A data processing method for an arrayed displacement meter

Abstract

The application discloses a data processing method of an array displacement meter, which comprises the following steps: S1, collecting information of each section of the array displacement meter and time information of the collecting moment; S2, obtaining the roll angle phi, the pitch angle theta and the heading angle psi of each section of the array displacement meter according to the information of each section of the array displacement meter obtained in S1; S3, calculating displacement components by rotating points on the array displacement meter; S4, accumulating section displacement components of the array displacement meter; and S5, calculating deformation of the array displacement meter. According to the coordinate system relation matrix and the rotation logic, the displacement information of the whole array displacement meter is obtained through data such as the hygrometer, the magnetometer and the accelerometer, so that the measurement accuracy and precision of the array displacement meter are improved, and the application scope and market prospect of related products are expanded.

Description

Technical Field

[0001] This invention relates to the field of deformation monitoring technology, and specifically to a data processing method for an array-type displacement gauge. Background Technology

[0002] In various monitoring fields such as hydropower, railways, tunnels, and slopes, array displacement gauges have been widely used due to their high precision, high stability, and flexibility. As a three-dimensional deformation monitoring sensor integrating advanced technology, array displacement gauges provide real-time and accurate comprehensive data on deformation, tilt angle, and vibration. They are a powerful tool for structural deformation monitoring in many industries during engineering construction and operation, effectively ensuring the safety and quality of various engineering projects. However, existing data processing methods cannot meet the accuracy and reliability requirements of actual engineering construction. Summary of the Invention

[0003] To address the problems of existing technologies, this invention proposes a data processing method for array-type displacement gauges that offers high accuracy and realism.

[0004] Therefore, the present invention adopts the following technical solution:

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

[0006] S1, collect information from each segment of the array displacement gauge and record the collection time information;

[0007] S2, based on the information of each segment of the array displacement gauge obtained in S1, obtain the roll angle φ, pitch angle θ and heading angle ψ of each segment;

[0008] S3, by rotating the points on the array displacement gauge, calculate the displacement components:

[0009] For each segment of the array displacement gauge, in the carrier coordinate system with the origin O as the center of its bottom circle, let the center of its top circle be point V, any point on its cylindrical outer surface be 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″, V″, and W″. Finally, rotate points V″ and W″ around OT″ according to the pitch angle θ to obtain points V″′ and W″′. The coordinate values ​​of points V″′ and W″′ represent the displacement components of any point at the top of the segment and any point on the cylindrical surface of the segment in the carrier coordinate system, respectively. Finally, transform the displacement components to the geographic coordinate system to obtain the top displacement component and the surface displacement component in the geographic coordinate system.

[0010] S4, accumulate the segmental displacement components of the array displacement gauge:

[0011] First, the acquisition time information recorded in 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 data acquisition, t E This is the time when data collection ends;

[0012] Then, based on the location of the point to be measured, the different segments of the array displacement meter are divided into segment groups. The total displacement component of each segment group at time t is obtained by accumulating the displacement components of each segment in the segment group at time t. The total displacement component includes the total displacement component at the top and the total displacement component on the surface.

[0013] S5. By comparing the overall displacement components at different times, the deformation amount and deformation rate of the measured point in different time periods are calculated.

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

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

[0016] Using rotation matrix Rotate points T, V, and W′ to obtain points T″, V″, and W″.

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

[0018]

[0019] Among them, T X Let T″ be the X-axis coordinate of the carrier coordinate system. Y Let T″ be the Y-axis coordinate of the carrier coordinate system.Z Let T″ be the Z-axis coordinate value of the carrier coordinate system.

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

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

[0022]

[0023] in: Let be the transformation matrix between the geographic coordinate system and the carrier coordinate system of the i-th segment. Let be the displacement component of the i-th segment along the X-axis in the geographic coordinate system. Let represent the displacement component of the i-th segment along the Y-axis in the geographic coordinate system. Let be the displacement component of the i-th segment along the Z-axis in the geographic coordinate system; the include and in It is obtained through the aforementioned top displacement component. It is obtained by the surface displacement components.

[0024] Preferably, S3 also 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″ and W″ are rotated around OU″ according to the roll angle φ to obtain points V″′ and W″′.

