Method and system for monitoring settlement and inclination of residential buildings in villages and towns based on Beidou GNSS (Global Navigation Satellite System)

Abstract

The invention belongs to the technical field of building health monitoring, and particularly discloses a village and town residential building settlement inclination monitoring method and system based on a Beidou GNSS, and the method comprises the steps: arranging a cooperative sensor at a key part of a building, and enabling the cooperative sensor to comprise a GNSS module and an IMU module; in the conventional mode, the GNSS module samples at a frequency of one time per day, and the IMU module monitors and samples in real time; if the acceleration value monitored by the IMU module reaches a preset threshold value, switching to an emergency mode; in the emergency mode, all cooperative sensors are started, and the sampling frequencies of the GNSS module and the IMU module are improved; based on the positioning data collected by the GNSS module, the settlement amount and the inclination amount of the building are calculated; if the settlement amount or the inclination amount exceeds a preset safety threshold value, alarm information is sent to a monitoring center and a householder, and an emergency mode is adopted; otherwise, adopting a conventional mode. According to the invention, building settlement inclination monitoring with low power consumption and high response speed can be realized.

Description

Technical Field

[0001] This invention belongs to the field of building health monitoring technology, and more specifically, relates to a method and system for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS. Background Technology

[0002] Building settlement and tilt are key indicators for assessing the safety of building structures. Prolonged exceedances of safety limits can lead to wall cracking, structural deformation, and even collapse. This problem is particularly prominent in rural residential areas, where many self-built houses and low-rise residential buildings suffer from substandard construction practices, haphazard foundation treatment, and insufficient material strength. Coupled with a lack of professional design and continuous maintenance, their tolerance to settlement and tilt is low. Furthermore, the rural environment imposes strict limitations on monitoring costs and long-term energy consumption for operation and maintenance, necessitating economically sustainable monitoring methods.

[0003] Traditional manual monitoring methods, such as optical point projection and leveling instrument measurement, rely on on-site operation by professional personnel. They are greatly constrained by weather and terrain conditions, and the monitoring cycle is usually long (e.g., once a month). It is difficult to capture sudden deformations in real time and cannot meet the needs of continuous risk monitoring. At the same time, the frequent human input leads to high long-term comprehensive costs.

[0004] Global Navigation Satellite Systems (GNSS) can directly calculate three-dimensional coordinates by receiving spatiotemporal signals from multiple satellites. Static positioning accuracy can reach the centimeter level, and dynamic positioning accuracy can meet the millimeter-level settlement monitoring requirements, with no cumulative error. It serves as the "authoritative calibration source" for the absolute position and deformation of buildings. However, GNSS operation relies on satellite signal reception and calculation. The satellite acquisition phase requires continuous scanning of satellite frequency bands, and the positioning calculation phase also requires high-frequency processing of satellite data. Maintaining a continuous 1Hz sampling frequency results in power consumption 10-20 times that of an IMU (Insulated Instrument Unit). Long-term high-frequency operation necessitates reliance on high-power solar power or frequent battery replacements, increasing system deployment and maintenance costs and making it unsuitable for low-power scenarios. Prolonged high-load operation of GNSS equipment accelerates hardware wear and tear, and the massive data transmission also incurs communication costs.

[0005] The core components of an IMU (Inertial Measurement Unit) are accelerometers and gyroscopes. Its working principle involves sensing inertial parameters such as acceleration and angular velocity to monitor the motion state of an object. It requires no communication with external devices, only internal circuitry for signal acquisition and processing, resulting in extremely low power consumption. This low-power characteristic allows it to operate continuously in real-time for 24 hours, and even in battery-powered scenarios, it can maintain a battery life of several months or more, meeting the basic requirements for long-term monitoring. The measurement accuracy of an IMU is limited by its own physical characteristics: it derives position changes through integration calculations, and small measurement errors accumulate over time. For example, after prolonged operation, the zero-point shift of the accelerometer can lead to position calculation errors reaching the centimeter or even decimeter level, making it unsuitable for monitoring building settlement and tilt. Furthermore, IMUs are sensitive to environmental interference and prone to misjudgments.

