherwise, the pavement subsidence of the target road is recorded as a second-level dangerous subsidence.

[0060] When a collapse occurs on the target road, it is recorded as a first-level dangerous collapse.

[0061] The first-level dangerous landslide accumulation, first-level dangerous subsidence and first-level dangerous collapse are collectively recorded as first-level damage, and the second-level dangerous landslide accumulation and second-level dangerous subsidence are collectively recorded as second-level damage.

[0062] It should be noted that the maximum height of the landslide that a vehicle can pass through when landslides accumulate on the road is extracted from the historical road damage information of the detection center, and recorded as the threshold of the difference in height between the target road and the test station receiver before and after the landslide accumulation. Similarly, the threshold of the difference in height between the target road and the test station receiver before and after the road surface subsidence is obtained.

[0063] Early warning module: used to develop maintenance plans when damage is detected on the target road, and to issue early warning prompts to vehicles on the road.

[0064] In a specific example, when the target road is monitored to be damaged, a maintenance plan is formulated, and the specific process is as follows: for secondary damage, relevant staff are dispatched to arrive at the scene as soon as possible to survey the damaged area, clear the debris in the landslide accumulation area, and use filling materials to fill and repair the road surface in the subsidence area.

[0065] For level one damage, a road survey team composed of experts will be dispatched to demolish and rebuild the damaged road surface, analyze the cause of the damage, and repair and reinforce the roadbed of the target road based on the cause of the damage.

[0066] It should be noted that when the target road suffers first-level damage, the section where the target road is located will be closed.

[0067] It should be noted that the debris in the landslide accumulation area includes stones and soil.

[0068] It should be noted that the filling material includes asphalt mixture or cement mortar, etc.

[0069] It should be noted that the roadbed repair and reinforcement of the target road includes using the grouting method to inject cement slurry into the soil under the roadbed or adopting the replacement method to dig out unstable soil and replace it with high-quality fill materials.

[0070] The all-weather real-time monitoring and early warning system for road damage based on "Beidou-R" provided in the present application obtains the change in height of the reflecting surface in the monitoring area by analyzing the direct signal received by the monitoring station, the reflected signal of the target road, the propagation path difference between the direct signal and the reflected signal, and the difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal, and identifies the damage to the target road based on the height change, thereby issuing early warnings to moving vehicles and formulating maintenance plans. The present application realizes all-weather real-time monitoring of road damage based on the characteristics of the Beidou system's all-weather, continuous monitoring and being unaffected by visibility, and the non-contact monitoring mode of the "Beidou-R" technology realizes continuous monitoring of surface scenes based on a single base station, thereby achieving dual continuous monitoring in time and space and reducing the cost of road monitoring.

[0071] The above contents are merely examples and explanations of the concept of the present application. The technicians in this technical field may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined in the present application, they should all fall within the protection scope of the present application.

Claims

1. The all-weather real-time monitoring and early warning system for road damage based on Beidou-R is characterized by: include: Information acquisition module, monitoring module, damage identification module and early warning module; Information acquisition module: used to obtain basic information of the transmission signal of a certain frequency band of the Beidou system from the monitoring center; Monitoring module: used to analyze the signal according to the basic information of the signal, and then realize the monitoring of the target road; Damage recognition module: used to analyze whether the road surface height has changed based on the monitoring results of the target road, and then determine whether the target road is damaged and obtain the damage type of the target road; Early warning module: used to develop maintenance plans when damage is detected on the target road, and to issue early warning prompts to vehicles on the road.

2. The all-weather real-time monitoring and early warning system for road damage based on Beidou-R according to claim 1 is characterized in that: The basic information of the transmission signal of a certain frequency band of the Beidou system includes signal strength, signal carrier frequency and signal carrier phase.

3. The all-weather real-time monitoring and early warning system for road damage based on Beidou-R according to claim 1 is characterized in that: The monitoring module comprises: Signal analysis unit: used to analyze the basic information of the transmission signal of a certain frequency band of the Beidou system to obtain the transmission signal, the direct signal received by the monitoring station and the reflected signal of the target road; Path difference analysis unit: used to analyze the direct signal received by the monitoring station and the reflected signal of the target road to obtain the propagation path difference between the direct signal and the reflected signal; Phase difference analysis unit: used to analyze the difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal.

4. The all-weather real-time monitoring and early warning system for road damage based on Beidou-R according to claim 3 is characterized in that: The specific analysis process of the transmitted signal, the direct signal received by the monitoring station and the reflected signal of the target road is as follows: The signal strength, signal carrier frequency and signal carrier phase are extracted from the basic information of the transmitted signal of a certain frequency band of the Beidou system and recorded as , and , according to the calculation formula Analyze and obtain the transmission signal of a certain frequency band of the Beidou system , denoted as the transmitted signal, where represents the C / A code sequence, Indicates satellite navigation message. is the duration of signal transmission; The delay of the transmitted signal from the satellite to the monitoring station is recorded as , according to the calculation formula: Analyze the direct signal received by the monitoring station , denoted as the direct signal, where represents the amplitude of the direct signal, represents the direct signal carrier frequency, The Doppler frequency is the frequency caused by the relative motion between the satellite transmitting the signal and the receiver of the monitoring station. represents the carrier phase of the direct signal received by the monitoring station, is the signal transmission time, Represents measurement noise; when the transmitted signal reaches the target road, it is reflected by the road surface to obtain the reflected signal of the target road surface, and the direct signal received by the monitoring station is obtained according to the analysis The reflected signal of the target road surface is obtained by analyzing the , recorded as the reflected signal.

