A method for processing monitoring data of a sinking well attitude satellite navigation system

Abstract

The application discloses a kind of caisson attitude satellite navigation system monitoring data processing method, belong to civil engineering data monitoring technical field, method includes: obtaining caisson attitude satellite navigation system monitoring data;Caisson attitude satellite navigation system monitoring data is handled to Radia Criterion, and in turn invalid data interference check, multi-sensor consistency check and instantaneous jump error check dynamic filtering are carried out;Retain the caisson attitude satellite navigation system monitoring data that passes through dynamic filtering.This method carries out Radia Criterion to caisson attitude satellite navigation system monitoring data, and in turn invalid data interference check, multi-sensor consistency check and instantaneous jump error check dynamic filtering are carried out, by three levels of abnormal correlation filtering, can greatly reduce the missed detection rate of abnormal data, improve the precision of caisson attitude solution.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of civil engineering data monitoring, and particularly relates to a caisson attitude satellite navigation system monitoring data processing method. BACKGROUND

[0002] In caisson construction, satellite navigation system dynamic monitoring technology is often used to monitor the verticality, plane position and attitude change of the caisson in real time. However, satellite navigation system signals are easily disturbed by various factors, and the following problems exist:

[0003] 1. Invalid data interference: when the sensor is powered off or communication is interrupted, it may output zero or null data, which interferes with subsequent analysis;

[0004] 2. Poor consistency of multiple sensors: when the data difference of multiple satellite navigation system receivers arranged on the top of the same caisson is too large, it is difficult to effectively identify abnormal sensors, and the single data checking logic is simple and easy to miss spatial inconsistency;

[0005] 3. Instantaneous jump error: affected by environmental interference (such as multipath effect, satellite signal shielding) or device abnormality, the satellite navigation system elevation (Z value) may jump, resulting in attitude misjudgment. SUMMARY

[0006] The purpose of the present application is to provide a caisson attitude satellite navigation system monitoring data processing method, which can improve the accuracy and reliability of caisson attitude calculation.

[0007] To achieve the above purpose, the present application provides the following technical scheme:

[0008] In a first aspect, the present application provides a caisson attitude satellite navigation system monitoring data processing method, comprising:

[0009] Obtaining caisson attitude satellite navigation system monitoring data;

[0010] Performing Laidard criterion processing on the caisson attitude satellite navigation system monitoring data, and sequentially performing invalid data interference checking, multiple sensor consistency checking and instantaneous jump error checking dynamic filtering;

[0011] Retaining the caisson attitude satellite navigation system monitoring data passing the dynamic filtering.

[0012] In combination with the first aspect, further, the caisson attitude satellite navigation system monitoring data is collected by each monitoring point arranged at the caisson at a preset frequency, including the original data of X-axis, Y-axis and Z-axis coordinates of the caisson.

[0013] With reference to 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, and includes original data of X-axis, Y-axis and Z-axis coordinates of the caisson.

[0014] With reference to the first aspect, further, the Raimond criterion processing on the caisson attitude satellite navigation system monitoring data includes:

[0015] Based on the caisson attitude satellite navigation system monitoring data within a preset time, the mean value and the standard deviation of the X-axis, Y-axis and Z-axis coordinates of the caisson are calculated.

[0016] The caisson attitude satellite navigation system monitoring data with a value greater than the value is removed.

[0017] With reference to the first aspect, further, the invalid data interference verification on the caisson attitude satellite navigation system monitoring data includes:

[0018] Based on the caisson attitude satellite navigation system monitoring data within a preset time, the X-axis, Y-axis and Z-axis coordinates of the caisson are verified, and 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 there is a communication interruption or a device abnormality, and this group of X-axis, Y-axis and Z-axis coordinates is removed.

[0019] The multi-sensor consistency verification on the caisson attitude satellite navigation system monitoring data includes:

[0020] 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 mutually verified, and if the difference between any two Z-axis coordinates is greater than the difference threshold value, it is determined that the sensor is invalid, and this group of Z-axis coordinates is removed.

[0021] The instantaneous jump error verification on the caisson attitude satellite navigation system monitoring data includes:

[0022] Based on the caisson attitude satellite navigation system monitoring data within a preset time, the Z-axis coordinates of the caisson at the current time and the Z-axis coordinates of the caisson at the previous time are mutually verified, and if the absolute difference between the Z-axis coordinates of the caisson at the current time and the Z-axis coordinates of the caisson at the previous time is greater than the absolute difference threshold value, it is determined that there is an instantaneous jump error, and this group of Z-axis coordinates is removed.