[0006] Furthermore, existing technologies lack efficient collaboration among multiple sensors and a low-power cross-device linkage mechanism. When a node detects an anomaly, it cannot quickly wake up the GNSS of other nodes in the system through wireless transmission technology. This makes it difficult for multiple node sensors to start sampling synchronously and capture the settlement and tilt status from the perspective of the entire building. It is difficult to balance the requirements of "low power consumption" and "high reliability" and also cannot achieve collaborative verification of multi-source data. Summary of the Invention

[0007] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a method and system for monitoring settlement and tilt of rural residential buildings based on Beidou GNSS, the purpose of which is to achieve building settlement and tilt monitoring that takes into account both low power consumption and high response speed.

[0008] To achieve the above objectives, according to a first aspect of the present invention, a method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS is proposed, comprising the following steps: Collaborative sensors, including GNSS modules and IMU modules, are deployed at key locations within the building. In normal mode, the GNSS module samples once a day, the IMU module monitors the sampling in real time, and uploads the sampled data to the cloud in real time. If the acceleration value monitored by the IMU module reaches the preset acceleration threshold, switch to emergency mode; in emergency mode, all cooperative sensors are activated and the sampling frequency of the GNSS module and IMU module is increased. Based on the positioning data collected by the GNSS module, the cloud automatically calculates the building settlement and tilt. If the settlement or tilt exceeds the preset safety threshold, an alarm message is sent to the monitoring center and the homeowner, and the emergency mode is activated. If neither the settlement nor the tilt exceeds the preset safety threshold, the normal mode is activated.

[0009] As a further preferred embodiment, the acceleration threshold is set as a multi-level monitoring threshold, including a primary threshold and a secondary threshold, wherein the primary threshold is less than the secondary threshold; when one IMU module triggers the secondary threshold, or multiple IMU modules trigger the primary threshold, the system switches to emergency mode.

[0010] As a further preferred embodiment, the primary threshold corresponds to conventional environmental disturbances, and the secondary threshold corresponds to impacts or settlements that may cause structural deformation.

[0011] As a further preferred embodiment, the collaborative sensor calibrates the data timestamps of all devices through a built-in time synchronization module, and the sensors establish a system-level communication link through wireless networking.

[0012] As a further preferred option, in normal mode, the IMU module samples at a frequency of 0.2~5Hz, and in emergency mode, the IMU module samples at a frequency of 50Hz.

[0013] As a further preferred option, in emergency mode, the GNSS module samples at a frequency of 1Hz.

[0014] As a further preferred embodiment, the key components are the apex corners of the building's roof surface.

[0015] As a further optimization, after the cloud sends alarm information to the monitoring center and the homeowner, the monitoring center conducts on-site verification and carries out disease treatment; when the settlement and tilt are both less than the preset safety threshold for 24 consecutive hours, the alarm cancellation information is sent to the homeowner and the system switches to normal mode.

[0016] According to a second aspect of the present invention, a settlement and tilt monitoring system for rural residential buildings based on BeiDou GNSS is provided, comprising a processor for executing the aforementioned settlement and tilt monitoring method for rural residential buildings based on BeiDou GNSS.

[0017] According to a third aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the above-described method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS.

[0018] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages: 1. This invention combines the advantages of GNSS high-precision positioning and IMU real-time sensing. It adopts a multi-mode monitoring mechanism to perform real-time monitoring and emergency mode switching through IMU, and realizes collaborative wake-up of multi-node sensors. On the one hand, compared with the frequency of conventional building displacement monitoring, the power consumption is greatly reduced, which is suitable for low-power operation and maintenance scenarios in rural or remote areas without external power supply. On the other hand, compared with traditional manual monitoring methods (monthly cycle), the response speed is greatly improved. Thus, it can balance low power consumption and high response speed when monitoring building settlement and tilt.

[0019] 2. This invention operates fully automatically, requiring no on-site manual operation, reducing the annual maintenance cost of a single building by more than 80%. It is suitable for scenarios with limited monitoring resources, such as self-built houses in rural areas and village residences in urban areas, filling the gap in safety monitoring of such buildings.

[0020] 3. This invention sends a synchronous wake-up command to other sensors in the system through a cross-device communication link. That is, for a certain building, after the monitoring data of the IMU module deployed in a certain key part triggers the threshold, not only does the sensor deployed in that key part switch to emergency mode, but all sensor modules deployed in the building also switch to the emergency node collaborative wake-up mechanism. This can avoid the one-sided response caused by the local vibration or failure of a single sensor, and achieve comprehensive capture of the overall status of the building through multi-location synchronous sampling. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the process for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS, according to an embodiment of the present invention. Figure 2 This is a comparison chart of time-power consumption curves in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention 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 merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] This invention provides a method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS, such as... Figure 1 As shown, it includes the following steps: (1) Multiple sets of GNSS / IMU collaborative sensors are deployed in key parts of the building. The collaborative sensors include GNSS modules and IMU modules.

