A slope monitoring device and method of use thereof

Abstract

The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field.The application discloses a kind of side slope monitoring device and its using method, it relates to open-pit mine side slope monitoring technical field

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of open-pit mine slope monitoring, in particular to a slope monitoring device and a use method thereof. BACKGROUND

[0002] Open-pit mining plays an important role in resource mining. In China, 80% of iron ore, 50% of non-ferrous metal ore, 70% of chemical raw material ore, 100% of building material, and 25% of coal are produced by open-pit mining. The high-cold regions in the west and north of China are also the concentration of large and super-large open-pit mines. In the high-cold regions, the temperature difference between morning and evening and between seasons causes the cycle of freezing and thawing, which has an irreversible impact on the structure of rock mass, resulting in the instability, cracking or collapse of rock mass slope. Therefore, it is important to realize the prediction and early warning of open-pit slope instability in high-cold regions, focus on the development and evolution process of slope instability, and realize the whole-cycle and multi-parameter collaborative warning mechanism. Due to the complexity, diversity and randomness of the geological process, formation conditions and inducing factors of open-pit slope, it is very difficult to capture the dynamic information of slope instability, which has been a very difficult frontier subject.

[0003] Among the existing open-pit slope geological information collection technologies, the commonly used technologies mainly include the following three kinds: structural surface investigation, which mainly obtains the statistical parameter characteristics of the geometric parameters of structural surface through drilling technology, field geological measurement, close-range photogrammetry and three-dimensional laser scanning, and reflects the distribution and development law of small-scale structural surface from a macro perspective. This investigation and statistical analysis is only the surface structural surface of open-pit slope rock mass geological structure, or the intersection line of the structural surface in the rock mass and the slope surface, and cannot reflect the distribution of the structural surface in the slope rock mass. Therefore, the spatio-temporal unification of multi-source in-situ detection sensors inside and outside the slope is the development trend of slope monitoring, and will become the basis for verifying the results of slope stability analysis and early and medium-term landslide warning, and will have an important guiding role in understanding the slope failure mechanism, instability prediction and treatment effect research.

[0004] Domestic and foreign scholars have carried out a lot of research on the establishment of spatio-temporal unification and control of multi-source in-situ detection sensors inside and outside the slope, but there are still some deficiencies and defects. The open-pit slope data is multi-source, heterogeneous, multi-solution and non-uniform in space-time scale, and the multi-source monitoring data cannot be organically integrated, so the collaborative deformation trend criterion analysis cannot be formed. SUMMARY

[0005] Therefore, it is necessary to provide a slope monitoring device and a use method thereof in view of the above technical problems.

[0006] The embodiment of the present application provides a slope monitoring device, which comprises an absolute positioning module, a relative positioning module and a monitoring module.

[0007] The absolute positioning module is arranged on the ground of the drilling hole of the to-be-measured slope, and the relative positioning module and the monitoring module are arranged in the internal drilling monitoring point of the to-be-measured slope; the absolute positioning module comprises a GNSS receiver and a satellite data processing module, and the relative positioning module comprises an inertial measurement unit and an inclinometer unit;

[0008] The GNSS receiver is configured to receive satellite signals of Beidou satellites at the to-be-measured slope in the open-pit mine area.

[0009] The inertial measurement unit is configured to measure, in real time, pose information representing changes in the angle of the surface of the to-be-measured slope in the open-pit mine area.

[0010] The inclinometer unit is configured to measure, point by point along the drilling monitoring point, the displacement of the to-be-measured slope, and determine displacement change information of the to-be-measured slope in three-dimensional space, including displacement, inclination vibration frequency and amplitude.

[0011] The satellite data processing module is configured to correct the clock of the GNSS receiver according to the satellite signals, and perform time synchronization on the pose information of the to-be-measured slope and the displacement change information of the to-be-measured slope in three-dimensional space by using the corrected clock of the GNSS receiver, to obtain time synchronization information of the to-be-measured slope.

[0012] The monitoring module is configured to acquire, in real time, satellite signals of multiple Beidou satellites, determine three-dimensional coordinates of the GNSS receiver in a three-dimensional coordinate system according to the satellite signals between the multiple Beidou satellites, perform coordinate system conversion on the time synchronization information of the to-be-measured slope by taking the three-dimensional coordinates as a pose reference, filter and fuse the ground high-precision position information and the time synchronization information after the coordinate system conversion, analyze the data obtained through the filtering and fusion for a small displacement of a slope, and obtain a monitoring result of the to-be-measured slope in the open-pit mine area.

[0013] Optionally, the absolute positioning module further comprises a large-capacity lithium battery and a solar panel.

[0014] The large-capacity lithium battery is configured to supply power to the GNSS receiver.

