An accelerometer-based inclinometer automatic correction method and system

Abstract

This invention relates to the field of engineering monitoring technology, specifically an automatic calibration method and system for an inclinometer based on an accelerometer. The method includes: identifying the inclinometer tube and inclinometer; generating a target depth sequence and m measurement position groups based on the measurement step distance and effective depth; controlling the inclinometer to perform forward and return measurements in a preset forward measurement posture, obtaining m forward and return nodes; pairing the m forward, m return, m reverse forward, and m reverse return nodes to obtain m overlapping nodes; decomposing the m overlapping nodes to obtain a calibration node set; validating the calibration node set to obtain an effective calibration node set; and using the effective calibration node set to obtain deep horizontal displacement results. This invention can improve the accuracy of inclinometer measurement data, eliminate the influence of accelerometer zero bias, and enhance the efficiency of automated calibration in engineering monitoring.

Description

Technical Field

[0001] This invention relates to the field of engineering monitoring technology, and in particular to an automatic correction method and system for inclinometers based on accelerometers. Background Technology

[0002] Accelerometer-based inclinometers are core equipment for monitoring deep horizontal displacement in geotechnical engineering projects such as deep foundation pits, slopes, and dams. The accuracy of their measurement data is crucial to the reliability of engineering safety assessments and the timeliness of risk warnings. With the development of infrastructure construction, the number of monitoring points has increased, and the frequency of measurements has risen, leading to a surge in demand for automated correction of inclinometer measurement data. Therefore, efficient and reliable automatic correction methods for measurement data are of great significance.

[0003] In traditional inclinometer measurements, the accelerometer zero bias is affected by various factors, leading to significant errors in tilt angle calculations and consequently impacting the accuracy of deep horizontal displacement results. Existing calibration methods largely rely on periodic manual calibration or external references, which are cumbersome, inefficient, and ill-suited for long-term automated monitoring scenarios. Therefore, improving the accuracy of inclinometer measurement data, eliminating the influence of accelerometer zero bias, and enhancing the efficiency of automated calibration in engineering monitoring have become urgent problems to be solved. Summary of the Invention

[0004] This invention provides an automatic calibration method for inclinometers based on accelerometers and a computer-readable storage medium. Its main purpose is to improve the accuracy of inclinometer measurement data, eliminate the influence of accelerometer zero bias, and improve the efficiency of automated calibration in engineering monitoring.

[0005] To achieve the above objectives, the present invention provides an automatic calibration method for an inclinometer based on an accelerometer, comprising: The inclinometer tube and inclinometer were identified. The inclinometer is located inside the inclinometer tube and contains a first accelerometer and a second accelerometer. The distance between the first and second accelerometers is measured to obtain the measurement step distance, and the effective depth of the inclinometer tube is obtained. Based on the measurement step distance and the effective depth, a target depth sequence and m measurement position groups are generated. Based on the target depth sequence and m measurement position groups, the inclinometer is controlled to perform outward and return measurements in a preset forward measurement posture, resulting in m forward outward nodes and m forward return nodes. The inclinometer is switched to the preset reverse measurement posture, and the outbound and return measurements are performed again to obtain m reverse outbound nodes and m reverse return nodes. The forward measurement posture and the reverse measurement posture are 180 degrees apart. Pair the positions of m forward outgoing nodes, m forward returning nodes, m reverse outgoing nodes, and m reverse returning nodes to obtain m overlapping nodes; Decompose m overlapping nodes to obtain a set of correction nodes. Verify the validity of the correction node set to obtain a set of valid correction nodes. Use the set of valid correction nodes to obtain the deep horizontal displacement results.

[0006] Optionally, generating the target depth sequence and m measurement position groups based on the measurement step distance and effective depth includes: Obtain the starting and ending measurement points of the inclinometer tube. Based on the starting and ending measurement points, measurement step distance, and effective depth, determine m target depths and m measurement position groups. Each measurement position group corresponds one-to-one with a target depth, and each measurement position group includes a first measurement position and a second measurement position. The position corresponding to the target depth is the center of the first and second measurement positions. Sort the m target depths in ascending order to obtain the target depth sequence.

[0007] Optionally, the control inclinometer performs outward and return measurements in a preset forward measurement posture, obtaining m forward nodes and m return nodes, including: The inclinometer is controlled to reach the target depth sequentially in the forward measurement posture according to the target depth from small to large. After stopping at each target depth, the first accelerometer and the second accelerometer are used to collect a forward sampling group, which includes: a first forward sampling component and a second forward sampling component. Associate the forward outgoing sampling group with the measurement position group corresponding to the target depth to obtain forward outgoing nodes. Summarize the forward outgoing nodes to obtain m forward outgoing nodes. After confirming that the inclinometer has reached the end measurement point, the return trip is triggered. The inclinometer reaches the target depth in descending order of target depth and acquires the forward return sampling group, which includes: the first forward return component and the second forward return component. By associating the forward return sampling group with the measurement position group corresponding to the target depth, forward return nodes are obtained. By summing the forward return nodes, m forward return nodes are obtained.

[0008] Optionally, the step of pairing the m forward outgoing nodes, m forward returning nodes, m reverse outgoing nodes, and m reverse returning nodes to obtain m overlapping nodes includes: The target depth is extracted sequentially from the target depth sequence. The extracted target depth is used to retrieve the corresponding measurement position group from the m measurement position groups to obtain the target measurement position group. Using the target measurement location group, m forward outbound nodes, and m forward return nodes, obtain m first forward nodes and m second forward nodes; Using the target measurement location group, m reverse outgoing nodes and m reverse return nodes, obtain m first reverse nodes and m second reverse nodes, wherein the first reverse node includes: a first reverse outgoing component and a first reverse return component, and the second reverse node includes: a second reverse outgoing component and a second reverse return component. By associating m first forward nodes, m second forward nodes, m first reverse nodes, and m second reverse nodes respectively, m overlapping nodes are obtained, where each overlapping node corresponds one-to-one with the target depth.

[0009] Optionally, obtaining m first forward nodes and m second forward nodes using the target measurement location group, m forward outbound nodes, and m forward return nodes includes: Using the target measurement location group, the corresponding target forward outgoing node and target forward return node are retrieved from the m forward outgoing nodes and the m forward return nodes, respectively; The first forward node is obtained by associating the first forward outgoing component in the target forward outgoing node and the first forward return component in the target forward return node. By associating the second forward outbound component in the target forward outbound node and the second forward return component in the target forward return node, the second forward node is obtained; Summarize the first and second positive nodes respectively to obtain m first positive nodes and m second positive nodes.

[0010] Optionally, the decomposition of m overlapping nodes to obtain a set of corrected nodes includes: Extract overlapping nodes sequentially from m overlapping nodes, and perform the following operation on each extracted overlapping node: Calculate the mean of the first forward outbound component and the first forward return component in the first forward node to obtain the first forward mean component; Calculate the mean of the second forward outbound component and the second forward return component in the second forward node to obtain the second forward mean component; Calculate the absolute difference and mean of the first positive mean component and the second positive mean component respectively to obtain the positive absolute difference component and the positive mean component; Calculate the reverse absolute difference component and the reverse mean component based on the first reverse node and the second reverse node; The corrected gravity component and zero bias are calculated based on the positive and negative mean components, using the following formulas: ; in, This indicates the corrected gravity component. This indicates the zero bias. This represents the positive mean component. This represents the reverse mean component. Indicates the mean identifier; By correlating and correcting the gravity component, zero bias, positive absolute difference component, negative absolute difference component, and target depth, correction nodes are obtained. By summarizing the correction nodes, a correction node set is obtained.