5. The all-weather real-time monitoring and early warning system for road damage based on Beidou-R according to claim 3 is characterized in that: The analysis obtains the propagation path difference between the direct signal and the reflected signal. The specific process is as follows: Based on the direct signal and the reflected signal, the carrier phase of the direct signal and the reflected signal is extracted, and the calculation formula is used The propagation path difference between the direct signal and the reflected signal is obtained by analysis. , denoted as the propagation path difference, where Indicates the reflected signal of the target road, Indicates the wavelength of the transmitted signal in a certain frequency band of the Beidou system. is the ratio of pi.

6. The all-weather real-time monitoring and early warning system for road damage based on Beidou-R according to claim 3 is characterized in that: The specific analysis process of analyzing the difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal is as follows: The propagation path difference between the direct signal and the reflected signal , at any time Established, of which It represents the propagation path difference between the direct signal and the reflected signal after the reflecting surface is displaced along the normal line. is the displacement of the reflecting surface along the normal direction, and Respectively represent the elevation angle of the reflecting surface before deformation and after deformation. When , the phase difference between the direct signal and the reflected signal is recorded as , the expression of phase difference change is: ,in Expressed as the phase difference caused by the motion of the satellite transmitting the signal, , It is expressed as the height difference between the target road and the monitoring station receiver, which is obtained according to the GNSS carrier height measurement principle. , combining the above calculation formula, the theoretical phase difference between the direct signal and the reflected signal can be obtained as , and then the phase difference between the actual direct signal and the reflected signal is obtained according to the processing of the monitoring station receiver software module , according to the calculation formula The difference between the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal is obtained by analysis. .

7. The all-weather real-time monitoring and early warning system for road damage based on Beidou-R according to claim 6 is characterized in that: The specific process of analyzing whether the road surface height has changed according to the monitoring result of the target road and then judging whether the target road has been damaged is as follows: When the difference between the actual phase difference between the direct signal and the reflected signal and the theoretical phase difference is 0, it indicates that the height of the target road surface has not changed, and it is judged that the target road has not been damaged; When the difference between the actual phase difference obtained between the direct signal and the reflected signal and the theoretical phase difference is not 0, it indicates that the surface height of the target road has changed, and it is determined that the target road is damaged.

8. The all-weather real-time monitoring and early warning system for road damage based on Beidou-R according to claim 7 is characterized in that: Obtain target road damage information. The specific process is as follows: When the target road is damaged, the change of the actual phase difference and the theoretical phase difference between the direct signal and the reflected signal is obtained. When the difference between the actual phase difference and the theoretical phase difference between the transmitted signal and the reflected signal is less than 0, it indicates that landslide accumulation occurs on the target road. When the difference between the actual phase difference between the transmitted signal and the reflected signal and the theoretical phase difference is greater than 0, it indicates that the target road has sunk; When the actual phase difference between the transmitted signal and the reflected signal cannot be analyzed, it indicates that the monitoring station cannot receive the reflected signal of the target road, indicating that the target road has collapsed.

9. The all-weather real-time monitoring and early warning system for road damage based on Beidou-R according to claim 8 is characterized in that: The specific process of obtaining the damage type of the target road is as follows: When landslides accumulate on the target road, obtain the height difference between the target road and the test station receiver before and after the landslides accumulate. and , and calculated by the formula The difference in height between the target road and the test station receiver before and after the landslide accumulation is obtained by analysis. Similarly, according to the analysis method of analyzing the difference in height between the target road and the test station receiver before and after the landslide accumulation, the difference in height between the target road and the test station receiver before and after the landslide accumulation can be analyzed to obtain the difference in height between the target road and the test station receiver before and after the landslide accumulation when the target road surface sinks; The difference between the height difference between the target road and the test station receiver before and after the landslide accumulation is compared with the threshold of the difference between the height difference between the target road and the test station receiver before and after the landslide accumulation. When the difference between the height difference between the target road and the test station receiver before and after the landslide accumulation is greater than or equal to the threshold of the difference between the height difference between the target road and the test station receiver before and after the landslide accumulation, the landslide accumulation of the target road is recorded as the first-level dangerous landslide accumulation, otherwise the landslide accumulation of the target road is recorded as the second-level dangerous landslide accumulation; The difference between the height difference between the target road and the test station receiver before and after the road surface subsidence is compared with the threshold of the difference between the height difference between the target road and the test station receiver before and after the road surface subsidence. When the difference between the height difference between the target road and the test station receiver before and after the road surface subsidence is less than or equal to the threshold of the difference between the height difference between the target road and the test station receiver before and after the road surface subsidence, the road surface subsidence of the target road is recorded as a first-level dangerous subsidence; otherwise, the road surface subsidence of the target road is recorded as a second-level dangerous subsidence. When a target road collapses, it is recorded as a first-level dangerous collapse; The first-level dangerous landslide accumulation, first-level dangerous subsidence and first-level dangerous collapse are collectively recorded as first-level damage, and the second-level dangerous landslide accumulation and second-level dangerous subsidence are collectively recorded as second-level damage.

10. The all-weather real-time monitoring and early warning system for road damage based on Beidou-R according to claim 9 is characterized in that: When the target road is damaged, a maintenance plan is formulated, and the specific process is as follows: For secondary damage, relevant staff will be dispatched to the site as soon as possible to survey the damaged area, remove debris from the landslide accumulation area, and use filling materials to repair the road surface in the subsidence area; For level one damage, a road survey team composed of experts will be dispatched to demolish and rebuild the damaged road surface, analyze the cause of the damage, and repair and reinforce the roadbed of the target road based on the cause of the damage.

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