[0015] The solar panel is configured to convert solar energy into electrical energy and store the electrical energy in the large-capacity lithium battery.

[0016] The embodiment of the present application further provides a use method of the slope monitoring device, comprising:

[0017] Receiving satellite signals of Beidou satellites at the to-be-measured slope in the open-pit mine area, and measuring, in real time, pose information representing changes in the angle of the surface of the to-be-measured slope in the open-pit mine area; measuring, point by point along the drilling monitoring point, the displacement of the to-be-measured slope, and determining displacement change information of the to-be-measured slope in three-dimensional space, including displacement, inclination vibration frequency and amplitude.

[0018] The clock of the GNSS receiver is corrected according to the satellite signals; and the pose information of the to-be-measured slope and the displacement change information of the to-be-measured slope in the three-dimensional space are time-synchronized by the clock of the corrected GNSS receiver, so as to obtain time-synchronized information of the to-be-measured slope;

[0019] The satellite signals of multiple Beidou satellites are acquired in real time, the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system are determined according to the satellite signals between the multiple Beidou satellites, the three-dimensional coordinates are taken as the pose reference to perform coordinate system conversion on the time-synchronized information of the to-be-measured slope; and the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system and the time-synchronized information after the coordinate system conversion are filtered and fused to obtain fusion data; the fusion data is subjected to slope micro-displacement analysis to obtain a monitoring result of the to-be-measured slope in the open-pit mine area.

[0020] Optionally, before the clock of the GNSS receiver is corrected according to the satellite signals, a clock error of the local clock of the GNSS receiver after time correction relative to a time reference is calculated, and various error corrections in GNSS observation data fusion are processed, specifically including:

[0021] The GNSS receiver receives double-frequency or multi-frequency carrier phase and pseudo-range observation values in combination with received network broadcast precise ephemeris data, and determines the clock error of the local clock relative to the time reference through the PPP technology;

[0022] The clock error result data stream is preprocessed and fitted to obtain frequency steering and phase steering;

[0023] Based on the frequency steering and the phase steering, various error corrections in the GNSS observation data fusion are determined through a multi-mode GNSS PPP time transfer algorithm.

[0024] Optionally, the satellite signals of multiple Beidou satellites are acquired in real time, the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system are determined according to the satellite signals between the multiple Beidou satellites, the three-dimensional coordinates are taken as the pose reference to perform coordinate system conversion on the time-synchronized information of the to-be-measured slope, specifically including:

[0025] The reference station and the multiple receiver stations set up in the open-pit mine area simultaneously observe target satellites, and the pseudo-range observation equation and the carrier phase observation equation on the reference station and the mobile station are determined based on the following formula:

[0026] ;

[0027] ;

[0028] wherein, is a pseudo-range observation value of a satellite to a receiver station, is a geometric distance of the satellite to the receiver station, is the pseudo-range observation from the satellite to the reference station, is the geometric distance from the satellite to the reference station, is the propagation speed of light in vacuum, is the receiver clock bias, is the wavelength, φ is the phase, is the integer ambiguity, is the tropospheric delay, is the ionospheric error, is the residual un-modeled error in the pseudo-range observation;

[0029] The inter-station difference between the reference station and the receiver station is made based on the following formula, and other satellites except the target satellite are set as reference satellites, and the pseudo-range and carrier phase single-difference observation equations are:

[0030] ;

[0031] ;

[0032] The inter-satellite difference between the target satellite and the reference satellite is made based on the following formula, and the double-difference observation is obtained:

[0033] ;

[0034] ;

[0035] A plurality of satellites are observed, error equations are established, and parameter estimation is performed;

[0036] The ambiguity float solution and the corresponding covariance matrix are obtained by least squares or Kalman filtering based on the following formula, and the fixed solution of the wide-lane ambiguity of each satellite, the narrow-lane ambiguity after the wide-lane ambiguity is fixed is determined by the LAMBDA algorithm:

[0037]

[0038] The three-dimensional coordinates of the GNSS receiver in the three-dimensional coordinate system are determined according to the fixed solution of the wide-lane ambiguity of each satellite and the narrow-lane ambiguity after the wide-lane ambiguity is fixed;

[0039] The three-dimensional coordinates are taken as the pose reference to perform coordinate system conversion on the time synchronization information of the measured slope based on the following formula:

[0040] ;

[0041] wherein, b is the reference station, r is the receiver station, is the pseudo-range observation from the satellite to the reference station, is the geometric distance from the satellite to the reference station, , is a float solution, is a corresponding covariance matrix, , is a fixed solution of ambiguity, j is a target satellite, i is a reference satellite, x is a horizontal coordinate value, y is a vertical coordinate value, z is a depth axis coordinate value, and u is a conversion factor.

