Three-dimensional deformation measurement method based on high-precision digital elevation model, Beidou positioning and radar sight distance

Abstract

The embodiment of the invention discloses a three-dimensional deformation measurement method based on a high-precision digital elevation model, Beidou positioning and radar sight distance. The method comprises a three-dimensional deformation quantity calculation method facing an observation point and a three-dimensional deformation quantity calculation method facing a whole dam. Firstly, based on high-precision DEM, Beidou positioning and radar line-of-sight micro-deformation measurement data, a three-dimensional deformation decomposition model in the slope direction of the edge slope is established, and three-dimensional deformation quantity calculation of observation points in the slope direction of the edge slope is achieved; on the basis of the three-dimensional deformation quantity calculation of the observation points, the intersection line of the side slope and the horizontal plane is used as a base line, a continuous displacement field model of the overall structure is constructed in a fitting mode, the average displacement modulus of overall deformation and the average strain state and the local rotation trend in the area are analyzed, and local and overall three-dimensional deformation calculation is considered. According to the method, radar echoes and DEM are combined with Beidou positioning measurement data, and local and overall high-precision three-dimensional deformation calculation is considered.

Description

Technical Field

[0001] This invention relates to the field of positioning, specifically to a three-dimensional deformation measurement method based on a high-precision digital elevation model, BeiDou positioning, and radar line-of-sight, which can accurately monitor and measure dams. Background Technology

[0002] As a core facility of modern water conservancy projects, dams undertake comprehensive functions such as flood control, power generation, irrigation, water supply, and ecological regulation. Their structural stability is directly related to the safety of life and property, regional economic development, and ecological balance in downstream areas. However, during long-term service, dams must continuously withstand multiple risks, including natural aging, changes in geological conditions, extreme weather (such as short-term heavy rainfall and floods exceeding standard levels), seismic activity, and long-term operational loads. These factors can all lead to deformation phenomena such as displacement, settlement, tilting, and cracks in the dam body. If these deformations are not detected and intervened in a timely manner, they may lead to the accumulation of structural damage, which may eventually evolve into a dam failure disaster, causing irreversible socio-economic and environmental losses.

[0003] Therefore, by capturing minute deformations of dams in real time, assessing the structural health of dams, and optimizing operation and maintenance strategies, a scientific basis for risk early warning can be provided, thereby ensuring the resilience of water conservancy projects. Currently, in the construction of large-scale water conservancy projects in my country, various technical methods for monitoring dam and slope deformation have been developed, mainly including two categories: traditional monitoring technologies and new sensing technologies, as detailed below: Traditional monitoring techniques involve manual, periodic measurements using instruments such as precision levels and total stations, obtaining single-point deformation data through techniques like resection and trigonometric leveling. While this method can achieve millimeter-level accuracy, a single measurement requires a team of multiple people and several days to complete, and is subject to weather conditions such as clouds, fog, rain, and snow, making it difficult to meet the practical needs of disaster prediction for dynamic information covering the entire area.

[0004] BeiDou / GNSS Monitoring: This method utilizes precise time and location information provided by the Global Navigation Satellite System to measure the displacement and deformation of the dam. GNSS monitoring instruments (divided into a reference station and a monitoring station) are installed on the dam. The reference station provides a stable reference position, while the monitoring station receives satellite signals in real time and calculates its own positional changes. By comparing the positional differences between the monitoring station and the reference station, the dam's displacement can be accurately calculated. This method enables all-weather, real-time monitoring and is unaffected by weather conditions.

[0005] Seepage monitoring technology: This involves installing equipment such as pore water pressure gauges and water level gauges on the dam body to monitor seepage in real time. Pore water pressure gauges are installed at the highest point of the dam, the closure section, and other locations with complex structural topography to monitor pore water pressure. The location of water level gauges is determined based on the dam type, dam construction method, and tailrace method, generally preferably at locations with relatively stable water surfaces, such as within the reservoir's drainage structures and on the bank slopes. By monitoring seepage, leakage problems in the dam body can be detected promptly, allowing for appropriate remedial measures.

[0006] 3D laser scanning technology, also known as lidar technology, is a method for high-precision distance measurement using lasers. By scanning a target object or scene point by point, a precise 3D model of the target can be quickly constructed. Its working principle involves emitting a laser beam and measuring the time difference or phase difference of the reflected light to calculate the distance information of the target object. In dam monitoring, 3D laser scanning technology can be used to monitor surface deformation, cracks, landslides, and other phenomena on the dam body. By periodically scanning the dam surface, high-precision 3D point cloud data can be obtained, allowing for the analysis of dam deformation. This technology offers advantages such as high precision, speed, and non-contact operation, providing rich geometric information and strong support for dam safety assessment.

[0007] InSAR technology: InSAR (Synthetic Aperture Radar Interferometry) is a remote sensing technique that uses radar images acquired by Synthetic Aperture Radar (SAR) for interferometric measurements. It calculates the phase difference between SAR images from different time phases to obtain information about surface deformation. InSAR technology includes two types: spaceborne InSAR and ground-based InSAR. Spaceborne InSAR uses satellite-borne SAR systems, covering large areas and suitable for regional surface deformation monitoring. Ground-based InSAR uses fixed ground-based radar equipment, offering higher resolution and monitoring frequency, making it suitable for detailed monitoring of specific dams. InSAR technology can accurately monitor deformation at the millimeter level, providing crucial information for dam safety assessments.

