High-precision deformation monitoring device and method integrating GNSS (Global Navigation Satellite System) and automatic measurement technology

Abstract

The invention discloses a high-precision deformation monitoring device and method integrating a GNSS and an automatic measurement technology, the monitoring device comprises a GNSS antenna, a prism, a leveling base and a forced centering device, and the GNSS antenna and the prism are installed above the leveling base through the forced centering device; therefore, the geometric centers of the GNSS antenna, the prism and the leveling base are distributed on the same axis along the vertical direction. According to the invention, high-precision coaxial installation of the prism and the GNSS antenna is realized, so that two kinds of observation data have the basis of data fusion, the problem of extreme climate in which a measurement robot is difficult to accurately measure under severe meteorological conditions and the like is solved, and all-weather, high-frequency and high-precision measurement can be realized. In addition, the device is simple in structure, simple and convenient to manufacture and assemble, low in cost and wide in popularization prospect in the fields of ground disaster monitoring and the like.

Description

Technical Field

[0001] The invention belongs to the field of deformation monitoring, and in particular proposes a high-precision deformation monitoring device and method integrating GNSS and automatic measurement technology for a data fusion scenario of observation means in monitoring the appearance deformation of a hydropower station dam. Background Art

[0002] With the rapid development of my country's water conservancy, transportation, construction and other industries, higher requirements have been put forward for deformation monitoring of large-scale projects. Compared with traditional manual monitoring, automated deformation monitoring can meet its high-precision, high-frequency and other requirements. At the same time, the continuous development of automated measurement technology, especially the emergence and development of measurement robots with automatic target aiming function, provides technical support for the realization of automated deformation monitoring. The measurement robot has the characteristics of high precision, high efficiency and good stability. At present, it has been widely used in the automated deformation monitoring of dams, foundation pit slopes, subways and various large buildings (structures), and has achieved good results.

[0003] The Global Navigation Satellite System (GNSS) has been successfully applied to geodetic surveying and urban control networks, deformation monitoring of large engineering buildings, aerial surveying and satellite remote sensing, etc., with its advantages of all-weather, continuous and automatic acquisition of high-precision three-dimensional surface deformation. With the completion of the construction of China's Beidou satellite navigation system and the continuous development and improvement of GNSS, the monitoring service capability of satellite positioning technology in complex environments has been improved, and its application scope in engineering safety monitoring has also become increasingly extensive.

[0004] As two measurement and positioning technologies, measurement robots and GNSS have their own advantages and disadvantages. GNSS technology has strong anti-interference ability to weather conditions, is not affected by rain and fog, and is applicable to a large range, but its installation needs to consider power supply, etc., which is relatively expensive, and the stability and safety of equipment use also need to be considered; measurement robot technology is simple and cheap to install equipment at the monitoring point, and the collected data is highly accurate, but it is limited by the measurement range, and the effective monitoring range is small. In addition, under the influence of weather such as rain and fog, sometimes it cannot be monitored. Summary of the invention

[0005] Purpose of the invention: To solve the problems in the prior art, the present invention proposes a high-precision deformation monitoring device and method that integrates GNSS and automatic measurement technology, so that the points measured by the measuring robot and GNSS can be overlapped with high precision through coordinate conversion, thereby providing a basis for data fusion of the two types of data, solving the problem of extreme climates where measuring robots are difficult to measure accurately, such as harsh weather conditions, and can also achieve all-weather, high-frequency high-precision measurements.

[0006] Invention content: To achieve the above-mentioned objectives, the present invention provides a high-precision deformation monitoring device that integrates GNSS and automatic measurement technology, including a GNSS antenna, a prism, a leveling base and a forced centering device. The GNSS antenna and the prism are installed above the leveling base through the forced centering device to ensure that the geometric centers of the GNSS antenna, the prism and the leveling base are distributed on the same axis in the vertical direction.

[0007] Specifically, the forced centralizer is constructed as a laterally open U-shaped connecting column, and both ends of the connecting column are provided with vertically coaxially arranged connecting holes, wherein the lower connecting hole is used to connect the leveling base, and the upper connecting hole is provided with a centering screw, and the GNSS antenna and prism are arranged at the upper and lower ends of the centering screw.

[0008] Specifically, the leveling base is adjusted horizontally by means of foot screws distributed in a triangular shape, and a round bubble is provided on the leveling base for observing the horizontal degree of the leveling base.