[0042] Optionally, the three-dimensional coordinates of the GNSS receiver in the three-dimensional coordinate system, the time synchronization information after the coordinate system conversion are filtered and fused to obtain fused data, and the specific steps include:

[0043] The state vector from t-1 to t is transferred to t by the following formula: k : k

[0044] ;

[0045] wherein, is a state transition matrix from t-1 to t, k is a three-dimensional coordinate at t, k is a model error; k The observation equation of each sensor is determined by the following formula:

[0046] ;

[0047] ;

[0048] wherein, is an observation equation design matrix of sensor i, i is an observation vector and error vector of sensor i; i The local filter is determined by the following formula:

[0049]

[0050] ;

[0051] The main filter solution is determined by the following formula:

[0052] ;

[0053] The weight matrix is determined by the following formula:

[0054] ; ​​​​​​​

[0055] ;

[0056] ;

[0057] The fusion data is determined by the following formula:

[0058] ;

[0059] wherein, is the fusion data, is the inverse matrix of the weight matrix, is the local filter, is the main filter solution, is the observation vector of the main sensor, is the observation vector of the sensor i , is the weight matrix, is the local filter coefficient, is the main filter solution coefficient.

[0060] The above-mentioned slope monitoring device and use method provided by the embodiment of the present application have the following beneficial effects compared with the prior art:

[0061] Compared with the traditional open-pit mine slope monitoring, the present application directly monitors the actual conditions of the open-pit mine, processes the data of different sensors in time and space, more accurately analyzes the occurrence mechanism and evolution process of landslides, and helps researchers better understand the interaction between different factors, thereby improving the accuracy of landslide prediction. The slope micro-displacement data can be collected from different angles and levels in the alpine open-pit mine, and a panoramic view of the dynamic landslide can be provided.

[0062] In addition, the present application fuses the data of the in-slope and out-of-slope sensors, which can reduce the influence of single sensor failure or data anomaly on the overall monitoring of the system, enhance the reliability and emergency response capability of the system, and provide strong support for the prevention and management of landslide disasters. BRIEF DESCRIPTION OF DRAWINGS

[0063] Figure 1 is a flowchart of a use method of a slope monitoring device provided in an embodiment;

[0064] Figure 2 is a slope surface / interior data collector space reference unification module technical solution of a use method of a slope monitoring device provided in an embodiment;

[0065] Figure 3 is an equipment design drawing of a slope monitoring device provided in an embodiment. DETAILED DESCRIPTION​

[0066] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0067] The landslide rock mechanics mechanism is complex, and the disaster risk is large, and the safety of the production process cannot be evaluated and warned in advance (early and middle period warning). The slope rock mass structure is complex, the complex geological system data is incomplete, and the theory is rigorous. The mechanical model is disconnected, so that the existing theoretical method cannot further explain the slope rock mass failure process (lack of effective observation instrument), which will bring serious deviation and uncertainty to the subsequent landslide warning analysis.

[0068] In one embodiment, a slope monitoring device is provided, as shown in Figure 3 The device comprises an absolute positioning module, a relative positioning module and a monitoring module.

[0069] The absolute positioning module is arranged on the ground of the drill hole of the to-be-measured slope, and the relative positioning module and the monitoring module are arranged in the internal drill hole monitoring point of the to-be-measured slope. The absolute positioning module comprises a GNSS receiver (provided with a CNSS antenna) and a satellite data processing module, and the relative positioning module comprises an inertial measurement unit (MEMS-IMU) and an inclinometer unit (three-axis accelerometer module). The inertial measurement unit and the inclinometer unit of the relative positioning module are connected through a flexible joint.

[0070] The GNSS receiver is configured to receive satellite signals of Beidou satellites at the to-be-measured slope in the open-pit mine area.

[0071] The inertial measurement unit is configured to measure pose information representing changes in the surface angle of the to-be-measured slope in the open-pit mine area in real time.

[0072] The inclinometer unit is configured to measure the displacement of the to-be-measured slope point by point along the drill hole monitoring point, and determine displacement change information of the to-be-measured slope in three-dimensional space, including displacement, inclination vibration frequency and amplitude.

[0073] The satellite data processing module (real-time positioning board card) is configured to correct the clock of the GNSS receiver according to the satellite signals. And through the clock of the corrected GNSS receiver, the pose information of the to-be-measured slope and the displacement change information of the to-be-measured slope in three-dimensional space are time-synchronized to obtain time-synchronized information of the to-be-measured slope.

