A building displacement monitoring method and system based on multiple radars and multiple targets

Abstract

The present application relates to the field of radar displacement monitoring, in particular to a kind of building displacement monitoring method and system based on multiple radars and multiple targets, method includes: selecting one from multiple micro change radars as reference radar, obtain the three-dimensional coordinates of the multiple micro change radars relative to the reference radar, while obtaining the three-dimensional coordinates of multiple monitoring targets relative to the reference radar on building;Control micro change radar to collect the radial displacement data of each monitoring target, obtain the global displacement data collected by all micro change radars;Based on the three-dimensional coordinates of each micro change radar, the three-dimensional coordinates of each monitoring target and the radial displacement data, calculate the three-dimensional displacement data of the building.The present application is based on multiple radars and multiple targets, through collaborative observation and data fusion, from multi-view radial displacement, high-precision calculation of building three-dimensional displacement is stable, and field layout is flexible, adapt to complex engineering environment.

Description

Technical Field

[0001] This invention relates to the field of radar displacement monitoring, and in particular to a method and system for monitoring building displacement based on multiple radars and multiple targets. Background Technology

[0002] After long-term development, many buildings have approached or exceeded their designed service life, and their structural safety and stability have declined year by year. At the same time, construction activities in the surrounding areas have further exacerbated the risks of settlement, tilting and other deformations in old buildings, resulting in prominent safety hazards.

[0003] Three-dimensional high-precision displacement monitoring of buildings is an effective way to assess their structural health and provide early warning of safety risks. This type of monitoring can accurately capture the spatial deformation trend of the structure, providing key information for safety assessment, early warning decisions, and maintenance and reinforcement.

[0004] Micro-variable radar technology, based on millimeter-wave phase ranging, boasts sub-millimeter accuracy and all-weather operation advantages, and has been widely applied to structural deformation monitoring. However, existing single-radar monitoring methods have significant shortcomings: on the one hand, they can only acquire the radial displacement of the target along the radar line of sight, and cannot directly obtain the three-dimensional displacement vector, making it difficult to comprehensively reflect the spatial deformation of the structure; on the other hand, due to limitations imposed by building structure or site conditions, the deployment location of the monitoring target is often singular, resulting in a limited observation geometry, making it difficult and unreliable to stably invert the three-dimensional displacement from limited radial data.

[0005] Therefore, there is an urgent need for a monitoring method and system that can overcome the limitations of single radar observation dimensions, achieve high-precision three-dimensional displacement calculation of buildings, and have the flexibility for on-site deployment. Summary of the Invention

[0006] The purpose of this invention is to overcome the insufficient stability of displacement calculation caused by the limited monitoring dimension and observation geometry of single radar in the prior art, and to provide a building displacement monitoring method and system based on multiple radars and multiple targets.

[0007] In a first aspect, the present invention provides a method for monitoring building displacement based on multiple radars and multiple targets, comprising the following steps:

[0008] One of multiple micro-variable radars is selected as a reference radar, and the three-dimensional coordinates of the multiple micro-variable radars relative to the reference radar are obtained. At the same time, the three-dimensional coordinates of multiple monitoring targets installed on the building are obtained relative to the reference radar. The radial displacement data of each monitored target is collected by the micro-variable radar to obtain the global displacement data collected by all micro-variable radars. Based on the three-dimensional coordinates of each micro-variable radar, the three-dimensional coordinates of each monitored target, and the radial displacement data, the three-dimensional displacement data of the building is calculated.

[0009] Preferably, obtaining the three-dimensional coordinates of each micro-variable radar and each monitored target specifically includes: A coordinate system is constructed with the physical installation location of the reference radar as the origin. The three-dimensional coordinates of each micro-variable radar in the corresponding coordinate system are obtained based on the distance of the physical installation location of each micro-variable radar relative to the reference radar. The three-dimensional coordinates of each monitored target in the corresponding coordinate system are obtained based on the distance of the physical installation location of each monitored target relative to the parameter radar.

[0010] Preferably, the radial distance difference between any two monitored targets and any micro-variable radar is greater than the range resolution of the micro-variable radar.

[0011] Preferably, calculating the three-dimensional displacement data of the building specifically includes: Based on the three-dimensional coordinates of each micro-variable radar and the three-dimensional coordinates of each monitored target, calculate the unit direction vector of each micro-variable radar pointing to each monitored target; Based on the unit direction vector and the global displacement data, a three-dimensional displacement model of the building is constructed. The three-dimensional displacement model is calculated to obtain the three-dimensional displacement data of the building.

