Open caisson attitude satellite navigation system monitoring data processing method

Abstract

The invention discloses an open caisson attitude satellite navigation system monitoring data processing method, which belongs to the technical field of civil engineering data monitoring, and comprises the following steps: acquiring open caisson attitude satellite navigation system monitoring data; pauta criterion processing is carried out on the monitoring data of the open caisson attitude satellite navigation system, and dynamic filtering of invalid data interference verification, multi-sensor consistency verification and instantaneous jump error verification is carried out in sequence; and retaining the dynamically filtered open caisson attitude satellite navigation system monitoring data. According to the method, Pauta criterion processing is carried out on monitoring data of an open caisson attitude satellite navigation system, dynamic filtering of invalid data interference verification, multi-sensor consistency verification and instantaneous jump error verification is carried out in sequence, and through three-level abnormal correlation filtering, the omission ratio of abnormal data can be greatly reduced, and the precision of open caisson attitude calculation can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of civil engineering data monitoring, and in particular relates to a method for processing monitoring data of a caisson attitude satellite navigation system. Background Art

[0002] During caisson construction, satellite navigation system dynamic monitoring technology is often used to monitor the verticality, plane position, and attitude changes of the caisson in real time. However, satellite navigation system signals are susceptible to interference from various factors, and the following problems exist: 1. Invalid data interference: When the sensor is powered off or communication is interrupted, it may output zero or null data, interfering with subsequent analysis; 2. Poor multi-sensor consistency: When the data from multiple satellite navigation system receivers deployed on the top of the same caisson differ significantly, it is impossible to effectively identify abnormal sensors. The single data verification logic is simple and spatial inconsistencies are easily missed. 3. Instantaneous jump error: Due to environmental interference (such as multipath effect, satellite signal obstruction) or equipment abnormality, the satellite navigation system elevation (Z value) may suddenly jump, resulting in attitude misjudgment. Summary of the Invention

[0003] The purpose of the present invention is to provide a method for processing monitoring data of a caisson attitude satellite navigation system, which can improve the accuracy and reliability of caisson attitude solution.

[0004] In order to achieve the above object, the present invention provides the following technical solutions: In a first aspect, the present invention provides a method for processing monitoring data of a caisson attitude satellite navigation system, comprising: Obtaining caisson attitude satellite navigation system monitoring data; The monitoring data of the caisson attitude satellite navigation system is processed according to the Laida criterion, and dynamic filtering is carried out in sequence, including invalid data interference verification, multi-sensor consistency verification, and transient jump error verification; Retain the satellite navigation system monitoring data of the caisson attitude through dynamic filtering.

[0005] In combination with the first aspect, further, the caisson attitude satellite navigation system monitoring data is collected by various monitoring points arranged at the caisson at a preset frequency, including the original data of the X-axis, Y-axis, and Z-axis coordinates of the caisson.

[0006] In combination with the first aspect, further, the caisson attitude satellite navigation system monitoring data is collected by four monitoring points symmetrically arranged on the top of the caisson at a frequency greater than or equal to 1 time per minute, including the original data of the X-axis, Y-axis, and Z-axis coordinates of the caisson.

[0007] In combination with the first aspect, further processing of the caisson attitude satellite navigation system monitoring data using the Laida criterion includes: Based on the satellite navigation system monitoring data of the caisson attitude within a preset time, the mean and standard deviation of the X-axis, Y-axis, and Z-axis coordinates of the caisson are calculated; The satellite navigation system monitoring data of the caisson attitude with a value greater than will be eliminated.