[0074] The monitoring module is used for acquiring satellite signals of a plurality of Beidou satellites in real time, determining a three-dimensional coordinate of the GNSS receiver in a three-dimensional space coordinate system according to the satellite signals between the plurality of Beidou satellites, and performing coordinate system conversion on time synchronization information of the to-be-measured slope by taking the three-dimensional coordinate as a pose reference. The ground high-precision position information and the time synchronization information converted in the coordinate system are filtered and fused, the data obtained through the fusion is analyzed for a small displacement of the slope, and a monitoring result of the to-be-measured slope in the open-pit mine area is obtained.

[0075] The absolute positioning module further comprises a large-capacity lithium battery (high-performance lithium battery) and a solar panel (solar panel). The large-capacity lithium battery is used to supply power to the GNSS receiver. The solar panel is used to convert solar energy into electrical energy and store the electrical energy in the large-capacity lithium battery.

[0076] The real-time positioning board card comprises a core processing chip FPGA, a high-stability crystal oscillator, an RTC real-time clock circuit, a PPS signal interface, a Flash chip and an SDRAM chip, a JTAG port and an AS port, a power supply circuit, and a system reset button.

[0077] The core processing chip FPGA is used to run baseband control software and navigation software in a soft core and peripheral components and logic. The high-stability crystal oscillator is used to provide a clock signal for the core processing chip. The RTC real-time clock circuit is used to maintain time, user parameters and other information for software running in the microprocessor when the external power supply is disconnected. The Flash chip and the SDRAM chip are used to store baseband hardware logic, baseband and navigation software. The PPS signal interface is used to output a pulse signal. The JTAG port and the AS port are used to program and debug the FPGA chip. The power supply circuit is used to supply power to the real-time positioning board card. The system reset button is used to reset the working state of the real-time positioning board card.

[0078] The core processing chip FPGA in the real-time positioning board card is located in the middle left, and the functions implemented by the core processing chip FPGA include a baseband module, a soft core (processor), baseband control software and navigation software running in the soft core, and other peripheral components and logic. Around the FPGA: the Flash chip is located in the upper left, and the SDRAM chip is located in the right, which are used to store baseband hardware logic, baseband and navigation software, etc.; there is a general I / O port plug on the upper and lower parts, which is used to connect a radio frequency front-end module. There is a JTAG port and an AS port on the left side of the board card, which are used to program and debug the FPGA chip; the right side of the board card comprises a power supply circuit, the lower part comprises a system reset button and a plurality of test LEDs (LD2-LD5). The sensors are integrated with the GNSS monitoring station through a lever arm, and the RTK positioning mode is used to obtain a high-precision three-dimensional position of the ground sensor.

[0079] In one embodiment, a method for using the slope monitoring device is provided, as shown inFigure 1 The method comprises:

[0080] The satellite signals of Beidou satellites are received by the to-be-measured slope in the open-pit mine area, and the pose information representing the angle change of the surface of the to-be-measured slope in the open-pit mine area is measured in real time. The displacement of the to-be-measured slope is measured point by point along the drilling monitoring point, and the displacement change information of the to-be-measured slope in the three-dimensional space including displacement, inclination vibration frequency and amplitude is determined.

[0081] The clock of the GNSS receiver is corrected according to the satellite signals, and the pose information of the to-be-measured slope and the displacement change information of the to-be-measured slope in the three-dimensional space are time-synchronized through the corrected clock of the GNSS receiver, so as to obtain the time-synchronized information of the to-be-measured slope.

[0082] The satellite signals of multiple Beidou satellites are acquired in real time, the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system are determined according to the satellite signals between the multiple Beidou satellites, the three-dimensional coordinates are taken as the pose reference to perform coordinate system conversion on the time-synchronized information of the to-be-measured slope, and the three-dimensional coordinates of the GNSS receiver in the three-dimensional space coordinate system and the time-synchronized information after the coordinate system conversion are filtered and fused to obtain fusion data. The fusion data is subjected to slope micro-displacement analysis to obtain the monitoring result of the to-be-measured slope in the open-pit mine area.

[0083] The implementation process comprises:

[0084] S1: signal receiving and preprocessing: receiving GNSS satellite data, amplifying the received information through LNA, enhancing weak signals and improving signal quality, and then removing noise and interference through filtering processing;

[0085] S2: calculating clock difference: calculating the propagation delay of GNSS signals from satellites to receivers, using known satellite time and propagation delay to correct receiver time;

[0086] S3: time transfer: substituting the GNSS receiver clock difference parameters and correction parameters estimated in S2, correcting the receiver clock to make it consistent with the atomic clock time of the satellite and sending it to the inclinometer unit and the inertial measurement unit MEMS-IMU according to the distributed fixed frequency;

[0087] S4: ground space reference transfer: obtaining the high-precision three-dimensional position of the ground sensor through the RTK positioning mode and transferring it to each sensor as the pose reference;