[0009] Specifically, the high-precision deformation monitoring device also includes an observation pile for accommodating a GNSS antenna, a prism, a leveling base and a forced centering device, thereby achieving waterproof protection.

[0010] Specifically, the prism is connected to the forced centering device through an angle adjustment mechanism, thereby realizing rotation adjustment of the prism around the geometric center to ensure that the measuring robot can accurately observe the center of the prism.

[0011] In addition, the present invention also provides a high-precision deformation monitoring method integrating GNSS and automatic measurement technology, comprising the following steps:

[0012] S1. Install the above-mentioned high-precision deformation monitoring device at the monitoring point;

[0013] S2, obtaining the first observation coordinates of the center of the prism by aiming the measurement robot at the prism, and obtaining the second observation coordinates of the center of the GNSS antenna by solving the GNSS observation data;

[0014] S3, performing coordinate conversion on the first observation coordinate / the second observation coordinate, thereby achieving the unification of the observation target;

[0015] S4. Obtain fused positioning coordinates based on the unified first observation coordinates and the second observation coordinates.

[0016] Specifically, the step S1 includes: achieving leveling and fixing of the leveling base at the monitoring point, and achieving installation and fixing of the GNSS antenna and the prism through a forced centralizer.

[0017] Specifically, step S2 includes: after obtaining the first observation coordinates and the second observation coordinates respectively through the measuring robot and the GNSS system, further correcting the first observation coordinates and the second observation coordinates to ensure that the observation points targeted by the first observation coordinates and the second observation coordinates are located at the geometric centers of the prism and the GNSS antenna respectively.

[0018] Specifically, in step S3, the unification of the observation target is achieved by performing coordinate transformation on the second observation coordinates, and the transformation formula is:

[0019]

[0020] Among them, x1, y1, z1 are the second observation coordinates before conversion, x2, y2, z2 are the second observation coordinates after conversion, x0, y0, z0 are the offsets of the GNSS antenna center relative to the prism center, ω x ,ω y ,ω z is the deflection angle of the GNSS antenna center relative to the prism center.

[0021] Specifically, in step S4, the calculation formula for the fused positioning coordinates is:

[0022]

[0023] Among them, x, y, and z are the spatial coordinates after data fusion, x L ,y L 、z L and x G ,y G 、z G are the first observation coordinates and the second observation coordinates after the unification, P L , P G are the weights corresponding to the two coordinate data.

[0024] Beneficial effects: The present invention realizes the high-precision coaxial installation of the prism and the GNSS antenna, thereby providing a basis for data fusion of the two observation data, solving the problem of extreme climates such as severe meteorological conditions where measurement robots are difficult to accurately measure, and can also achieve all-weather, high-frequency, high-precision measurement. In addition, the device of the present invention has a simple structure, a simple and convenient manufacturing and assembly process, and a low cost, and has broad promotion prospects in the fields of geological disaster monitoring and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 (a)-1(b) are schematic diagrams of the structure of the high-precision deformation monitoring device at different angles in an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of a process of a high-precision deformation monitoring method in an embodiment of the present invention;

[0027] The figure includes: 1- observation pile, 2- GNSS antenna, 3- prism, 4- leveling base, 5- forced centering device, 6- centering screw, 7- foot screw, 8- round bubble. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0029] Reference Figure 1 (a)-1(b), this embodiment provides a high-precision deformation monitoring device that integrates GNSS and automatic measurement technology, mainly including an observation pile 1, a GNSS antenna 2, a prism 3, a leveling base 4 and a forced centering device 5.

[0030] The leveling base 4 is arranged in the observation pile 1, and the GNSS antenna 2 and the prism 3 are installed above the leveling base 4 through the forced centering device 5 to ensure that the geometric centers of the GNSS antenna 2, the prism 3 and the leveling base 4 are distributed on the same axis in the vertical direction. Specifically, the prism 3 and the forced centering device 5 are located in the observation pile 1, and the GNSS antenna 2 is located on the top of the observation pile 1, thereby achieving waterproof protection. In addition, an opening corresponding to the prism 3 is provided on the observation pile 1 to enable the measurement robot to observe the prism 3.