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

[0026] 1. This invention uses the sensing data of an array displacement meter, combined with calibration information, attitude relationship matrix, and unique rotation matrix, to comprehensively calculate the displacement components of the three axes of the array displacement meter, thereby improving the accuracy and authenticity of the measurement results of the array displacement meter.

[0027] 2. The method in this invention is simple and convenient to operate, and it has shown application potential in the fields of geometric modeling and animation rendering of three-dimensional models. It significantly enhances the practical application value of array displacement gauges in deformation monitoring scenarios and expands the application scope and market prospects of related products.

[0028] 3. The method in this invention expands the measurement dimensions of array displacement gauges in the field of deformation monitoring, improves the quality of monitoring data, and more effectively ensures the safe implementation of engineering projects. Attached Figure Description

[0029] Figure 1 A schematic diagram of the system configuration for obtaining the data required by this invention;

[0030] Figure 2 This is a flowchart of the method of the present invention. Detailed Implementation

[0031] like Figure 1 As shown, the existing array displacement gauges are mainly deployed in the following ways: vertical, horizontal and circular. The entire array displacement gauge system also includes a bus, a data acquisition unit, a server and a workstation.

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

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

[0034] S1, collects information from each segment of the array displacement gauge:

[0035] Based on the monitoring objectives and requirements, N segments of array-type displacement gauges are connected in series in an orderly manner. Calibration is performed before production deployment. The gauges are then arranged vertically, laterally, or in a ring and securely fixed. Information from each segment of the array-type displacement gauges, as well as the time information of the acquisition, is collected. The information for the i-th (1≤i≤N) segment of the array-type displacement gauge includes: segment number i, power supply voltage V. i Temperature T i RH humidity 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,iThe X-axis acceleration component Acc from the accelerometer X,i The Y-axis acceleration component Acc from the accelerometer Y,i and the Z-axis acceleration component Acc from the accelerometer Z,i .

[0036] S2, calculate the roll angle φ, pitch angle θ, and yaw angle ψ of each segment of the array displacement gauge around the X-axis:

[0037] To better explain the meaning and steps below, following the right-hand rule, let the geographic coordinate system be the n-system, i.e., the North-East-Earth (NED) coordinate system, and the carrier coordinate system of the array displacement gauge be the b-system, i.e., the Front-Right-Down coordinate system. To simplify the calculation, we will temporarily disregard temperature compensation and take the data collected from the i-th segment in S1 as an example to calculate the roll angle φ of the i-th segment. i Pitch angle θ i and heading angle ψ i This includes the following steps:

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

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

[0040]

[0041] in, The transformation matrix between the geographic coordinate system and the carrier coordinate system is shown in equation (2):

[0042]

[0043] Then, by rearranging equation (2), the roll angle φ of the i-th segment of the array displacement gauge is obtained. i and pitch angle θ i As shown in the following two formulas:

[0044]

[0045] S22, calculate the heading angle ψ of the i-th segment of the array displacement gauge. i :

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

[0047]

[0048] Among them, M N M is the northward magnetic field vector.D Let be the direction of the Earth's magnetic field vector. This simplifies to equation (6):

[0049]

[0050] By transforming the above equation, the heading angle ψ of the i-th segment of the array displacement gauge can be obtained. i As shown in equation (7):

[0051]

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

[0053] S3, the displacement components are calculated by rotating the points on the array displacement gauge:

[0054] Based on the roll angle φ, pitch angle θ, and yaw angle ψ of each segment obtained from S2, the displacement components of each segment along the X, Y, and Z axes are calculated. The displacement components are obtained by three rotations of points on the array-type displacement gauge in the carrier coordinate system. The order of rotation around the axes can be either Z-axis first, then X-axis, and finally Y-axis, or vice versa, i.e., ZXY or ZYX. Using reference points on each surface of the array-type displacement gauge to replace the entire array-type displacement gauge during rotation simplifies the calculation process and avoids errors caused by rotation.