[0088] S5: data fusion: fusing the high-precision three-dimensional position, the pose information measured by the inertial measurement unit MEMS-IMU after coordinate conversion, and the displacement change information of the to-be-measured slope in the three-dimensional space including displacement, inclination vibration frequency and amplitude measured by the inclinometer unit through the federated Kalman filter;

[0089] AsFigure 2 The ground space reference in step S5 is unified, and high-precision acquisition of the three-dimensional position of the ground point is achieved:

[0090] S6: Network transmission: the high-precision three-dimensional coordinates observed in S4 and the fusion of the inclinometer unit, the inertial measurement unit MEMS-IMU and the GNSS observation data are transmitted through the 5G network to the monitoring station;

[0091] The data fusion device in step S6:

[0092] It is mainly completed by integrating the inclinometer unit, the inertial measurement unit MEMS-IMU and the GNSS. First, in the underground, the inclinometer unit and the inertial measurement unit MEMS-IMU are placed in the monitoring points of the internal borehole of the slope, and the inertial measurement unit MEMS-IMU is installed on both sides of the middle of each section of the inclinometer tube. By measuring the diameter of the inclinometer tube and the related parameters of the inertial measurement unit MEMS-IMU, the three-dimensional space displacement, inclination, vibration frequency and amplitude data obtained by the inclinometer unit are transmitted to the ground data acquisition instrument through the cable or wireless network and are fused, providing high-reliability data support for intelligent early warning of deep displacement monitoring of the slope. Secondly, the above-mentioned GNSS integrated monitoring station is set at the ground of the borehole and is connected with the ground inclinometer unit and the inertial measurement unit MEMS-IMU data acquisition instrument. The high-precision position information of the ground GNSS is transmitted to the positions of the monitoring points in the internal slope through the space lever arm and the inclinometer tube by real-time attitude, and the in-situ displacement fusion is completed by using the inclinometer unit, the inertial measurement unit MEMS-IMU and the GNSS fusion filter module, and the high-precision three-dimensional position of the monitoring points in the internal slope is acquired in real time.

[0093] S7: Remote control: the remote end receives the data through the network, analyzes the displacement of the slope and performs landslide warning. In addition, the corresponding sensor can be remotely controlled by the control system to adjust the monitoring strategy in time, and long-term open slope monitoring can be performed.

[0094] The specific implementation includes:

[0095] S1: Signal receiving and preprocessing: GNSS signals enter the radio frequency front end through the same antenna, and after a series of processes such as amplification, filtering and down-conversion in the radio frequency front end, they are converted into intermediate frequency signals. The intermediate frequency signals are converted into digital signals by ADC. After the positioning signal is digitized, the signal processing mainly includes correlation operation, acquisition / tracking, navigation data bit / frame synchronization, navigation data decoding and message extraction, etc. The outliers in the clock difference data stream can be removed to provide accurate raw data for clock model fitting. During the clock difference data acquisition process, the estimated variance of the extended Kalman filter is used as an evaluation index. When the square root of the estimated variance of the clock difference parameter is less than 1 ns, it is considered that the PPP algorithm has reached the convergence state, and the PPP clock difference calculation result can be used for clock control. In addition, the real-time clock difference data stream will be screened again using the absolute median deviation (Median Absolute Deviation, MAD) detection method to continue to remove outliers.

[0096] S2: Calculate clock difference: GNSS receiver receives dual-frequency or multi-frequency carrier phase and pseudorange observation values combined with received network broadcast precise ephemeris data, and uses PPP technology to calculate the clock difference of the local clock relative to the time reference; then the clock difference result data stream is preprocessed and fitted to obtain the frequency control quantity and the phase control quantity; finally, the local clock is tamed to make the tame output 1PPS signal synchronized with the system time reference. Among them, the multi-mode GNSS PPP time transfer algorithm uses the GBM precise ephemeris and clock difference products published by GFZ to correct various errors such as inter-frequency bias, satellite end multipath error, and inter-system bias in GNSS observation data fusion. The PPP ionosphere-free combination equation with corrected satellite clock difference and station coordinates is:

[0097] ;

[0098] ;

[0099] In the formula, G , R , C and E represent the GPS, GLONASS, BDS and Galileo systems, represent the receiver; represent the pseudorange observation value; represent the carrier phase observation value; represent the geometric distance from the satellite to the station; represent the receiver clock difference; represent the propagation speed of light in vacuum; represent the ionosphere-free combination receiver; and denotes the un-receiver and satellite end carrier phase hardware delay of ionosphere-free combination; denotes the mapping function of tropospheric delay wet component; denotes the tropospheric delay wet component at zenith direction of the station; denotes the carrier wavelength; denotes the integer ambiguity of carrier phase; and denotes the un-modeled errors and noises of pseudorange and carrier phase observations.

