System for monitoring linear shape of pushing bridge by using inertial navigation system

Abstract

The utility model relates to the technical field of bridge construction monitoring, and discloses a system for monitoring the linear shape of a pushing bridge by using an inertial navigation system, which comprises a ground base station and a first inertial navigation system which are connected with each other, the ground reference station is arranged on the ground and is used for providing an initial reference point for the first inertial navigation system; the first inertial navigation system is arranged at the end of the bridge and used for obtaining the position, the moving speed and the moving direction of the bridge in the incremental launching construction process. Therefore, real-time and high-precision monitoring of the linear condition of the bridge in incremental launching construction can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of bridge construction monitoring, in particular to a system for monitoring the linear shape of a jacking bridge by utilizing an inertial navigation system. Background Art

[0002] In bridge construction, in order to ensure the safety of construction and the smooth closure of the bridge, it is very important to ensure the smoothness of the bridge line during the construction process. Especially in the bridge jacking construction, the line shape and axis of the bridge will be in dynamic change. In order to enable the bridge to be smoothly jacked to the designed position, it is necessary to ensure the stability of the bridge during the jacking process and correct the bridge at any time during the jacking process. Therefore, construction personnel are required to monitor the axis and line shape of the bridge in real time during the jacking process.

[0003] In the current top-pushing construction, the monitoring method of the bridge line shape is mainly to measure the position of the bridge through a total station or a level, and then process and analyze the relevant position data after obtaining it, which cannot achieve the effect of real-time monitoring. In addition, when using a total station to measure the line shape of the bridge during the top-pushing process, the non-prism mode is usually used to measure the reflective stickers that have been affixed in advance, or a small prism is welded in advance for measurement. Since the accuracy of the total station itself is not high enough, and manual measurement cannot avoid measurement errors, the entire monitoring cannot meet the requirements of higher accuracy standards. When using a level to measure the longitudinal line shape of the bridge, it is necessary to set up a ruler on the bridge and stop the top-pushing construction before measurement can be carried out, which not only affects the continuity of the top-pushing construction, but also affects the progress of the construction. The operation is also relatively complicated, which leads to certain difficulties in the current monitoring of bridges under top-pushing construction. Utility Model Content

[0004] The utility model aims to provide a system for monitoring the linear shape of a jacking bridge by using an inertial navigation system, so as to realize real-time and high-precision monitoring of the linear condition of the bridge during jacking construction.

[0005] To achieve the above object, the utility model adopts the following technical solution: a system for monitoring the linear shape of a jacking bridge using an inertial navigation system, comprising a ground reference station and a first inertial navigation system connected to each other;

[0006] The ground reference station is arranged on the ground and is used to provide an initial reference point to the first inertial navigation system;

[0007] The first inertial navigation system is arranged at the end of the bridge and is used to obtain the position, moving speed and moving direction of the bridge during the jacking construction process.

[0008] The beneficial effects of this scheme are: 1. This monitoring system uses an inertial navigation system to monitor the linear condition of the bridge during jacking construction. It has the advantages of high accuracy and little influence from external interference. Based on the existing inertial navigation system technology, it can provide information such as the position, attitude angle, heading, speed, etc. of the bridge, thereby reflecting the linear shape and axis changes of the bridge in multiple dimensions and aspects. In addition, it has a high data update rate, high short-term accuracy and good stability, which can provide better feedback to the site, so as to correct the bridge in time and improve the quality and safety of the bridge during jacking construction.

[0009] 2. The navigation information generated by this monitoring system has good continuity and low noise, which reduces the errors caused by manual measurement, realizes timely correction of curved bridges, enables them to be pushed to the designated position, and reduces the risk of the bridge rolling over during the pushing process.

[0010] 3. Using the inertial navigation system, without relying on external information or radiating energy to the outside, it can work in the air, on the ground, and even underwater around the clock and at all times. During the test, it was found that the system can still collect data smoothly in rainy and snowy weather and at a temperature of -8°C, and can adapt to most bridge jacking construction environments.

[0011] Preferably, the first inertial navigation system includes a first inertial measurement element and a first antenna, and both the first inertial measurement element and the first antenna are fixed at a central position of the end of the bridge through a mounting mechanism.

[0012] Preferably, two first antennas are provided, and the two first antennas are distributed at equal intervals on both sides of the first inertial measurement element.

[0013] Preferably, the mounting mechanism includes a universal joint, a base and a connecting plate, the base is connected to the surface of the end of the bridge, the connecting plate is rotatably connected to the base through the universal joint, and the first inertial measurement element is mounted on the connecting plate.

[0014] Preferably, a plurality of supporting legs are connected to the bottom of the base, which is detachably connected to the bridge through the supporting legs, and the supporting legs are all telescopic rods.

