Tunnel deformation monitoring method, system, device and platform based on laser tracking and inertial navigation

Abstract

The invention discloses a tunnel deformation monitoring method, system, device and platform based on laser tracking and inertial navigation. The method comprises the following steps: generating and acquiring first data corresponding to each monitoring partition of a tunnel in real time based on laser tracking, and creating and generating second data corresponding to the first data in combination with inertial navigation; wherein the first data is local three-dimensional coordinate data of a measured target ball; the second data is global three-dimensional coordinate data of the measured target ball; constructing a first linear curve corresponding to the tunnel according to the second data, and generating third data corresponding to the first linear curve; wherein the first linear curve is a current deformation curve of the tunnel; the third data comprises a linear curve curvature and a linear curve slope; based on the third data, the deformation state of the tunnel is monitored and judged in real time; according to the system, the device and the platform corresponding to the method, high-precision and high-efficiency tunnel settlement, deformation and linear deviation detection can be realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel deformation monitoring and processing, and particularly relates to a tunnel deformation monitoring method, system, device and platform based on laser tracking and inertial navigation. Background Technique

[0002] At present, the tunnel deformation monitoring methods mainly include total station measurement, three-dimensional laser scanning, fiber Bragg grating sensing, inclinometer sensor monitoring, etc. These methods have their own advantages, but there are also certain limitations. For example, total station measurement relies on fixed reference points, is greatly affected by the stability of the reference points, and requires manual operation, making it difficult to achieve continuous and automated monitoring; three-dimensional laser scanning has high accuracy, but the equipment cost is high, the data processing volume is large, and it is not suitable for long-term and stable monitoring; fiber Bragg grating sensing can achieve long-term on-line monitoring, but the layout is relatively complex, and the sensors are easily interfered by environmental factors; although inclinometer sensor monitoring can collect data in real time, the single-point measurement accuracy is limited and it is difficult to reflect the overall deformation of the tunnel.

[0003] Therefore, aiming at the above-mentioned technical problems and defects, it is urgent to design and develop a tunnel deformation monitoring method, system, device and platform based on laser tracking and inertial navigation. Summary of the Invention

[0004] To overcome the deficiencies and difficulties of the above-mentioned prior art, the present invention provides a tunnel deformation monitoring method, system, device and platform based on laser tracking and inertial navigation, aiming to achieve high-precision detection of tunnel deformation.

[0005] The first object of the present invention is to provide a tunnel deformation monitoring method based on laser tracking and inertial navigation; the second object of the present invention is to provide a tunnel deformation monitoring system based on laser tracking and inertial navigation; the third object of the present invention is to provide a tunnel deformation monitoring device based on laser tracking and inertial navigation; the fourth object of the present invention is to provide a tunnel deformation monitoring platform based on laser tracking and inertial navigation.

[0006] The first object of the present invention is achieved as follows: The method includes the following steps:

[0007] Based on laser tracking, generate and obtain in real time the first data corresponding to each monitoring zone of the tunnel, and combine with inertial navigation to create and generate the second data corresponding to the first data; wherein, the first data is the local three-dimensional coordinate data of the measured target ball; the second data is the global three-dimensional coordinate data of the measured target ball;

[0008] Construct a first linear curve corresponding to the tunnel based on the second data, and generate third data corresponding to the first linear curve; wherein, the first linear curve is the current deformation curve of the tunnel; the third data includes the curvature of the linear curve and the slope of the linear curve.

[0009] Based on the third data, monitor and determine the deformation state of the tunnel in real time; wherein, the deformation state includes settlement condition, offset condition or distortion condition.

[0010] Further, the method of generating and acquiring first data corresponding to each monitoring section of the tunnel in real time based on laser tracking, and creating and generating second data corresponding to the first data in combination with inertial navigation further includes:

[0011] Generate and acquire fourth data corresponding to laser tracking; wherein, the fourth data is the displacement data and attitude change data of the laser tracker during movement.

[0012] Create geometric linear data corresponding to the laser tracking orbit, and correct and calibrate the fourth data in combination with the Kalman filter algorithm.

[0013] Further, the method of generating and acquiring first data corresponding to each monitoring section of the tunnel in real time based on laser tracking, and creating and generating second data corresponding to the first data in combination with inertial navigation further includes:

[0014] Create a rotation matrix corresponding to the first data, and generate second data corresponding to the first data based on the rotation matrix; wherein, the calculation formula of the rotation matrix is as follows:

[0015]

[0016] In the formula, φ is the roll angle; θ is the pitch angle; ψ is the yaw angle; R x 、R y 、R z are the rotation matrices around the X, Y, and Z axes respectively.

[0017] Further, the method of constructing a first linear curve corresponding to the tunnel according to the second data and generating third data corresponding to the first linear curve further includes:

[0018] Generate and acquire a second linear curve corresponding to the tunnel; wherein, the second linear curve is the initial deformation curve of the tunnel.

[0019] Based on the second linear curve and in combination with the first linear curve, analyze and process the deformation dynamics of the linear curve, and generate third data corresponding to the linear curve.

[0020] Further, the real-time monitoring and determination of the deformation state of the tunnel based on the third data further includes:

[0021] Generating and obtaining fifth data corresponding to the tunnel deformation curve; wherein, the fifth data is a preset characteristic threshold of the deformation curve.

[0022] Based on the fifth data and in combination with the third data, determining and generating corresponding sixth data; wherein, the sixth data is a tunnel deformation abnormal alarm signal.

[0023] The second object of the present invention is achieved as follows: The system is used to implement the tunnel deformation monitoring method based on laser tracking and inertial navigation, and the system includes:

[0024] A data generation and creation unit, configured to generate and obtain first data corresponding to each monitoring partition of the tunnel in real time based on laser tracking, and create and generate second data corresponding to the first data in combination with inertial navigation; wherein, the first data is local three-dimensional coordinate data of the measured target ball; the second data is global three-dimensional coordinate data of the measured target ball.

[0025] A data creation and generation unit, configured to construct a first linear curve corresponding to the tunnel according to the second data, and generate third data corresponding to the first linear curve; wherein, the first linear curve is the current deformation curve of the tunnel; the third data includes the curvature of the linear curve and the slope of the linear curve.