[0008] While the aforementioned monitoring technologies have played a crucial role in dam deformation monitoring, some problems and limitations still exist, including: Spatial limitations: Existing methods mostly focus on individual horizontal displacement, vertical displacement, and internal deformation (only involved in seepage monitoring). The deformation indicators are relatively simple and mostly limited to deformation monitoring at fixed locations. They do not take into account the deformation range and trend of the slope area and cannot adapt well to the special characteristics of the slopes of major dams.

[0009] Time-related limitations: Traditional measurement cycles are long. For example, traditional monitoring technologies require manual measurement and calculation, making it difficult to obtain real-time monitoring results. Spaceborne InSAR is limited by the satellite re-entry cycle, resulting in poor real-time monitoring coverage.

[0010] Limitations of single monitoring methods: For example, LOS (Line of Sight) deformation data obtained solely by millimeter-wave radar can only reflect changes in the target along the radar's line of sight, making it difficult to intuitively understand the object's true deformation in three-dimensional space; while simple BeiDou positioning measurement can provide three-dimensional position information, its accuracy and resolution are easily affected by environmental interference and fluctuate greatly, failing to meet the needs of refined deformation monitoring.

[0011] Environmental adaptability and cost issues: Some monitoring technologies have high requirements for environmental conditions. For example, 3D laser scanning technology cannot function properly under severe weather conditions (such as dense fog or heavy rain); InSAR technology may be subject to signal interference in areas with thick vegetation cover. In addition, some high-precision monitoring technologies (such as 3D laser scanning and ground-based InSAR) have high equipment costs and complex maintenance, making them difficult to widely apply in small and medium-sized water conservancy projects.

[0012] In summary, existing monitoring technologies still have shortcomings in terms of multi-dimensional coverage, real-time performance, data fusion, and environmental adaptability. Therefore, it is urgent to meet the safety management needs of modern water conservancy projects by leveraging multi-source data, integrating the advantages of various data sources, optimizing algorithms, improving the intelligence of monitoring, and controlling costs to build a more comprehensive, efficient, and economical dam monitoring system. Summary of the Invention

[0013] In view of this, embodiments of the present invention provide a method and electronic device for calculating three-dimensional deformation based on high-precision DEM, BeiDou positioning, and radar line-of-sight micro-deformation. The method includes a three-dimensional deformation calculation method for observation points and a three-dimensional deformation calculation method for the entire dam. Based on high-precision DEM, BeiDou positioning, and radar line-of-sight micro-deformation measurement data, the above method establishes a three-dimensional deformation decomposition model along the slope direction, realizing the calculation of three-dimensional deformation at observation points along the slope direction. Further, based on the above-mentioned three-dimensional deformation calculation at observation points, and using the intersection of the slope and the horizontal plane as a baseline, a continuous displacement field model of the overall structure is fitted and constructed. This further analyzes the average displacement modulus of the overall deformation, as well as the average strain state and local rotation trend within the region, thereby achieving high-precision three-dimensional deformation calculation that considers both local and overall factors.

[0014] The method of this invention can overcome the shortcomings of existing three-dimensional deformation calculation methods in terms of accuracy and intuitiveness. By integrating multi-source data such as high-precision DEM, radar and Beidou positioning, it extends from local calculation of observation points to overall evaluation of the structure. It solves the bottleneck problems of spatiotemporal dispersion, insufficient accuracy and poor environmental adaptability of traditional monitoring methods in super-large engineering projects, complex geological environments and disaster scenarios. Therefore, it can be widely used in the field of full-cycle health diagnosis of major infrastructure and early warning of geological disasters.

[0015] A method for solving three-dimensional deformations oriented towards observation points includes the following steps: Based on high-precision DEM and BeiDou positioning data, the latitude and longitude and relative positional relationship between radar installation points and observation points are obtained. A mathematical model for three-dimensional deformation decomposition is established based on radar line-of-sight micro-deformation data. Using the intersection of the dam slope and the horizontal plane as a reference, the three-dimensional deformation decomposition model is subjected to coordinate transformation based on the slope aspect of the dam slope to obtain a three-dimensional deformation decomposition correction model along the slope aspect, thereby obtaining the final solution result of the three-dimensional deformation along the slope aspect.

[0016] Optionally, obtaining the latitude and longitude coordinates and relative positional relationship between the radar installation point and the observation point based on high-precision DEM and BeiDou positioning data specifically includes: A radar installation point was set up below the dam, and an observation point was set up above the dam. Based on high-precision DEM data and BeiDou positioning, the latitude, longitude and elevation data of the radar installation point and the observation point were measured. Based on the latitude and longitude results, calculate the azimuth angle between the radar installation point and the observation point. The azimuth angle It is the horizontal azimuth angle connecting the radar and the observation point; Calculate the initial distance between the radar and the observation point based on radar measurement data. Combined with the absolute value of the elevation difference in the elevation data Calculate the horizontal sight distance using formula (1) : Formula (1).