[0024] Specifically, the structural forms of residential buildings vary from place to place, with key areas generally referring to the top corners of the building's roof, such as the four corners of the roof. All sensors have built-in time synchronization modules to strictly calibrate the data timestamps of all devices, ensuring consistency between GNSS and IMU data timestamps. Sensors establish system-level communication links through wireless networking (such as LoRa or 4G), laying the foundation for cross-device coordinated response.

[0025] (2) Set up a sub-mode monitoring mechanism. When the system is running, it will determine whether to use the normal mode or the emergency mode based on the data monitored by the IMU module.

[0026] Specifically, if the acceleration value monitored by the IMU module reaches a preset acceleration threshold, the system switches to emergency mode. It is preferable to set multiple monitoring thresholds, divided into primary and secondary thresholds. The system switches to emergency mode only when a single IMU module triggers the secondary threshold or multiple IMU modules trigger the primary threshold. When a single IMU module triggers the primary threshold, the sensor module remains in normal mode to avoid false alarms / missed alarms caused by a single threshold, thereby reducing power consumption.

[0027] Specifically, in normal mode, the GNSS module samples at a low frequency of once a day, synchronously uploading the building's 3D coordinate reference data, while the IMU module maintains real-time monitoring and sampling. In emergency mode, all collaborative sensors are activated. This not only activates the local GNSS module, enabling it to quickly complete a warm start, but also sends synchronous wake-up commands to other collaborative sensors via cross-device communication links. Simultaneously, the sampling frequency of the GNSS and IMU modules is increased, and data is uploaded in real time to ensure the integrity of data details.

[0028] Preferably, in normal mode, the GNSS module performs low-frequency monitoring and sampling, uploading sampled data once a day, while the IMU module performs high-frequency monitoring and sampling, such as 0.2~5Hz, uploading cached data once an hour. In emergency mode, the GNSS module performs high-frequency monitoring and sampling, with the sampling frequency increased to 1Hz, and the IMU module increases the monitoring and sampling frequency to 50Hz, with sampled data uploaded to the cloud in real time.

[0029] (3) After the sampling data is uploaded, the cloud platform automatically calculates the settlement and tilt of the building based on the positioning data collected by the GNSS module. If the settlement or tilt exceeds the preset safety threshold, an alarm message containing multi-node data is sent to the monitoring center and the homeowner, and the emergency mode is adopted. If neither the settlement nor the tilt exceeds the preset safety threshold, the normal mode is adopted.

[0030] Specifically, the sub-mode monitoring mechanism determines whether monitoring and early warning are needed by processing data in the cloud. The monitoring data is uploaded to the cloud for coupled processing. By calculating the settlement and tilt of the residential buildings, when the maximum settlement at each location is less than the preset settlement safety threshold and the tilt is less than the preset tilt safety threshold, the sensor resumes sampling in normal mode; otherwise, an alarm process is triggered.

[0031] (4) After obtaining the alarm information, the monitoring center conducts on-site verification and disease treatment; after the monitoring center confirms that the alarm has been lifted, the cloud sends the alarm lifting information to the homeowner and sends a recovery command to all collaborative sensors to switch to normal mode.

[0032] Specifically, the multi-mode monitoring mechanism completes alarm cancellation and normal mode switching based on instructions from the cloud backend. When it is confirmed that the building settlement has stabilized, that is, the maximum settlement and tilt amount over 24 consecutive hours are less than the preset safety threshold, the backend sends an alarm cancellation instruction through the monitoring platform. After receiving the instruction, the cloud sends an alarm cancellation notification to the homeowner, and the sensor switches to normal mode.