[0011] Optionally, the step of validating the set of correction nodes to obtain a valid set of correction nodes includes: Acquire the dual-sensor difference threshold, the zero bias threshold, and the local gravitational acceleration; Perform the following operation on each correction node in the correction node set: If the correction node meets the preset correction conditions, the correction node is regarded as a valid correction node. The correction conditions are that the positive absolute difference component and the negative absolute difference component are both less than or equal to the dual-sensor difference threshold, the absolute value of the zero bias is less than or equal to the zero bias threshold, and the absolute value of the corrected gravity component is less than or equal to the local gravitational acceleration. Otherwise, a retest is performed based on the correction node to obtain an updated correction node. If the updated correction node satisfies the correction condition, then the updated correction node is the valid correction node, where the number of retests is p. The effective correction nodes are summarized to obtain the effective correction node set.

[0012] Optionally, the step of retesting based on the correction node to obtain the updated correction node includes: Using the target depth in the correction node, the corresponding measurement position group is retrieved from the m measurement position groups to obtain the remeasurement position group, and the target depth is used as the remeasurement target depth; Based on the remeasurement position group, the inclinometer is controlled to reach the remeasurement target depth again, and the inclinometer is controlled to perform outgoing and returning measurements in forward and reverse measurement attitudes respectively, to obtain p remeasurement forward outgoing nodes, p remeasurement forward returning nodes, p remeasurement reverse outgoing nodes and p remeasurement reverse returning nodes; Pair the p retest forward outgoing nodes, p retest forward returning nodes, p retest reverse outgoing nodes, and p retest reverse returning nodes to obtain p updated overlapping nodes; Each of the p updated overlapping nodes is decomposed to obtain p updated corrected gravity components, p updated zero bias components, p updated positive absolute difference components, and p updated negative absolute difference components; Calculate the mean values ​​of p updated corrected gravity components, p updated zero bias components, p updated positive absolute difference components, and p updated negative absolute difference components respectively to obtain the updated average corrected gravity component, updated average zero bias component, updated average positive absolute difference component, and updated average negative absolute difference component. Then, correlate them with the remeasured target depth to obtain the updated correction node.

[0013] Optionally, obtaining the deep horizontal displacement result using the effective correction node set includes: The effective correction nodes in the effective correction node set are sorted in ascending order of target depth to obtain the effective correction node sequence. Obtain the initial inclination angle sequence and the measurement section length sequence corresponding to the inclinometer tube, wherein the initial inclination angle, the measurement section length, and the effective correction node correspond one-to-one; Effective correction nodes are extracted sequentially from the effective correction node sequence. The ratio of the corrected gravity component to the local gravitational acceleration is calculated to obtain the sine value of the inclination angle. The inclination angle sine value is then subjected to arcsine operation to obtain the corrected inclination angle corresponding to the target depth. By correlating the correction tilt angle with the target depth, the correction tilt angle node is obtained; Summarize the tilt correction nodes to obtain the tilt correction node set; The deep horizontal displacement at each target depth is calculated based on the corrected dip angle node set, the initial dip angle sequence, and the measurement section length sequence. The calculation formula is shown below: ; in, Indicates the first The deep horizontal displacement at the target depth Indicates shared ownership Target depth, Indicates the first The length of the measurement section corresponding to each target depth Indicates the first The correction tilt angle corresponding to each target depth Indicates the first The initial tilt angle corresponding to each target depth; By associating the target depth, corrected tilt angle, and deep horizontal displacement, horizontal displacement nodes are obtained. By summarizing the horizontal displacement nodes, the deep horizontal displacement results are obtained.

[0014] To achieve the above objectives, the present invention also provides an automatic correction system for an inclinometer based on an accelerometer, comprising: The measurement preparation module is used to identify the inclinometer tube and the inclinometer. The inclinometer is located inside the inclinometer tube and has a first accelerometer and a second accelerometer built into it. The distance between the first and second accelerometers is measured to obtain the measurement step distance, and the effective depth of the inclinometer tube is obtained. Based on the measurement step distance and the effective depth, a target depth sequence and m measurement position groups are generated. The forward and reverse data acquisition module is used to control the inclinometer to perform forward and reverse measurements in a preset forward measurement posture based on the target depth sequence and m measurement position groups, so as to obtain m forward forward nodes and m forward reverse nodes. The inclinometer is switched to the preset reverse measurement posture, and the outbound and return measurements are performed again to obtain m reverse outbound nodes and m reverse return nodes. The forward measurement posture and the reverse measurement posture are 180 degrees apart. The location matching module is used to match the locations of m forward outgoing nodes, m forward return nodes, m reverse outgoing nodes, and m reverse return nodes to obtain m overlapping nodes. The correction output module is used to decompose m overlapping nodes to obtain a correction node set, verify the validity of the correction node set to obtain a valid correction node set, and use the valid correction node set to obtain the deep horizontal displacement result.

[0015] To address the above problems, the present invention also provides an electronic device, the electronic device comprising: Memory, storing at least one instruction; The processor executes the instructions stored in the memory to implement the above-described automatic correction method for an inclinometer based on an accelerometer.

[0016] To address the aforementioned problems, the present invention also provides a computer-readable storage medium storing at least one instruction, which is executed by a processor in an electronic device to implement the aforementioned automatic correction method for an inclinometer based on an accelerometer.

[0017] To address the problems described in the background art, this invention acquires forward outbound nodes, forward return nodes, reverse outbound nodes, and reverse return nodes at each target depth. Overlapping nodes are obtained through position pairing. These overlapping nodes are then decomposed. First, the first and second forward mean components are calculated. Then, the forward absolute difference component and the forward mean component are obtained. Based on the first and second reverse nodes, the reverse absolute difference component and the reverse mean component are obtained. Finally, the corrected gravity component and zero bias are obtained. The true gravity components in the forward and reverse measurements are in opposite directions, while the zero bias remains unchanged. Therefore, the difference between the forward and reverse mean components can eliminate the influence of the zero bias on the corrected gravity component. Furthermore, to mitigate the influence of force components, the effectiveness of correction nodes, including corrected gravity components, zero bias, positive absolute difference components, negative absolute difference components, and target depth, is verified to obtain a set of effective correction nodes. The corrected tilt angle is then calculated using the corrected gravity components from these effective nodes. Based on the corrected tilt angle, initial tilt angle, and measurement section length, the deep horizontal displacement is calculated. In calculating the corrected gravity component, the influence of zero bias on the gravity component is eliminated, resulting in a corrected gravity component that reflects only the actual gravity effect. This corrected gravity component is then selected through effectiveness verification and used to calculate the corrected tilt angle and deep horizontal displacement, ensuring that the final measurement results are no longer affected by the zero bias of the inclinometer's built-in accelerometer. Therefore, this invention improves the accuracy of inclinometer measurement data, eliminates the influence of accelerometer zero bias, and enhances the efficiency of automated correction in engineering monitoring. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating an automatic correction method for an inclinometer based on an accelerometer, provided in an embodiment of the present invention. Figure 2 This is a functional block diagram of an automatic correction system for an inclinometer based on an accelerometer, provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of an electronic device for implementing the automatic correction method for an inclinometer based on an accelerometer, according to an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 10. Electronic device; 11. Processor; 12. Memory; 13. Bus.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0022] This application provides an automatic calibration method for an inclinometer based on an accelerometer. The executing entity of the automatic calibration method includes, but is not limited to, at least one electronic device that can be configured to execute the method provided in this application, such as a server or a terminal. In other words, the automatic calibration method can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.

[0023] Reference Figure 1 The diagram shown is a flowchart illustrating an automatic calibration method for an inclinometer based on an accelerometer, according to an embodiment of the present invention. In this embodiment, the automatic calibration method for an inclinometer based on an accelerometer includes: S1. Identify the inclinometer tube and the inclinometer. The inclinometer is located inside the inclinometer tube and contains a first accelerometer and a second accelerometer.