[0017] Optionally, the step of establishing a three-dimensional deformation decomposition mathematical model based on radar line-of-sight micro-deformation data specifically includes: Establish a three-dimensional rectangular coordinate system with the radar installation point as the origin. For the deformation perpendicular to the Z-axis, it satisfies formula (2): Formula (2) In the formula, For vertical deformation, Line-of-sight deformation for real-time radar detection; Establish the solution equation for horizontal deformation, and extend the horizontal sight distance along... shaft and Y The axis is split and combined with the azimuth angle. Thus, we obtain the system of equations for formula (3): Formula (3) In the formula The azimuth angle between the radar installation point and the observation point. Horizontal sight distance; For the deformation at the horizontal viewing distance, its change is proportional to the deformation along the line of sight, resulting in the system of equations in formula (4): Formula (4) In the formula represent X Deformation in the axial direction, represent Y Deformation in the axial direction, This represents deformation at the horizontal line of sight.

[0018] Optionally, the coordinate transformation based on the slope aspect of the dam slope is performed to obtain a three-dimensional deformation decomposition and correction model along the slope aspect, thereby obtaining the final solution result of the three-dimensional deformation along the slope aspect, specifically as follows: Obtain the slope of the dam to be measured and its three-dimensional rectangular coordinate system. The angle between the horizontal planes That is, the slope aspect angle, expressed as the included angle. For any point, as the reference Using formula (5) to perform coordinate transformation, the coordinate expression after rotation is as follows: Formula (5) In the formula The aspect angle represents the slope. The coordinates are after rotation; Substituting formulas (4) and (2) into formula (5), we obtain formula (6), which represents the Z-axis deformation, i.e., the correction model of three-dimensional deformation along the slope, and obtains the deformation along the horizontal slope direction. Deformation along the slope normal direction and settlement deformation in the vertical direction ; Formula (6).

[0019] The radar is a millimeter-wave radar, lidar, or synthetic aperture radar.

[0020] This invention further discloses a three-dimensional deformation calculation method for the entire dam, including: Based on the above-mentioned three-dimensional deformation calculation method for observation points, the three-dimensional deformation results of multiple observation points in the horizontal slope direction, slope normal direction, and vertical ground direction are obtained, and the displacement modulus of each point, i.e., the line-of-sight deformation, is verified. Based on the coordinates of the observation points in the local coordinate system along the slope and the three-dimensional deformation, a continuous displacement field of the dam as a whole is established by fitting a linear model, and the three-dimensional average deformation components and average displacement modulus of the dam are calculated. Based on the continuous displacement field, the overall strain state and local rotation trend of the dam are calculated.

[0021] Optionally, obtaining the triaxial deformation results and verifying the displacement modulus at each point, i.e., the view deformation, specifically includes: Multiple observation points defined in the slope aspect local coordinate system The coordinates of the point are Its displacement components along the slope direction, along the slope normal direction, and vertical direction can be expressed as ( ), respectively, with respect to the deformation along the horizontal slope direction of the observation point. Deformation along the slope normal direction and settlement deformation in the vertical direction Consistent, all observation points The displacement modulus, i.e. the appearance deformation, is expressed by formula (7): Formula (7).

[0022] Optionally, the establishment of the continuous displacement field of the dam as a whole, and the calculation of the three-dimensional average deformation components and average displacement modulus of the dam are specifically as follows: The displacement field of the dam can be expressed as a continuous function: Among them, the three-dimensional displacement components, i.e., the deformation components , , The model is constructed using a polynomial linear model as shown in formula (8), specifically as follows: Formula (8) In the formula These are the fitting parameters; Fitting parameters based on least squares fitting formula (8) The objective function is constructed to minimize the sum of squares of the residuals between the predicted and actual values ​​of all observation points. The least squares estimate is solved using matrix representation, and the optimal solution is obtained through the canonical equation, thereby solving for the fitting parameters of the three-dimensional displacement components. Based on formula (7) and network data from multiple observation points, the three-dimensional average deformation components and average displacement modulus of the dam are calculated.

[0023] Optionally, the calculation of the overall strain state and local rotation trend of the dam based on the continuous displacement field specifically includes: The continuous displacement field of the dam, constructed using the polynomial linear model of formula (8), is used to calculate the local spatial gradient and obtain the in-plane strain index, where the normal strain is divided into along... Direction, i.e., strain along the slope and along Direction, i.e., strain along the slope normal. All units are 1000µε≈1 mm / m, a positive value indicates tension, and a negative value indicates compression, specifically: ,

[0024] Shear strain is defined as:

[0025] Local rigid rotation For about the vertical axis The rotation, measured in rad, is as follows: .

[0026] The present invention also discloses an electronic device, comprising: a processor and a memory, the processor and the memory being connected via a bus, the memory being adapted to store instructions or programs executable by the processor, the processor executing the instructions stored in the memory to perform the aforementioned three-dimensional deformation calculation method oriented towards observation points, or the aforementioned three-dimensional deformation calculation method oriented towards observation points and the aforementioned three-dimensional deformation calculation method oriented towards the entire dam. In summary, the present invention has the following advantages: 1. Compared to relying solely on LOS or BeiDou positioning measurements obtained from millimeter-wave radar, this invention combines radar with high-precision DEM and BeiDou positioning measurement data. By using multiple monitoring methods simultaneously to reduce the misjudgment rate, it performs three-dimensional deformation calculation and overall deformation assessment of the dam slope from multiple granular perspectives, including observation points and the dam as a whole. This method facilitates intuitive interpretation of slope deformation results and allows for verification of the calculation results by combining multiple measurement methods.