[0023] With reference to the first aspect, further, the difference threshold value is 3B / 150, wherein B is the short side length or the radius of the caisson, and the unit is m; and the absolute difference threshold value is 3A, wherein A is the single-day sinking amount allowable value of the caisson divided by 24h, and the unit is m / h.

[0024] With reference to the first aspect, further, when any one of the communication interruption or the device abnormality, the sensor failure and the instantaneous jump error is triggered, an abnormal prompt information is sent out.

[0025] In combination with the first aspect, further, the priority of the invalid data interference check is greater than the priority of the multi-sensor consistency check, which is greater than the priority of the instantaneous jump error check.

[0026] In a second aspect, the application provides a method for calculating the attitude of a sinking well, characterized in that it comprises:

[0027] The method for calculating the attitude of a sinking well is performed by using the satellite navigation system monitoring data processed by the method for processing satellite navigation system monitoring data of a sinking well attitude according to any one of the first aspect.

[0028] In combination with the second aspect, further, the calculation of the attitude of the sinking well comprises:

[0029] The vertical inclination of the sinking well is calculated according to the difference in the Z-axis coordinates of the sinking well;

[0030] The center point displacement of the sinking well is calculated according to the average of the offset of the X-axis and Y-axis coordinates of the sinking well;

[0031] The average of the Z-axis coordinates of the sinking well is taken as the current sinking amount of the sinking well.

[0032] Compared with the prior art, the application has the following beneficial effects:

[0033] The method for processing satellite navigation system monitoring data of a sinking well attitude provided by the application performs the LaPlace criterion processing on the satellite navigation system monitoring data of the sinking well attitude, and sequentially performs the dynamic filtering of the invalid data interference check, the multi-sensor consistency check and the instantaneous jump error check, so that the three-level abnormal association filtering can greatly reduce the missed detection rate of abnormal data and improve the accuracy of the sinking well attitude calculation. In addition, the application supports the dynamic adjustment of the filtering threshold such as the difference threshold and the absolute difference threshold, for example, the absolute difference threshold can be changed according to the single-day sinking amount allowed value of different soil layers of the sinking well. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is the flow chart of the method for processing satellite navigation system monitoring data of a sinking well attitude provided by the application;

[0035] Figure 2 is the schematic diagram of the satellite navigation system monitoring point layout provided by the application, wherein (a) is a plan view, (b) is an upstream and downstream side elevation view, and (c) is a south and north side elevation view. DETAILED DESCRIPTION

[0036] The technical solutions of the application will be further described in detail below in combination with the specific embodiments.

[0037] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, for the purpose of explanation, and are not to be understood as limiting the present application. The embodiments of the present application and the technical features in the embodiments can be combined with each other without conflict.

[0038] The embodiment of the present application provides a caisson attitude satellite navigation system monitoring data processing method, comprising:

[0039] obtaining caisson attitude satellite navigation system monitoring data;

[0040] performing dynamic filtering on the caisson attitude satellite navigation system monitoring data by performing Laplace criterion processing, and sequentially performing invalid data interference checking, multi-sensor consistency checking and instantaneous jump error checking;

[0041] retaining the caisson attitude satellite navigation system monitoring data passing the dynamic filtering.

[0042] The caisson attitude satellite navigation system monitoring data processing method provided by the embodiment of the present application performs Laplace criterion processing on the caisson attitude satellite navigation system monitoring data, and sequentially performs dynamic filtering of invalid data interference checking, multi-sensor consistency checking and instantaneous jump error checking, and through three-level abnormal association filtering, the missing detection rate of abnormal data can be greatly reduced, and the accuracy of caisson attitude calculation is improved.

[0043] In one possible embodiment, as shown in Figure 1 The caisson attitude satellite navigation system monitoring data processing method specifically comprises the following steps:

[0044] Step 1: obtaining caisson attitude satellite navigation system monitoring data;

[0045] In the embodiment, the caisson attitude satellite navigation system monitoring data is collected by each monitoring point 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.

[0046] Specifically, as shown in Figure 2 The caisson attitude satellite navigation system monitoring data is collected by four monitoring points (GPS-1, GPS-2, GPS-3 and GPS-4) symmetrically arranged at 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.