[0012] Furthermore, the calculation of the three-dimensional displacement data of the building adopts the rigid body motion assumption that all monitored targets have the same three-dimensional displacement.

[0013] Furthermore, the formula for the three-dimensional displacement model is:

[0014] In the formula, h represents the three-dimensional displacement data of the building, L represents the matrix composed of all unit direction vectors, and s represents the global displacement data; The least squares method was used to calculate the three-dimensional displacement model.

[0015] In a second aspect, the present invention provides a building displacement monitoring system based on multiple radars and multiple targets, comprising: Multiple monitoring targets are deployed at predetermined locations on the building; Multiple micro-variable radars are deployed in different locations to synchronously collect radial displacement data of each monitored target; The coordinate measurement unit is used to measure the three-dimensional coordinates of each micro-variable radar and each monitored target; The data processing unit is used to control the multiple micro-variable radars and coordinate measurement units to calculate and output the three-dimensional displacement data of the building using the above-mentioned multi-radar and multi-target building displacement monitoring method.

[0016] Preferably, the radial distance difference between any two monitored targets and any micro-variable radar is greater than the range resolution of the micro-variable radar.

[0017] In a third aspect, the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the above-described method for monitoring building displacement based on multiple radars and multiple targets.

[0018] In a fourth aspect, the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described method for monitoring building displacement based on multiple radars and multiple targets.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention provides a building displacement monitoring method based on multiple radars and multiple targets. By using multiple micro-variable radars to collaboratively observe and fuse data from multiple monitoring targets on a building, it is possible to stably and accurately calculate the three-dimensional displacement data of the building from radial displacement data from multiple perspectives, and comprehensively assess structural deformation. At the same time, this method has strong engineering applicability. By utilizing the collaborative arrangement of multiple radars and multiple targets, the on-site installation layout is more flexible and adaptable to various complex engineering environments.

[0020] 2. This invention provides a building displacement monitoring system based on multiple radars and multiple targets. By integrating multiple monitoring targets, multiple micro-variable radars, coordinate measurement units, and a data processing center into a collaborative hardware system, it can stably and automatically implement the monitoring method, ensuring high accuracy and reliability of three-dimensional displacement data calculation. At the same time, the system is highly modular and flexible in deployment. The number and location of radars and targets can be flexibly configured according to site conditions and monitoring requirements, significantly improving the engineering adaptability and implementation efficiency of the solution.

[0021] 3. The present invention provides a computer-readable storage medium storing the above-mentioned monitoring method. By solidifying the monitoring method in the form of an executable program, the standardized replication, convenient deployment and automated data processing of the monitoring technology can be realized, which greatly promotes the application of the method.

[0022] 4. The present invention provides an electronic device for executing the above-mentioned monitoring program. By integrating the dedicated program with the memory and processor into a single hardware device, a highly integrated and highly reliable dedicated data processing terminal can be realized, ensuring the stable and efficient operation of the monitoring system in the field environment. Attached Figure Description

[0023] Figure 1 This is a flowchart of a building displacement monitoring method based on multiple radars and multiple targets in Example 1; Figure 2 This is a schematic diagram of a building displacement monitoring method based on multiple radars and multiple targets, as shown in Example 1. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to specific embodiments. However, this should not be construed as limiting the scope of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0025] Unless otherwise specified, the terms "upper," "lower," "left," "right," "center," "inner," and "outer," etc., used in the description of specific embodiments of the present invention to indicate orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationship in which the product / equipment / device is usually placed during use. These terms are merely for the purpose of facilitating the description of the present invention or simplifying the description in specific embodiments, and for enabling those skilled in the art to quickly understand the solution, and do not indicate or imply that a particular device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship. Therefore, they should not be construed as limitations on the present invention.

[0026] Furthermore, the use of terms such as "horizontal," "vertical," "suspended," "parallel," and "coaxial" does not imply that the corresponding device / component / element must be absolutely horizontal, vertical, suspended, parallel, or coaxial. Slight tilt or deviation is permissible, as long as it does not affect the normal function of the relevant component. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," not that the structure must be perfectly horizontal; a slight tilt is acceptable. "Coaxial" means that two components are arranged as coaxially as possible, allowing them to move coaxially or approximately coaxially when their relative positions change. Alternatively, it can be simplified to mean that the corresponding device / component / element, when arranged in "horizontal," "vertical," "suspended," "parallel," or "coaxial" directions, can have an error / deviation of ±10% relative to the corresponding direction, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, and more preferably within ±4%. For example, the deviation in the "coaxial" direction is controlled within 0.2-1mm, preferably within 0.2-0.5mm. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the solution of the present invention.