[0015] Preferably, the ground reference station comprises a second inertial navigation system, the second inertial navigation system comprises a second inertial measurement element and a second antenna, and the second antenna is wirelessly connected to the first antenna. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A top view of a bridge in an embodiment of the utility model;

[0017] Figure 2 It is a front view of the bridge in the embodiment of the utility model. DETAILED DESCRIPTION

[0018] The following is further described in detail through specific implementation methods:

[0019] The figure marks in the drawings of the specification include: bridge 1, pier 2, jacking equipment 21, first inertial measurement element 3, first antenna 31, base 32, support leg 33, ground reference station 4, second inertial measurement element 41, second antenna 42.

[0020] Example

[0021] The embodiment is basically as shown in the attached Figure 1-2 As shown, Figure 1 A system for monitoring the linear shape of a bridge being pushed using an inertial navigation system is shown, comprising a ground reference station 4 and a first inertial navigation system connected by wireless communication, wherein the ground reference station 4 is arranged on the ground at the construction site of the bridge 1 being pushed, and the first inertial navigation system is installed on the bridge 1 to be pushed. After installation, the first inertial navigation system moves synchronously with the bridge 1 being pushed, and moves relative to the fixed ground reference station 4 as the initial reference point (i.e., the ground reference station 4 is used to provide a reference reference point to the first inertial navigation system) in space, and based on the spatial positioning capability of the first inertial navigation system, real-time dynamic monitoring of the linear shape of the bridge 1 during the movement of the bridge 1 being pushed is achieved, so as to ensure that the pushing construction of the bridge 1 can be completed smoothly and safely.

[0022] like Figure 1As shown, the first inertial navigation system is installed at the end of the bridge 1. The first inertial navigation system includes a first inertial measurement element 3 and a first antenna 31. The first antenna 31 is used to receive the reference point information sent by the ground reference station 4. The first inertial measurement element 3 is used to obtain the position, moving speed, moving direction and other data of the carrier (i.e., the bridge 1 during the jacking construction process) in real time, and determine whether the linear movement of the entire beam meets the construction design standards based on the movement data of the end of the carrier. In this embodiment, the first inertial navigation system is a strapdown inertial navigation system, and the specific model is MN-400GNSS / INS micro-mechanical strapdown inertial navigation system. The first inertial measurement element 3 in the MN-400GNSS / INS micro-mechanical strapdown inertial navigation system includes a three-axis gyroscope and three orthogonally configured accelerometers. The three-axis gyroscope can sense the angular motion of the carrier, and then accurately output the angular motion information of the carrier; the carrier navigation coordinate system can be established based on the motion information output by the three-axis gyroscope and the ground reference station 4; the three orthogonally configured accelerometers sense the linear acceleration of the carrier during movement, and then accurately, in real time and continuously obtain the spatial coordinate position, moving speed and moving direction of the end of the bridge 1, and determine the linear change of the entire bridge 1 through the continuously obtained movement data of the end of the bridge 1 during the top-pushing construction, so as to achieve the purpose of real-time monitoring during construction. Compared with the existing total station or level instrument, which needs to arrange detection points on the bridge 1 at intervals and multiple points in advance, the operation of installing the first inertial navigation system only at the end of the bridge 1 is simpler, the safety factor of construction is also higher, and the efficiency of the top-pushing construction of the bridge 1 can be improved. In addition, in this embodiment, two first antennas 31 are provided, that is, the first inertial navigation system is equipped with a dual-antenna receiving mechanism, so as to provide and receive position information more accurately and timely.

[0023] Combination Figure 2 As shown, the first inertial measurement element 3 and the first antenna 31 are fixed at the center position of the left end of the bridge 1 through the mounting mechanism, and the two second antennas 42 are arranged at equal intervals on both sides of the first inertial measurement element 3. Installing the first inertial measurement element 3 and the first antenna 31 on the center line of the bridge 1 can more accurately locate the angles on both sides of the bridge 1 and the changes in the transverse slope of the bridge 1 during the jacking construction, and can also better obtain the operating posture of the bridge 1 during the jacking process, thereby improving the monitoring accuracy of the system. In addition, the first inertial navigation system is arranged in the middle position of the end of the bridge deck. According to the span, length, transverse slope and other data of the bridge 1, the vertical displacement of the relative position of the carrier can be further calculated, thereby showing the changes in the vertical displacement of the bridge 1.