[0047] Figure 2 In the embodiment, the caisson has a length of 75 m, a width of 70 m and a height of 57 m, and the four monitoring points are arranged at the midpoints of the four edges of the caisson.

[0048] Step 2: The satellite navigation system monitoring data of the caisson attitude is processed by the Lyapunov criterion, and dynamic filtering is sequentially performed on invalid data interference checking, multi-sensor consistency checking and instantaneous jump error checking;

[0049] In this embodiment, the satellite navigation system monitoring data of the caisson attitude processed by the Lyapunov criterion specifically includes the following steps:

[0050] Step 1: 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.

[0051] Step 2: The satellite navigation system monitoring data of the caisson attitude with a value greater than is removed.

[0052] In this embodiment, the invalid data interference checking of the satellite navigation system monitoring data of the caisson attitude specifically 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 checked, 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 group of X-axis, Y-axis and Z-axis coordinates is removed.

[0053] In this embodiment, the multi-sensor consistency checking of the satellite navigation system monitoring data of the caisson attitude specifically 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 mutually checked, if the difference between any two Z-axis coordinates is greater than the difference threshold value, it is determined that the sensor is invalid, and this group of Z-axis coordinates is removed.

[0054] Specifically, the difference threshold value is 3B / 150, wherein B is the short side length or radius of the caisson, in meters.

[0055] In this embodiment, the instantaneous jump error checking of the satellite navigation system monitoring data of the caisson attitude specifically 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 current time and the Z-axis coordinates of the caisson at the previous time are mutually checked, if the absolute difference between the Z-axis coordinates of the caisson at the current time and the Z-axis coordinates of the caisson at the previous time is greater than the absolute difference threshold value, it is determined that there is an instantaneous jump error, and this group of Z-axis coordinates is removed.

[0056] Specifically, the absolute difference threshold value is 3A, wherein A is the single-day sinking amount allowed value of the caisson divided by 24h, in meters / hour.

[0057] The difference threshold value and the absolute difference threshold value can be dynamically adjusted according to actual needs, for example, the absolute difference threshold value can be changed with the single-day sinking amount allowed value of the caisson in different soil layers.

[0058] Step 3: The satellite navigation system monitoring data of the caisson attitude that passes the dynamic filtering is retained.

[0059] In this embodiment, after the pull-Rida criterion processing, and invalid data interference verification, multi-sensor consistency verification and transient jump error verification dynamic filtering, the abnormal data is removed, and the caisson attitude satellite navigation system monitoring data passing through the dynamic filtering is stored for subsequent caisson attitude calculation.

[0060] In one possible embodiment, when any one of communication interruption or device anomaly, sensor failure, transient jump error is triggered, an abnormal prompt information is sent out.

[0061] Specifically, the invalid data interference verification, multi-sensor consistency verification and transient jump error verification constitute a three-level abnormal association filtering, and the judgment rules of the invalid data interference verification, multi-sensor consistency verification and transient jump error verification are "logical and" relationship, that is, if any one of the judgment rules of the invalid data interference verification, multi-sensor consistency verification and transient jump error verification is triggered, the subsequent judgment is terminated, the whole group of data is discarded, and an abnormal prompt information is sent out.

[0062] In this embodiment, the priority of the invalid data interference verification is greater than the priority of the multi-sensor consistency verification, which is greater than the priority of the transient jump error verification.

[0063] In one possible embodiment, as shown in Figure 2 , the length of a certain bridge caisson is 75m, the width is 70m, and the height is 57m, and the single-day sinking amount allowed value in the silt layer is not more than 1m. During the sinking construction process, four satellite navigation system receivers (GPS-1, GPS-2, GPS-3, GPS-4) are arranged on the top of the caisson to dynamically monitor the attitude change of the caisson.

[0064] As shown in Figure 1 , the caisson attitude satellite navigation system monitoring data processing method specifically includes the following steps:

[0065] Step 1. Data acquisition (original data input): four satellite navigation system receivers (GPS-1, GPS-2, GPS-3, GPS-4) are arranged at the midpoint of the four sides of the caisson, and the sampling frequency is 1 time / minute;

[0066] Step 2. Pull-Rida criterion processing (preprocessing): calculate the mean and standard deviation in a 30-minute window, and remove the data beyond the range;

[0067] Step 3. Interval data averaging: the satellite navigation system dynamic data (X-axis, Y-axis, Z-axis coordinates) after data preprocessing are averaged in a half-hour time interval;

[0068] Step 4. Rule 1 triggered: a sensor outputs X=0 due to signal interruption, and the system automatically removes the group of data;

[0069] Step 5. Rule 2 triggers: the value of a certain sensor Z and the difference of other three values reach 2.5m>3x(70m / 150)=1.4m, and it is determined that the failure, and the whole set of data is discarded;

[0070] Step 6. Rule 3 triggers: the value of Z jumps +0.3m (the last group of Z values is normal) >3x(1m / 24)=0.125m, and the system determines that it is abnormal, and the data is discarded.