[0027] Furthermore, the use of terms such as "first," "second," and "third" in terminology is merely for distinguishing descriptions of identical or similar components and should not be interpreted as emphasizing or implying the relative importance of a particular component.

[0028] Furthermore, in the description of the embodiments of the present invention, "several", "more than", and "a number of" represent at least two. The number can be any number, such as two, three, four, five, six, seven, eight, or nine, and can even exceed nine.

[0029] Furthermore, in the description of the technical solution of this invention, unless otherwise explicitly specified / limited / restricted, the terms "set up," "install," "connect," "link," "provided with," "laid out," and "arranged" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to connection methods commonly used in the art, such as welding, riveting, bolting, and threaded connections. Such connections can be mechanical, electrical, or communication connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components.

[0030] Example 1 Figure 1 The flowchart illustrates a building displacement monitoring method based on multiple radars and multiple targets, including the following steps: S1: Select one of the multiple micro-variable radars as a reference radar, obtain the three-dimensional coordinates of the multiple micro-variable radars relative to the reference radar, and at the same time obtain the three-dimensional coordinates of multiple monitoring targets set on the building relative to the reference radar. In one or more embodiments, obtaining the three-dimensional coordinates of each micro-variable radar and each monitored target specifically includes: A coordinate system is constructed with the physical installation location of the reference radar as the origin. The three-dimensional coordinates of each micro-variable radar in the corresponding coordinate system are obtained based on the distance of the physical installation location of each micro-variable radar relative to the reference radar. The three-dimensional coordinates of each monitored target in the corresponding coordinate system are obtained based on the distance of the physical installation location of each monitored target relative to the parameter radar.

[0031] In one or more embodiments, the radial distance difference between any two monitored targets and any micro-variable radar is greater than the range resolution of the micro-variable radar.

[0032] Specifically, such as Figure 2 As shown, based on the structural characteristics of the building, M micro-variable radars were installed in different areas. A reference radar was selected as the coordinate zero point, and the three-dimensional coordinates of all micro-variable radars were measured as follows: .in Indicates the first The three-dimensional coordinates of a micro-variable radar are the "encapsulation" of the radar's orientation in three-dimensional space into a vector form, which is used for subsequent coordinate calculations and geometric analysis, such as the relative distance between radars and array layout calculations. : No. The coordinates of a radar relative to zero on the first coordinate axis (e.g., eastward, x-axis); : No. The coordinates of a radar relative to zero on the second coordinate axis (such as north, y-axis); :No. The coordinates of a radar relative to zero on the third coordinate axis (such as the sky or z-axis); The original row vector coordinates are converted into column vectors, facilitating subsequent engineering calculations such as distance calculations and positional relationship analysis between radars. Through these calculations, the relative position data of each micro-variable radar can be obtained, providing a geometric basis for subsequent radar networking, collaborative monitoring, or spatial registration. The coordinates of all micro-variable radars are determined relative to a selected reference radar (the zero point), thus constructing a unified coordinate system for analyzing the minute movements or deformations of targets. Its core function is to transform the spatial installation position of each radar from "field-measured values" into "standardized mathematical vectors," facilitating subsequent calculations and verification of radar layout.

[0033] N monitoring targets are installed on the building to be monitored. The radial distance difference between any two monitoring targets and any micro-variable radar must be greater than the range resolution of the micro-variable radar. The precise three-dimensional coordinates of the N monitoring targets relative to the reference radar are measured, and the three-dimensional coordinates of each target are as follows: It uses a unified three-dimensional coordinate system with "reference radar as the origin" as the benchmark, and defines the first [element] in column vector form. Precise spatial location of each monitored target: Representing the The "three-dimensional coordinate vector" of each monitoring target. They are the first The coordinate values ​​of a monitored target along the first, second, and third axes of this unified coordinate system (which need to be consistent with the coordinates of the micro-variable radar). (The coordinate axes are completely aligned) This transforms the original row vector coordinates into column vectors, facilitating subsequent engineering calculations such as distance calculations and positional relationship analysis with the coordinates of the micro-variable radar. Its core function is to ensure that the positions of the monitored targets and the micro-variable radars are in the same coordinate system, providing a unified and calculable positional data foundation for subsequent verification of whether the radial distance differences from each monitored target to each micro-variable radar meet the resolution requirements.

