Data processing method of array displacement meter

Abstract

The invention discloses a data processing method of an array type displacement meter. The method comprises the following steps: S1, acquiring information of each section of the array type displacement meter and time information of an acquisition moment; s2, according to the information of each section of the array displacement meter obtained in the S1, the roll angle phi, the pitch angle theta and the course angle psi of each section are obtained; s3, calculating a displacement component by rotating points on the array type displacement meter; s4, performing section displacement component accumulation of the array type displacement meter; and S5, calculating the deformation of the array displacement meter. The overall displacement information of the array displacement meter is calculated according to the coordinate system relation matrix and the rotation logic through the data of the hygrothermograph, the magnetometer, the accelerometer and the like, the measurement accuracy and precision of the array displacement meter are improved, and the application range and the market prospect of related products are expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of deformation monitoring, and particularly relates to a data processing method for an array displacement meter. Background Art

[0002] In multiple monitoring fields such as hydropower, railways, tunnels, and slopes, array displacement meters have been widely used due to their high precision, high stability, and flexibility. As a three-dimensional deformation monitoring sensor integrating advanced technologies, the array displacement meter supports providing real-time and accurate all-round data such as deformation, inclination, and vibration, and is a powerful tool for structural deformation monitoring in many industries during the process of engineering construction and operation, effectively ensuring the safety and quality of various engineering projects. However, the existing data processing methods cannot meet the requirements for accuracy and authenticity in actual engineering construction. Summary of the Invention

[0003] To solve the problems of the existing technology, the present invention proposes a data processing method for an array displacement meter with high accuracy and strong authenticity.

[0004] For this purpose, the present invention adopts the following technical solutions:

[0005] A data processing method for an array displacement meter includes the following steps:

[0006] S1, collecting the information of each segment of the array displacement meter and recording the acquisition time information;

[0007] S2, obtaining the roll angle φ, pitch angle θ, and heading angle ψ of each segment according to the information of each segment of the array displacement meter obtained in S1;

[0008] S3, resolving the displacement components by rotating the points on the array displacement meter:

[0009] For each segment of the array displacement meter, in the carrier coordinate system with the center of the bottom surface as the origin O, let the center of the top surface be point V, any point on the cylindrical outer surface be point W, and the first reference point on the Y axis of the carrier coordinate system be point T; first, rotate point W around the Z axis according to the heading angle ψ to obtain point W′, then rotate points T, V, and W′ around the X axis according to the roll angle φ to obtain points T″, C″, and W″; finally, rotate points V″ and W″ around OT″ according to the pitch angle θ to obtain points V′″ and W′″, and the coordinate values of points V′″ and W′″ respectively represent the displacement components of the top of the segment and any point on the cylindrical surface of the segment in the carrier coordinate system. Finally, convert the displacement components to the geographic coordinate system to obtain the top displacement component and surface displacement component in the geographic coordinate system;

[0010] S4, performing the accumulation of the segment displacement components of the array displacement meter:

[0011] First, add the acquisition time information recorded in S1 to the result of S3 to obtain the displacement components of different segments at time t, where t 0 ≤t≤t E , t 0 is the initial acquisition time, and t e is the end acquisition time;

[0012] Then, divide the different segments of the array displacement meter into segment groups according to the position of the point to be measured, and accumulate the displacement components of each segment in the segment group at time t to obtain the overall displacement component of each segment group at time t; the overall displacement component includes the top overall displacement component and the surface overall displacement component;

[0013] S5, by comparing the overall displacement components at different times, calculate and obtain the deformation amount and deformation rate of the point to be measured in different time periods.

[0014] The information of each segment of the array displacement meter in S1 includes: the segment number i, 1≤i≤N, the power supply voltage V i , the temperature T i , the humidity RH i , the X-axis magnetic field component M of the magnetometer X,i , the Y-axis magnetic field component M of the magnetometer Y,i , the Z-axis magnetic field component M of the magnetometer Z,i , the X-axis acceleration component Acc of the accelerometer X,i , the Y-axis acceleration component Acc of the accelerometer Y,i and the Z-axis acceleration component Acc of the accelerometer Z,i .

[0015] In S3, use the rotation matrix to rotate point W to obtain point W′, W = (α,β,γ), where α 2 +β 2 =R 2 , 0<γ<L, R is the radius of the array displacement meter, and L is the single-segment length of the array displacement meter.

[0016] Use the rotation matrix to rotate points T, V, and W′ to obtain points T″, V″, and W″.