[0026] A deformation state monitoring unit, configured to monitor and determine the deformation state of the tunnel in real time based on the third data; wherein, the deformation state includes settlement condition, offset condition or distortion condition.

[0027] Further, the data generation and creation unit further includes:

[0028] A first generation module, configured to generate and obtain fourth data corresponding to laser tracking; wherein, the fourth data is displacement data and attitude change data of the laser tracker during movement.

[0029] A first processing module, configured to create geometric linear data corresponding to the laser tracking orbit, and correct and calibrate the fourth data in combination with the Kalman filtering algorithm.

[0030] And / or, the data creation and generation unit further includes:

[0031] A second generation module, configured to generate and obtain a second linear curve corresponding to the tunnel; wherein, the second linear curve is the initial deformation curve of the tunnel.

[0032] A second processing module, configured to analyze and process the deformation dynamics of the linear curve based on the second linear curve and in combination with the first linear curve, and generate third data corresponding to the linear curve;

[0033] And / or, the deformation state monitoring unit further includes:

[0034] A third generation module, configured to generate and obtain fifth data corresponding to the tunnel deformation curve; wherein, the fifth data is a preset threshold value of the characteristics of the deformation curve;

[0035] A fourth generation module, configured to determine and generate corresponding sixth data based on the fifth data and in combination with the third data; wherein, the sixth data is a tunnel deformation abnormal alarm signal.

[0036] Further, the data generation and creation unit further includes:

[0037] A creation and generation module, configured to create a rotation matrix corresponding to the first data, and generate second data corresponding to the first data based on the rotation matrix; wherein, the calculation formula of the rotation matrix is as follows:

[0038]

[0039] In the formula, φ is the roll angle; θ is the pitch angle; ψ is the yaw angle; R x 、R y 、R z are rotation matrices about the X, Y, and Z axes respectively.

[0040] The third object of the present invention is achieved as follows: The device is used to implement the tunnel deformation monitoring method based on laser tracking and inertial navigation. The device includes an orbital laser tracking instrument configured to emit a laser signal to a target ball and receive the reflected signal of the target ball to measure the three-dimensional coordinates of the target ball; wherein, the target balls are arranged at equal or unequal distances along the tunnel length direction, and the distance between adjacent monitoring partition target ball groups is greater than the effective scanning radius of the orbital laser tracking instrument;

[0041] The orbital laser tracking instrument is integrated with an inertial navigation unit configured to monitor the displacement and attitude changes of the laser tracking instrument itself and correct the measurement error caused by equipment deformation;

[0042] A data receiving and fusion unit is arranged between the inertial navigation unit and the orbital laser tracking instrument, configured to receive and fuse the data provided by the inertial navigation unit and the local coordinate data of the target ball measured by the orbital laser tracking instrument, and convert the local coordinate data of the target ball into global coordinate data through a rotation matrix;

[0043] The device is also provided with an intelligent positioning system for locking the movement of the laser tracking instrument to a specified monitoring partition position; wherein, the monitoring partitions are equally or unequally spaced along the tunnel length direction.

[0044] The fourth object of the present invention is achieved as follows: including a processor, a memory, and a tunnel deformation monitoring platform control program based on laser tracking and inertial navigation; wherein the processor executes the tunnel deformation monitoring platform control program based on laser tracking and inertial navigation, the tunnel deformation monitoring platform control program based on laser tracking and inertial navigation is stored in the memory, and the tunnel deformation monitoring platform control program based on laser tracking and inertial navigation realizes the tunnel deformation monitoring method based on laser tracking and inertial navigation.

[0045] The method of the present invention is based on laser tracking to generate and obtain first data corresponding to each monitoring partition of the tunnel in real time, and combines inertial navigation to create and generate second data corresponding to the first data; wherein, the first data is the local three-dimensional coordinate data of the measured target ball; the second data is the global three-dimensional coordinate data of the measured target ball; according to the second data, a first linear curve corresponding to the tunnel is constructed, and third data corresponding to the first linear curve is generated; wherein, the first linear curve is the current deformation curve of the tunnel; the third data includes the curvature of the linear curve and the slope of the linear curve; based on the third data, the deformation state of the tunnel is monitored and determined in real time; wherein, the deformation state includes settlement conditions, offset conditions or distortion conditions, as well as the corresponding system and platform of the method, which can realize high-precision and high-efficiency detection of tunnel settlement, deformation and linear deviation.

[0046] That is to say, the solution of the present invention obtains tunnel linear deformation information by laser tracking measurement of the three-dimensional coordinate change of the target ball, and combines the inertial navigation system to automatically correct the measurement error, which can realize high-precision, long-distance and continuous automatic monitoring, and is applicable to the long-term health monitoring during the construction period and operation period of the tunnel, providing reliable data support for tunnel safety management and disaster warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0048] Figure 1 It is a schematic diagram of the flow steps of a tunnel deformation monitoring method based on laser tracking and inertial navigation of the present invention;

[0049] Figure 2 Schematic diagram of the architecture of a tunnel deformation monitoring system based on laser tracking and inertial navigation according to the present invention;

[0050] Figure 3 Schematic diagram of the overall architecture of a tunnel deformation monitoring device based on laser tracking and inertial navigation according to the present invention;

[0051] Figure 4 Schematic diagram of the target ball layout and monitoring zone division of a tunnel deformation monitoring device based on laser tracking and inertial navigation according to the present invention;

[0052] Figure 5 Schematic diagram of the working process of an orbital laser tracker of a tunnel deformation monitoring device based on laser tracking and inertial navigation according to the present invention;

[0053] Figure 6 Schematic diagram of the measurement principle of a laser tracker of a tunnel deformation monitoring device based on laser tracking and inertial navigation according to the present invention;

[0054] Figure 7 Schematic diagram of the architecture of a tunnel deformation monitoring platform based on laser tracking and inertial navigation according to the present invention. Detailed implementation manners

[0055] For better understanding of the purpose, technical solution and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and specific implementation manners. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0056] The present invention can also be implemented or applied through other different specific examples. Various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0057] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, then such directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then such directional indications will also change accordingly.