[0034] S2: Control the micro-variable radar to collect radial displacement data of each monitored target, and obtain the global displacement data collected by all micro-variable radars; Specifically, the high-precision displacement of each monitored target is accurately measured using the j-th micro-variable radar. S represents the global displacement data of the j-th micro-variable radar. (j=1, 2…M; i=1, 2, …, N; where M and N are the number of micro-variable radars and the number of monitored targets, respectively) represents the number of targets detected from the j-th micro-variable radar. The radial displacement data of each monitored target. Global displacement data is a unified encapsulation form of the displacement data of all monitored targets by the micro-variable radar. Its function is to integrate the discrete radial displacement measurements of multiple targets by a single micro-variable radar into a standard vector, avoid data confusion, and facilitate subsequent storage, retrieval and mathematical calculations. This step is the core output of micro-variable radar monitoring, providing high-precision displacement data for each target.

[0035] S3: Calculate the three-dimensional displacement data of the building based on the three-dimensional coordinates of each micro-variable radar, the three-dimensional coordinates of each monitored target, and the radial displacement data.

[0036] In one or more embodiments, calculating the three-dimensional displacement data of the building specifically includes: Based on the three-dimensional coordinates of each micro-variable radar and the three-dimensional coordinates of each monitored target, calculate the unit direction vector of each micro-variable radar pointing to each monitored target; Based on the unit direction vector and the global displacement data, a three-dimensional displacement model of the building is constructed. The three-dimensional displacement model is calculated to obtain the three-dimensional displacement data of the building.

[0037] In an optional implementation, the calculation of the three-dimensional displacement data of the building adopts the rigid body motion assumption that all monitored targets have the same three-dimensional displacement.

[0038] In an optional implementation, the formula for the three-dimensional displacement model is:

[0039] In the formula, h represents the three-dimensional displacement data of the building, L represents the matrix composed of all unit direction vectors, and s represents the global displacement data; The least squares method was used to calculate the three-dimensional displacement model.

[0040] Specifically, calculate the unit direction vector of the i-th monitored target relative to the j-th micro-variable radar:

[0041] in: , (j=1, 2…M; i=1, 2, …, N; where M and N are the number of micro-variable radars and the number of monitored targets, respectively) represents the direction from the j-th micro-variable radar to the i-th micro-variable radar. The unit direction vector of each monitored target. From the j-th micro-variable radar pointing to the th The original position difference vector of each monitored target, It is the magnitude of the original position difference vector mentioned above. They are the first The coordinate values ​​of each monitoring target along the first, second, and third coordinate axes. , , These are the coordinate values ​​of the j-th micro-variable radar along the first, second, and third coordinate axes, respectively. Calculate... Its function is to quantify the physical distance between the j-th micro-variable radar and the i-th monitored target. It is the basis for the calculation of the unit direction vector and also a key parameter for verifying whether the radial distance difference between each monitored target exceeds the resolution of the micro-variable radar.

[0042] The three-dimensional displacement data of the building are ,in These represent settlement displacement, lateral displacement, and longitudinal displacement, respectively. Assuming each micro-variable radar remains stationary and that the actual settlement displacement, lateral displacement, and longitudinal displacement of each monitored target are identical, the three-dimensional displacement model of the building can be derived as follows:

[0043] Where h represents the three-dimensional displacement data of the building. L is a vector composed of all unit direction vectors. (j=1, 2…M; i=1, 2, …, N; where M and N are the number of micro-variable radars and the number of monitored targets, respectively) represents the direction from the j-th micro-variable radar to the i-th micro-variable radar. The unit direction vector of each monitored target.

[0044] S represents the global displacement data of the j-th micro-variable radar. (j=1, 2…M; i=1, 2, …, N; where M and N are the number of micro-variable radars and the number of monitored targets, respectively) represents the number of targets detected from the j-th micro-variable radar. Radial displacement data of each monitoring target.

[0045] This step serves as a mathematical bridge between radar measurements and the target's actual displacement, enabling high-precision inversion from one-dimensional line-of-sight measurements to three-dimensional displacement.