[0027] 2. This invention fits and constructs a continuous displacement field model of the overall structure, further analyzes the average displacement modulus of the overall deformation, as well as the average strain state and local rotation trend within the region, thereby achieving high-precision three-dimensional deformation calculation that takes into account both local and overall characteristics. Attached Figure Description

[0028] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings, in which: Figure 1 This is a flowchart of a three-dimensional deformation calculation method oriented towards observation points according to a specific embodiment of the present invention; Figure 2 This is a schematic diagram of horizontal and vertical deformation calculation according to a specific embodiment of the present invention; Figure 3 This is a schematic diagram of coordinate transformation along the dam direction according to a specific embodiment of the present invention; Figure 4This is a schematic diagram illustrating the deformation calculation in the horizontal slope direction and the slope normal direction according to a specific embodiment of the present invention; Figure 5 This is a flowchart of the three-dimensional deformation calculation for the entire dam according to a specific embodiment of the present invention; Figure 6 It is an electronic device used to implement the method of the present invention. Detailed Implementation

[0029] The present application is described below based on embodiments, but it is not limited to these embodiments. In the detailed description of the present application below, certain specific details are described in detail. Those skilled in the art can fully understand the present application without these details. To avoid obscuring the substance of the present application, well-known methods, processes, flows, elements, and circuits are not described in detail.

[0030] Furthermore, those skilled in the art should understand that the accompanying drawings provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0031] Unless the context explicitly requires it, words such as "including" or "contains" throughout the application should be interpreted as including rather than exclusive or exhaustive; that is, meaning "including but not limited to".

[0032] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0033] This invention includes a method for calculating three-dimensional deformation variables oriented towards observation points and a method for calculating three-dimensional deformation variables of the entire dam. The method for calculating three-dimensional deformation variables oriented towards observation points is the foundation, while the method for calculating three-dimensional deformation variables of the entire dam is based on the results of calculating three-dimensional deformation variables oriented towards multiple observation points.

[0034] Therefore, see Figure 1 This invention first discloses a three-dimensional deformation calculation method for observation points, including the following steps: Based on line-of-sight micro-deformation data of fixed observation points on the dam surface acquired by, for example, millimeter-wave radar, combined with high-precision DEM data of the radar installation point and observation point and BeiDou positioning measurement data, the method achieves the decomposition of deformation at fixed observation points along the slope direction, the slope normal direction, and the vertical direction through coordinate transformation based on the slope aspect of the dam slope. S110: Based on high-precision DEM and BeiDou positioning data, obtain the latitude and longitude and relative position relationship between radar installation points and observation points; S120: Based on the line-of-sight micro-deformation data from millimeter-wave radar, a mathematical model for the decomposition of three-dimensional deformation is established; S130: Using the intersection of the dam slope and the horizontal plane as a reference, the three-dimensional deformation decomposition model described in S120 is subjected to coordinate transformation based on the slope aspect of the dam slope to obtain the three-dimensional deformation decomposition correction model along the slope aspect, thereby obtaining the final solution result of the three-dimensional deformation along the slope aspect.

[0035] In one embodiment, obtaining the latitude and longitude coordinates and relative positional relationship between the radar installation point and the observation point based on high-precision DEM and BeiDou positioning data in S110 specifically includes: S111: Set up a radar installation point below the dam and an observation point above the dam. Based on high-precision DEM data and BeiDou positioning, measure the latitude, longitude and elevation data of the radar installation point and the observation point. S112: Calculate the azimuth angle between the radar installation point and the observation point based on the latitude and longitude results. , wherein the azimuth angle It is the horizontal direction angle connecting the radar and the observation point, used to convert the line-of-sight deformation data measured by the radar into a three-dimensional rectangular coordinate system, such as the east-north-vertical coordinate system, and finally obtain the three-dimensional deformation result along the slope through coordinate rotation; S113: Calculate the initial distance between the radar and the observation point based on radar measurement data. Combined with the absolute value of the elevation difference obtained in step S111 Calculate the horizontal sight distance using formula (1) : Formula (1).

[0036] The step S120, which involves establishing a three-dimensional deformation decomposition mathematical model based on the line-of-sight micro-deformation data from the millimeter-wave radar, specifically includes: S121: See also Figure 2 A three-dimensional rectangular coordinate system is established with the radar installation point as the origin. For the deformation perpendicular to the Z-axis, it satisfies formula (2): Formula (2) In the formula, For vertical deformation, Line-of-sight deformation for real-time radar detection; S122: Establish the solution equation for horizontal deformation, along the horizontal sight distance. shaft and Y The axis is split and combined with the azimuth angle. Thus, we obtain the system of equations for formula (3): Formula (3) In the formula The azimuth angle between the radar installation point and the observation point. Horizontal sight distance; S123: For deformation at the horizontal viewing distance, its change is proportional to the deformation along the line of sight, resulting in the equation set of formula (4): Formula (4) In the formula represent X Deformation in the axial direction, represent Y Deformation in the axial direction, This represents deformation at the horizontal line of sight.

[0037] In step S130, the coordinate transformation based on the slope aspect of the dam slope is performed to obtain a three-dimensional deformation decomposition and correction model along the slope aspect, thereby obtaining the final solution result of the three-dimensional deformation along the slope aspect. Specifically: S131: See also Figure 3 Obtain the three-dimensional rectangular coordinate system of the dam slope to be measured. The angle between the horizontal planes That is, the slope aspect angle, expressed as the included angle. For any point, as the reference Using formula (5) to perform coordinate transformation, the coordinate expression after rotation is as follows: Formula (5) In the formula The aspect angle represents the slope. The coordinates are after rotation; This step, for example, Figure 2 The XOY plane in this invention establishes an east-north-vertical coordinate system with the positive X-axis pointing east and the positive Y-axis pointing north. However, this invention is not limited to this. For slopes in other directions, it is equivalent to rotating the slope aspect angle in a certain direction within the original coordinate system. For example, for a slope trending NE (northeast), it is equivalent to rotating the original coordinate system clockwise by the slope aspect angle; for a slope trending NW (northwest), it is equivalent to rotating the original coordinate system counterclockwise.