[0017] Use M″′ to rotate points V″, W″ around OT″ to obtain points V″″ and W″′, where:

[0018]

[0019] where, T X is the coordinate value of the X-axis in the carrier coordinate system of point T″, TY is the coordinate value of the Y-axis in the carrier coordinate system of point T″, T Z is the coordinate value of the Z-axis in the carrier coordinate system of point T″.

[0020] The displacement components in S3 include the top displacement component of the i-th segment and the surface displacement component of the i-th segment is the coordinate value of the X-axis in the carrier coordinate system of point V″′ on node i, V″′ Y,i is the coordinate value of the Y-axis in the carrier coordinate system of point V″′ on node i, V″′ Z,i is the coordinate value of the Z-axis in the carrier coordinate system of point V″′ on node i; is the coordinate value of the X-axis in the carrier coordinate system of point W″′ on node i, W″′ Y,i is the coordinate value of the Y-axis in the carrier coordinate system of point W″′ on node i, W″′ z,i is the coordinate value of the Z-axis in the carrier coordinate system of point W″′ on node i.

[0021] In S3, the displacement components in the carrier coordinate system are transformed into the geographical coordinate system as shown in the following formula:

[0022]

[0023] Where: is the transformation relationship matrix between the geographical coordinate system and the carrier coordinate system of the i-th segment, is the displacement component of the X-axis of the i-th segment in the geographical coordinate system, is the displacement component of the Y-axis of the i-th segment in the geographical coordinate system, is the displacement component of the Z-axis of the i-th segment in the geographical coordinate system; the includes and Where is obtained from the top displacement component, is obtained from the surface displacement component.

[0024] Preferably, S3 further includes a second reference point U, which is located on the X-axis of the carrier coordinate system; during rotation: first, point W is rotated around the Z-axis according to the heading angle ψ to obtain point W′, then points U, V, and W′ are rotated around the Y-axis according to the pitch angle θ to obtain points U″, V″, and W″, and finally points V″, W″ are rotated around OU″ according to the roll angle φ to obtain points V″′, W″′.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention comprehensively calculates the displacement components of the three axes of the array displacement meter through the sensing data of the array displacement meter, combined with the calibration information, attitude relationship matrix, and unique rotation matrix, improving the accuracy and authenticity of the measurement results of the array displacement meter.

[0027] 2. The method in the present invention is simple and convenient to operate, and shows application potential in the fields of geometric modeling and animation rendering of 3D models, significantly enhancing the practical application value of the array displacement meter in deformation monitoring scenarios, and expanding the application scope and market prospects of related products.

[0028] 3. The method in the present invention expands the measurement dimension of the array displacement meter in the field of deformation monitoring applications, improves the quality of monitoring data, and more effectively guarantees the safe implementation of engineering projects. Brief Description of the Drawings

[0029] Figure 1 Schematic diagram of the system composition for obtaining the data required by the present invention;

[0030] Figure 2 Flowchart of the method of the present invention. Detailed Description of the Preferred Embodiments

[0031] As Figure 1 shown, in the layout of the existing array displacement meter, the following layout situations are mainly included, such as: vertical layout, horizontal layout, and circular layout, etc. The entire array displacement meter system also includes: bus, collector, server, and workstation, etc.

[0032] The technical solution of the present invention will be further described in detail below with reference to the drawings and embodiments.

[0033] The data processing method of the array displacement meter of the present invention, as Figure 2 shown, includes the following steps:

[0034] S1, collecting information of each segment of the array displacement meter:

[0035] According to the purpose and requirements of the monitoring to be carried out, the N-segment array displacement meters are connected in series in an orderly manner, and calibration and other work before production are carried out, and then they are arranged and firmly fixed in a vertical / horizontal / circular layout, and the information of each segment of the array displacement meter and the time information of the acquisition moment are collected. The information of the i-th (1 ≤ i ≤ N) segment of the array displacement meter includes: the segment number i, the supply voltage V i , temperature T i , humidity RH i , the X-axis magnetic field component M of the magnetometer X,i , the Y-axis magnetic field component M of the magnetometer Y,i , the Z-axis magnetic field component M of the magnetometer z,i, the X-axis acceleration component Acc of the accelerometer X,i , the Y-axis acceleration component Acc of the accelerometer Y,i and the Z-axis acceleration component Acc of the accelerometer z,i .