[0008] In combination with the first aspect, further, performing invalid data interference check on the caisson attitude satellite navigation system monitoring data includes: Based on the satellite navigation system monitoring data of the caisson attitude within a preset time, the X-axis, Y-axis, and Z-axis coordinates of the caisson are verified. If any of the X-axis, Y-axis, and Z-axis coordinates of the caisson have a value of 0 or a null value, it is determined that there is a communication interruption or equipment abnormality, and this set of X-axis, Y-axis, and Z-axis coordinates is discarded; The multi-sensor consistency check of the caisson attitude satellite navigation system monitoring data includes: Based on the satellite navigation system monitoring data of the caisson attitude within a preset time, the Z-axis coordinates of the caisson at the same time are cross-calibrated. If the difference between any two Z-axis coordinates is greater than the difference threshold, the sensor is determined to be failed and this set of Z-axis coordinates is discarded; The instantaneous jump error check of the caisson attitude satellite navigation system monitoring data includes: Based on the satellite navigation system monitoring data of the caisson attitude within the preset time, the Z-axis coordinate of the caisson at the current moment is cross-calibrated with the Z-axis coordinate of the caisson at the previous moment. If the absolute difference between the Z-axis coordinate of the caisson at the current moment and the Z-axis coordinate of the caisson at the previous moment is greater than the absolute difference threshold, an instantaneous jump error is determined and this set of Z-axis coordinates is eliminated.

[0009] In combination with the first aspect, further, the difference threshold is 3B / 150, where B is the short side length or radius of the caisson, in m; the absolute difference threshold is 3A, where A is the allowable value of the caisson's daily sinking volume divided by 24h, in m / h.

[0010] In combination with the first aspect, further, when communication is interrupted or any one of equipment abnormality, sensor failure, and transient jump error is triggered, an abnormal prompt message is issued.

[0011] In combination with the first aspect, further, the priority of invalid data interference check is higher than the priority of multi-sensor consistency check, which is higher than the priority of transient jump error check.

[0012] In a second aspect, the present invention provides a method for calculating a caisson posture, characterized by comprising: The caisson attitude calculation is performed using the caisson attitude satellite navigation system monitoring data processed by the caisson attitude satellite navigation system monitoring data processing method as described in any one of the first aspects.

[0013] In combination with the second aspect, further, the caisson posture calculation includes: The vertical inclination of the caisson is calculated based on the difference in the Z-axis coordinates of the caisson; The displacement of the center point of the caisson is calculated based on the average of the offsets of the X-axis and Y-axis coordinates of the caisson; The mean value of the Z-axis coordinate of the caisson is taken as the sinking amount of the caisson at the current moment.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The method for processing caisson attitude satellite navigation system monitoring data provided by the present invention processes the caisson attitude satellite navigation system monitoring data using the Laida criterion and performs dynamic filtering, including invalid data interference verification, multi-sensor consistency verification, and transient jump error verification. Through three-level anomaly correlation filtering, the missed detection rate of abnormal data can be greatly reduced, and the accuracy of caisson attitude solution can be improved. Furthermore, the present invention supports dynamic adjustment of filtering thresholds such as difference thresholds and absolute difference thresholds. For example, the absolute difference threshold can be adjusted according to the allowable daily subsidence value of different caisson soil layers. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of a method for processing monitoring data of a caisson attitude satellite navigation system provided in an embodiment of the present application; Figure 2 This is a schematic diagram of the layout of monitoring points of a satellite navigation system provided in an embodiment of the present application, wherein (a) is a plan view, (b) is an upstream and downstream elevation view, and (c) is a north-south elevation view. DETAILED DESCRIPTION

[0016] The technical solution of the present application will be further described in detail below in conjunction with specific implementation methods.

[0017] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application. The embodiments of the present application and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0018] The present application provides a method for processing monitoring data of a caisson attitude satellite navigation system, comprising: Obtaining caisson attitude satellite navigation system monitoring data; The monitoring data of the caisson attitude satellite navigation system is processed according to the Laida criterion, and dynamic filtering is carried out in sequence, including invalid data interference verification, multi-sensor consistency verification, and transient jump error verification; Retain the satellite navigation system monitoring data of the caisson attitude through dynamic filtering.