[0100] After the satellite clock bias is corrected using the MGEX clock product, the satellite end pseudorange hardware delay error is introduced into the above equation; the multi-mode error correction uses the ambiguity parameter to absorb the GLONASS satellite carrier phase IFBs, and the pseudorange IFBs of each GLONASS satellite are estimated separately, so the pseudorange IFB of the kth GLONASS satellite is denoted as:

[0101] ;

[0102] In the formula, denotes the part common to all satellites in the pseudorange hardware delay of GLONASS satellite signals; denotes the part unique to each satellite in the pseudorange hardware delay of GLONASS satellite signals.

[0103] According to the PPP time transfer derivation, the receiver clock bias and ambiguity parameters of the four systems are obtained as:

[0104] ;

[0105] ;

[0106] In the multi-mode GNSS PPP clock bias calculation, the receiver clock bias parameters of GPS are taken as the reference, and the clock biases of other systems are expressed in the form of the sum of GPS clock bias and ISB:

[0107] ;

[0108] ;

[0109] For the GLONASS system, there is a strong correlation between the ISB and IFB parameters, and the ISB and IFB parameters are combined into the IFSB parameter, IFS;B. The number of IFSB parameters is equal to the number of observed GLONASS satellites.

[0110] The estimated parameter vector of multi-mode GNSS PPP is:

[0111] ;

[0112] The parameter estimation includes: 1 receiver clock bias parameter , IFSB parameters in an amount equal to the observed GLONASS satellite number , 1 ISB parameter between GPS and BDS , 1 ISB parameter between GPS and Galileo , 1 zenith troposphere delay wet component , ambiguity parameters in an amount equal to the total satellite number of the four systems observed 、 、 、 .

[0113] S3: Time synchronization: substituting the GNSS receiver clock bias parameter estimated in S2 and correction parameters , correcting the receiver clock to be consistent with the atomic clock time of the satellite and sending it to the inclinometer unit and the inertial measurement unit MEMS-IMU at a distributed fixed frequency, wherein the time transfer to the sensor is combined with the PPS pulse in combination with the time accuracy, stability and strong characteristics of the PPS pulse signal commonly used for time marking;

[0114] S4: Ground space reference transmission: obtaining the high-precision three-dimensional position of the GNSS integrated monitoring station through the RTK positioning mode, that is, setting up corresponding reference stations and receiver stations on the measured slope in the open-pit mine area. The reference station and multiple receiver stations set up in the open-pit mine area simultaneously observe target satellites, and the pseudo-range observation equation and the carrier phase observation equation on the reference station and the rover station are determined based on the following formula:

[0115] ;

[0116] ;

[0117] wherein, is the pseudo-range observation value from the satellite to the receiver station, is the geometric distance from the satellite to the receiver station, is the pseudo-range observation value from the satellite to the reference station, is the geometric distance from the satellite to the reference station, is the propagation speed of light in vacuum, is the receiver clock bias, is the wavelength, φ is the phase, is the integer ambiguity, is the troposphere delay, is the ionosphere error, is the residual error in the pseudo-range observation value which is not modeled.

[0118] The inter-station difference is made between the reference station and the receiver station, and other satellites except the target satellite are set as reference satellites, and the pseudo-range and carrier phase single-difference observation equation is:

[0119] ;

[0120] ;

[0121] The inter-satellite difference is made between the target satellite and the reference satellite, and the double-difference observation is obtained as:

[0122] ;

[0123] ;

[0124] Observing multiple satellites, the error equations can be established according to the above two formulas, and the parameter estimation is performed. Through least square or Kalman filter solution, the ambiguity float solution and the corresponding covariance matrix are obtained; through the LAMBDA algorithm, the fixed solution of the wide lane ambiguity of each satellite, the narrow lane ambiguity after the wide lane ambiguity is fixed, and the specific equation is as follows:

[0125]

[0126] According to the fixed solution of the wide lane ambiguity of each satellite, the narrow lane ambiguity after the wide lane ambiguity is fixed, the three-dimensional coordinates of the GNSS receiver in the three-dimensional coordinate system are determined, and the three-dimensional coordinates are taken as the pose reference to perform the coordinate system conversion on the time synchronization information of the measured slope:

[0127] ;

[0128] Wherein, b is the reference station, r is the receiver station, is the pseudo-range observation value from the satellite to the station, is the geometric distance from the satellite to the station, , is the float solution, is the corresponding covariance matrix, , is the fixed solution of the ambiguity, j is the target satellite, i is the reference satellite, x is the horizontal coordinate value, y is the vertical coordinate value, z is the depth axis coordinate value, and u is the conversion coefficient.