[0036] S2. Solve the roll angle φ of each segment of the array displacement sensor rotating around the X-axis, the pitch angle θ rotating around the Y-axis, and the heading angle ψ rotating around the Z-axis:

[0037] To better explain the meaning and steps of the following steps, following the right-hand rule, let the geographic coordinate system be the n-system, that is, the North-East-Down (NED) coordinate system, and the body coordinate system of the array displacement sensor be the b-system, that is, the Front-Right-Down coordinate system. To simplify the calculation, the temperature compensation and other situations are not considered here for the time being. Taking the information collected in the i-th segment in S1 as an example, solve the roll angle φ i of the i-th segment, the pitch angle θ i and the heading angle ψ i , including the following steps:

[0038] S21. Solve the roll angle φ i and the pitch angle θ i of the i-th segment of the array displacement sensor:

[0039] First, calculate the relationship between the gravitational acceleration of the i-th segment of the array displacement sensor and the geographic coordinate system, as shown in Equation (1):

[0040]

[0041] Among them, is the transformation relationship matrix between the geographic coordinate system and the body coordinate system, as shown in Equation (2):

[0042]

[0043] Then, rearrange Equation (2) to obtain the roll angle φ i and the pitch angle θ i of the i-th segment of the array displacement sensor, as shown in the following two equations:

[0044]

[0045] S22. Solve the heading angle ψ i of the i-th segment of the array displacement sensor:

[0046] The relationship between the magnetic field components of the i-th segment of the array displacement sensor and the geographic coordinate system is as shown in Equation (5):

[0047]

[0048] Among them, M N is the northward magnetic field vector, MD is the local magnetic field vector. Simplification gives Equation (6):

[0049]

[0050] By transforming the above equation, the course angle ψ of the i-th segment of the array displacement meter can be solved i , as shown in Equation (7):

[0051]

[0052] At this time, the course angle ψ i is the angle value of the current segment of the array displacement meter relative to the magnetic north direction.

[0053] S3. Calculate the displacement components by rotating the points on the array displacement meter:[[]]END]]

[0054] According to the roll angle φ, pitch angle θ and course angle ψ of each segment solved in S2, calculate the displacement components of each segment on the X, Y, and Z axes respectively. The displacement components are obtained by rotating the points on the array displacement meter in the carrier coordinate system three times. The rotation order around the axes can be first the Z axis, then the X axis, and finally the Y axis, or first the Z axis, then the Y axis, and finally the X axis, that is, ZXY or ZYX. Using the reference points on each surface of the array displacement meter to replace the entire array displacement meter for rotation can simplify the calculation process and avoid the errors caused by rotation.

[0055] For ease of understanding, in an embodiment of the present invention, the array displacement meter is approximated as a cylinder, the single-segment length is L (L is usually 500 mm or 1000 mm), and the radius is R, and R is usually 18 mm; for the origin O of the carrier coordinate system of each segment of the array displacement meter, it is located at the center of the bottom surface; therefore: the center of the top surface of the array displacement meter is V=(0, 0, L); set the first reference point T and the second reference point U on the bottom surface of the array displacement meter, U=(1, 0, 0), T=(0, 1, 0); any point on the cylindrical surface of the array displacement meter is W=(α, β, γ), where α 2 +β 2 =R 2 , 0 < γ < L.

[0056] In the above embodiment, with the rotation order of ZXY, the point W is taken as (R, 0, L / 2), and the calculation steps are as follows:[[]]END]]

[0057] S31: Rotate W around the Z axis according to the course angle ψ i :

[0058] Use the rotation matrix to rotate W to get W′, and the points U, T, and V are not rotated, and get

[0059] S32: According to the roll angle φ i Rotate T, V, and W′ about the X-axis:

[0060] Use the rotation matrix Rotate T, V, and W′ to obtain T″, V″, and W″. Point U remains unrotated, resulting in V″ = [0 -Lsinφ i Lcosφ i and T″ = [0 cosφ i sinφ i .

[0061] S33: According to the pitch angle θ i Rotate U, V″, and W″ about OT″:

[0062] Use M″′ to rotate U, V″, and W″ about OT″ to obtain U″′, V″′, and W″′, where:

[0063]

[0064]

[0065]

[0066]

[0067] where T X is the coordinate value of the X-axis in the carrier coordinate system of T″, T Y is the coordinate value of the Y-axis in the carrier coordinate system of T″, T Z is the coordinate value of the Z-axis in the carrier coordinate system of T″.

[0068] If the rotation sequence of ZYX is adopted, first rotate W about the Z-axis according to the heading angle ψ to obtain W′, then rotate U, V, and W′ about the Y-axis according to the pitch angle θ to obtain U″, V″, and W″, and finally rotate T, V″, and W″ about OU″ according to the roll angle φ to obtain T″′, V″′, and W″′.