[0058] In addition, if the descriptions such as "first" and "second" are involved in the embodiments of the present invention, these descriptions of "first", "second", etc. are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. Secondly, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0059] Preferably, a tunnel deformation monitoring method based on laser tracking and inertial navigation of the present invention is applied to one or more terminals or servers. The terminal is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to a microprocessor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0060] The terminal may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal can perform human-computer interaction with the customer through a keyboard, a mouse, a remote control, a touchpad, a voice control device, etc.

[0061] The present invention aims to implement a tunnel deformation monitoring method, system and platform based on laser tracking and inertial navigation.

[0062] As Figure 1 shown, it is a flowchart of the tunnel deformation monitoring method based on laser tracking and inertial navigation provided by the embodiments of the present invention.

[0063] In this embodiment, the tunnel deformation monitoring method based on laser tracking and inertial navigation can be applied to a terminal with a display function or a fixed terminal, and the terminal is not limited to a personal computer, a smart phone, a tablet computer, a desktop computer or an all-in-one computer equipped with a camera, etc.

[0064] The tunnel deformation monitoring method based on laser tracking and inertial navigation can also be applied to a hardware environment composed of a terminal and a server connected to the terminal through a network. The network includes but is not limited to: wide area network, metropolitan area network or local area network. The tunnel deformation monitoring method based on laser tracking and inertial navigation in the embodiment of the present invention can be executed by the server, can also be executed by the terminal, or can be jointly executed by the server and the terminal.

[0065] For example, for a tunnel deformation monitoring terminal that needs to perform laser tracking and inertial navigation based monitoring, the tunnel deformation monitoring function provided by the method of the present invention can be directly integrated on the terminal, or a client for implementing the method of the present invention can be installed. Again, the method provided by the present invention can also run on devices such as servers in the form of a Software Development Kit (SDK), and provide an interface for the tunnel deformation monitoring function based on the SDK. The terminal or other devices can implement the tunnel deformation monitoring function based on the provided interface. The present invention will be further described below with reference to the accompanying drawings.

[0066] As Figure 1 shown, the present invention provides a tunnel deformation monitoring method based on laser tracking and inertial navigation, and the method includes the following steps:

[0067] S01. Based on laser tracking, generate and obtain first data corresponding to each monitoring partition of the tunnel in real time, and combine inertial navigation to create and generate second data corresponding to the first data; wherein, the first data is the local three-dimensional coordinate data of the measuring target ball; the second data is the global three-dimensional coordinate data of the measuring target ball; that is to say, combining the attitude data of the IMU, the local coordinates of the target ball are converted to the global coordinate system to obtain the reference measurement value. The coordinate origin of the global coordinate system is the laser emission center at the initial position before the laser tracker moves for the first time.

[0068] S02. According to the second data, construct a first linear curve corresponding to the tunnel, and generate third data corresponding to the first linear curve; wherein, the first linear curve is the current deformation curve of the tunnel; the third data includes the curvature of the linear curve and the slope of the linear curve; in the upper computer or data processing unit, the initial global coordinates of each target ball are connected in the order of the tunnel axis to generate an initial deformation curve as the reference for subsequent deformation analysis.

[0069] S03. Based on the third data, monitor and determine the deformation state of the tunnel in real time; wherein, the deformation state includes settlement condition, offset condition or distortion condition.

[0070] Based on laser tracking, first data corresponding to each monitoring zone of the tunnel is generated and acquired in real time, and in combination with inertial navigation, second data corresponding to the first data is created and generated, further including:

[0071] S011. Generate and acquire fourth data corresponding to laser tracking; wherein, the fourth data is displacement data and attitude change data of the laser tracker during movement;

[0072] S012. Create geometric linear data corresponding to the laser tracking orbit, and in combination with the Kalman filtering algorithm, correct and calibrate the fourth data. That is, the Kalman filtering algorithm is used to correct the IMU data to suppress cumulative errors and improve measurement accuracy. The corrected global coordinates of the target ball are compared with the initial global coordinates to calculate the displacement of each target ball.

[0073] Based on laser tracking, first data corresponding to each monitoring zone of the tunnel is generated and acquired in real time, and in combination with inertial navigation, second data corresponding to the first data is created and generated, further including:

[0074] S013. Create a rotation matrix corresponding to the first data, and based on the rotation matrix, generate second data corresponding to the first data; wherein, the calculation formula of the rotation matrix is as follows:

[0075]

[0076] In the formula, φ is the roll angle; θ is the pitch angle; ψ is the yaw angle; R x 、R y 、R z are rotation matrices around the X, Y, and Z axes respectively.

[0077] Based on the second data, a first linear curve corresponding to the tunnel is constructed, and third data corresponding to the first linear curve is generated, further including:

[0078] S021. Generate and acquire a second linear curve corresponding to the tunnel; wherein, the second linear curve is the initial deformation curve of the tunnel;

[0079] S022. Based on the second linear curve and in combination with the first linear curve, analyze the deformation dynamics of the linear curve and generate third data corresponding to the linear curve. That is, compare the current deformation curve with the initial deformation curve, observe the changes in the curvature, slope, and local extreme points of the curve, and determine whether there are deformation characteristics such as settlement, offset, or distortion in the tunnel.

[0080] Based on the third data, the deformation state of the tunnel is monitored and determined in real time, further including:

[0081] S031. Generate and obtain the fifth data corresponding to the tunnel deformation curve; wherein, the fifth data is the preset threshold of the characteristic of the deformation curve.

[0082] S032. Based on the fifth data and in combination with the third data, determine and generate the corresponding sixth data; wherein, the sixth data is the tunnel deformation abnormal alarm signal. When the characteristic of the deformation curve exceeds the preset threshold, trigger the tunnel safety warning system to generate the deformation abnormal alarm signal. The preset threshold is set according to the design specifications and operation requirements of the tunnel. For example, when the vertical deformation exceeds ±2 mm, the warning is triggered.