[0019] The embodiment of the present application provides a method for processing monitoring data of a caisson attitude satellite navigation system, which processes the monitoring data of the caisson attitude satellite navigation system according to the Laida criterion, and performs dynamic filtering of invalid data interference verification, multi-sensor consistency verification, and transient jump error verification in sequence. Through three-level abnormality correlation filtering, the missed detection rate of abnormal data can be greatly reduced, and the accuracy of caisson attitude solution can be improved.

[0020] In one possible embodiment, Figure 1 As shown, the method for processing monitoring data of the caisson attitude satellite navigation system specifically includes the following steps: Step 1: Obtain caisson attitude satellite navigation system monitoring data; In this embodiment, the caisson attitude satellite navigation system monitoring data is collected at a preset frequency by various monitoring points arranged at the caisson, including the original data of the X-axis, Y-axis, and Z-axis coordinates of the caisson.

[0021] Specifically, such as Figure 2 As shown in the figure, the caisson attitude satellite navigation system monitoring data is collected by four monitoring points (GPS-1, GPS-2, GPS-3, GPS-4) symmetrically arranged on the top of the caisson at a frequency greater than or equal to 1 time per minute, including the original data of the X-axis, Y-axis, and Z-axis coordinates of the caisson.

[0022] Figure 2 The caisson is 75m long, 70m wide and 57m high, and the four monitoring points are located at the midpoints of the four sides of the caisson.

[0023] Step 2: The data monitored by the satellite navigation system for the caisson attitude is processed according to the Laida criterion, and dynamic filtering is performed in sequence, including invalid data interference check, multi-sensor consistency check, and transient jump error check; In this embodiment, the Laida criterion processing of the caisson attitude satellite navigation system monitoring data specifically includes the following steps: Step 1: Based on the satellite navigation system monitoring data of the caisson attitude within a preset time, calculate the mean and standard deviation of the X-axis, Y-axis, and Z-axis coordinates of the caisson; Step ②: Eliminate the satellite navigation system monitoring data of the caisson attitude with a value greater than .

[0024] In this embodiment, the invalid data interference check of the caisson attitude satellite navigation system monitoring data specifically includes: based on the caisson attitude satellite navigation system monitoring data within a preset time, checking the X-axis, Y-axis, and Z-axis coordinates of the caisson; if there is a 0 value or a null value in the X-axis, Y-axis, and Z-axis coordinates of the caisson, it is determined that the communication is interrupted or the equipment is abnormal, and this set of X-axis, Y-axis, and Z-axis coordinates is discarded.

[0025] In this embodiment, the multi-sensor consistency check of the caisson attitude satellite navigation system monitoring data specifically includes: based on the caisson attitude satellite navigation system monitoring data within a preset time, the Z-axis coordinates of the caisson at the same time are cross-calibrated. If the difference between any two Z-axis coordinates is greater than the difference threshold, the sensor is determined to be failed and this set of Z-axis coordinates is eliminated.

[0026] Specifically, the difference threshold is 3B / 150, where B is the short side length or radius of the caisson, in meters.

[0027] In this embodiment, the instantaneous jump error check of the caisson attitude satellite navigation system monitoring data specifically includes: based on the caisson attitude satellite navigation system monitoring data within a preset time, the Z-axis coordinate of the caisson at the current moment and the Z-axis coordinate of the caisson at the previous moment are cross-calibrated. If the absolute difference between the Z-axis coordinate of the caisson at the current moment and the Z-axis coordinate of the caisson at the previous moment is greater than the absolute difference threshold, an instantaneous jump error is determined and this set of Z-axis coordinates is eliminated.

[0028] Specifically, the absolute difference threshold is 3A, where A is the allowable daily sinking volume of the caisson divided by 24 hours, in m / h.

[0029] Both the difference threshold and the absolute difference threshold can be dynamically adjusted according to actual needs. For example, the absolute difference threshold can change with the allowable value of the single-day subsidence of different soil layers in the caisson.