[0069] S34. Calculate the corrected displacement components, including the following steps:

[0070] S341. Calculate the displacement components:

[0071] Combined with the physical information of the array displacement gauge segments, the coordinates of point V″′ and point W″′ respectively represent the displacement components of the top of the segment and any point on the surface of the segment cylinder in the carrier coordinate system.

[0072] In the above embodiments, taking the displacement components of point V″′ as an example for solution, the top displacement components of the i-th segment are obtained and denoted as the top displacement components. There is the following formula:

[0073]

[0074] If W″′ is used for solution, the displacement components of any point on the surface of the segment cylinder of the i-th segment can be obtained and denoted as the surface displacement components.

[0075] S342. Perform displacement component conversion to obtain the corrected displacement components:

[0076] Convert the displacement components in the carrier coordinate system obtained in S341 to the geodetic coordinate system as shown in the following formula:

[0077]

[0078] Where: is the transformation relation matrix between the geodetic coordinate system and the carrier coordinate system of the i-th segment, is the displacement component of the i-th segment on the X-axis in the geodetic coordinate system, is the displacement component of the i-th segment on the Y-axis in the geodetic coordinate system, is the displacement component of the i-th segment on the Z-axis in the geodetic coordinate system, includes and is obtained through the top displacement components, is obtained through the surface displacement components.

[0079] S4. Perform accumulation of the segment displacement components of the array displacement meters:

[0080] First, add the time information of the acquisition moment in S1 to the result of S34 to obtain the top displacement component of the i-th segment on the X-axis at time t in the geodetic coordinate system The top displacement component of the i-th segment on the Y-axis at time t in the geodetic coordinate system The top displacement component of the i-th segment on the Z-axis at time t in the geodetic coordinate system The surface displacement component of the i-th segment on the X-axis at time t in the geodetic coordinate system The surface displacement component of the i-th segment on the Y-axis at time t in the geodetic coordinate system The surface displacement component of the i-th segment on the Z-axis at time t in the geodetic coordinate system Where t 0 ≤ t ≤ t E and t 0 is the initial acquisition moment, and t Eis the end time of data acquisition.

[0081] Then, according to the positions of the points to be measured, different segments of the array displacement gauge are divided into segment groups, and the total displacement components at the top of the segment group and the total displacement components on the surface of the segment group are calculated.

[0082] When calculating the total displacement components at the top of the segment group, the displacement components at the top of multiple segment of the array displacement gauge included in the segment group are accumulated, as shown in Equation (10):

[0083]

[0084] where N′ and N″ are both segment numbers of the array displacement gauge, 1 ≤ N′ < N″ ≤ N, and (N′ → N″) indicates that this segment group is composed of segments from segment N′ to N″.

[0085] When calculating the total displacement components on the surface of the segment group, as shown in Equation (11):

[0086]

[0087] S5. Calculate the deformation of the array displacement gauge:

[0088] Based on the total displacement components of the array displacement gauge at different times, the deformation of the overall three-dimensional displacement information of the array displacement gauge over a period is obtained. Specifically:

[0089] The overall three-dimensional displacement information of segment group j at the initial time t 0 is and The overall three-dimensional displacement information of segment group j at a certain data acquisition time t′ is and t 0 < t′ ≤ t E , and the difference between the two pieces of information gives the deformation ΔD of the overall three-dimensional displacement information of the array displacement gauge from time t 0 to time t′ X , ΔD t and ΔD Z , as shown in Equation (12).

[0090]

[0091] where the overall three-dimensional displacement information is the total displacement component at the top or the total displacement component on the surface.

[0092] Based on the deformation values over a period of time, not only the deformation of different segment groups can be obtained, but also effective monitoring values such as the deformation rate of the deformed body can be deduced.