[0083] Specifically, in the embodiment of the present invention, a high-precision subway tunnel settlement monitoring method based on the change of geomagnetic field is proposed. Through the orbital laser tracker and the target ball measurement system, high-precision detection of tunnel deformation is realized; the inertial measurement unit (IMU), the track alignment constraint and the Kalman filtering algorithm are used to correct the position information of the laser tracker to improve the monitoring accuracy. The local coordinates of the target ball are converted to the global coordinate system through the rotation matrix to obtain accurate three-dimensional position information. The present invention further analyzes the laser ranging error and the target ball installation error, and proposes an error compensation scheme to improve the stability and accuracy of the measurement system.

[0084] Laser tracker position correction: The position of the measurement point calculated by the IMU. The inertial navigation unit (IMU) used in the present invention outputs the position P of the laser tracker at the measurement point during the movement in real time IMU =(X imu , Y imu , Z imu ) and the attitude angles (roll angle φ, pitch angle θ, yaw angle ψ). The IMU calculates the displacement and attitude changes of the laser tracker during the movement in real time through the combination of the accelerometer, gyroscope and magnetometer. The position P of the measurement point IMU represents the specific position of the laser tracker at a certain moment, and is used for subsequent global coordinate conversion and error correction.

[0085] Due to the cumulative drift error of the IMU, the position P of the measurement point IMU needs to be corrected in combination with the geometric alignment of the track to eliminate the influence of the cumulative error of the IMU and the vault deformation. The corrected position P of the measurement point corrected will be used as the accurate position of the laser tracker in the global coordinate system for subsequent target ball coordinate conversion and deformation analysis.

[0086] Track alignment constraint: Due to the large cumulative error of the IMU, to improve the measurement accuracy, combined with the track geometric alignment constraint, the possible position range is limited by the moving trajectory of the laser tracker along the track, reducing the drift error. The guide rail system used in this invention is arranged along the tunnel crown, and its geometric alignment is obtained through construction design data or pre-calibration measurement. Assume that the guide rail alignment is expressed as a parametric equation in the global coordinate system:

[0087]

[0088] In the formula, s is the arc length parameter along the guide rail. Project the P output by the IMU to the guide rail alignment through the least squares method to obtain the corrected position P IMU : corrected

[0089]

[0090] Error correction: To further improve the accuracy, the Kalman filter algorithm is used to dynamically correct the position and attitude data output by the IMU. The state vector is defined as:

[0091]

[0092] The observation equation is: Through iterative update, the global position P of the high-precision laser tracker is output g =(X g , Y g , Z g ) and the attitude angle.

[0093] Target ball coordinate calculation: The laser tracking instrument selected in this invention is the Leica AT960 laser tracker, with a measurement accuracy of ±0.5μm / m and a maximum measurement distance of 80 meters. The three-dimensional coordinates of the target ball are calculated based on the laser interference principle. Local coordinates of the target ball: The laser tracker used in this invention measures the coordinates (x l , y l , z l ) of the target ball in the local coordinate system of the laser tracker by emitting laser and receiving the reflected signal of the target ball. The local coordinate system takes the emission center of the laser tracker as the origin, the X l axis is along the laser emission direction, the Y l axis is horizontally perpendicular to the laser emission direction, and the Z l axis is vertically downward.

[0094] Global coordinate conversion: This invention takes the emission center of the initial position before the laser tracker moves as the origin and converts the local coordinates of the target ball to the global coordinate system. The calculation formula is:

[0095]

[0096] Among them, the rotation matrix R(φ, θ, ψ) is calculated by the following formula:

[0097] R = R z (ψ)·R y (θ)·R x (φ) (9)

[0098] In the formula, R x , R y , R z are the rotation matrices around the X, Y, and Z axes respectively.

[0099] Error analysis: Laser ranging error. The laser ranging error involved in this invention is mainly caused by atmospheric disturbance, equipment resolution, and the reflection characteristics of the target ball surface. By taking the average value of multiple measurements, the random error can be effectively reduced. Error compensation scheme, Kalman filter: This invention dynamically corrects the position and attitude data output by the IMU through the Kalman filter algorithm to suppress the cumulative error.

[0100] That is to say, in the solution of this invention, first, system initialization, installation and calibration of the guide rail system

[0101] The guide rail system used in this invention is installed along the tunnel vault, and the geometric shape of the guide rail is calibrated by a total station to generate a parametric equation. Target ball layout and calibration: In this invention, a target ball group is arranged at a fixed interval along the tunnel length direction, and the initial position coordinates of each target ball are determined by a laser tracking system in the initial stage of tunnel completion. The specific steps are as follows:

[0102] The laser tracker moves along the guide rail to each monitoring area, scans the target ball group and records its initial local coordinates; converts the local coordinates of the target ball to the global coordinate system to generate the initial global coordinates of each target ball; stores the initial global coordinates of each target ball in the data processing unit as the reference data for subsequent deformation monitoring.

[0103] Installation and calibration of the laser tracker. In this invention, the laser tracker is installed on the guide rail system and the system is calibrated through the measured point position and attitude data output by the IMU.

[0104] Secondly, data acquisition and processing: Laser tracker positioning processing. The laser tracker used in this invention moves along the guide rail to the specified monitoring area and realizes precise positioning through an electromagnetic locking mechanism.

[0105] Target ball coordinate measurement processing. The laser tracker used in this invention emits laser to scan the target ball group to obtain the coordinates (x l , y l , z l ) of the target ball in the local coordinate system.

[0106] Global coordinate transformation processing. In this invention, through the rotation matrix R(φ,θ,ψ) and the global position P of the laser tracker, the coordinates of the target ball are transformed into the global coordinate system. g , the coordinates of the target ball are transformed into the global coordinate system.

[0107] Deformation curve generation processing. In this invention, in the host computer or data processing unit, the global coordinates of each target ball are connected in the order of the tunnel axis to generate a tunnel deformation curve.

[0108] Furthermore, deformation analysis and early warning, curve feature analysis. In this invention, by analyzing the curvature, slope change and local extreme points of the deformation curve, it is judged whether there are deformation features such as settlement, offset or distortion in the tunnel.

[0109] Deformation early warning. In this invention, when the curve features exceed the preset threshold, the tunnel safety early warning system is triggered to generate a deformation anomaly alarm signal.

[0110] Embodiment: Short-term tunnel deformation monitoring; Test background. In a certain urban rail transit tunnel, the research team selected a section of tunnel about 2000 meters long for short-term deformation monitoring. The tunnel is a single-hole double-track structure with complex geological conditions and may be affected by formation settlement, train vibration and temperature and humidity changes.