[0055] For ease of understanding, in one embodiment of the present invention, the array displacement gauge is approximated as a cylinder, with a single segment length of L (L is usually taken as 500mm or 1000mm) and a radius of R, which is usually taken as 18mm; the origin O of the carrier coordinate system of each segment of the array displacement gauge is located at the center of its bottom circle; therefore: the center of the top circle of the array displacement gauge is V=(0,0,L); a first reference point T and a second reference point U are set on the bottom surface of the array displacement gauge, U=(1,0,0), T=(0,1,0); any point on the cylindrical surface of the array displacement gauge 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, point W is taken as (R, 0, L / 2), and the solution steps are as follows:

[0057] S31: Based on the heading angle ψ i Rotate W around the Z-axis:

[0058] Using rotation matrix Rotate W to obtain W′, and leave points U, T, and V unrotated to obtain...

[0059] S32: Based on the roll angle φ i Rotate T, V, and W′ around the X-axis:

[0060] Using rotation matrix Rotating T, V, and W′ yields T″, V″, and W″, while point U remains unrotated, resulting in... V″=[0-Lsinφ i Lcosφ i ] and T″=[0 cosφ i sinφ i ].

[0061] S33: Based on the pitch angle θ i Rotate U, V″, and W″ around OT″:

[0062] Using M″′ to rotate U, V″, and W″ around OT″, we obtain U″′, V″′, and W″′, where:

[0063]

[0064]

[0065]

[0066]

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

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

[0069] S34, Solve for the corrected displacement components, including the following steps:

[0070] S341, Calculate displacement components:

[0071] Based on the physical information of the array displacement gauge segments, it can be seen that the coordinates of points V″′ and W″′ represent the displacement components of any point on the top of the segment and the surface of the segment cylinder in the carrier coordinate system, respectively.

[0072] In the above embodiment, the displacement component of point V″′ is taken as an example to solve the problem, and the top displacement component of the i-th segment is obtained, which is denoted as the top displacement component. The following formula is given:

[0073]

[0074] If we use W″′ to solve the problem, we can obtain the displacement component at any point on the surface of the i-th segment cylinder, denoted as the surface displacement component.

[0075] S342, perform displacement component conversion to obtain the corrected displacement component:

[0076] The displacement components obtained in the carrier coordinate system from S341 are transformed to the geographic coordinate system, as shown in the following equation:

[0077]

[0078] in: Let be the transformation matrix between the geographic coordinate system and the carrier coordinate system of the i-th segment. Let be the displacement component of the i-th segment along the X-axis in the geographic coordinate system. Let represent the displacement component of the i-th segment along the Y-axis in the geographic coordinate system. Let be the displacement component of the i-th segment along the Z-axis in the geographic coordinate system. include and It is obtained through the aforementioned top displacement component. It is obtained by surface displacement components.

[0079] S4, accumulate the segmental displacement components of the array displacement gauge:

[0080] First, add the time information of the acquisition time in S1 to the result of S34 to obtain the top displacement component of the i-th segment on the X-axis in the geographic coordinate system at time t. The top displacement component of the i-th segment at time t on the Y-axis in the geographic coordinate system. The top displacement component of the i-th segment along the Z-axis at time t in the geographic coordinate system. The surface displacement component of the i-th segment along the X-axis at time t in the geographic coordinate system. The surface displacement component of the i-th segment at time t along the Y-axis in the geographic coordinate system. The surface displacement component of the i-th segment along the Z-axis at time t in the geographic coordinate system. Where t0≤t≤t E t0 is the initial time of data acquisition, t E This is the time when data collection ends.

[0081] Then, based on the location of the point to be measured, the different segments of the array displacement meter are divided into segment groups, and the overall displacement component at the top of the segment group and the overall displacement component on the surface of the segment group are calculated.

[0082] When calculating the overall displacement component at the top of the segment group, the top displacement components of the multiple array displacement gauge segments contained 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 N′ to N″.

[0085] When calculating the overall displacement components of the segment group surface, it is as shown in equation (11):

[0086]

[0087] S5, calculate the deformation of the array displacement gauge:

[0088] By analyzing the overall displacement components of the array displacement gauges at different times, the deformation of the overall three-dimensional displacement information of the array displacement gauges over a period of time is obtained, specifically:

[0089] The overall three-dimensional displacement information of segment group j at initial time t0 is as follows and The overall three-dimensional displacement information of segment group j at a certain acquisition time t′ is as follows and t0<t′≤t E The difference between the two sets of information yields the deformation ΔD of the overall three-dimensional displacement information of the array displacement gauge from time t0 to time t′. X ΔD Y and ΔD Z As shown in equation (12).