[0030] Step 3: Retain the caisson attitude satellite navigation system monitoring data that has passed dynamic filtering.

[0031] In this embodiment, after Laida criterion processing and dynamic filtering of invalid data interference verification, multi-sensor consistency verification and instantaneous jump error verification, abnormal data is eliminated and the caisson attitude satellite navigation system monitoring data that passes dynamic filtering is stored for subsequent caisson attitude calculation.

[0032] In a possible embodiment, when communication is interrupted or any one of device abnormality, sensor failure, and transient jump error is triggered, an abnormal prompt message is issued.

[0033] Specifically, the three-level abnormality association filtering consists of invalid data interference check, multi-sensor consistency check and transient jump error check. The judgment rules of invalid data interference check, multi-sensor consistency check and transient jump error check are "logical AND" relationships, that is, if any one of the judgment rules of invalid data interference check, multi-sensor consistency check and transient jump error check is triggered, the subsequent judgment will be terminated, the entire set of data will be discarded, and an abnormal prompt message will be issued.

[0034] In this embodiment, the priority of invalid data interference check is higher than the priority of multi-sensor consistency check and higher than the priority of transient jump error check.

[0035] In one possible embodiment, Figure 2 As shown in the figure, a bridge caisson is 75 meters long, 70 meters wide, and 57 meters high. The permissible daily subsidence in the silt layer is no more than 1 meter. During the sinking process, four satellite navigation system receivers (GPS-1, GPS-2, GPS-3, and GPS-4) were deployed at the top of the caisson to dynamically monitor its posture changes.

[0036] like Figure 1 As shown, the method for processing monitoring data of the caisson attitude satellite navigation system specifically includes the following steps: Step 1. Data acquisition (raw data input): Four satellite navigation system receivers (GPS-1, GPS-2, GPS-3, and GPS-4) were deployed at the midpoints of the four sides of the caisson, with a sampling frequency of 1 time per minute. Step 2. Laida criterion processing (preprocessing): Calculate the mean and standard deviation within a 30-minute window and remove data that are out of range; Step 3. Take the average of interval data: take the average of the satellite navigation system dynamic data (X-axis, Y-axis, and Z-axis coordinates) after data preprocessing within a half-hour time interval; Step 4. Rule 1 is triggered: a sensor outputs X=0 due to signal interruption, and the system automatically removes this group of data; Step 5. Rule 2 is triggered: If the difference between the Z value of a sensor and the other three reaches 2.5m>3×(70m / 150)=1.4m, it is judged as invalid and the entire set of data is discarded; Step 6. Rule 3 is triggered: At a certain moment, the Z value suddenly jumps by +0.3m (the previous set of Z values is normal) > 3×(1m / 24) = 0.125m. The system determines it as abnormal and discards the data.

[0037] The present application provides a method for calculating a caisson posture, including: The caisson attitude calculation is performed using the caisson attitude satellite navigation system monitoring data processed by the caisson attitude satellite navigation system monitoring data processing method provided in any embodiment of the present application.

[0038] In this embodiment, the caisson posture calculation includes: The vertical inclination of the caisson is calculated based on the difference in the Z-axis coordinates of the caisson; The displacement of the center point of the caisson is calculated based on the average of the offsets of the X-axis and Y-axis coordinates of the caisson; The mean value of the Z-axis coordinate of the caisson is taken as the sinking amount of the caisson at the current moment.

[0039] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for processing data from a caisson attitude satellite navigation system monitoring system, characterized in that: include: Obtaining caisson attitude satellite navigation system monitoring data; The monitoring data of the caisson attitude satellite navigation system is processed according to the Laida criterion, and dynamic filtering is carried out in sequence, including invalid data interference verification, multi-sensor consistency verification, and transient jump error verification; Retain the satellite navigation system monitoring data of the caisson attitude through dynamic filtering.