[0038] S132: Substituting formulas (4) and (2) into formula (5), we obtain formula (6), which represents the Z-axis deformation. See [link to formula (6)]. Figure 4 That is, the correction model of three-dimensional deformation along the slope direction, to obtain the deformation along the horizontal slope direction. Deformation along the slope normal direction and settlement deformation in the vertical direction ; Formula (6).

[0039] In this embodiment, millimeter-wave radar is used as an example for description, but the present invention is not limited thereto. Any radar wave can be used, but millimeter-wave radar, lidar (LiDAR), or synthetic aperture radar (SAR) are preferred.

[0040] This invention further discloses a three-dimensional deformation calculation method for the entire dam. Based on the three-dimensional deformation calculation results from multiple observation points, this method establishes a continuous displacement field based on a network of observation points, using the intersection of the dam slope and the horizontal plane as the baseline. This enables the analysis of the average displacement, strain, and local rotation of the entire dam. (See also...) Figure 5 Specifically, it includes the following steps: S210: Based on the three-dimensional deformation results of multiple observation points obtained by the above method in the horizontal slope direction, slope normal direction, and vertical ground direction, verify the displacement modulus of each point, i.e. the line-of-sight deformation. S220: Based on the coordinates of the observation points and the three-dimensional deformation of the local coordinate system along the slope, a continuous displacement field of the dam as a whole is established by fitting a linear model, and the three-dimensional average deformation components and average displacement modulus of the dam are calculated. S230: Based on the continuous displacement field, calculate the overall strain state and local rotation trend of the dam.

[0041] In a specific embodiment, step S210, which verifies the displacement modulus of each point based on the triaxial deformation results of multiple observation points obtained according to the above method in the horizontal slope direction, slope normal direction, and vertical ground direction, specifically involves: Multiple observation points defined in the slope aspect local coordinate system The coordinates of the point are Its displacement components along the slope direction, along the slope normal direction, and vertical direction can be expressed as ( ), respectively, with respect to the deformation along the horizontal slope direction of the observation point. Deformation along the slope normal direction and settlement deformation in the vertical direction Consistent, all observation points The displacement modulus, i.e. the deformation in the direction of view, can be expressed by formula (7): Formula (7).

[0042] Step S220, which involves establishing the continuous displacement field of the dam as a whole and calculating the three-dimensional average deformation components and average displacement modulus of the dam, specifically includes: S221: Express the displacement field of the dam as a continuous function: Among them, the three-dimensional displacement components, i.e., the deformation components , , The model is constructed using a polynomial linear model as shown in formula (8), specifically as follows: Formula (8) In the formula These are the fitting parameters; S222: Fitting parameters based on least squares fitting formula (8) The following section uses the slope-direction deformation component. For example, for each observation point The deformation component along the slope can be extended to formula (9): Formula (9) In the formula Indicates observation error; S223: Construct an objective function that minimizes the sum of squares of the residuals between the predicted and actual values ​​at all observation points. Define the residual as... The objective function is then expressed as in formula (10): Formula (10) The goal makes To reach the minimum, that is, to each Find the partial derivative and set it to 0, that is:

[0043] The above equation can be converted into regular form:

[0044] S224: Solving least squares estimation based on matrix representation, defining the matrix. parameter vector Observation vector Specifically, as shown in formula (11): Formula (11) Therefore, the discrete model can be written as That is, the least squares solution requires minimizing The optimal solution can be given by the canonical equation: Formula (12) Similarly, the same method can be used to solve for the slope normal. and vertical displacement components The fitting parameters calculated in this step can be used for subsequent analysis of strain in various directions in a continuous displacement field. S225: Calculate the three-dimensional average deformation components and average displacement modulus of the dam based on formula (7) and the network data of multiple observation points.

[0045] In step S230, calculating the overall strain state and local rotation trend of the dam based on the continuous displacement field specifically involves: The continuous displacement field of the dam, constructed using the polynomial linear model of formula (8), is used to calculate the local spatial gradient and obtain the in-plane strain index, where the normal strain is divided into along... Direction, i.e., strain along the slope and along Direction, i.e., strain along the slope normal. All units are 1000µε≈1 mm / m, a positive value indicates tension, and a negative value indicates compression, specifically: ,

[0046] Shear strain is defined as:

[0047] Local rigid rotation For about the vertical axis The rotation, measured in rad, is as follows: .

[0048] That is, the fitting parameters obtained in step S224 are used for the analysis and calculation of strain in various directions in the continuous displacement field.