[0090]

[0091] Among them, the overall three-dimensional displacement information is the overall displacement component at the top or the overall displacement component on the surface.

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

Claims

1. A data processing method for an array-type displacement gauge, characterized in that, Includes the following steps: S1, Collect information from each segment of the array displacement meter and record the collection time information. The information of each segment of the array displacement meter includes the segment number i, 1≤i≤N, and the power supply voltage V. i Temperature T i RH humidity 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 from the accelerometer Y,i and the Z-axis acceleration component Acc from the accelerometer Z,i ; S2, based on the information of each segment of the array displacement gauge obtained in S1, obtain the roll angle φ, pitch angle θ and heading angle ψ of each segment; S3, by rotating the points on the array displacement gauge, calculate the displacement components: For each segment of the array displacement gauge, in the carrier coordinate system with its bottom center at the origin O, let its top center be point V, any point on its cylindrical outer surface be W, and the first reference point on the Y-axis of the carrier coordinate system be point T; firstly, rotate point W around the Z-axis according to the heading angle ψ to obtain point W' ′ Then, based on the roll angle φ, point T, point V, and point W are... ′ Rotating around the X-axis yields points T″, V″, and W″; finally, rotating points V″ and W″ around OT″ according to the pitch angle θ yields points V″′ and W″′. The coordinate values ​​of points V″′ and W″′ represent the displacement components of any point on the top of the segment and the surface of the segment cylinder, respectively, in the carrier coordinate system. These displacement components are then transformed to the geographic coordinate system to obtain the top displacement component and the surface displacement component in the geographic coordinate system. Wherein: Using rotation matrix 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 gauge, and L is the length of a single segment of the array displacement gauge; Using rotation matrix Make points T, V, and W ′ Rotate to obtain points T″, V″, and W″; Using M″′, rotate points V″′ and W″′ around OT″′ to obtain points V″′ and W″′, where: Among them, T X Let T″ be the X-axis coordinate of the carrier coordinate system. Y Let T″ be the Y-axis coordinate of the carrier coordinate system. Z Let T″ be the Z-axis coordinate value in the carrier coordinate system; S4, accumulate the segmental displacement components of the array displacement gauge: First, the acquisition time information recorded in 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 data acquisition, t E This is the time when data collection ends; Then, based on the location of the point to be measured, the different segments of the array displacement meter are divided into segment groups. The total displacement component of each segment group at time t is obtained by accumulating the displacement components of each segment in the segment group at time t. The total displacement component includes the total displacement component at the top and the total displacement component on the surface. S5. By comparing the overall displacement components at different times, the deformation amount and deformation rate of the measured point in different time periods are calculated.

2. The data processing method for the array displacement gauge according to claim 1, characterized in that: The displacement components in S3 include the top displacement component of the i-th segment. and the surface displacement components of the i-th segment Let V″′ be the X-axis coordinate of point V″′ on node i in the carrier coordinate system. Y,i Let V″′ be the Y-axis coordinate of point V″′ on node i in the carrier coordinate system. Z,i Let V″′ be the Z-axis coordinate of point V″′ on node i in the carrier coordinate system. Let W″′ be the X-axis coordinate of point W″′ on node i in the carrier coordinate system. Y,i Let W″′ be the Y-axis coordinate of point W″′ on node i in the carrier coordinate system. Z,i Let W″′ be the Z-axis coordinate of point W″′ on node i in the carrier coordinate system.

3. The data processing method for the array displacement gauge according to claim 2, characterized in that: In S3, the displacement components in the carrier coordinate system are transformed to the geographic coordinate system, as shown in the following formula: in: Let be the transformation matrix between the geographic coordinate system and the carrier coordinate system of the i-th segment. Let be the displacement component of the i-th segment along the X-axis in the geographic coordinate system. Let represent the displacement component of the i-th segment along the Y-axis in the geographic coordinate system. Let be the displacement component of the i-th segment along the Z-axis in the geographic coordinate system; the include and in It is obtained through the aforementioned top displacement component. It is obtained by the surface displacement components.

4. The data processing method for the array displacement gauge according to claim 3, characterized in that: S3 also 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″. Finally, points V″ and W″ are rotated around OU″ according to the roll angle φ to obtain points V″′ and W″′.

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