2. The method for processing monitoring data of a caisson attitude satellite navigation system according to claim 1, characterized in that: The monitoring data of the caisson attitude satellite navigation system is collected at a preset frequency by various monitoring points arranged at the caisson, including the original data of the X-axis, Y-axis, and Z-axis coordinates of the caisson.

3. The method for processing monitoring data of a caisson attitude satellite navigation system according to claim 2, characterized in that: The caisson attitude satellite navigation system monitoring data is collected by four monitoring points symmetrically arranged on the top of the caisson at a frequency greater than or equal to 1 time per minute, including the original data of the X-axis, Y-axis, and Z-axis coordinates of the caisson.

4. The method for processing monitoring data of a caisson attitude satellite navigation system according to claim 1, characterized in that: The Laida criterion processing of the caisson attitude satellite navigation system monitoring data includes: Based on the satellite navigation system monitoring data of the caisson attitude within a preset time, the mean and standard deviation of the X-axis, Y-axis, and Z-axis coordinates of the caisson are calculated; The satellite navigation system monitoring data of the caisson attitude with a value greater than will be eliminated.

5. The method for processing monitoring data of a caisson attitude satellite navigation system according to claim 1, characterized in that: Invalid data interference check of the caisson attitude satellite navigation system monitoring data includes: Based on the satellite navigation system monitoring data of the caisson attitude within a preset time, the X-axis, Y-axis, and Z-axis coordinates of the caisson are verified. If any of the X-axis, Y-axis, and Z-axis coordinates of the caisson have a value of 0 or a null value, it is determined that there is a communication interruption or equipment abnormality, and this set of X-axis, Y-axis, and Z-axis coordinates is discarded; The multi-sensor consistency check of the caisson attitude satellite navigation system monitoring data includes: Based on the satellite navigation system monitoring data of the caisson attitude within a preset time, the Z-axis coordinates of the caisson at the same time are cross-calibrated. If the difference between any two Z-axis coordinates is greater than the difference threshold, the sensor is determined to be failed and this set of Z-axis coordinates is discarded; The instantaneous jump error check of the caisson attitude satellite navigation system monitoring data includes: Based on the satellite navigation system monitoring data of the caisson attitude within the preset time, the Z-axis coordinate of the caisson at the current moment is cross-calibrated with the Z-axis coordinate of the caisson at the previous moment. If the absolute difference between the Z-axis coordinate of the caisson at the current moment and the Z-axis coordinate of the caisson at the previous moment is greater than the absolute difference threshold, an instantaneous jump error is determined and this set of Z-axis coordinates is eliminated.

6. The method for processing monitoring data of a caisson attitude satellite navigation system according to claim 5, characterized in that: The difference threshold is 3B / 150, where B is the short side length or radius of the caisson, in meters; the absolute difference threshold is 3A, where A is the allowable daily sinking value of the caisson divided by 24 hours, in meters per hour.

7. The method for processing monitoring data of a caisson attitude satellite navigation system according to claim 5, characterized in that: When communication is interrupted or any of the following is triggered: equipment abnormality, sensor failure, or transient jump error, an abnormal prompt message will be issued.

8. The method for processing monitoring data of a caisson attitude satellite navigation system according to claim 1, characterized in that: The priority of invalid data interference check is higher than the priority of multi-sensor consistency check, which is higher than the priority of transient jump error check.

9. A method for calculating the posture of a caisson, characterized in that: include: The caisson attitude calculation is performed using the caisson attitude satellite navigation system monitoring data processed by the caisson attitude satellite navigation system monitoring data processing method according to any one of claims 1 to 8.

10. The method for calculating the caisson posture according to claim 9, characterized in that: Caisson attitude calculation includes: The vertical inclination of the caisson is calculated based on the difference in the Z-axis coordinates of the caisson; The displacement of the center point of the caisson is calculated based on the average of the offsets of the X-axis and Y-axis coordinates of the caisson; The mean value of the Z-axis coordinate of the caisson is taken as the sinking amount of the caisson at the current moment.

Images