[0049] Example: This embodiment takes a dam slope in Fujian Province, China as the research object, and installs a millimeter-wave radar and four observation point devices to demonstrate the detailed implementation process and results: 1. Three-dimensional deformation calculation oriented towards the observation point against Figure 1 The observation-point-oriented three-dimensional deformation calculation method described in the article includes the following steps and results: S110: Based on high-precision DEM and BeiDou positioning data, obtain the latitude and longitude and relative position relationship between radar installation points and observation points; S111: Based on high-precision DEM data and BeiDou positioning, the latitude, longitude, and elevation data of the radar installation points and observation points were measured. The measurement results are shown in Table 1. Table 1 Latitude, Longitude and Elevation Table

[0050] S112: Calculate the azimuth angle between the radar installation point and the observation point based on the latitude and longitude results. ; S113: Calculate the initial distance between the radar and the observation point based on radar measurement data. Combined with the absolute value of the elevation difference obtained in step S11 The horizontal sight distance was calculated, and the measurement and calculation results are shown in Table 2. Table 2 Distance and Azimuth Table

[0051] S121: Establish a three-dimensional rectangular coordinate system with the radar installation point as the origin. For the deformation perpendicular to the Z-axis, the following equation is satisfied:

[0052] S122: Establish the solution equation for horizontal deformation, along the horizontal sight distance. The axis and Y-axis are separated, and the azimuth angle in S12 is used as a reference. This yields the following system of equations:

[0053] S123: For deformation at horizontal viewing distance, its change is proportional to the deformation along the line of sight, resulting in the following set of equations:

[0054] S131: This coordinate system The plane is established with the positive X-axis pointing east and the positive Y-axis pointing north. For a slope trending NE (northeast), this is equivalent to an instantaneous clockwise rotation of the slope aspect angle from the original coordinate system; for a slope trending NW (northwest), it is equivalent to a counterclockwise rotation of the original coordinate system. Any point... The coordinate expressions after rotation are as follows:

[0055] In the formula The aspect angle represents the slope. The coordinates are after rotation; S132: Substitute formulas (4) and (2) from step S123 into formula (5) to obtain the correction model for three-dimensional deformation along the slope:

[0056] In this formula Deformation representing the horizontal direction along the slope. Deformation representing the direction of the slope normal. This represents the settlement deformation in the direction perpendicular to the ground.

[0057] The calculation results are obtained based on the real-time deformation data transmitted from the radar, the measured slope aspect, and the measured values ​​in Table 2. The deformation data is used to determine the degree of deformation, therefore the sign of the coordinate axes is irrelevant. All deformation values ​​in Table 3 are displayed as absolute values. Table 3 Deformation Results

[0058] 2. Three-dimensional deformation calculation for the entire dam against Figure 5 The three-dimensional deformation calculation for the dam as a whole, as described in the article, includes the following steps and results: S210: Based on the three-dimensional deformation results of multiple observation points in the horizontal slope direction, slope normal direction, and vertical ground direction, verify the displacement modulus (view deformation) of each point. S211: Define the coordinates of a point in the local coordinate system along the slope as follows: Its displacement components along the slope direction, along the slope normal direction, and vertical direction can be expressed as ( ), indicating the observation point and , , With consistent numerical values, the displacement modulus (view deformation) at each point can be expressed as:

[0059] S220: Based on the coordinates of the observation points and the three-dimensional deformation of the local coordinate system along the slope, a continuous displacement field of the dam as a whole is established based on the linear model fitting, and the three-dimensional average deformation components and average displacement modulus of the dam are calculated. S221-224: Based on the observation point coordinates and three-dimensional deformation of the local coordinate system along the slope, a continuous displacement field of the dam as a whole is established based on linear model fitting. Based on the deformation results in Table 3, a linear displacement field model is established: , , , ;right , , , ;right , , , These parameters represent, for example, the displacement field along the slope direction. The gradient is mm / m, that is, for every 1m increase along direction, The reduction is approximately 0.0430 mm.

[0060] S225: Based on the formula in S211 and the network data of the observation points, further calculate the three-dimensional average deformation components and average displacement modulus of the dam:

[0061] S230: Based on the continuous displacement field model, calculate the overall strain state and local rotation trend of the dam.

[0062] Based on the continuous displacement field of the dam, the local spatial gradient is calculated to obtain the in-plane strain index, where the normal strain is divided into along... Directional (downhill) strain and along Direction (slope normal) strain All units are 1000µε≈1 mm / m, a positive value indicates tension, and a negative value indicates compression, specifically: ，

[0063] The shear strain is:

[0064] Local rigid rotation For about the vertical axis The rotation, measured in rad, is as follows:

[0065] This invention overcomes the spatial and temporal limitations and accuracy constraints of traditional monitoring methods, making it suitable for full-cycle, dynamic monitoring of deformation of large-scale artificial structures (such as ultra-high dams, cross-sea bridges, and super high-rise buildings) and geological hazards. It systematically solves the bottlenecks of traditional monitoring methods in ultra-large engineering projects, complex geological environments, and disaster scenarios, such as spatial and temporal dispersion, insufficient accuracy, and poor environmental adaptability. This technology system can be widely applied in the fields of full-cycle health diagnosis of major infrastructure and early warning of geological hazards, including but not limited to: 1. Ultra-high dams and hydropower projects: Covering the entire life cycle monitoring of concrete gravity dams, arch dams, and earth-rock dams, by integrating high-precision DEM, Beidou positioning and millimeter-wave radar data, it can achieve millimeter-level deformation tracking of ultra-high dams, which is especially suitable for seepage deformation during water storage and structural stability assessment during aging.