[0111] Test equipment: Laser tracker: Installed on the guide rail system on the tunnel vault, it can move along the track direction and measure the local coordinates of the target balls arranged along the tunnel length direction. Inertial navigation unit (IMU): Integrated in the laser tracker to monitor the displacement and attitude changes of the instrument in real time. Target balls: Arranged along the tunnel length direction, with a group of target balls installed every 10m, and each group contains 2 target balls located on both side walls respectively. Data processing unit: Fuses and calculates the laser ranging data and IMU data to obtain the position of the target ball in the global coordinate system and conducts deformation analysis.

[0112] Test steps: System initialization, laser tracker positioning and scanning: The laser tracker moves along the guide rail to the designated position in each monitoring area, scans the target balls and records the initial local coordinates. The length of each monitoring area is 20 meters to ensure that a single scan of the laser tracker can completely cover all the target balls in the area.

[0113] Establishment of global coordinate system: Combining the attitude data of the IMU, the local coordinates of the target balls are transformed into the global coordinate system to obtain the reference measurement value. The coordinate origin of the global coordinate system is the laser emission center at the initial position before the laser tracker moves for the first time.

[0114] Deformation curve generation: In the host computer or data processing unit, the initial global coordinates of each target ball are connected in the order of the tunnel axis to generate an initial deformation curve as the reference for subsequent deformation analysis.

[0115] Deformation measurement, regularly measure the position of the target ball: The laser tracker repeats the measurement of the target ball position at a preset time interval (every 12 hours) and records its local coordinates. Convert the local coordinates of the target ball to the global coordinate system.

[0116] Error correction, use the Kalman filtering algorithm to correct the IMU data, suppress the cumulative error, and improve the measurement accuracy. Compare the corrected global coordinates of the target ball with the initial global coordinates to calculate the displacement of each target ball.

[0117] Data analysis: Generation and analysis of the deformation curve. In the upper computer or data processing unit, connect the global coordinates of each target ball in the order of the tunnel axis to generate the current deformation curve. Compare the current deformation curve with the initial deformation curve, observe the changes in the curvature, slope of the curve and local extreme points, and judge whether there are deformation characteristics such as settlement, offset or distortion in the tunnel.

[0118] Deformation warning: When the characteristics of the deformation curve exceed the preset threshold, trigger the tunnel safety warning system to generate a deformation anomaly alarm signal. The preset threshold is set according to the design specifications and operation requirements of the tunnel. For example, when the vertical deformation exceeds ±2mm, the warning is triggered.

[0119] Test results: Detection of deformation amount. During the test period (7 days), the system detected that the maximum deformation amount of the target ball in the vertical direction was 1.2mm, which met the expected monitoring accuracy (±1mm). Through curve analysis, it was found that there was a slight settlement trend at the tunnel vault, but it did not exceed the warning threshold.

[0120] Warning system test. During the test, the characteristics of the deformation curve did not exceed the preset threshold, and the tunnel safety warning system did not trigger an alarm signal, indicating that the deformation of the tunnel was within the safe range during the test period.

[0121] To achieve the above object, the present invention also provides a tunnel deformation monitoring system based on laser tracking and inertial navigation, as Figure 2 shown, the system specifically includes:

[0122] Data generation and creation unit, for generating and obtaining in real time the first data corresponding to each monitoring area of the tunnel based on laser tracking, and creating and generating the second data corresponding to the first data in combination with inertial navigation; wherein, the first data is the local three-dimensional coordinate data of the measured target ball; the second data is the global three-dimensional coordinate data of the measured target ball;

[0123] Data creation and generation unit, for constructing the first linear curve corresponding to the tunnel according to the second data, and generating the third data corresponding to the first linear curve; wherein, the first linear curve is the current deformation curve of the tunnel; the third data includes the curvature of the linear curve and the slope of the linear curve;

[0124] The deformation state monitoring unit is used to monitor and determine the deformation state of the tunnel in real time based on the third data; wherein, the deformation state includes settlement condition, offset condition or distortion condition.

[0125] The data generation and creation unit further includes:

[0126] The first generation module is used to generate and obtain the fourth data corresponding to the laser tracking; wherein, the fourth data is the displacement data and attitude change data of the laser tracker during the movement.

[0127] The first processing module is used to create the geometric line shape data corresponding to the laser tracking orbit, and correct and calibrate the fourth data by combining the Kalman filtering algorithm.

[0128] And / or, the data creation and generation unit further includes:

[0129] The second generation module is used to generate and obtain the second line shape curve corresponding to the tunnel; wherein, the second line shape curve is the initial deformation curve of the tunnel.

[0130] The second processing module is used to analyze the deformation dynamics of the line shape curve based on the second line shape curve and in combination with the first line shape curve, and generate the third data corresponding to the line shape curve.

[0131] And / or, the deformation state monitoring unit further includes:

[0132] The third generation module is used to generate and obtain the fifth data corresponding to the tunnel deformation curve; wherein, the fifth data is the preset characteristic threshold of the deformation curve.

[0133] The fourth generation module is used to determine and generate the corresponding sixth data based on the fifth data and in combination with the third data; wherein, the sixth data is the tunnel deformation abnormal alarm signal.

[0134] The data generation and creation unit further includes:

[0135] The creation and generation module is used to create the rotation matrix corresponding to the first data, and generate the second data corresponding to the first data based on the rotation matrix; wherein, the calculation formula of the rotation matrix is as follows:

[0136]

[0137] In the formula, φ is the roll angle; θ is the pitch angle; ψ is the yaw angle; R x 、R y 、R z are the rotation matrices around the X, Y, and Z axes respectively.

[0138] In the embodiment of the system solution of the present invention, the method steps involved in the tunnel deformation monitoring based on laser tracking and inertial navigation have been described in detail above. That is to say, the functional modules in the system are used to implement the steps or sub-steps in the above method embodiment, which will not be elaborated here.