[0031] Exemplarily, the forced centering device 5 is constructed as a laterally open U-shaped connecting column, and both ends of the connecting column are provided with vertically coaxially arranged connecting holes, wherein the lower connecting hole is used to connect the leveling base 4, and the upper connecting hole is provided with a centering screw 6, and the GNSS antenna 2 and the prism 3 are connected to the upper and lower ends of the centering screw 6 through threaded cooperation.

[0032] Furthermore, the prism 3 is mounted on the lower end of the centering screw 6 through an angle adjustment mechanism, thereby realizing the rotation adjustment of the prism 3 around the geometric center. Specifically, the angle adjustment mechanism includes a first rotation unit and a second rotation unit, wherein the first rotation unit is used to realize the rotation adjustment of the prism 3 around the vertical axis, and the second rotation unit is used to realize the flip adjustment of the prism 3 around the horizontal axis, thereby realizing various posture adjustments of the prism 3 to ensure that the prism 3 can face the total station of the measuring station, thereby realizing accurate observation of the measuring robot.

[0033] Exemplarily, the first rotating unit includes a bearing assembly, and the second rotating unit includes an inverted U-shaped bracket, wherein the inverted U-shaped bracket is rotatably connected to the lower end of the centering screw 6 through the bearing assembly, and the prism 3 is rotatably connected between the inverted U-shaped brackets, thereby realizing rotational adjustment of the prism 3 around the geometric center.

[0034] Furthermore, the leveling base 4 is adjusted horizontally by means of triangularly distributed foot screws 7 , and a round bubble 8 is provided on the leveling base 4 for observing the horizontal degree of the leveling base 4 .

[0035] Reference Figure 2 This embodiment also provides a high-precision deformation monitoring method integrating GNSS and automatic measurement technology, which specifically includes the following steps:

[0036] S1. Install the above-mentioned high-precision deformation monitoring device at the monitoring point according to the specification requirements;

[0037] S2, aiming the measuring robot at the prism 3 to measure and obtain the first observation coordinates of the center of the prism 3, and solving the GNSS observation data to obtain the second observation coordinates of the center of the GNSS antenna 2;

[0038] S3, performing coordinate transformation on the second observation coordinates to unify the observation target to the center of the prism 3;

[0039] S4. Use the converted second observation coordinates to supplement and fuse the first observation coordinates obtained by the measuring robot to obtain fused positioning coordinates.

[0040] In step S1, first install the leveling base 4 and the observation pile 1 at the monitoring point, and adjust the level of the leveling base 4 through the three foot screws 7 at the bottom until the round bubble 8 is centered, indicating that the base is in a level state; then install the prism 3 and the GNSS antenna 2 through the forced centering device 5 to ensure that the geometric centers of the GNSS antenna 2, the prism 3, and the leveling base 4 are distributed on the same axis from top to bottom. It should be noted that during the installation process, the posture of the prism 3 needs to be further adjusted to ensure that the measurement robot can accurately observe the center of the prism 3.

[0041] In step S2, the first observation coordinates obtained by the measuring robot need to be corrected to ensure that the observation point targeted by the first observation coordinates is located at the geometric center of the prism 3. At the same time, the second observation coordinates obtained by GNSS measurement also need to be corrected to ensure that the observation point targeted by the second observation coordinates is located at the geometric center of the antenna, and the geometric centers of the two are on the same axis. In addition, during the installation process, these two observation coordinates have been converted to the same engineering coordinate system through constraint adjustment.

[0042] In step S3, the formula for coordinate transformation of the second observation coordinate (x1, y1, z1) measured by GNSS is:

[0043]

[0044] Among them, x1, y1, z1 are the spatial coordinates before conversion, x2, y2, z2 are the spatial coordinates after conversion, x0, y0, z0 are the offsets of the GNSS antenna center relative to the prism center, ω x ,ω y ,ω z is the deflection angle (in three directions) of the GNSS antenna center relative to the prism center.

[0045] Since the device of the present invention is highly coaxial, x0=0, y0=0, z0=-h, where h is the distance between the center of the antenna and the center of the prism in the axial direction measured by a high-precision caliper. Since the device of the present invention is leveled, that is, the center of the GNSS antenna and the center of the prism are located on the vertical axis without deflection, ω x =0,ω y =0,ω z = 0. Therefore, the coordinate transformation formula of the second observation coordinate (x1, y1, z1) measured by GNSS is finally:

[0046]

[0047] In step S4, the calculation formula of the fused positioning coordinates is:

[0048]

[0049] Among them, x, y, and z are the spatial coordinates after data fusion, x L ,y L 、z L is the first observation coordinate obtained through the prism, x G ,y G 、z G is the second observation coordinate after transformation, P L , P G are the weights corresponding to the two coordinate data, which can be adjusted and determined according to data accuracy and application environment in practical applications.