[0024] It should be explained that the inclinometer tube is a type of tubing used to guide the inclinometer along its axial direction. The inclinometer is an instrument used to measure the horizontal displacement of an object under test. By detecting the tilt angle of the inclinometer at different depths within the inclinometer tube, the horizontal displacement at each depth can be obtained. For example, the object under test is underground soil. The first accelerometer is an acceleration sensor installed at the front end inside the inclinometer, used to collect the component of gravitational acceleration in the axial direction of the inclinometer at a certain measurement position. The second accelerometer is an acceleration sensor installed at the rear end inside the inclinometer, maintaining a fixed distance from the first accelerometer, used to collect the component of gravitational acceleration at another measurement position at the same time. The first and second accelerometers work simultaneously, enabling the inclinometer to simultaneously measure the acceleration components at both the first and second measurement positions each time it reaches a target depth.

[0025] For example, a foundation pit project requires long-term monitoring of the horizontal displacement of the underground soil around the foundation pit. The engineers buried a 20m long inclinometer tube in the side wall of the foundation pit. The inclinometer tube is equipped with an inclinometer, and the front and rear ends of the inclinometer are respectively equipped with a first accelerometer and a second accelerometer.

[0026] S2. Measure the distance between the first accelerometer and the second accelerometer to obtain the measurement step distance, obtain the effective depth of the inclinometer tube, and generate the target depth sequence and m measurement position groups based on the measurement step distance and the effective depth.

[0027] It should be understood that the measurement step distance is the physical distance between the first and second accelerometers, i.e., the step distance the inclinometer moves within the inclinometer tube each time. The purpose of using this physical distance as the measurement step distance in this invention is to ensure that the end point of each measurement is the starting point of the next measurement, thereby enabling seamless and equally spaced component acquisition of the depth of the entire inclinometer tube. The effective depth is the depth within the inclinometer tube that can be used for actual measurement. The target depth sequence is a set of ordered depth values ​​calculated based on the measurement step distance and the effective depth.

[0028] Understandably, in order to determine the specific measurement position of the inclinometer within the inclinometer tube, it is necessary to define the starting and ending points. Therefore, the process of generating the target depth sequence and m measurement position groups based on the measurement step distance and effective depth includes: Obtain the starting and ending measurement points of the inclinometer tube. Based on the starting and ending measurement points, measurement step distance, and effective depth, determine m target depths and m measurement position groups. Each measurement position group corresponds one-to-one with a target depth, and each measurement position group includes a first measurement position and a second measurement position. The position corresponding to the target depth is the center of the first and second measurement positions. Sort the m target depths in ascending order to obtain the target depth sequence.

[0029] It should be explained that the starting measurement point is the location of the first target depth at the top of the inclinometer tube, that is, the depth position first reached by the midpoint between the corresponding positions of the first and second accelerometers, usually located half a measurement step below the tube opening near the ground surface. The ending measurement point is the location of the last target depth at the bottom of the inclinometer tube, that is, the depth position last reached by the midpoint between the first and second accelerometers. The first and second measurement positions are the depth positions corresponding to the first and second accelerometers when the inclinometer stops at a certain target depth, respectively. The m target depths are determined as follows: taking the starting measurement point as the first target depth, adding the measurement step distance sequentially as each target depth, until the ending measurement point is reached; the total number of target depths determined is m.

[0030] For example, assume the distance between the first and second accelerometers is 0.5m, i.e., the measurement step size is 0.5m. The effective depth of the inclinometer tube is 20m, with the starting measurement point set at a depth of 0.5m and the ending measurement point set at a depth of 20m. Based on the starting measurement point of 0.5m, the ending measurement point of 20m, and the measurement step size of 0.5m, target depths are determined to be 0.5m, 1.0m, 1.5m...19.5m, for a total of m=39 target depths. Taking a target depth of 1.0m as an example, the first measurement position is at 0.75m (the location of the first accelerometer), the second measurement position is at 1.25m (the location of the second accelerometer), and the target depth of 1.0m is the center between the first measurement position of 0.75m and the second measurement position of 1.25m. Arranging the 39 target depths in ascending order yields the target depth sequence.

[0031] S3. Based on the target depth sequence and m measurement position groups, control the inclinometer to perform outward and return measurements in a preset forward measurement posture, and obtain m forward outward nodes and m forward return nodes.

[0032] It should be explained that the forward measurement posture is a predefined orientation of the inclinometer when performing measurements inside the inclinometer tube. For example, the forward measurement posture is when the upper end of the inclinometer probe faces the ground surface and the lower end faces the ground. The outward measurement is the process of the inclinometer moving from the top to the bottom of the inclinometer tube and collecting components at the target depth, i.e., measuring sequentially in ascending order of target depth. The return measurement is the process of the inclinometer moving from the bottom to the top of the inclinometer tube and collecting components at the target depth, i.e., measuring sequentially in descending order of target depth. The forward outward node is the data node collected and associated at each target depth during the outward measurement in the forward measurement posture. The forward return node is the data node collected and associated at each target depth during the return measurement in the forward measurement posture.

[0033] Understandably, to obtain complete forward measurement data, measurements need to be taken once each on the outward and return journeys for repeatability verification. Therefore, the controlled inclinometer performs outward and return measurements in a preset forward measurement posture, obtaining m forward journey nodes and m forward return nodes, including: The inclinometer is controlled to reach the target depth sequentially in the forward measurement posture according to the target depth from small to large. After stopping at each target depth, the first accelerometer and the second accelerometer are used to collect a forward sampling group, which includes: a first forward sampling component and a second forward sampling component. Associate the forward outgoing sampling group with the measurement position group corresponding to the target depth to obtain forward outgoing nodes. Summarize the forward outgoing nodes to obtain m forward outgoing nodes. After confirming that the inclinometer has reached the end measurement point, the return trip is triggered. The inclinometer reaches the target depth in descending order of target depth and acquires the forward return sampling group, which includes: the first forward return component and the second forward return component. By associating the forward return sampling group with the measurement position group corresponding to the target depth, forward return nodes are obtained. By summing the forward return nodes, m forward return nodes are obtained.

[0034] It should be understood that the forward outward sampling group is a set of gravitational acceleration components collected simultaneously by two accelerometers at a certain target depth during the outward journey in a forward measurement posture. The first forward outward component is the gravitational acceleration component collected by the first accelerometer at the first measurement position when the outward measurement is performed in a forward measurement posture. The gravitational acceleration component refers to the projection value of gravitational acceleration in the axial direction of the inclinometer, which is used to reflect the inclinometer's tilt degree. For example, assuming the angle between the inclinometer axis and the vertical direction is θ, and the gravitational acceleration is g, then the gravitational acceleration component is g × cosθ × sensitivity coefficient. When θ = 0°, the gravitational acceleration component is g × sensitivity coefficient (maximum value). In subsequent embodiments, the gravitational acceleration component will be simply referred to as a component. The sensitivity coefficient is the proportional relationship between the accelerometer output signal (digital quantity) and the input acceleration (physical value g), for example, the sensitivity coefficient is 9800 / g.

[0035] It should be clarified that the definition of the second positive outgoing component is the same as that of the first positive outgoing component, except that the first positive outgoing component is measured by the first accelerometer, while the second positive outgoing component is measured by the second accelerometer. The definitions of the positive return sampling group, the first positive return component, and the second positive return component can be referred to the definitions of the positive outgoing sampling group, the first positive outgoing component, and the second positive outgoing component, respectively.

[0036] S4. Switch the inclinometer to the preset reverse measurement posture, and perform the outgoing and returning measurements again to obtain m reverse outgoing nodes and m reverse returning nodes, wherein the forward measurement posture and the reverse measurement posture are 180 degrees apart.