[0139] To achieve the above object, the present invention also provides a tunnel deformation monitoring device based on laser tracking and inertial navigation, as Figures 3 - 6 shown. The device is used to implement the tunnel deformation monitoring method based on laser tracking and inertial navigation. The device includes an orbital laser tracking instrument for emitting a laser signal to a target ball and receiving the reflected signal of the target ball to measure the three-dimensional coordinates of the target ball. Among them, the target balls are arranged at equal or unequal distances along the tunnel length direction, and the distance between adjacent target ball groups in the monitoring partition is greater than the effective scanning radius of the orbital laser tracking instrument;

[0140] The orbital laser tracking instrument is integrated with an inertial navigation unit for monitoring the displacement and attitude changes of the laser tracking instrument itself and correcting the measurement errors caused by equipment deformation;

[0141] A data receiving and fusion unit is provided between the inertial navigation unit and the orbital laser tracking instrument for receiving and fusing the data provided by the inertial navigation unit and the local coordinate data of the target ball measured by the orbital laser tracking instrument, and converting the local coordinate data of the target ball into global coordinate data through a rotation matrix;

[0142] The device is also provided with an intelligent positioning system for locking the movement of the laser tracking instrument to the designated monitoring partition position. Among them, the monitoring partitions are divided at equal or unequal distances along the tunnel length direction.

[0143] Specifically, in the embodiment of the present invention's solution, a tunnel deformation monitoring device based on laser tracking and inertial navigation is provided, including: a segmented monitoring system that divides the tunnel into several monitoring zones along the length direction, and each monitoring zone contains a set of target balls distributed at intervals along the tunnel length direction; an orbital laser tracking instrument that arranges a guide rail system along the tunnel vault axis direction, and the laser tracking instrument can move along the guide rail to the corresponding position of each monitoring zone, and only cover the set of target balls within the current monitoring zone through directional scanning, for emitting laser signals to the target balls and receiving the reflected signals of the target balls to measure the three-dimensional coordinates of the target balls; target balls that are arranged at a fixed interval along the tunnel length direction for reflecting the laser signals emitted by the laser tracking instrument, and the distance between the sets of target balls in adjacent monitoring zones is greater than the effective scanning radius of the laser tracking instrument; an inertial navigation unit integrated in the laser tracking instrument for monitoring the displacement and attitude changes of the laser tracking instrument itself and correcting the measurement errors caused by equipment deformation; an intelligent positioning system that includes guide rail positioning marks and an encoder to ensure that the laser tracking instrument automatically locks its position when it moves to the designated monitoring zone; a data processing unit connected to the inertial navigation unit (IMU) and the laser tracking instrument for receiving and fusing the data provided by the IMU and the local coordinates of the target balls measured by the laser tracking instrument. The coordinates of the target balls are converted to the global coordinate system through a rotation matrix.

[0144] Among them, the guide rail system is provided with equally spaced positioning slots, and the distance between adjacent slots matches the length of the monitoring zone. The laser tracking instrument is equipped with an electromagnetic locking mechanism to achieve zonal positioning. The set of target balls adopts a differential reflection coding design, and unique identification code segments are set on the surfaces of the target balls in each monitoring zone. The data processing unit configures a filtering algorithm to automatically block the reflection signals from non-current zones.

[0145] The directional scanning is realized through an adjustable limit diaphragm. When the laser tracking instrument is positioned in the designated monitoring zone, the laser emission angle is automatically adjusted to the preset zone coverage range. The length L of the monitoring zone and the effective scanning radius R of the laser tracking instrument satisfy the relationship: L = 2R·tanθ, where θ is the maximum pitch angle of the device, ensuring that the cross-section of the zone is completely covered by a single scan.

[0146] The device is applicable to long-term monitoring during the construction period and operation period of the tunnel, and can be linked with the tunnel safety warning system to realize the function of abnormal deformation alarm. The method for establishing the global coordinate system includes:

[0147] Taking the emission center of the initial position before the laser tracking instrument moves as the origin O g , define the X g axis to extend along the tunnel axis, the Y g axis to be horizontally perpendicular to the tunnel axis, and the Z g axis to be vertically downward.

[0148] The functions of the inertial navigation unit (IMU) include:

[0149] Real-time monitor the displacement and attitude changes of the laser tracker during movement, and output the position P of the laser tracker IMU =(X imu ,Y imu ,Z imu ) and the attitude angles (roll angle φ, pitch angle θ, yaw angle ψ);

[0150] Combine the geometric linear constraints of the track to correct the position data output by the IMU, eliminate the cumulative error of the IMU and the influence of the crown deformation, and obtain the accurate position P of the laser tracker in the global coordinate system g =(X g ,Y g ,Z g ).

[0151] The calculation process of converting the coordinates (x l ,y l ,z l ) of the target ball in the local coordinate system of the laser tracker to the global coordinate system through the rotation matrix R=(φ,θ,ψ) includes the following steps:

[0152] During the movement of the laser tracker, its attitude will change, and these attitude changes will cause the local coordinate system to rotate relative to the global coordinate system. Calculate the rotation matrix R=(φ,θ,ψ) through the attitude angles (roll angle φ, pitch angle θ, yaw angle ψ) output by the inertial navigation unit (IMU). The calculation formula is:

[0153] R = R z (ψ)·R y (θ)·R x (φ) (1)

[0154] where, R x , R y , R z are the rotation matrices around the X, Y, and Z axes respectively, and the specific expressions are:

[0155]

[0156] Multiply the coordinates (x l ,y l ,z l ) of the target ball in the local coordinate system of the laser tracker by the rotation matrix R=(φ,θ,ψ) to obtain the rotated coordinates of the target ball in the global coordinate system:

[0157]

[0158] Add the rotated coordinates to the position P of the laser tracker in the global coordinate system g= (X g , Y g , Z g ) are added together to obtain the final coordinates of the target ball in the global coordinate system:

[0159]

[0160] The three-dimensional coordinates of each target ball are used to generate a tunnel deformation curve, and whether the tunnel is deformed is judged according to the characteristics of the curve. Specifically, it includes the following steps:

[0161] Curve drawing: In the host computer or data processing unit, the three-dimensional coordinates (X global , Y global , Z global ) of each target ball in the global coordinate system are connected in the order of the tunnel axis to generate a tunnel alignment curve;

[0162] Curve feature analysis: By analyzing the curvature, slope change and local extreme points of the curve, judge whether there are deformation characteristics such as settlement, offset or twist in the tunnel;

[0163] Deformation warning: When the curve characteristics exceed the preset threshold, trigger the tunnel safety warning system to generate a deformation abnormal alarm signal.