[0050] In extreme climates where measuring robots are difficult to measure accurately, such as harsh weather conditions, the present invention uses continuous, low-precision GNSS to achieve all-weather, high-frequency, high-precision measurements, ensuring continuous and real-time safety monitoring of monitoring points, and providing a comprehensive and true data base for the assessment of the safety and health status of structures. It has broad promotion prospects in the fields of geological disaster monitoring and so on.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high-precision deformation monitoring device integrating GNSS and automatic measurement technology, characterized in that: It includes a GNSS antenna, a prism, a leveling base and a forced centering device. The GNSS antenna and the prism are installed above the leveling base through the forced centering device to ensure that the geometric centers of the GNSS antenna, the prism and the leveling base are distributed on the same axis in the vertical direction.

2. The high-precision deformation monitoring device according to claim 1, characterized in that: The forced centering device is constructed as a laterally open U-shaped connecting column, and both ends of the connecting column are provided with vertically coaxially arranged connecting holes, wherein the lower connecting hole is used to connect the leveling base, and the upper connecting hole is provided with a centering screw, and the GNSS antenna and prism are arranged at the upper and lower ends of the centering screw.

3. The high-precision deformation monitoring device according to claim 1, characterized in that: The leveling base is adjusted horizontally by means of foot screws distributed in a triangular shape. A round bubble is provided on the leveling base for observing the horizontal degree of the leveling base.

4. The high-precision deformation monitoring device according to claim 1, characterized in that: It also includes an observation stake for housing the GNSS antenna, prism, levelling base and forced plummet, thus achieving waterproof protection.

5. The high-precision deformation monitoring device according to claim 1, characterized in that: The prism is connected to the forced centering device through an angle adjustment mechanism, thereby realizing rotation adjustment of the prism around the geometric center.

6. A high-precision deformation monitoring method integrating GNSS and automatic measurement technology, characterized in that: The following steps are involved: S1. Installing a high-precision deformation monitoring device as described in any one of claims 1 to 5 at a monitoring point; S2, obtaining the first observation coordinates of the center of the prism by aiming the measurement robot at the prism, and obtaining the second observation coordinates of the center of the GNSS antenna by solving the GNSS observation data; S3, performing coordinate conversion on the first observation coordinate / the second observation coordinate, thereby achieving the unification of the observation target; S4. Obtain fused positioning coordinates based on the unified first observation coordinates and the second observation coordinates.

7. The high-precision deformation monitoring method according to claim 6, characterized in that: The step S1 includes: achieving leveling and fixing of the leveling base at the monitoring point, and achieving installation and fixing of the GNSS antenna and the prism through a forced centralizer.

8. The high-precision deformation monitoring method according to claim 6, characterized in that: The step S2 includes: after obtaining the first observation coordinates and the second observation coordinates respectively through the measuring robot and the GNSS system, further correcting the first observation coordinates and the second observation coordinates to ensure that the observation points targeted by the first observation coordinates and the second observation coordinates are located at the geometric centers of the prism and the GNSS antenna respectively.

9. The high-precision deformation monitoring method according to claim 6, characterized in that: In step S3, the unification of the observation target is achieved by performing coordinate transformation on the second observation coordinates, and the transformation formula is: Among them, x1, y1, z1 are the second observation coordinates before conversion, x2, y2, z2 are the second observation coordinates after conversion, x0, y0, z0 are the offsets of the GNSS antenna center relative to the prism center, ω x ,ω y ,ω z is the deflection angle of the GNSS antenna center relative to the prism center.

10. The high-precision deformation monitoring method according to claim 6, characterized in that: In step S4, the calculation formula of the fused positioning coordinates is: Among them, x, y, and z are the spatial coordinates after data fusion, x L ,y L 、z L and x G ,y G 、z G are the first observation coordinates and the second observation coordinates after the unification, P L , P G are the weights corresponding to the two coordinate data.

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