Claims

1. A data processing method for an array displacement meter, characterized in that: The following steps are involved: S1, collect information of each segment of the array displacement meter and record the collection time information; S2, according to the information of each segment of the array displacement meter obtained in S1, the roll angle φ, pitch angle θ and heading angle ψ of each segment are obtained; S3, by rotating the points on the array displacement meter, solve the displacement components: For each segment of the array displacement meter, in the carrier coordinate system with the center of its bottom surface as the origin O, the center of its top surface is set as point V, any point on its cylindrical outer surface is set as W, and the first reference point located on the Y axis of the carrier coordinate system is set as point T; firstly, point W is rotated around the Z axis according to the heading angle ψ to obtain point W′, and then point T, point V and point W′ are rotated around the X axis according to the roll angle φ to obtain point T″, point V″ and point W″; finally, point V″ and point W″ are rotated around OT″ according to the pitch angle θ to obtain point V″′ and point W″′, the coordinate values ​​of point V″′ and point W″′ respectively represent the displacement components of any point on the segment top and the segment cylindrical surface in the carrier coordinate system, and finally the displacement components are converted into the geographic coordinate system to obtain the top displacement component and the surface displacement component in the geographic coordinate system; S4, accumulate the segment displacement components of the array displacement meter: First, the acquisition time information recorded by S1 is added to the result of S3 to obtain the displacement components of different segments at time t, where t0≤t≤t E , t0 is the initial time of acquisition, t E The collection end time; Then, the different segments of the array displacement meter are divided into segment groups according to the positions of the points to be measured, and the overall displacement component of each segment group at time t is obtained by accumulating the displacement component of each segment in the segment group at time t; The overall displacement component includes a top overall displacement component and a surface overall displacement component; S5, by comparing the overall displacement components at different times, the deformation amount and deformation rate of the test point in different time periods are calculated.

2. The data processing method of the array displacement meter according to claim 1, characterized in that: The information of each segment of the array displacement meter in S1 includes: segment number i, 1≤i≤N, power supply voltage V i , temperature T i , humidity RH i , the X-axis magnetic field component M of the magnetometer X,i , the Y-axis magnetic field component M of the magnetometer Y,i , the Z-axis magnetic field component M of the magnetometer Z,i , the X-axis acceleration component Acc of the accelerometer X,i , the Y-axis acceleration component of the accelerometer acc Y,i and the Z-axis acceleration component Acc of the accelerometer Z,i .

3. The data processing method of the array displacement meter according to claim 2, characterized in that: In S3, using the rotation matrix Rotate point W to get point W′, W = (α, β, γ), where α 2 +β 2 =R 2 , 0<γ<L, R is the radius of the array displacement meter, and L is the single segment length of the array displacement meter.

4. The data processing method of the array displacement meter according to claim 2, characterized in that: Using the rotation matrix Point T, point V and point W′ are rotated to obtain point T″, point V″ and point W″.

5. The data processing method of the array displacement meter according to claim 2, characterized in that: Use M″′ to rotate point V″ and point W″ around OT″ to obtain point V″′ and point W″′, where: Among them, T X is the coordinate value of the X axis of the carrier coordinate system of point T″, T Y is the Y-axis coordinate value of point T″ in the carrier coordinate system, T Z is the coordinate value of the Z axis in the carrier coordinate system of point T″.

6. The data processing method of the array displacement meter according to claim 2, characterized in that: The displacement components in S3 include the top displacement component of the i-th segment and the surface displacement component of the i-th segment is the coordinate value of the X-axis of point V″′ on node i in the carrier coordinate system, V″′ Y,i is the Y-axis coordinate value of point V″′ on node i in the carrier coordinate system, V″′ Z,i is the coordinate value of the Z axis of the point V″′ on the node i in the carrier coordinate system; is the coordinate value of the X-axis of the point W″′ on node i in the carrier coordinate system, W″′ Y,i is the Y-axis coordinate value of point W″′ on node i in the carrier coordinate system, W″′ Z,i is the coordinate value of the Z axis of the point W″′ on the node i in the carrier coordinate system.

7. The data processing method of the array displacement meter according to claim 6, characterized in that: In S3, the displacement component in the carrier coordinate system is transformed into the geographic coordinate system, as shown in the following formula: in: is the transformation relationship matrix between the geographic coordinate system and the carrier coordinate system of the i-th segment, is the displacement component of the X axis of the i-th segment in the geographic coordinate system, is the displacement component of the Y axis of the i-th segment in the geographic coordinate system, is the displacement component of the Z axis of the i-th segment in the geographic coordinate system; include and in By using the top displacement component, we can obtain: It is obtained by the surface displacement component.

8. The data processing method of the array displacement meter according to claim 7, characterized in that: S3 also includes a second reference point U, which is located on the X-axis of the carrier coordinate system; when rotating: first, point W is rotated around the Z-axis according to the heading angle ψ to obtain point W′, and then point U, point V and point W′ are rotated around the Y-axis according to the pitch angle θ to obtain point U″″, point V″ and point W″, and finally, point V″ and point W″ are rotated around OU″ according to the roll angle φ to obtain point V″′ and point W″′.

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