[0071] The embodiment of the present application provides a kind of sinking well posture calculation method, comprising:

[0072] The sinking well posture satellite navigation system monitoring data processed by the sinking well posture satellite navigation system monitoring data processing method provided by any embodiment of the present application is used for sinking well posture calculation.

[0073] In the embodiment, sinking well posture calculation includes:

[0074] According to the difference of the Z-axis coordinates of sinking well, the vertical inclination of sinking well is calculated;

[0075] According to the mean value of the offset of the X-axis and Y-axis coordinates of sinking well, the center point displacement of sinking well is calculated.

[0076] The mean value of the Z-axis coordinates of sinking well is used as the current sinking amount of sinking well.

[0077] The above is only the preferred embodiment of the present application, it should be pointed out, for ordinary skilled person in the art, without departing from the technical principles of the present application, can make several improvements and deformation, these improvements and deformation also should be regarded as the protection scope of the present application.

Claims

1. A method for processing monitoring data of a caisson attitude satellite navigation system, characterized in that, include: Acquire monitoring data from the caisson attitude satellite navigation system; The monitoring data of the caisson attitude satellite navigation system is processed according to the Laida criterion, and dynamic filtering is performed in sequence for invalid data interference verification, multi-sensor consistency verification and instantaneous jump error verification. Retain monitoring data of the caisson attitude satellite navigation system through dynamic filtering; The invalid data interference verification 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 period, the X-axis, Y-axis, and Z-axis coordinates of the caisson are verified. If there are 0 or empty values ​​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 removed. Multi-sensor consistency verification of monitoring data from the caisson attitude satellite navigation system includes: Based on the satellite navigation system monitoring data of the caisson attitude within a preset time period, 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 faulty and this set of Z-axis coordinates is discarded. The instantaneous jump error verification 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 period, the Z-axis coordinates of the caisson at the current time are cross-calibrated with the Z-axis coordinates of the caisson at the previous time. If the absolute difference between the Z-axis coordinates of the caisson at the current time and the Z-axis coordinates of the caisson at the previous time is greater than the absolute difference threshold, then an instantaneous jump error is determined, and this set of Z-axis coordinates is discarded.

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 by various monitoring points deployed at the caisson at a preset frequency, including the raw data of the caisson's X-axis, Y-axis, and Z-axis coordinates.

3. The method for processing monitoring data of a caisson attitude satellite navigation system according to claim 2, characterized in that, The monitoring data of the caisson attitude satellite navigation system is collected by four monitoring points symmetrically deployed on the top of the caisson at a frequency of more than or equal to once per minute, including the raw 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 monitoring data from the caisson attitude satellite navigation system includes: Based on the satellite navigation system monitoring data of the caisson attitude within a preset time period, calculate the mean and standard deviation of the X-axis, Y-axis, and Z-axis coordinates of the caisson; Data from the caisson attitude satellite navigation system monitoring system that have values ​​greater than a certain threshold will be removed.

5. The method for processing monitoring data of a caisson attitude satellite navigation system according to claim 1, characterized in that, The difference threshold is 3B / 150, where B is the shorter side length or radius of the caisson in meters; the absolute difference threshold is 3A, where A is the allowable daily sinking amount of the caisson divided by 24 hours in meters per hour.

6. The method for processing monitoring data of a caisson attitude satellite navigation system according to claim 1, characterized in that, An error message will be issued when any of the following is triggered: communication interruption, device malfunction, sensor failure, or instantaneous jump error.

7. 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 verification is higher than that of multi-sensor consistency verification, which is higher than that of instantaneous jump error verification.

8. A method for calculating the attitude of a caisson, characterized in that, include: The caisson attitude is calculated 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 claims 1 to 7. 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 offset of the X-axis and Y-axis coordinates. The average value of the Z-axis coordinate of the caisson is taken as the current sinking amount of the caisson.

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