[0037] It should be explained that the reverse measurement posture is a placement orientation that differs from the forward measurement posture by 180 degrees. For example, the inclinometer probe is positioned with its upper end facing the ground and its lower end facing the ground surface. The purpose of performing both forward and reverse measurements is to eliminate the zero bias error of the accelerometer. When the inclinometer rotates 180 degrees, the direction of the gravitational component sensed by the accelerometer is reversed, but the zero bias remains unchanged. Therefore, the zero bias can be eliminated through the combined calculation of forward and reverse measurements. The reverse outbound node is the data node collected and associated at each target depth when performing outbound measurements in the reverse measurement posture. The reverse return node is the data node collected and associated at each target depth when performing return measurements in the reverse measurement posture. The movement method, dwell sequence, and component acquisition method of the inclinometer during the reverse measurement process are the same as those during the forward measurement process, the only difference being that the inclinometer placement orientation differs by 180 degrees. It should be clarified that for both forward and reverse attitude measurements, the vertical positions of the first and second accelerometers on the probe remain unchanged, but the overall rotation of the probe of the inclinometer by 180° causes the axial orientation of the inclinometer to be reversed. Therefore, the sign of the reverse component at the same measurement position is opposite to that of the forward component.

[0038] S5. Perform position pairing on m forward outgoing nodes, m forward returning nodes, m reverse outgoing nodes, and m reverse returning nodes to obtain m overlapping nodes.

[0039] Understandably, the location pairing involves integrating components at the same location in both forward and reverse measurements into an overlapping node based on the target depth, facilitating subsequent zero-bias elimination and correction calculations. The overlapping node is a composite data node obtained by associating and integrating the forward components (first forward node and second forward node) and reverse components (first reverse node and second reverse node) at the same target depth. For example, taking the first measurement location of 0.75m as an example, its corresponding second measurement location is 1.25m, and the center of both is the target depth of 1.0m. All nodes in the forward outgoing node, forward returning node, reverse outgoing node, and reverse returning node that correspond to the same set of measurement locations (0.75m and 1.25m) are matched into the same set, i.e., overlapping nodes.

[0040] Furthermore, the step of pairing the m forward outgoing nodes, m forward returning nodes, m reverse outgoing nodes, and m reverse returning nodes to obtain m overlapping nodes includes: The target depth is extracted sequentially from the target depth sequence. The extracted target depth is used to retrieve the corresponding measurement position group from the m measurement position groups to obtain the target measurement position group. Using the target measurement location group, m forward outbound nodes, and m forward return nodes, obtain m first forward nodes and m second forward nodes; Using the target measurement location group, m reverse outgoing nodes and m reverse return nodes, obtain m first reverse nodes and m second reverse nodes, wherein the first reverse node includes: a first reverse outgoing component and a first reverse return component, and the second reverse node includes: a second reverse outgoing component and a second reverse return component. By associating m first forward nodes, m second forward nodes, m first reverse nodes, and m second reverse nodes respectively, m overlapping nodes are obtained, where each overlapping node corresponds one-to-one with the target depth.

[0041] Specifically, the target measurement position group is the corresponding measurement position group retrieved from m measurement position groups based on the currently extracted target depth. The first forward node is a data node obtained by associating the forward outgoing component and the forward returning component of the first accelerometer at the same target depth. The second forward node is a data node obtained by associating the forward outgoing component and the forward returning component of the second accelerometer at the same target depth. The first reverse node is a data node obtained by associating the reverse outgoing component and the reverse returning component of the first accelerometer at the same target depth. Here, the reverse outgoing component of the first accelerometer is the first reverse outgoing component, and the reverse returning component of the first accelerometer is the first reverse returning component. The second reverse node is a data node obtained by associating the reverse outgoing component and the reverse returning component of the second accelerometer at the same target depth. The definitions of the second reverse outgoing component and the second reverse returning component are the same as those of the first reverse outgoing component and the first reverse returning component, respectively. The only difference is that the second reverse outgoing component and the second reverse returning component are acquired from the second accelerometer, while the first reverse outgoing component and the first reverse returning component are acquired from the first accelerometer.

[0042] It should be understood that obtaining m first forward nodes and m second forward nodes using the target measurement location group, m forward outbound nodes, and m forward return nodes includes: Using the target measurement location group, the corresponding target forward outgoing node and target forward return node are retrieved from the m forward outgoing nodes and the m forward return nodes, respectively; The first forward node is obtained by associating the first forward outgoing component in the target forward outgoing node and the first forward return component in the target forward return node. By associating the second forward outbound component in the target forward outbound node and the second forward return component in the target forward return node, the second forward node is obtained; Summarize the first and second positive nodes respectively to obtain m first positive nodes and m second positive nodes.

[0043] It should be explained that the target forward outbound node is the forward outbound node retrieved from among m forward outbound nodes based on the first and second measurement positions of the target measurement position group, where the center position of the first and second measurement positions (denoted as position A) is the location of the target depth within the forward outbound node. The target forward return node is the forward return node corresponding to position A retrieved from among m forward return nodes based on the target measurement position group.

[0044] For example, taking a target depth of 1.0m as an example, the target measurement position group corresponding to a target depth of 1.0m is (first measurement position 0.75m, second measurement position 1.25m). Based on the target measurement position group, the target forward-going node corresponding to the target depth of 1.0m is retrieved from the 39 forward-going nodes (first forward-going component 2356, second forward-going component 2340). The target forward-return node is retrieved from the 39 forward-return nodes (first forward-return component 2358, second forward-return component 2342). The first forward-going component 2356 and the first forward-return component 2358 are associated to obtain the first forward node (first forward-going component 2356, first forward-return component 2358). The second forward-going component 2340 and the second forward-return component 2342 are associated to obtain the second forward node (second forward-going component 2340, second forward-return component 2342). Similarly, based on the reverse measurement data, the first reverse node (first reverse outgoing component -2320, first reverse return component -2318) and the second reverse node (second reverse outgoing component -2305, second reverse return component -2307) are obtained. The first forward node, the second forward node, the first reverse node, and the second reverse node are associated and integrated to obtain the overlapping node corresponding to the target depth of 1.0m.

[0045] S6. Decompose m overlapping nodes to obtain a set of correction nodes. Verify the validity of the set of correction nodes to obtain a set of valid correction nodes. Use the set of valid correction nodes to obtain the deep horizontal displacement results.

[0046] It should be explained that the decomposition involves performing mathematical operations on the positive and negative components of the overlapping nodes to extract the corrected gravity component and zero bias. The corrected node set is the collection of corrected parameter nodes obtained after decomposing all overlapping nodes. The validity verification involves threshold judgment of each parameter in the corrected nodes to confirm whether each parameter is within a reasonable range. The valid corrected node set is the collection of reliable corrected parameter nodes obtained after validity verification. The deep horizontal displacement result is a set of horizontal displacement data at each target depth of the object under test, calculated using the valid corrected parameters, used to evaluate the deformation of the object under test.

[0047] Understandably, in order to eliminate the zero bias error from the positive and negative components and extract the tilt parameter, it is necessary to decompose the overlapping nodes. Therefore, the decomposition of m overlapping nodes yields a set of correction nodes, including: Extract overlapping nodes sequentially from m overlapping nodes, and perform the following operation on each extracted overlapping node: Calculate the mean of the first forward outbound component and the first forward return component in the first forward node to obtain the first forward mean component; Calculate the mean of the second forward outbound component and the second forward return component in the second forward node to obtain the second forward mean component; Calculate the absolute difference and mean of the first positive mean component and the second positive mean component respectively to obtain the positive absolute difference component and the positive mean component; Calculate the reverse absolute difference component and the reverse mean component based on the first reverse node and the second reverse node; The corrected gravity component and zero bias are calculated based on the positive and negative mean components, using the following formulas: ; in, This indicates the corrected gravity component. This indicates the zero bias. This represents the positive mean component. This represents the reverse mean component. Indicates the mean identifier; By correlating and correcting the gravity component, zero bias, positive absolute difference component, negative absolute difference component, and target depth, correction nodes are obtained. By summarizing the correction nodes, a correction node set is obtained.