[0129] The data of GNSS, inertial measurement unit MEMS-IMU and inclinometer unit can be unified in time and space.

[0130] S5: Data fusion: the high-precision three-dimensional position, the posture information measured by the inertial measurement unit MEMS-IMU after coordinate conversion and the displacement change information including displacement, inclination vibration frequency and amplitude in the three-dimensional space of the measured slope measured by the inclinometer unit are fused through the federated Kalman filter.

[0131] The state vector is set from k the state at time is transferred to k the state at time , and the model is:

[0132] ;

[0133] wherein, is the state transition matrix from time k to time k , is the three-dimensional coordinate at time , and is the model error. k It is assumed that there are sensors at time

[0134] , and the observation equation of each sensor is: k r ;

[0135] In the above formula, is the observation equation design matrix of sensor

[0136] , and is the observation vector and error vector of sensor . The sensor observation error is not related to the model error, and the observation errors of each sensor are not related, that is: i i ;

[0137] The local filter is:

[0138] ;

[0139] ;

[0140] It is assumed that the observation vector of the main sensor is , and the main filter solution is:

[0141] ;

[0142] According to the information sharing principle of the federated Kalman algorithm, the weight matrix can be determined:

[0143] ;

[0144] ;

[0145] ​​Obtain the fused data:

[0146] ;

[0147] in, To integrate data, The inverse of the weight matrix. For local filtering, The main filtered solution. The observation vector of the main sensor. For sensors i The observation vector, For the weight matrix, These are local filter coefficients. These are the coefficients of the main filter solution.

[0148] S6: Network transmission: Transfer the results of S5 The data is transmitted and uploaded to the monitoring station via the 5G network.

[0149] S7: Remote control: The remote control receives data via the network to analyze slope displacement and issue landslide warnings. In addition, the control system can remotely control the corresponding sensors to adjust the monitoring strategy in a timely manner.

[0150] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A slope monitoring device, characterized in that, include: Absolute positioning module, relative positioning module, and monitoring module; The absolute positioning module is set on the borehole surface of the slope to be measured, and the relative positioning module and the monitoring module are set at the internal borehole monitoring points of the slope to be measured; the absolute positioning module includes a GNSS receiver and a satellite data processing module, and the relative positioning module includes an inertial measurement unit and an inclinometer unit; The GNSS receiver is used to receive satellite signals from BeiDou satellites on the slope to be measured in the open-pit mine. The inertial measurement unit is used to measure the pose information that characterizes the change in the angle of the surface of the slope to be measured in the open-pit mine in real time. The inclinometer unit is used to measure the displacement of the slope under test point by point along the borehole monitoring points, and to determine the displacement change information of the slope under test in three-dimensional space, including displacement, tilt angle, vibration frequency and amplitude. The satellite data processing module is used to correct the clock of the GNSS receiver according to the satellite signal; and to synchronize the pose information of the slope under test and the displacement change information of the slope under test in three-dimensional space using the corrected GNSS receiver clock to obtain the time synchronization information of the slope under test. The monitoring module is used to acquire satellite signals from multiple BeiDou satellites in real time, determine the three-dimensional coordinates of the GNSS receiver in the three-dimensional spatial coordinate system based on the satellite signals between the multiple BeiDou satellites, use the three-dimensional coordinates as the pose reference to perform coordinate system transformation on the time synchronization information of the slope under test, and filter and fuse the high-precision ground position information and the time synchronization information after coordinate system transformation. The fused data is then used to perform micro-displacement analysis on the slope to obtain the monitoring results of the slope under test in the open-pit mine area.

2. The slope monitoring device as described in claim 1, characterized in that, The absolute positioning module also includes a high-capacity lithium battery and a solar panel; The high-capacity lithium battery is used to power the GNSS receiver; The solar panel is used to convert solar energy into electrical energy, which is then stored in the high-capacity lithium battery.

3. The method of using the slope monitoring device as described in any one of claims 1-2, characterized in that, include: The system receives satellite signals from the BeiDou satellite on the slope to be measured in the open-pit mine area and measures the pose information that characterizes the changes in the surface angle of the slope to be measured in the open-pit mine area in real time. The displacement of the slope under test is measured point by point along the borehole monitoring points to determine the displacement change information of the slope under test in three-dimensional space, including displacement, dip angle, vibration frequency and amplitude. The clock of the GNSS receiver is corrected based on satellite signals; The time synchronization information of the slope under test is obtained by synchronizing the pose information of the slope under test and the displacement change information of the slope under test in three-dimensional space through the clock of the calibrated GNSS receiver. The system acquires satellite signals from multiple BeiDou satellites in real time, determines the three-dimensional coordinates of the GNSS receiver in the three-dimensional spatial coordinate system based on the satellite signals between the multiple BeiDou satellites, and uses the three-dimensional coordinates as the pose reference to perform coordinate system transformation on the time synchronization information of the slope under test. The GNSS receiver's three-dimensional coordinates in the three-dimensional spatial coordinate system and the time synchronization information after coordinate system transformation are filtered and fused to obtain fused data. By performing micro-displacement analysis on the fused data, the monitoring results of the slope to be monitored in the open-pit mine area were obtained.