[0024] The mounting mechanism includes a universal joint, a base 32 and a connecting plate, such as Figure 2As shown, several support legs 33 are welded and fixed below the base 32, and the support legs 33 are detachably connected to the surface of the end of the bridge 1 by screws, so that the fixed base 32 does not contact the bridge deck, reducing the possibility of rainwater accumulation; the connecting plate is rotatably connected to the base 32 through a universal joint, and the first inertial measurement element 3 or the first antenna 31 is respectively fixed to the connecting plate; the universal joint is connected to a control mechanism, and the setting angle of the first inertial measurement element 3 or the first antenna 31 can be controlled by adjusting the angle of the universal joint through the control mechanism, so as to better utilize the first inertial navigation system to realize the function of identifying and monitoring the angle change of the bridge 1 during the top pushing construction. In addition, in this embodiment, the support legs 33 are all telescopic rods. When installing, the length of each support leg 33 is adjusted according to the installation point set by the actual bridge 1, so that when the bridge deck is not flat enough, it can be ensured that the surface of the base 32 after installation is still on the horizontal plane. The universal joint rotates based on the surface of the base 32, which can better ensure the accuracy of the setting angle control of the first inertial measurement element 3 or the first antenna 31 on the universal joint in different construction environments, and further improve the monitoring accuracy of the monitoring system.

[0025] like Figure 2 As shown, before the bridge 1 is pushed, it is necessary to build a temporary supporting pier 2 in the forward direction of the push. The top of the pier 2 is installed with a push device 21. The push device 21 realizes the lifting and pushing construction of the bridge 1 through its own hydraulic pushing mechanism, and realizes the adjustment of the moving position of the bridge 1 during construction. In this embodiment, the ground reference station 4 is set on the ground between the two piers 2. The ground reference station 4 includes a second inertial navigation system, and the second inertial navigation system includes a second inertial measurement element 41 and a second antenna 42. The second antenna 42 is connected to the first antenna 31 by wireless communication, so as to realize the information exchange between the ground reference point and the first inertial navigation system on the bridge 1. When setting the ground reference station 4, it is necessary to ensure that the ground reference station 4 is located within the signal receiving range of the first inertial navigation system during the entire construction period, and to ensure that there is no signal shielding between the first antenna 31 and the second antenna 42.

[0026] This monitoring system uses an inertial navigation system to monitor the linear condition of the bridge 1 during the top-pushing construction. It does not rely on external information and does not radiate energy to the outside. It can work in the air, on the ground, and even underwater all day and all the time. During the test, it was found that the data collection of this system can still proceed smoothly in rainy and snowy weather and at a temperature of -8°C, and it can adapt to most of the top-pushing construction environments of the bridge 1. At the same time, it also has the advantages of high precision and little influence from external interference. Based on the existing inertial navigation system technology, it can provide information such as the position, attitude angle, heading, and speed of the bridge 1, thereby reflecting the linear shape and axis changes of the bridge 1 in multiple dimensions and aspects. In addition, the data update rate is high, the short-term accuracy is high, and the stability is good. It can better feedback to the site, and timely correct the deviation of the bridge 1, thereby improving the quality and safety of the bridge 1 during the top-pushing construction. Secondly, the navigation information generated by this monitoring system has good continuity and low noise, which reduces the error caused by manual measurement, realizes timely correction of the curved bridge 1, and makes it top-pushing to the designated position, reducing the risk of the bridge 1 rolling over during the top-pushing process.

[0027] The above is only an embodiment of the utility model, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the technical solution of the utility model, which should also be regarded as the protection scope of the utility model, and these will not affect the effect of the implementation of the invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A system for monitoring the linear shape of a jacking bridge using an inertial navigation system, characterized in that: including an interconnected ground reference station and a first inertial navigation system; The ground reference station is arranged on the ground and is used to provide an initial reference point to the first inertial navigation system; The first inertial navigation system is arranged at the end of the bridge and is used to obtain the position, moving speed and moving direction of the bridge during the jacking construction process.

2. The system for monitoring the linear shape of a bridge using an inertial navigation system according to claim 1, characterized in that: The first inertial navigation system includes a first inertial measurement element and a first antenna, and both the first inertial measurement element and the first antenna are fixed at a central position of an end of the bridge through a mounting mechanism.

3. The system for monitoring the linear shape of a bridge using an inertial navigation system according to claim 2 is characterized in that: Two first antennas are provided, and the two first antennas are distributed at both sides of the first inertial measurement element with equal intervals.

4. The system for monitoring the linear shape of a jacking bridge using an inertial navigation system according to claim 3 is characterized in that: The mounting mechanism comprises a universal joint, a base and a connecting plate. The base is connected to the surface of the end of the bridge. The connecting plate is rotatably connected to the base through the universal joint. The first inertial measurement element is mounted on the connecting plate.

5. The system for monitoring the linear shape of a jacking bridge using an inertial navigation system according to claim 4 is characterized in that: The bottom of the base is connected to a plurality of supporting legs, which are detachably connected to the bridge through the supporting legs, and the supporting legs are all telescopic rods.

6. The system for monitoring the alignment of a bridge using an inertial navigation system according to claim 5, characterized in that: The ground reference station includes a second inertial navigation system, which includes a second inertial measurement element and a second antenna, and the second antenna is wirelessly connected to the first antenna.

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