[0048] Furthermore, the corrected gravity component is used to eliminate the influence of the accelerometer's zero bias, retaining only the true acceleration component caused by gravity, representing the inclinometer's true tilt parameter at the target depth. The calculation principle of the corrected gravity component is as follows: during forward measurement, the accelerometer reading equals the true gravity component plus the zero bias; during reverse measurement (after rotating 180 degrees), the accelerometer reading equals the negative true gravity component plus the zero bias. Subtracting the positive mean component from the reverse mean component cancels out the zero bias, and then dividing by 2 yields the true gravity component. The zero bias is the systematic deviation of the accelerometer, ideally it should be zero. The correction node is a data node formed by associating the corrected gravity component, zero bias, positive absolute difference component, and reverse absolute difference component with the corresponding target depth.

[0049] For example, let's take the overlapping node at a target depth of 1.0m as an example for decomposition calculation. In the first forward node, the first forward outgoing component is 2356, and the first forward return component is 2358. The first forward mean component is calculated as (2356+2358) / 2=2357. In the second forward node, the second forward outgoing component is 2340, and the second forward return component is 2342. The second forward mean component is calculated as (2340+2342) / 2=2341. The forward absolute difference component is |2357-2341|=16, and the forward mean component is (2357+2341) / 2=2349. In the first reverse node, the first reverse outgoing component is -2320, and the first reverse return component is -2318. The first reverse mean component is calculated as [-2320+(-2318)] / 2=-2319. The second reverse forward component of the second reverse node is -2305, and the second reverse return component is -2307. The second reverse mean component is calculated as [-2305 + (-2307)] / 2 = -2306. The reverse absolute difference component is |-2319 - (-2306)| = 13, and the reverse mean component is [-2319 + (-2306)] / 2 = -2312.5. According to the formula, the corrected gravity component is calculated to be 2330.75, and the zero bias is 18.25. Correlating the corrected gravity component 2330.75, the zero bias 18.25, the positive absolute difference component 16, the reverse absolute difference component 13, and the target depth 1.0m, a correction node is obtained. Similarly, the set of correction nodes can be obtained.

[0050] In detail, to ensure the reliability of the correction nodes, it is necessary to verify their validity. Therefore, the validity verification of the correction node set to obtain a valid correction node set includes: Acquire the dual-sensor difference threshold, the zero bias threshold, and the local gravitational acceleration; Perform the following operation on each correction node in the correction node set: If the correction node meets the preset correction conditions, the correction node is regarded as a valid correction node. The correction conditions are that the positive absolute difference component and the negative absolute difference component are both less than or equal to the dual-sensor difference threshold, the absolute value of the zero bias is less than or equal to the zero bias threshold, and the absolute value of the corrected gravity component is less than or equal to the local gravitational acceleration. Otherwise, a retest is performed based on the correction node to obtain an updated correction node. If the updated correction node satisfies the correction condition, then the updated correction node is the valid correction node, where the number of retests is p. The effective correction nodes are summarized to obtain the effective correction node set.

[0051] It should be understood that the dual-sensor difference threshold is a pre-set threshold used to determine the consistency of readings from two accelerometers. The dual-sensor difference threshold is set based on the accelerometer's factory accuracy specifications and engineering measurement accuracy requirements, combined with repeatability test data from calibration tests of the same model of accelerometer. Optionally, the dual-sensor difference threshold is 80. If the positive or negative absolute difference component exceeds the dual-sensor difference threshold, it indicates that the readings of the two accelerometers at the target depth differ too much, potentially indicating sensor malfunction or interference from the measurement environment. The zero-bias threshold is a pre-set threshold used to determine whether the zero bias is within the normal range. The zero-bias threshold is set based on the accelerometer's zero-bias temperature drift characteristics and long-term stability parameters. Optionally, the zero-bias threshold is set to 50. The local gravitational acceleration is the gravitational acceleration value at the measurement site, obtainable by querying a local gravitational acceleration database. The absolute value of the corrected gravity component should not exceed the local gravitational acceleration, because the component of gravity in any direction will not exceed the gravitational acceleration itself.

[0052] Understandably, when a calibration node fails validity verification, the target depth that failed verification needs to be remeasured. Therefore, obtaining an updated valid calibration node based on the calibration node includes: The step of retesting based on the correction node to obtain the updated correction node includes: Using the target depth in the correction node, the corresponding measurement position group is retrieved from the m measurement position groups to obtain the remeasurement position group, and the target depth is used as the remeasurement target depth; Based on the remeasurement position group, the inclinometer is controlled to reach the remeasurement target depth again, and the inclinometer is controlled to perform outgoing and returning measurements in forward and reverse measurement attitudes respectively, to obtain p remeasurement forward outgoing nodes, p remeasurement forward returning nodes, p remeasurement reverse outgoing nodes and p remeasurement reverse returning nodes; Pair the p retest forward outgoing nodes, p retest forward returning nodes, p retest reverse outgoing nodes, and p retest reverse returning nodes to obtain p updated overlapping nodes; Each of the p updated overlapping nodes is decomposed to obtain p updated corrected gravity components, p updated zero bias components, p updated positive absolute difference components, and p updated negative absolute difference components; Calculate the mean values ​​of p updated corrected gravity components, p updated zero bias components, p updated positive absolute difference components, and p updated negative absolute difference components respectively to obtain the updated average corrected gravity component, updated average zero bias component, updated average positive absolute difference component, and updated average negative absolute difference component. Then, correlate them with the remeasured target depth to obtain the updated correction node.

[0053] It should be explained that the retest position group is the measurement position group retrieved from m measurement position groups that corresponds to the calibration node that failed verification. The retest target depth is the target depth corresponding to the calibration node that failed validity verification. The retest forward outgoing node, retest forward return node, retest reverse outgoing node, and retest reverse return node are data nodes obtained after retesting the target depth at the retest target depth using forward and reverse measurement attitudes, respectively, with the data acquisition method being the same as the initial measurement. The updated overlapping node is a new overlapping node obtained by pairing the retest data. The updated correction gravity component, updated zero bias, updated forward absolute difference component, and updated reverse absolute difference component are correction parameters obtained by decomposing the updated overlapping node, with the calculation method being the same as the initial decomposition.

[0054] For example, assuming the dual-sensor difference threshold is set to 80, the zero-bias threshold is set to 50, and the sensitivity coefficient is 9800 / g, then the full-scale count value corresponding to the local gravitational acceleration is 9800. Taking a calibration node at a target depth of 1.0m as an example, the positive absolute difference component is 16 (less than or equal to 80), the negative absolute difference component is 13 (less than or equal to 80), the absolute value of the zero bias is |18.25|=18.25 (less than or equal to 50), and the absolute value of the corrected gravity component is |2330.75|=2330.75 (less than or equal to 9800). All four conditions are met, and the calibration node is confirmed as a valid calibration node. Assuming there is a calibration node at a target depth of 5.0m, the positive absolute difference component is 95 (greater than 80), exceeding the dual-sensor difference threshold, and therefore the calibration conditions are not met. Based on the target depth of 5.0m, the remeasurement location group was retrieved. The inclinometer was then controlled to return to the target depth of 5.0m. Forward and reverse measurement were performed in both directions to obtain the remeasurement data. The data was then matched and decomposed. The updated mean forward absolute difference component was 52 (≤80), the updated mean reverse absolute difference component was 48 (≤80), the updated mean zero bias absolute value was 35 (≤50), and the updated mean corrected gravity component absolute value was 2280 (≤9800). The correction conditions were met, and the updated correction node was determined as a valid correction node.