[0066] 2. Bridge Health Monitoring: Supports cable force-deformation coupling analysis of cross-sea suspension bridges, cable-stayed bridges and old arch bridges. It synchronously monitors the deflection of the main beam, the displacement of the tower and the torsional deformation of the bridge deck through external radar networking, solves the problem of GNSS signal blockage in the marine environment, and tracks the dynamic scour of the bridge pier foundation in real time.

[0067] 3. Full coverage of rail transit scenarios: For complex geological conditions such as frost heave / thaw settlement of railways in plateau permafrost areas, sand damage deformation of railways in desert areas, and misalignment of shield tunnel segments in urban subways, a deformation-temperature coupling model is constructed by combining Beidou positioning and thermal infrared remote sensing to achieve sub-millimeter level smoothness calibration of maglev tracks.

[0068] 4. Geological disaster prevention and control system: Integrate deep slope displacement (borehole inclinometer) and surface deformation (radar data) to establish a sliding surface location inversion model for highway slopes, open-pit mine slopes and natural landslides.

[0069] 5. Earthquake early warning and post-earthquake rescue: Network monitoring of active faults at the millimeter level to capture strain abrupt changes several hours before the earthquake; generating building damage heat maps within 30 minutes after the earthquake, and using radar life detection to locate the buried areas of collapsed buildings.

[0070] 6. Safety Management of Mines and Tailings Dams: High-density observation point network is used to monitor millimeter-level displacement of open-pit mine slopes. A coupled seepage field-deformation field model is used to warn of tailings dam failure risks, which is suitable for extreme environments such as plateaus and permafrost.

[0071] In summary, the present invention has the following advantages: 1. Compared to relying solely on radar-acquired LOS or BeiDou positioning measurements, this invention combines radar with high-precision DEM and BeiDou positioning measurement data. By using multiple monitoring methods simultaneously to reduce the misjudgment rate, it performs three-dimensional deformation calculation and overall deformation assessment of the dam slope from multiple granular perspectives, including observation points and the dam as a whole. This method facilitates intuitive interpretation of slope deformation results and allows for verification of the calculation results by combining multiple measurement methods.

[0072] 2. This invention fits and constructs a continuous displacement field model of the overall structure, further analyzes the average displacement modulus of the overall deformation, as well as the average strain state and local rotation trend within the region, thereby achieving high-precision three-dimensional deformation calculation that takes into account both local and overall characteristics.

[0073] Embodiments of the present invention further disclose an electronic device, such as... Figure 6 As shown, Figure 6The illustrated electronic device is a general address lookup device, comprising a general computer hardware architecture, including at least a processor 91 and a memory 92. The processor 91 and memory 92 are connected via a bus 93. The memory 92 is adapted to store instructions or programs executable by the processor 91. The processor 91 can be a standalone microprocessor or a collection of one or more microprocessors. Thus, the processor 91 executes the instructions stored in the memory 92 to perform the observation-point-oriented three-dimensional deformation calculation method of the present invention as described above, or the observation-point-oriented three-dimensional deformation calculation method and the dam-wide three-dimensional deformation calculation method, to achieve data processing and control of other devices. The bus 93 connects the aforementioned components together, and also connects the aforementioned components to a display controller 94, a display device, and an input / output (I / O) device 95. The input / output (I / O) device 95 can be a mouse, keyboard, modem, network interface, touch input device, motion-sensing input device, printer, and other devices known in the art. Typically, the input / output device 95 is connected to the system via an input / output (I / O) controller 96.

[0074] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus (devices), or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This application is described with reference to flowchart illustrations of methods, apparatus (devices), and computer program products according to embodiments of this application. It should be understood that each step in the flowchart can be implemented by computer program instructions.

[0076] These computer program instructions may be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction means, the implementation process of which is described in the instruction means. Figure 1 The function specified in one or more processes.

[0077] These computer program instructions may also be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, produce instructions for implementing processes. Figure 1 A device for a function specified in one or more processes.

[0078] Another embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program for use by a computer to execute some or all of the above-described method embodiments.

[0079] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program specifying the relevant hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0080] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for solving three-dimensional deformation variables oriented towards observation points, characterized in that, Includes the following steps: Based on high-precision DEM and BeiDou positioning data, the latitude and longitude and relative positional relationship between radar installation points and observation points are obtained. A mathematical model for three-dimensional deformation decomposition is established based on radar line-of-sight micro-deformation data. Using the intersection of the dam slope and the horizontal plane as a reference, the three-dimensional deformation decomposition model is subjected to coordinate transformation based on the slope aspect of the dam slope to obtain a three-dimensional deformation decomposition correction model along the slope aspect, thereby obtaining the final solution result of the three-dimensional deformation along the slope aspect.

2. The method for calculating three-dimensional deformations oriented towards observation points according to claim 1, characterized in that: The specific details of obtaining the latitude, longitude, and relative positional relationship between the radar installation point and the observation point based on high-precision DEM and BeiDou positioning data include: A radar installation point was set up below the dam, and an observation point was set up above the dam. Based on high-precision DEM data and BeiDou positioning, the latitude, longitude and elevation data of the radar installation point and the observation point were measured. Based on the latitude and longitude results, calculate the azimuth angle between the radar installation point and the observation point. The azimuth angle It is the horizontal azimuth angle connecting the radar and the observation point; Calculate the initial distance between the radar and the observation point based on radar measurement data. Combined with the absolute value of the elevation difference in the elevation data Calculate the horizontal sight distance using formula (1) : Official (1).