[0033] This invention relates to a settlement and tilt monitoring system for rural residential buildings based on the BeiDou system. It utilizes a microcontroller to achieve "IMU-assisted GNSS + wireless networking + multi-node collaborative wake-up." The core of this system is leveraging the microcontroller's low-power control capabilities, peripheral coordination capabilities, and wireless communication scheduling capabilities to construct a closed-loop system of "perception-decision-communication-execution." The microcontroller acts as the main controller, interacting with various modules through peripheral interfaces. Key pin allocation prioritizes "low-power control" and "interrupt response." It needs to coordinate the three core modules: IMU anomaly detection, GNSS high-precision positioning, and wireless networking wake-up, while simultaneously ensuring low power consumption and reliability. The software adopts a "layered architecture + state machine" design, divided into a driver layer, protocol layer, and application layer. The core functionality involves low-power state switching and interrupt-driven operation to achieve "IMU sentinel-GNSS on-demand startup-multi-node collaboration."

[0034] The following are specific examples: Taking a three-story self-built house in a rural area as an example, the specific implementation process of the method of the present invention is explained as follows: Sensor deployment and implementation. Multiple sets of GNSS / IMU collaborative sensors were selected, each with a built-in GNSS module, a six-axis IMU module, and a wireless transmission module. Sensor brackets were fixed in holes drilled at the four corners of the building's roof. The horizontality error of the brackets was ≤0.1°. The sensors and brackets were rigidly connected by bolts to ensure no relative displacement. The timestamp error between GNSS and IMU was controlled within 1ms by the built-in UTC time synchronization module of the sensors to avoid calculation errors caused by data time misalignment.

[0035] Standard monitoring mode configuration. The cloud platform sends standard monitoring commands to the four sensors: GNSS module: sampling starts at 10:00 AM daily, sampling duration ≥ 5 minutes, collecting data from ≥ 8 satellites, and the sampled data is uploaded to the cloud via wireless transmission module in the format "device number-timestamp-longitude-latitude-elevation-building number"; IMU module: sampling frequency set to 5Hz, continuously collecting X / Y / Z axis acceleration data. If the threshold is not triggered, cached data is uploaded to the cloud once a day to reduce transmission volume, in the format "device number-timestamp-X-axis acceleration-Y-axis acceleration-Z-axis acceleration-building number", and cached data is uploaded once an hour.

[0036] IMU threshold parameter setting and judgment logic. Based on relevant specifications and building structural characteristics, IMU thresholds are set: Level 1 threshold corresponds to minor environmental disturbances, such as building vibrations caused by tractors passing by or building swaying caused by strong winds; Level 2 threshold corresponds to impacts or settlements that may cause structural deformation.

[0037] The IMU module performs threshold comparison locally in real time. The judgment logic is as follows: if only one IMU detects acceleration > Level 1 threshold and the other three are normal, it is judged as "environmental interference" and the normal mode is maintained; if one IMU detects acceleration > Level 2 threshold, or two or more IMUs detect acceleration > Level 1 threshold, the "GNSS activation command" is immediately triggered and sent to the four sets of sensors in real time through the wireless transmission module.

[0038] Emergency mode switching. After the sensor receives the activation command, the GNSS module performs a warm start: using valid historical data such as almanacs as guidance, it reacquires the current ephemeris, clears expired historical ephemeris data stored in the module to avoid expired data affecting positioning accuracy; it searches for satellite signals, acquiring ≥10 satellites within 30 seconds, and completes the reception of ephemeris and almanac data; it starts positioning calculation, completing the first positioning within 5 seconds, and after successful positioning, it continuously samples at a frequency of 1Hz, while the IMU module synchronously increases the sampling frequency to 50Hz, and the sampled data is uploaded to the cloud in real time.

[0039] Cloud-based data processing and threshold comparison. After receiving GNSS and IMU sampling data, the cloud system performs the following calculations: Determining the reference coordinates: Using the elevation data obtained from the joint calculation of the four sets of sensors in the most recent routine sampling as the reference (set as H1, H2, H3, H4), calculate the average elevation of the reference H0 = (H1 + H2 + H3 + H4) / 4; Settlement Calculation: Obtain the current sensor joint calculation elevation data H1', ​​H2', H3', and H4', calculate the settlement of a single sensor ΔH1=H1'-H1, ΔH2=H2'-H2, ΔH3=H3'-H3, and ΔH4=H4'-H4, and take the maximum settlement ΔH.max =max(ΔH1,ΔH2,ΔH3,ΔH4); Inclination calculation: Calculate the horizontal deviation along the building's major axis ΔX = |X1' - X2'| (X1' and X2' are the horizontal distance converted from the longitude of the diagonal sensors). α =ΔX / building height; the tilt is calculated similarly along the minor axis. β ; Safety threshold comparison: if and only if ΔH max <Preset settlement safety threshold and α <Preset tilt safety threshold and β If a preset tilt safety threshold is reached, the system issues a command to restore the sensor to normal sampling mode; otherwise, an alarm process is triggered.