[0055] Furthermore, in order to calculate the horizontal displacement at each target depth based on the effective correction data, tilt angle conversion and displacement accumulation are required. Therefore, the step of obtaining the deep horizontal displacement results using the effective correction node set includes: The effective correction nodes in the effective correction node set are sorted in ascending order of target depth to obtain the effective correction node sequence. Obtain the initial inclination angle sequence and the measurement section length sequence corresponding to the inclinometer tube, wherein the initial inclination angle, the measurement section length, and the effective correction node correspond one-to-one; Effective correction nodes are extracted sequentially from the effective correction node sequence. The ratio of the corrected gravity component to the local gravitational acceleration is calculated to obtain the sine value of the inclination angle. The inclination angle sine value is then subjected to arcsine operation to obtain the corrected inclination angle corresponding to the target depth. By associating the correction tilt angle with the target depth, the correction tilt angle node is obtained; Summarize the tilt correction nodes to obtain the tilt correction node set; The deep horizontal displacement at each target depth is calculated based on the corrected dip angle node set, the initial dip angle sequence, and the measurement segment length sequence. The calculation formula is shown below: ; in, Indicates the first The deep horizontal displacement at the target depth Indicates shared ownership Target depth, Indicates the first The length of the measurement section corresponding to each target depth Indicates the first The correction tilt angle corresponding to each target depth Indicates the first The initial tilt angle corresponding to each target depth; By associating the target depth, correction tilt angle, and deep horizontal displacement, horizontal displacement nodes are obtained. By summarizing the horizontal displacement nodes, the deep horizontal displacement results are obtained.

[0056] In detail, the effective correction node sequence is an ordered sequence of effective correction nodes in the effective correction node set, arranged from smallest to largest target depth. The initial inclination angle sequence is a sequence of inclination angles at each target depth when the inclinometer is in its initial state (usually the first measurement after installation). The initial inclination angle sequence is obtained by performing the first benchmark measurement on the inclinometer using a calibrated inclinometer after installation, obtaining the inclination angles at each target depth, and arranging them from smallest to largest target depth to form the initial inclination angle sequence. The measurement segment length sequence is a sequence of measurement segment lengths corresponding to each target depth. The measurement segment length is determined based on the depth difference between adjacent target depths, and is usually equal to the measurement step distance. The inclination angle sine value is the value obtained by dividing the corrected gravity component by the local gravitational acceleration. Since the accelerometer measures the component of gravitational acceleration in the tilt direction, and the component of gravitational acceleration in the tilt direction is equal to the gravitational acceleration multiplied by the sine of the inclination angle, the ratio of the corrected gravity component to the local gravitational acceleration is the sine of the inclination angle. The corrected tilt angle is the angle value obtained by taking the arcsine of the tilt angle sine value, representing the tilt angle of the inclinometer tube relative to the vertical direction at the target depth. The corrected tilt angle node is a data node formed by associating the corrected tilt angle with the target depth.

[0057] It should be explained that the calculation principle of the deep horizontal displacement is as follows: the horizontal increment change of each measurement segment is accumulated from the bottom of the inclinometer tube to the top of the inclinometer tube. The horizontal increment change of each measurement segment is equal to the length of the measurement segment multiplied by the difference between the current corrected inclination angle sine value and the initial inclination angle sine value.

[0058] For example, assuming there are m=8 target depths, when calculating the deep horizontal displacement at the k=5th target depth, the horizontal increment changes of the 5th, 6th, 7th, and 8th measurement segments should be accumulated segment by segment starting from the 5th target depth. This represents the cumulative sum of the horizontal increment changes of all measurement segments from the 5th target depth to the bottom of the inclinometer tube (8th target depth). The horizontal displacement node is a data node formed by associating the target depth, the corrected tilt angle, and the corresponding deep horizontal displacement value. The deep horizontal displacement result is a set composed of all horizontal displacement nodes, which completely describes the horizontal displacement distribution of the inclinometer tube along the depth direction. In this embodiment of the invention, the zero bias of the inclinometer's built-in accelerometer is eliminated by calculating the difference between the positive and negative mean components, and the obtained corrected gravity component is used to replace the original gravity component to calculate the corrected tilt angle and deep horizontal displacement, so that the final measurement result is not affected by the zero bias. This achieves automatic correction of the original measurement data (such as the horizontal displacement of the object to be detected) measured by the inclinometer.

[0059] To address the problems described in the background art, this invention acquires forward outbound nodes, forward return nodes, reverse outbound nodes, and reverse return nodes at each target depth. Overlapping nodes are obtained through position pairing. These overlapping nodes are then decomposed. First, the first and second forward mean components are calculated. Then, the forward absolute difference component and the forward mean component are obtained. Based on the first and second reverse nodes, the reverse absolute difference component and the reverse mean component are obtained. Finally, the corrected gravity component and zero bias are obtained. The true gravity components in the forward and reverse measurements are in opposite directions, while the zero bias remains unchanged. Therefore, the difference between the forward and reverse mean components can eliminate the influence of the zero bias on the corrected gravity component. Furthermore, to mitigate the influence of force components, the effectiveness of correction nodes, including corrected gravity components, zero bias, positive absolute difference components, negative absolute difference components, and target depth, is verified to obtain a set of effective correction nodes. The corrected tilt angle is then calculated using the corrected gravity components from these effective nodes. Based on the corrected tilt angle, initial tilt angle, and measurement section length, the deep horizontal displacement is calculated. In calculating the corrected gravity component, the influence of zero bias on the gravity component is eliminated, resulting in a corrected gravity component that reflects only the actual gravity effect. This corrected gravity component is then selected through effectiveness verification and used to calculate the corrected tilt angle and deep horizontal displacement, ensuring that the final measurement results are no longer affected by the zero bias of the inclinometer's built-in accelerometer. Therefore, this invention improves the accuracy of inclinometer measurement data, eliminates the influence of accelerometer zero bias, and enhances the efficiency of automated correction in engineering monitoring.

[0060] like Figure 2 The diagram shown is a functional block diagram of an automatic correction system for an inclinometer based on an accelerometer, provided in an embodiment of the present invention.

[0061] The accelerometer-based inclinometer automatic correction system 100 described in this invention can be installed in an electronic device. Depending on the functions implemented, the accelerometer-based inclinometer automatic correction system 100 may include a measurement preparation module 101, a forward and reverse data acquisition module 102, a position matching module 103, and a correction output module 104. The module described in this invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, and which are stored in the memory of the electronic device. The measurement preparation module 101 is used to identify the inclinometer tube and the inclinometer, wherein the inclinometer is located inside the inclinometer tube and has a first accelerometer and a second accelerometer built into it. The distance between the first and second accelerometers is measured to obtain the measurement step distance, and the effective depth of the inclinometer tube is obtained. Based on the measurement step distance and the effective depth, a target depth sequence and m measurement position groups are generated. The forward and reverse data acquisition module 102 is used to control the inclinometer to perform forward and reverse measurements in a preset forward measurement posture based on the target depth sequence and m measurement position groups, so as to obtain m forward forward nodes and m forward reverse nodes. The inclinometer is switched to the preset reverse measurement posture, and the outbound and return measurements are performed again to obtain m reverse outbound nodes and m reverse return nodes. The forward measurement posture and the reverse measurement posture are 180 degrees apart. The location matching module 103 is used to perform location matching on m forward outgoing nodes, m forward return nodes, m reverse outgoing nodes and m reverse return nodes to obtain m overlapping nodes. The correction output module 104 is used to decompose m overlapping nodes to obtain a correction node set, verify the validity of the correction node set to obtain a valid correction node set, and use the valid correction node set to obtain the deep horizontal displacement result.