[0046] Finally, the least squares method is used to calculate the three-dimensional displacement model of the building. That is, the optimal estimation of the overall three-dimensional displacement vector of the building is obtained from the multi-micro-variable radar measurement data. Its function is to solve the overdetermined linear equation system in the presence of measurement noise by minimizing the sum of squared errors, and to instantly convert a large amount of radial displacement data measured by micro-variable radar into the overall three-dimensional rigid body displacement of the building, giving the final answer to the three key indicators of settlement, lateral and longitudinal. This is a key calculation step to realize "millimeter-level deformation monitoring" from "data acquisition" to "interpretation of physical meaning".

[0047] The calculated three-dimensional displacement data are:

[0048] Where h represents the three-dimensional displacement data of the building, L is the matrix composed of all unit direction vectors, and s represents the global displacement data. This formula is the "data inversion engine" of the micro-variable radar monitoring system. It uses the least squares method as its core, combining the one-dimensional line-of-sight displacement measurements (i.e., radial displacement data s) of multiple micro-variable radars on multiple monitoring targets with the unit direction vector matrix L of the micro-variable radars and the monitoring targets, to calculate the three-dimensional displacement data h of the building.

[0049] This embodiment uses multiple micro-variable radars to conduct collaborative observation and data fusion of multiple monitoring targets on a building, which can stably and accurately calculate the three-dimensional displacement data of the building from radial displacement data from multiple perspectives, and comprehensively assess structural deformation. At the same time, the method has strong engineering applicability. By using the collaborative arrangement of multiple radars and multiple targets, the on-site installation layout is more flexible and adaptable to various complex engineering environments.

[0050] Example 2 Based on the same inventive concept, this embodiment provides a building displacement monitoring system based on multiple radars and multiple targets, including: Multiple monitoring targets are deployed at predetermined locations on the building; Multiple micro-variable radars are deployed in different locations to synchronously collect radial displacement data of each monitored target; The coordinate measurement unit is used to measure the three-dimensional coordinates of each micro-variable radar and each monitored target; The data processing unit is used to control the multiple micro-variable radars and coordinate measurement units to calculate and output the three-dimensional displacement data of the building, using a building displacement monitoring method based on multiple radars and multiple targets as described in Example 1.

[0051] In one or more embodiments, the radial distance difference between any two monitored targets and any micro-variable radar is greater than the range resolution of the micro-variable radar.

[0052] This embodiment integrates multiple monitoring targets, multiple micro-variable radars, coordinate measurement units, and a data processing center into a collaborative hardware system, which can stably and automatically implement the monitoring method and ensure high accuracy and reliability of three-dimensional displacement data calculation. At the same time, the system is highly modular and flexible in deployment, and the number and location of radars and targets can be flexibly configured according to site conditions and monitoring needs, which significantly improves the engineering adaptability and implementation efficiency of the solution.

[0053] Example 3 Based on the same inventive concept, this embodiment provides a computer-readable storage medium storing a program thereon, which, when executed by a processor, implements a building displacement monitoring method based on multiple radars and multiple targets as described in Embodiment 1.

[0054] This embodiment provides a computer-readable storage medium that stores and executes a specific program, enabling general-purpose or special-purpose computing devices to automatically implement the method. This provides a convenient carrier for the digital control, remote operation, and algorithm iteration of the method, facilitating the standardization, promotion, and application of this technology.

[0055] The aforementioned computer-readable storage medium may be any combination of one or more computer-readable media. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. Computer-readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM). ROM, optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0056] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0057] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0058] This embodiment transforms the evaluation method in Embodiment 1 into a program stored on a computer-readable medium, achieving standardization, automation, and efficiency in the evaluation process. Its beneficial effects include enabling complex full life-cycle collaborative evaluations to be completed quickly and accurately using computers, significantly reducing application barriers and labor costs. This facilitates the promotion, implementation, and result reproduction of the evaluation method, thus providing strong standardized tool support for green design and decision-making in railway engineering.

[0059] This embodiment, by solidifying the monitoring method into an executable program, enables standardized replication, convenient deployment, and automated data processing of the monitoring technology, greatly promoting its widespread application.

[0060] Example 4 Based on the same inventive concept, this embodiment provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements a building displacement monitoring method based on multiple radars and multiple targets as described in Embodiment 1.