3. The method for calculating three-dimensional deformation variables oriented towards observation points according to claim 2, characterized in that: The step of establishing a three-dimensional deformation decomposition mathematical model based on the radar line-of-sight micro-deformation data specifically includes: Establish a three-dimensional rectangular coordinate system with the radar installation point as the origin. For the deformation perpendicular to the Z-axis, it satisfies formula (2): Official (2) In the formula, For vertical deformation, Line-of-sight deformation for real-time radar detection; Establish the solution equation for horizontal deformation, and extend the horizontal sight distance along... shaft and Y The axis is split and combined with the azimuth angle. Thus, we obtain the system of equations for formula (3): Official (3) In the formula The azimuth angle between the radar installation point and the observation point. Horizontal sight distance; For the deformation at the horizontal viewing distance, its change is proportional to the deformation along the line of sight, resulting in the system of equations in formula (4): Official (4) In the formula represent X Deformation in the axial direction, represent Y Deformation in the axial direction, This represents deformation at the horizontal line of sight.

4. The three-dimensional deformation calculation method oriented towards the observation point according to claim 3, characterized in that: The coordinate transformation based on the slope aspect of the dam is performed to obtain a three-dimensional deformation decomposition and correction model along the slope aspect, thereby obtaining the final solution result of the three-dimensional deformation along the slope aspect, specifically: Obtain the slope of the dam to be measured and its three-dimensional rectangular coordinate system. The angle between the horizontal planes That is, the slope aspect angle, expressed as the included angle. For any point, as the reference Using formula (5) to perform coordinate transformation, the coordinate expression after rotation is as follows: Official (5) In the formula The aspect angle represents the slope. The coordinates are after rotation; Substituting formulas (4) and (2) into formula (5), we obtain formula (6), which represents the Z-axis deformation, i.e., the correction model of three-dimensional deformation along the slope, and obtains the deformation along the horizontal slope direction. Deformation along the slope normal direction and settlement deformation in the vertical direction ; Official (6).

5. A three-dimensional deformation calculation method oriented towards observation points according to any one of claims 1-4, characterized in that: The radar is a millimeter-wave radar, lidar, or synthetic aperture radar.

6. A method for calculating the three-dimensional deformation of a dam as a whole, characterized in that, Includes the following steps: The three-dimensional deformation calculation method based on any one of claims 1-5 for observation points yields three-dimensional deformation results for multiple observation points in the horizontal slope direction, slope normal direction, and vertical ground direction, and verifies the displacement modulus of each point, i.e., the line-of-sight deformation. Based on the coordinates of the observation points in the local coordinate system along the slope and the three-dimensional deformation, a continuous displacement field of the dam as a whole is established by fitting a linear model, and the three-dimensional average deformation components and average displacement modulus of the dam are calculated. Based on the continuous displacement field, the overall strain state and local rotation trend of the dam are calculated.

7. The three-dimensional deformation calculation method for the entire dam as described in claim 6, characterized in that: The process of obtaining the triaxial deformation results and verifying the displacement modulus at each point, i.e., the view deformation, specifically includes: Multiple observation points defined in the slope aspect local coordinate system The coordinates of the point are Its displacement components along the slope direction, along the slope normal direction, and vertical direction can be expressed as ( ), respectively, with respect to the deformation along the horizontal slope direction of the observation point. Deformation along the slope normal direction and settlement deformation in the vertical direction Consistent, all observation points The displacement modulus, i.e. the appearance deformation, is expressed by formula (7): Official (7).

8. The three-dimensional deformation calculation method for the entire dam as described in claim 7, characterized in that: The establishment of the continuous displacement field of the dam as a whole, and the calculation of the three-dimensional average deformation components and average displacement modulus of the dam are specifically as follows: The displacement field of the dam can be expressed as a continuous function: Among them, the three-dimensional displacement components, i.e., the deformation components , , The model is constructed using a polynomial linear model as shown in formula (8), specifically as follows: Official (8) In the formula These are the fitting parameters; Fitting parameters based on least squares fitting formula (8) The objective function is constructed to minimize the sum of squares of the residuals between the predicted and actual values ​​of all observation points. The least squares estimate is solved using matrix representation, and the optimal solution is obtained through the canonical equation, thereby solving for the fitting parameters of the three-dimensional displacement components. Based on formula (7) and network data from multiple observation points, the three-dimensional average deformation components and average displacement modulus of the dam are calculated.

9. The three-dimensional deformation calculation method for the entire dam as described in claim 8, characterized in that: The calculation of the overall strain state and local rotation trend of the dam based on the continuous displacement field is as follows: The continuous displacement field of the dam, constructed using the polynomial linear model of formula (8), is used to calculate the local spatial gradient and obtain the in-plane strain index, where the normal strain is divided into along... Direction, i.e., strain along the slope and along Direction, i.e., strain along the slope normal. All units are 1000µε≈1 mm / m, a positive value indicates tension, and a negative value indicates compression, specifically: ， ； Shear strain is defined as: ； Local rigid rotation For about the vertical axis The rotation, measured in rad, is as follows: 。 10. An electronic device, characterized in that, include: A processor and a memory are connected via a bus. The memory is adapted to store instructions or programs executable by the processor. The processor executes the instructions stored in the memory to perform the three-dimensional deformation calculation method for observation points as described in any one of claims 1-5, or the three-dimensional deformation calculation method for observation points as described in any one of claims 1-5 and the three-dimensional deformation calculation method for the entire dam as described in any one of claims 6-9.

Images