[0062] In detail, the modules in the accelerometer-based inclinometer automatic correction system 100 described in this embodiment of the invention employ the same methods as described above. Figure 1 The method used is the same as the automatic correction method for inclinometers based on accelerometers described above, and it can produce the same technical effect, so it will not be repeated here.

[0063] like Figure 3 The diagram shown is a structural schematic of an electronic device for implementing an automatic correction method for an inclinometer based on an accelerometer, according to an embodiment of the present invention.

[0064] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as an automatic correction method program for an inclinometer based on an accelerometer.

[0065] The memory 11 includes at least one type of readable storage medium, such as flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as the portable hard drive of the electronic device 1. In other embodiments, the memory 11 can be an external storage device of the electronic device 1, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 1. Furthermore, the memory 11 includes both internal storage units and external storage devices of the electronic device 1. The memory 11 can be used not only to store application software and various types of data installed on the electronic device 1, such as the code of an automatic correction method program for an accelerometer-based inclinometer, but also to temporarily store data that has been output or will be output.

[0066] In some embodiments, the processor 10 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control unit of the electronic device, connecting various components of the entire electronic device through various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., an automatic correction method program for an inclinometer based on an accelerometer) and calls data stored in the memory 11 to perform various functions of the electronic device 1 and process data.

[0067] The bus 12 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize the connection and communication between the memory 11 and at least one processor 10, etc.

[0068] Figure 3 Only electronic devices with components are shown; it will be understood by those skilled in the art that... Figure 3The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0069] For example, although not shown, the electronic device 1 may also include a power supply (such as a battery) to power the various components. Preferably, the power supply can be logically connected to the at least one processor 10 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0070] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, a Bluetooth interface, etc.), which is typically used to establish communication connections between the electronic device 1 and other electronic devices.

[0071] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), and optionally, a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the electronic device 1 and to display a visual user interface.

[0072] The automatic correction method program for the inclinometer based on the accelerometer, stored in the memory 11 of the electronic device 1, is a combination of multiple instructions. When run in the processor 10, it can achieve the following: The inclinometer tube and inclinometer were identified. The inclinometer is located inside the inclinometer tube and contains a first accelerometer and a second accelerometer. The distance between the first and second accelerometers is measured to obtain the measurement step distance, and the effective depth of the inclinometer tube is obtained. Based on the measurement step distance and the effective depth, a target depth sequence and m measurement position groups are generated. Based on the target depth sequence and m measurement position groups, the inclinometer is controlled to perform outward and return measurements in a preset forward measurement posture, resulting in m forward outward nodes and m forward return nodes. The inclinometer is switched to the preset reverse measurement posture, and the outbound and return measurements are performed again to obtain m reverse outbound nodes and m reverse return nodes. The forward measurement posture and the reverse measurement posture are 180 degrees apart. Pair the positions of m forward outgoing nodes, m forward returning nodes, m reverse outgoing nodes, and m reverse returning nodes to obtain m overlapping nodes; Decompose m overlapping nodes to obtain a set of correction nodes. Verify the validity of the correction node set to obtain a set of valid correction nodes. Use the set of valid correction nodes to obtain the deep horizontal displacement results.

[0073] Specifically, the processor 10's implementation method for the above instructions can be found in [reference needed]. Figures 1 to 3 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.

[0074] Furthermore, if the modules / units integrated in the electronic device 1 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0075] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor of an electronic device, can perform the following: The inclinometer tube and inclinometer were identified. The inclinometer is located inside the inclinometer tube and contains a first accelerometer and a second accelerometer. The distance between the first and second accelerometers is measured to obtain the measurement step distance, and the effective depth of the inclinometer tube is obtained. Based on the measurement step distance and the effective depth, a target depth sequence and m measurement position groups are generated. Based on the target depth sequence and m measurement position groups, the inclinometer is controlled to perform outward and return measurements in a preset forward measurement posture, resulting in m forward outward nodes and m forward return nodes. The inclinometer is switched to the preset reverse measurement posture, and the outbound and return measurements are performed again to obtain m reverse outbound nodes and m reverse return nodes. The forward measurement posture and the reverse measurement posture are 180 degrees apart. Pair the positions of m forward outgoing nodes, m forward returning nodes, m reverse outgoing nodes, and m reverse returning nodes to obtain m overlapping nodes; Decompose m overlapping nodes to obtain a set of correction nodes. Verify the validity of the correction node set to obtain a set of valid correction nodes. Use the set of valid correction nodes to obtain the deep horizontal displacement results.

[0076] In the embodiments provided by this invention, it should be understood that the disclosed devices, systems, and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative, and actual implementations may have other classification methods.

[0077] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0078] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0079] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automatic calibration method for an inclinometer based on an accelerometer, characterized in that, The method includes: The inclinometer tube and inclinometer were identified. The inclinometer is located inside the inclinometer tube and contains a first accelerometer and a second accelerometer. The distance between the first and second accelerometers is measured to obtain the measurement step distance, and the effective depth of the inclinometer tube is obtained. Based on the measurement step distance and the effective depth, a target depth sequence and m measurement position groups are generated. Based on the target depth sequence and m measurement position groups, the inclinometer is controlled to perform outward and return measurements in a preset forward measurement posture, resulting in m forward outward nodes and m forward return nodes. The inclinometer is switched to the preset reverse measurement posture, and the outbound and return measurements are performed again to obtain m reverse outbound nodes and m reverse return nodes. The forward measurement posture and the reverse measurement posture are 180 degrees apart. Pair the positions of m forward outgoing nodes, m forward returning nodes, m reverse outgoing nodes, and m reverse returning nodes to obtain m overlapping nodes; Decompose m overlapping nodes to obtain a set of correction nodes. Verify the validity of the correction node set to obtain a set of valid correction nodes. Use the set of valid correction nodes to obtain the deep horizontal displacement results.

2. The automatic calibration method for an inclinometer based on an accelerometer as described in claim 1, characterized in that, The process of generating the target depth sequence and m measurement position groups based on the measurement step distance and effective depth includes: Obtain the starting and ending measurement points of the inclinometer tube. Based on the starting and ending measurement points, measurement step distance, and effective depth, determine m target depths and m measurement position groups. Each measurement position group corresponds one-to-one with a target depth, and each measurement position group includes a first measurement position and a second measurement position. The position corresponding to the target depth is the center of the first and second measurement positions. Sort the m target depths in ascending order to obtain the target depth sequence.

3. The automatic correction method for an inclinometer based on an accelerometer as described in claim 2, characterized in that, The controlled inclinometer performs outward and return measurements in a preset forward measurement posture, obtaining m forward nodes and m forward return nodes, including: The inclinometer is controlled to reach the target depth sequentially in the forward measurement posture according to the target depth from small to large. After stopping at each target depth, the first accelerometer and the second accelerometer are used to collect a forward sampling group, which includes: a first forward sampling component and a second forward sampling component. Associate the forward outgoing sampling group with the measurement position group corresponding to the target depth to obtain forward outgoing nodes. Summarize the forward outgoing nodes to obtain m forward outgoing nodes. After confirming that the inclinometer has reached the end measurement point, the return trip is triggered. The inclinometer reaches the target depth in descending order of target depth and acquires the forward return sampling group, which includes: the first forward return component and the second forward return component. By associating the forward return sampling group with the measurement position group corresponding to the target depth, forward return nodes are obtained. By summing the forward return nodes, m forward return nodes are obtained.