[0164] That is to say, the device of the present invention includes a laser tracker fixedly arranged on the tunnel vault and movable along the tunnel axis, and a plurality of monitoring point groups arranged at intervals along the tunnel length direction. The monitoring point groups are composed of target balls supporting the laser tracker. The laser tracker emits laser to the target ball, receives the reflected signal of the target ball, calculates the three-dimensional coordinates of the target ball, and fits the tunnel alignment according to the target ball coordinates, so as to analyze the alignment change of the tunnel. The device integrates an inertial navigation unit, which can monitor the displacement and attitude change of the laser tracker itself in real time, and correct the measurement error caused by the deformation of the vault, improving the measurement accuracy and stability. The present invention has the advantages of high automation degree, high measurement accuracy, long-term monitoring stability, wide application range, etc., and can be widely applied to the deformation monitoring and safety assessment of underground structures such as subway tunnels, highway tunnels, and water conservancy culverts.

[0165] To achieve the above object, the present invention also provides a tunnel deformation monitoring platform based on laser tracking and inertial navigation, as Figure 7 shown, including a processor, a memory and a tunnel deformation monitoring platform control program based on laser tracking and inertial navigation; wherein, in the processor, the tunnel deformation monitoring platform control program based on laser tracking and inertial navigation is executed, and the tunnel deformation monitoring platform control program based on laser tracking and inertial navigation is stored in the memory. The tunnel deformation monitoring platform control program based on laser tracking and inertial navigation realizes the steps of the tunnel deformation monitoring method based on laser tracking and inertial navigation. For example:

[0166] S01. Based on laser tracking, generate and obtain in real time the first data corresponding to each monitoring area of the tunnel, and combine with inertial navigation to create and generate the second data corresponding to the first data; wherein, the first data is the local three-dimensional coordinate data of the measured target ball; the second data is the global three-dimensional coordinate data of the measured target ball;

[0167] S02. According to the second data, construct the first linear curve corresponding to the tunnel, and generate the third data corresponding to the first linear curve; wherein, the first linear curve is the current deformation curve of the tunnel; the third data includes the curvature of the linear curve and the slope of the linear curve;

[0168] S03. Based on the third data, monitor and determine the deformation state of the tunnel in real time; wherein, the deformation state includes settlement condition, offset condition or distortion condition.

[0169] The specific details of the steps have been described above and will not be elaborated here.

[0170] In the embodiment of the present invention, the tunnel deformation monitoring platform based on laser tracking and inertial navigation is built-in with a processor, which can be composed of integrated circuits. For example, it can be composed of a single packaged integrated circuit, or can be composed of multiple integrated circuits with the same or different functions packaged, including the combination of one or more central processing units (CPU), microprocessors, digital processing chips, graphics processors and various control chips, etc. The processor uses various interfaces and circuits to connect to each component, and by running or executing the programs or units stored in the memory, and calling the data stored in the memory, to execute various functions of tunnel deformation monitoring based on laser tracking and inertial navigation and process data;

[0171] The memory is used to store program codes and various data, installed in the tunnel deformation monitoring platform based on laser tracking and inertial navigation, and realizes the high-speed and automatic access of programs or data during operation.

[0172] The memory includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically-erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc memories, magnetic disc memories, magnetic tape memories, or any other computer-readable medium that can be used to carry or store data.

[0173] The method of the present invention is based on laser tracking to generate and obtain first data corresponding to each monitoring zone of the tunnel in real time, and combines inertial navigation to create second data corresponding to the first data; wherein, the first data is local three-dimensional coordinate data of a measured target ball; the second data is global three-dimensional coordinate data of the measured target ball; according to the second data, a first linear curve corresponding to the tunnel is constructed, and third data corresponding to the first linear curve is generated; wherein, the first linear curve is the current deformation curve of the tunnel; the third data includes the curvature of the linear curve and the slope of the linear curve; based on the third data, the deformation state of the tunnel is monitored and determined in real time; wherein, the deformation state includes settlement conditions, offset conditions or distortion conditions, as well as the corresponding system, device and platform of the method, which can realize high-precision and high-efficiency detection of tunnel settlement, deformation and linear deviation.

[0174] That is to say, the solution of the present invention obtains tunnel linear deformation information by measuring the three-dimensional coordinate changes of the target ball through laser tracking, and combines an inertial navigation system to automatically correct measurement errors, which can realize high-precision, long-distance and continuous automatic monitoring, and is applicable to the long-term health monitoring during the construction period and operation period of the tunnel, providing reliable data support for tunnel safety management and disaster warning.

[0175] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention shall be subject to the appended claims.

Claims

1. A tunnel deformation monitoring method based on laser tracking and inertial navigation, characterized in that: The method comprises the steps of: Based on laser tracking, first data corresponding to each monitoring zone of the tunnel is generated and acquired in real time, and second data corresponding to the first data is created and generated in combination with inertial navigation; wherein the first data is the local three-dimensional coordinate data of the measuring target sphere; and the second data is the global three-dimensional coordinate data of the measuring target sphere; According to the second data, a first linear curve corresponding to the tunnel is constructed, and third data corresponding to the first linear curve is generated; wherein the first linear curve is a current deformation curve of the tunnel; and the third data includes a curvature of the linear curve and a slope of the linear curve; Based on the third data, the deformation state of the tunnel is monitored and determined in real time; wherein the deformation state includes a settlement state, a displacement state or a twisting state.

2. The tunnel deformation monitoring method based on laser tracking and inertial navigation according to claim 1 is characterized in that: The method of generating and acquiring first data corresponding to each monitoring zone of the tunnel in real time based on laser tracking, and creating and generating second data corresponding to the first data in combination with inertial navigation, further includes: Generate and obtain fourth data corresponding to laser tracking; wherein the fourth data is displacement data and posture change data of the laser tracker during movement; Create geometric linear data corresponding to the laser tracking track, and combine with the Kalman filter algorithm to correct and calibrate the fourth data.