4. The method of using the slope monitoring device as described in claim 3, characterized in that, This also includes calculating the clock difference between the GNSS receiver's time-corrected local clock and the time reference before correcting the GNSS receiver's clock based on satellite signals, and processing various error corrections in GNSS observation data fusion, specifically including: The GNSS receiver receives dual-frequency or multi-frequency carrier phase and pseudorange observations, and receives precise ephemeris data broadcast by the network. The clock difference of the local clock relative to the time reference is determined by PPP technology. Preprocessing and fitting of the clock bias result data stream yields the frequency control and phase control; Based on frequency and phase driving parameters, various error corrections in GNSS observation data fusion are determined using a multi-mode GNSS PPP time transfer algorithm.

5. The method of using the slope monitoring device as described in claim 3, characterized in that, The process involves acquiring satellite signals from multiple BeiDou satellites in real time, determining the GNSS receiver's three-dimensional coordinates in a three-dimensional spatial coordinate system based on the satellite signals between the multiple BeiDou satellites, and using these three-dimensional coordinates as a pose reference to perform coordinate system transformation on the time synchronization information of the slope under test. Specifically, this includes: The target satellite is observed simultaneously by a reference station and multiple receiver stations set up in the open-pit mine. The pseudorange observation equation and carrier phase observation equation at the reference station and rover station are determined based on the following formula: ； ； in, The pseudorange observation value from the satellite to the receiver station. This represents the geometric distance from the satellite to the receiver station. The pseudorange observations from the satellite to the base station. The geometric distance from the satellite to the base station. The speed at which light travels in a vacuum. For receiver clock bias, For wavelength, φ For phase, For integer ambiguity, To address the process delay, For ionospheric error, This represents the remaining unmodeled error in the pseudorange observations; Based on the following equation, inter-station differential is performed between the reference station and the receiver station, and other satellites besides the target satellite are set as reference satellites. The pseudorange and carrier phase single-difference observation equations are as follows: ； ； Based on the following formula, inter-satellite differences are performed between the target satellite and the reference satellite to obtain double-difference observations: ； ； Observe multiple satellites, establish error equations, and perform parameter estimation; Based on the following formula, the floating-point solution of ambiguity and the corresponding covariance matrix are obtained through least squares or Kalman filtering; the fixed solution of the wide-lane ambiguity for each satellite and the narrow-lane ambiguity after fixing the wide-lane ambiguity are determined by the LAMBDA algorithm: ； The three-dimensional coordinates of the GNSS receiver in the three-dimensional spatial coordinate system are determined based on the fixed solution of the wide-lane ambiguity of each satellite and the narrow-lane ambiguity after the wide-lane ambiguity is fixed. Based on the following formula, the coordinate system transformation is performed on the time synchronization information of the slope under test, using the three-dimensional coordinates as the pose reference: ； in, b As a base station, r For receiver station, The pseudorange observation value from the satellite to the station. The geometric distance from the satellite to the station. , For floating-point solutions, For the corresponding covariance matrix, , For a fixed solution of ambiguity, j For the target satellite, i For reference satellite, x The x-axis value, y The vertical axis value is... z is the depth axis coordinate value, and u is the conversion coefficient.

6. The method of using the slope monitoring device as described in claim 3, characterized in that, The process of filtering and fusing the 3D coordinates of the GNSS receiver in a 3D spatial coordinate system and the time synchronization information after coordinate system transformation to obtain fused data specifically includes: The state vector is set by the following formula: k -1 time Transferred to k Moment : ； in, for k -1 hour arrives k The state transition matrix at time t, for k The three-dimensional coordinates at time [time]. This refers to model error; The corresponding observation equations for each sensor are determined by the following formula: ； in, For sensors i Design matrix of observation equations, For sensors i The observation vector and the error vector; Local filtering is determined by the following formula: ； The main filter solution is determined by the following formula: ； The weight matrix is ​​determined by the following formula: ； ； ； The fused data is determined by the following formula: ； in, To integrate data, The inverse of the weight matrix. For local filtering, The main filtered solution. The observation vector of the main sensor. For sensors i The observation vector, For the weight matrix, These are local filter coefficients. These are the coefficients of the main filter solution.

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