4. The automatic correction method for an inclinometer based on an accelerometer as described in claim 3, characterized in that, The process of pairing the m forward outgoing nodes, m forward returning nodes, m reverse outgoing nodes, and m reverse returning nodes to obtain m overlapping nodes includes: The target depth is extracted sequentially from the target depth sequence. The extracted target depth is used to retrieve the corresponding measurement position group from the m measurement position groups to obtain the target measurement position group. Using the target measurement location group, m forward outbound nodes, and m forward return nodes, obtain m first forward nodes and m second forward nodes; Using the target measurement location group, m reverse outgoing nodes and m reverse return nodes, obtain m first reverse nodes and m second reverse nodes, wherein the first reverse node includes: a first reverse outgoing component and a first reverse return component, and the second reverse node includes: a second reverse outgoing component and a second reverse return component. By associating m first forward nodes, m second forward nodes, m first reverse nodes, and m second reverse nodes respectively, m overlapping nodes are obtained, where each overlapping node corresponds one-to-one with the target depth.

5. The automatic correction method for an inclinometer based on an accelerometer as described in claim 4, characterized in that, The process of obtaining m first forward nodes and m second forward nodes using the target measurement location group, m forward outbound nodes, and m forward return nodes includes: Using the target measurement location group, the corresponding target forward outgoing node and target forward return node are retrieved from the m forward outgoing nodes and the m forward return nodes, respectively; The first forward node is obtained by associating the first forward outgoing component in the target forward outgoing node and the first forward return component in the target forward return node. By associating the second forward outbound component in the target forward outbound node and the second forward return component in the target forward return node, the second forward node is obtained; Summarize the first and second positive nodes respectively to obtain m first positive nodes and m second positive nodes.

6. The automatic correction method for an inclinometer based on an accelerometer as described in claim 5, characterized in that, The decomposition of m overlapping nodes yields a set of corrected nodes, including: Extract overlapping nodes sequentially from m overlapping nodes, and perform the following operation on each extracted overlapping node: Calculate the mean of the first forward outbound component and the first forward return component in the first forward node to obtain the first forward mean component; Calculate the mean of the second forward outbound component and the second forward return component in the second forward node to obtain the second forward mean component; Calculate the absolute difference and mean of the first positive mean component and the second positive mean component respectively to obtain the positive absolute difference component and the positive mean component; Calculate the reverse absolute difference component and the reverse mean component based on the first reverse node and the second reverse node; The corrected gravity component and zero bias are calculated based on the positive and negative mean components, using the following formulas: ； in, This indicates the corrected gravity component. This indicates the zero bias. This represents the positive mean component. This represents the reverse mean component. Indicates the mean identifier; By correlating and correcting the gravity component, zero bias, positive absolute difference component, negative absolute difference component, and target depth, correction nodes are obtained. By summarizing the correction nodes, a correction node set is obtained.

7. The automatic correction method for an inclinometer based on an accelerometer as described in claim 6, characterized in that, The step of validating the set of correction nodes to obtain a valid set of correction nodes includes: Acquire the dual-sensor difference threshold, the zero bias threshold, and the local gravitational acceleration; Perform the following operation on each correction node in the correction node set: If the correction node meets the preset correction conditions, the correction node is regarded as a valid correction node. The correction conditions are that the positive absolute difference component and the negative absolute difference component are both less than or equal to the dual-sensor difference threshold, the absolute value of the zero bias is less than or equal to the zero bias threshold, and the absolute value of the corrected gravity component is less than or equal to the local gravitational acceleration. Otherwise, a retest is performed based on the correction node to obtain an updated correction node. If the updated correction node satisfies the correction condition, then the updated correction node is the valid correction node, where the number of retests is p. The effective correction nodes are summarized to obtain the effective correction node set.

8. The automatic correction method for an inclinometer based on an accelerometer as described in claim 7, characterized in that, The step of retesting based on the correction node to obtain the updated correction node includes: Using the target depth in the correction node, the corresponding measurement position group is retrieved from the m measurement position groups to obtain the remeasurement position group, and the target depth is used as the remeasurement target depth; Based on the remeasurement position group, the inclinometer is controlled to reach the remeasurement target depth again, and the inclinometer is controlled to perform outgoing and returning measurements in forward and reverse measurement attitudes respectively, to obtain p remeasurement forward outgoing nodes, p remeasurement forward returning nodes, p remeasurement reverse outgoing nodes and p remeasurement reverse returning nodes; Pair the p retest forward outgoing nodes, p retest forward returning nodes, p retest reverse outgoing nodes, and p retest reverse returning nodes to obtain p updated overlapping nodes; Each of the p updated overlapping nodes is decomposed to obtain p updated corrected gravity components, p updated zero bias components, p updated positive absolute difference components, and p updated negative absolute difference components; Calculate the mean values ​​of p updated corrected gravity components, p updated zero bias components, p updated positive absolute difference components, and p updated negative absolute difference components respectively to obtain the updated average corrected gravity component, updated average zero bias component, updated average positive absolute difference component, and updated average negative absolute difference component. Then, correlate them with the remeasured target depth to obtain the updated correction node.

9. The automatic correction method for an inclinometer based on an accelerometer as described in claim 8, characterized in that, The method of obtaining deep horizontal displacement results using an effective set of correction nodes includes: The effective correction nodes in the effective correction node set are sorted in ascending order of target depth to obtain the effective correction node sequence. Obtain the initial inclination angle sequence and the measurement section length sequence corresponding to the inclinometer tube, wherein the initial inclination angle, the measurement section length, and the effective correction node correspond one-to-one; Effective correction nodes are extracted sequentially from the effective correction node sequence. The ratio of the corrected gravity component to the local gravitational acceleration is calculated to obtain the sine value of the inclination angle. The inclination angle sine value is then subjected to arcsine operation to obtain the corrected inclination angle corresponding to the target depth. By correlating the correction tilt angle with the target depth, the correction tilt angle node is obtained; Summarize the tilt correction nodes to obtain the tilt correction node set; The deep horizontal displacement at each target depth is calculated based on the corrected dip angle node set, the initial dip angle sequence, and the measurement section length sequence. The calculation formula is shown below: ； in, Indicates the first The deep horizontal displacement at the target depth Indicates shared ownership Target depth, Indicates the first The length of the measurement section corresponding to each target depth Indicates the first The correction tilt angle corresponding to each target depth Indicates the first The initial tilt angle corresponding to each target depth; By associating the target depth, corrected tilt angle, and deep horizontal displacement, horizontal displacement nodes are obtained. By summarizing the horizontal displacement nodes, the deep horizontal displacement results are obtained.

10. An automatic correction system for an inclinometer based on an accelerometer, characterized in that, The system includes: The measurement preparation module is used to identify the inclinometer tube and the inclinometer. The inclinometer is located inside the inclinometer tube and has a first accelerometer and a second accelerometer built into it. The distance between the first and second accelerometers is measured to obtain the measurement step distance, and the effective depth of the inclinometer tube is obtained. Based on the measurement step distance and the effective depth, a target depth sequence and m measurement position groups are generated. The forward and reverse data acquisition module is used to control the inclinometer to perform forward and reverse measurements in a preset forward measurement posture based on the target depth sequence and m measurement position groups, so as to obtain m forward forward nodes and m forward reverse nodes. The inclinometer is switched to the preset reverse measurement posture, and the outbound and return measurements are performed again to obtain m reverse outbound nodes and m reverse return nodes. The forward measurement posture and the reverse measurement posture are 180 degrees apart. The location matching module is used to match the locations of m forward outgoing nodes, m forward return nodes, m reverse outgoing nodes, and m reverse return nodes to obtain m overlapping nodes. The correction output module is used to decompose m overlapping nodes to obtain a correction node set, verify the validity of the correction node set to obtain a valid correction node set, and use the valid correction node set to obtain the deep horizontal displacement result.

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