3. A tunnel deformation monitoring method based on laser tracking and inertial navigation according to claim 1 or 2, characterized in that: The method of generating and acquiring first data corresponding to each monitoring zone of the tunnel in real time based on laser tracking, and creating and generating second data corresponding to the first data in combination with inertial navigation, further includes: A rotation matrix corresponding to the first data is created, and second data corresponding to the first data is generated based on the rotation matrix; wherein the calculation formula of the rotation matrix is ​​as follows: Where φ is the roll angle; θ is the pitch angle; ψ is the yaw angle; R x , R y , R z They are the rotation matrices around the X, Y, and Z axes respectively.

4. The tunnel deformation monitoring method based on laser tracking and inertial navigation according to claim 1 is characterized in that: The step of constructing a first linear curve corresponding to the tunnel according to the second data and generating third data corresponding to the first linear curve further includes: Generate and obtain a second linear curve corresponding to the tunnel; wherein the second linear curve is an initial deformation curve of the tunnel; Based on the second linear curve and in combination with the first linear curve, the deformation dynamics of the linear curve are analyzed and processed, and third data corresponding to the linear curve are generated.

5. The tunnel deformation monitoring method based on laser tracking and inertial navigation according to claim 1 is characterized in that: The step of monitoring and determining the deformation state of the tunnel in real time based on the third data further includes: Generate and obtain fifth data corresponding to the tunnel deformation curve; wherein the fifth data is a characteristic preset threshold of the deformation curve; Based on the fifth data and in combination with the third data, a corresponding sixth data is determined and generated; wherein the sixth data is an abnormal tunnel deformation alarm signal.

6. A tunnel deformation monitoring system based on laser tracking and inertial navigation, characterized in that: The system is used to implement the tunnel deformation monitoring method based on laser tracking and inertial navigation as described in any one of claims 1 to 5, and the system includes: A data generation and creation unit is used to generate and obtain first data corresponding to each monitoring zone of the tunnel in real time based on laser tracking, and to create and generate second data corresponding to the first data in combination with inertial navigation; wherein the first data is local three-dimensional coordinate data of the measurement target sphere; and the second data is global three-dimensional coordinate data of the measurement target sphere; A data creation and generation unit, configured to construct a first linear curve corresponding to the tunnel according to the second data, and generate third data corresponding to the first linear curve; wherein the first linear curve is a current deformation curve of the tunnel; and the third data includes a curvature of the linear curve and a slope of the linear curve; The deformation state monitoring unit is used to monitor and determine the deformation state of the tunnel in real time based on the third data; wherein the deformation state includes a settlement state, a displacement state or a distortion state.

7. The tunnel deformation monitoring system based on laser tracking and inertial navigation according to claim 6 is characterized in that: The data generation and creation unit also includes: A first generating module is used to generate and obtain fourth data corresponding to laser tracking; wherein the fourth data is displacement data and posture change data of the laser tracker during movement; A first processing module is used to create geometric linear data corresponding to the laser tracking track, and to correct and calibrate the fourth data in combination with a Kalman filter algorithm; And / or, the data creation generation unit further includes: A second generating module is used to generate and obtain a second linear curve corresponding to the tunnel; wherein the second linear curve is an initial deformation curve of the tunnel; A second processing module, configured to analyze and process the deformation dynamics of the linear curve based on the second linear curve and in combination with the first linear curve, and generate third data corresponding to the linear curve; And / or, the deformation state monitoring unit further includes: A third generating module, used to generate and obtain fifth data corresponding to the tunnel deformation curve; wherein the fifth data is a characteristic preset threshold of the deformation curve; The fourth generating module is used to determine and generate corresponding sixth data based on the fifth data and in combination with the third data; wherein the sixth data is an abnormal tunnel deformation alarm signal.

8. A tunnel deformation monitoring system based on laser tracking and inertial navigation according to claim 6 or 7, characterized in that: The data generation and creation unit also includes: A generation module is created, which is used to create a rotation matrix corresponding to the first data, and generate second data corresponding to the first data based on the rotation matrix; wherein the calculation formula of the rotation matrix is ​​as follows: Where φ is the roll angle; θ is the pitch angle; ψ is the yaw angle; R x , R y , R z They are the rotation matrices around the X, Y, and Z axes respectively.

9. A tunnel deformation monitoring device based on laser tracking and inertial navigation, characterized in that: The device is used to implement the tunnel deformation monitoring method based on laser tracking and inertial navigation as described in any one of claims 1 to 5, and the device includes a track-type laser tracking instrument for emitting laser signals to a target ball and receiving a reflected signal from the target ball to determine the three-dimensional coordinates of the target ball; wherein the target balls are arranged at equal or non-equidistant intervals along the length direction of the tunnel, and the spacing between target ball groups in adjacent monitoring partitions is greater than the effective scanning radius of the track-type laser tracking instrument; The track-type laser tracking instrument is integrated with an inertial navigation unit for monitoring the displacement and attitude change of the laser tracking instrument itself and correcting the measurement error caused by the deformation of the equipment; A device is provided between the inertial navigation unit and the track-type laser tracking instrument for receiving and fusing the data provided by the inertial navigation unit and the local coordinate data of the target sphere measured by the track-type laser tracking instrument, and converting the local coordinate data of the target sphere into global coordinate data through a rotation matrix; The device is also provided with an intelligent positioning system for locking the laser tracking instrument to move to the designated monitoring partition position; wherein the monitoring partition is divided into equidistant or non-equidistant areas along the length direction of the tunnel.

10. A tunnel deformation monitoring platform based on laser tracking and inertial navigation, characterized in that: It comprises a processor, a memory and a control program for a tunnel deformation monitoring platform based on laser tracking and inertial navigation; wherein the control program for a tunnel deformation monitoring platform based on laser tracking and inertial navigation is executed by the processor, the control program for a tunnel deformation monitoring platform based on laser tracking and inertial navigation is stored in the memory, and the control program for a tunnel deformation monitoring platform based on laser tracking and inertial navigation implements the tunnel deformation monitoring method based on laser tracking and inertial navigation as described in any one of claims 1 to 5.

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