[0061] For example, a processor may include one or more processing units, such as a neural network processing unit (NPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a digital signal processor (DSP), a baseband processor, etc. The different processing units may be independent devices or integrated into one or more processors. The controller can generate operation control signals based on the instruction opcode and timing signals to control instruction fetching and execution.

[0062] The memory can be used to store executable program code, including instructions. Internal memory may include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function, etc. The data storage area may store data created during the use of the electronic device (such as input data, output data, etc.). Furthermore, internal memory may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFs), etc. The processor executes various functional applications and data processing of the electronic device by running instructions stored in the internal memory and / or instructions stored in memory located within the processor.

[0063] This embodiment integrates a dedicated program, memory, and processor into a single hardware device, enabling a highly integrated and reliable dedicated data processing terminal that ensures the stable and efficient operation of the monitoring system in the field environment.

[0064] The above description is only 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 protection scope of the present invention.

Claims

1. A method for monitoring building displacement based on multiple radars and multiple targets, characterized in that, Includes the following steps: One of multiple micro-variable radars is selected as a reference radar, and the three-dimensional coordinates of the multiple micro-variable radars relative to the reference radar are obtained. At the same time, the three-dimensional coordinates of multiple monitoring targets installed on the building are obtained relative to the reference radar. The radial displacement data of each monitored target is collected by the micro-variable radar to obtain the global displacement data collected by all micro-variable radars. Based on the three-dimensional coordinates of each micro-variable radar, the three-dimensional coordinates of each monitored target, and the radial displacement data, the three-dimensional displacement data of the building is calculated.

2. The building displacement monitoring method based on multiple radars and multiple targets according to claim 1, characterized in that, Obtaining the three-dimensional coordinates of each micro-variable radar and each monitored target specifically includes: A coordinate system is constructed with the physical installation location of the reference radar as the origin. The three-dimensional coordinates of each micro-variable radar in the corresponding coordinate system are obtained based on the distance of the physical installation location of each micro-variable radar relative to the reference radar. The three-dimensional coordinates of each monitored target in the corresponding coordinate system are obtained based on the distance of the physical installation location of each monitored target relative to the parameter radar.

3. The building displacement monitoring method based on multiple radars and multiple targets according to claim 1, characterized in that, The radial distance difference between any two monitored targets and any micro-variable radar is greater than the range resolution of the micro-variable radar.

4. The building displacement monitoring method based on multiple radars and multiple targets according to claim 1, characterized in that, The calculation of the three-dimensional displacement data of the building specifically includes: Based on the three-dimensional coordinates of each micro-variable radar and the three-dimensional coordinates of each monitored target, calculate the unit direction vector from each micro-variable radar to each monitored target; Based on the unit direction vector and the global displacement data, a three-dimensional displacement model of the building is constructed. The three-dimensional displacement model is calculated to obtain the three-dimensional displacement data of the building.

5. A building displacement monitoring method based on multiple radars and multiple targets according to claim 4, characterized in that, The calculation of the three-dimensional displacement data of the building adopts the rigid body motion assumption that all monitored targets have the same three-dimensional displacement.

6. A method for monitoring building displacement based on multiple radars and multiple targets according to claim 5, characterized in that, The formula for the three-dimensional displacement model is: In the formula, h represents the three-dimensional displacement data of the building, L represents the matrix composed of all unit direction vectors, and s represents the global displacement data; The least squares method was used to calculate the three-dimensional displacement model.

7. A building displacement monitoring system based on multiple radars and multiple targets, characterized in that, include: Multiple monitoring targets are deployed at predetermined locations on the building; Multiple micro-variable radars are deployed in different locations to synchronously collect radial displacement data of each monitored target; The coordinate measurement unit is used to measure the three-dimensional coordinates of each micro-variable radar and each monitored target; The data processing unit is used to control the plurality of micro-variable radars and coordinate measurement units to calculate and output the three-dimensional displacement data of the building using a building displacement monitoring method based on multiple radars and multiple targets as described in any one of claims 1 to 6.

8. A building displacement monitoring system based on multiple radars and multiple targets according to claim 7, characterized in that, The radial distance difference between any two monitored targets and any micro-variable radar is greater than the range resolution of the micro-variable radar.

9. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed by the processor, it implements as described in claim 1. A method for monitoring building displacement based on multiple radars and multiple targets, as described in any one of the following six claims.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements as described in claim 1. A method for monitoring building displacement based on multiple radars and multiple targets, as described in any one of the following six claims.

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