[0040] Alarm and frequency adjustment implementation. When the cloud determines that the threshold has been exceeded: an alarm SMS is sent to the homeowner via the system's built-in SMS interface (e.g., "The short-term settlement of your house at No. XX, XX Village has reached 6.2mm, exceeding the safety threshold by 24%. Please pay attention to safety. The monitoring center has intervened"); at the same time, an alarm information is pushed to the local township monitoring center, including a map of the building's location and real-time data curves; the cloud simultaneously sends a "high-frequency sampling command" to the sensors, with the GNSS module maintaining a 1Hz sampling frequency and the IMU module maintaining a 50Hz sampling frequency, and the data is uploaded in real time to ensure that the monitoring center can keep track of the settlement / tilt change trend in real time.

[0041] Model recovery process. The local monitoring center dispatched personnel to the site for verification and confirmed that the building settlement had stabilized, i.e., ΔH had remained stable for 24 consecutive hours. max If the change is less than the preset settlement safety threshold, an "alarm release command" is sent through the monitoring platform: After receiving the command, the cloud sends a "regular sampling command" to the sensor; the GNSS module stops sampling at 1Hz and resumes regular sampling once a day at 10:00; the IMU module resumes the 10Hz sampling frequency and uploads cached data once an hour; the cloud sends an "alarm release notification" to the homeowner to complete the mode switch.

[0042] The power consumption of this invention when using an IMU in conjunction with GNSS is significantly lower than that of using GNSS alone. Figure 2 As shown, the method of the present invention achieves a significant reduction in monitoring power consumption.

[0043] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS, characterized in that, Includes the following steps: Collaborative sensors, including GNSS modules and IMU modules, are deployed at key locations within the building. In normal mode, the GNSS module samples once a day, the IMU module monitors the sampling in real time, and uploads the sampled data to the cloud in real time. If the acceleration value monitored by the IMU module reaches the preset acceleration threshold, switch to emergency mode; in emergency mode, all cooperative sensors are activated and the sampling frequency of the GNSS module and IMU module is increased. Based on the positioning data collected by the GNSS module, the cloud automatically calculates the building settlement and tilt. If the settlement or tilt exceeds the preset safety threshold, an alarm message is sent to the monitoring center and the homeowner, and the emergency mode is activated. If neither the settlement nor the tilt exceeds the preset safety threshold, the normal mode is activated.

2. The method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS as described in claim 1, characterized in that, The acceleration threshold is set as a multi-level monitoring threshold, including a primary threshold and a secondary threshold, with the primary threshold being lower than the secondary threshold. When one IMU module triggers the secondary threshold, or multiple IMU modules trigger the primary threshold, the system switches to emergency mode.

3. The method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS as described in claim 2, characterized in that, The first-level threshold corresponds to normal environmental disturbances, while the second-level threshold corresponds to impacts or settlements that may cause structural deformation.

4. The method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS as described in claim 1, characterized in that, The collaborative sensor calibrates the data timestamps of all devices through a built-in time synchronization module, and the sensors establish a system-level communication link through wireless networking.

5. The method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS as described in claim 1, characterized in that, In normal mode, the IMU module samples at a frequency of 0.2~5Hz, while in emergency mode, the IMU module samples at a frequency of 50Hz.

6. The method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS as described in claim 1, characterized in that, In emergency mode, the GNSS module samples at a frequency of 1 Hz.

7. The method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS as described in claim 1, characterized in that, The key parts are the top corners of the building's roof.

8. The method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS as described in any one of claims 1-7, characterized in that, After the cloud sends an alarm message to the monitoring center and the homeowner, the monitoring center conducts on-site verification and carries out disease treatment; when the settlement and tilt are both less than the preset safety threshold for 24 consecutive hours, an alarm cancellation message is sent to the homeowner and the system switches to normal mode.

9. A settlement and tilt monitoring system for rural residential buildings based on BeiDou GNSS, characterized in that, Includes a processor for executing the BeiDou GNSS-based method for monitoring settlement and tilt of residential buildings in villages and towns as described in any one of claims 1-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for monitoring settlement and tilt of rural residential buildings based on BeiDou GNSS as described in any one of claims 1-8.

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