CN102323578A - Microwave distance measurement-based three-dimensional displacement monitoring device and method - Google Patents
Microwave distance measurement-based three-dimensional displacement monitoring device and method Download PDFInfo
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- CN102323578A CN102323578A CN201110146292A CN201110146292A CN102323578A CN 102323578 A CN102323578 A CN 102323578A CN 201110146292 A CN201110146292 A CN 201110146292A CN 201110146292 A CN201110146292 A CN 201110146292A CN 102323578 A CN102323578 A CN 102323578A
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Abstract
The invention discloses a microwave distance measurement-based three-dimensional displacement monitoring device and method. The method comprises the steps of: establishing a reasonable reference coordinate system and a datum point, transferring a datum and a method for space multi-satellite three-dimensioning positioning of a GPS (Global Position System) on the ground in a reference manner, replacing space multiple satellites with a microwave distance measurer to generate a positioning signal; at a monitored point, replacing a GPS receiver with a microwave passive reflector to reflect the signal; applying a total station high-precision phase distance measurement method to microwave distance measurement for replacing a GPS time distance measurement method to improve measurement precision; and obtaining three-dimensional coordinate values of a monitored point by using a relation equation set between the measurement distance and the coordinate values of the datum point, and obtaining a three-dimensional displacement variable of the monitored point through comparing difference values of coordinates before the monitored point is changed. For the optical total station, the method is not easily influenced by the environment; and for the GPS, the method has the advantages of low cost and high precision, and provides a new solution thread for the health monitoring of large structures.
Description
Technical field
The present invention relates to the three-D displacement monitoring device and the method for a kind of large scale structure or building, specially refer to a kind of to three-D displacement monitoring device and method based on tellurometer survey.
Background technology
Important traffic infrastructures such as bridge, tunnel, highway, railway, and great Architectural Equipments such as stadium, arenas, airport, high-rise building are the critical infrastructures that guarantee the development of the national economy and social development.These infrastructure more or less exist some structural defect, and simultaneously, the load of infrastructure and environment for use generation acute variation cause structure deterioration in advance in various degree, produce posteriori functional inefficacy.Because the important foundation facility investment is huge, and the place that personnel concentrate the most, economic activity is the most active often, in case have an accident, will produce catastrophic effect difficult to the appraisal.Therefore development structure health monitoring technology is carried out the real-time monitoring of configuration state to great infrastructure, and status flag, seizure accident tendency with accurate grasp structure have important society and economic implications.
And in structural healthy monitoring system, three-D displacement or distortion are its important monitoring parameters, but because its both whole force-bearing situation of reflect structure and characteristic such as decay of structure.Thereby carry out the means that three-D displacement monitoring is danger warning, protection people safety.In the three-D displacement the most widely of usefulness was measured at present, GPS and total powerstation were topmost 2 kinds:
1、GPS：
Advantage: but multi-measuring point measure simultaneously, sighting condition is good, measuring point is laid flexibly, measurement range is big, all weather operations, reliability are high;
Shortcoming: the price of each measuring point is high, technical monopoly, and the Real-time and Dynamic characteristic is poor, and precision is lower;
2, total powerstation:
Advantage: high precision, each measuring point is relatively cheap, and measurement range is big;
Shortcoming: need maintenance meticulously, influenced greatly by high temperature such as misty rain, dust and high humidity environment, not too be fit to long-term open-air environment for use, a plurality of points of on-line measurement simultaneously, measuring point is consuming time big, is difficult to satisfied all measuring points carried out intervisibility;
For the structure three-dimensional displacement monitoring, its needs at the scene in the field work environment, long-term work under operatorless situation, and precision prescribed high, can measure in real time etc.; Though and GPS and total powerstation all have advantage separately; But because exist defective can not satisfy the long-term field monitoring requirement of present structure three-dimensional displacement; The relative merits that anatomize contrast total powerstation and GPS can be found; These two kinds of optimum measurement means have complementary characteristic, and promptly GPS has does not exist terrestrial reference restriction, measuring point to arrange maneuverability, adapt to wide, all weather operations, measurement range is big, total powerstation lacked reliable long-term working property advantages of higher just; And advantage such as total powerstation had millimeter level measuring accuracy, average measuring point be with low cost, the also the most fatal weakness of GPS just.
Therefore; If can get the two chief, their advantage is organically merged; The benchmark and the method that are about to the space multi-satellite three-dimensional localization of GPS are transferred on the ground with using for reference, replace the space multi-satellite with microwave ranger and produce the location desired signal, at monitored some place; Replace the GPS receiver with the microwave passive reflector, make measuring process have advantages such as not affected by environment, that cost reduces and layout flexibly; Total powerstation laser phase precision distance measurement method is applied to tellurometer survey, replaces the time distance-finding method of GPS, distance accuracy is improved.Be all over the body technology thereby develop a kind of the two advantage that collects, make its have not affected by environment, cost is low, the precision advantages of higher.This technology possibly become a kind of brand-new three-D displacement measurement means in monitoring structural health conditions and engineering survey field, and this has Important Project value and economic outlook for monitoring structural health conditions and even whole engineering survey circle.
Summary of the invention
In view of this, in order to address the above problem, the present invention proposes a kind of not affected by environment, cost is low, precision is high three-D displacement monitoring device and the method based on tellurometer survey in the three-D displacement observation process of large-sized object; Overcome the deficiency that three-D displacement monitoring device and method in the present heavy construction monitoring structural health conditions exist.
One of the object of the invention is to propose a kind of three-D displacement monitoring device based on tellurometer survey; Two of the object of the invention is to propose a kind of three-dimensional displacement monitoring method based on tellurometer survey.
One of the object of the invention is realized by the following technical programs:
A kind of three-D displacement monitoring device provided by the invention based on tellurometer survey; Comprise at least three microwave rangers and at least three passive reflectors; Said microwave ranger is arranged at respectively on the selected reference point in ground; Said passive reflector is arranged on the monitored object, and said microwave ranger is to the microwave of all measuring target point of measured zone emission covering, and the microwave that is sent turns back to microwave ranger by the passive reflector at impact point place.
Further, said microwave ranger is provided with a little not on same straight line and at a distance of certain intervals;
Further, said passive reflector disperses to be arranged at different monitoring points on the monitored object;
Further, said passive reflector is the microwave passive reflector;
Further, said microwave passive reflector adopts the metal material of ability microwave reflection to be made;
Further; Said microwave ranger comprises microwave transreceiver, data processor and data display equipment; Said microwave transreceiver be used for microwave signal generation, transmit and receive, said data processor is used to obtain each distance values of measuring and utilizes the coordinate figure of each distance values, reference point to carry out the simultaneous solution of transcendental equation group, and through the data adjustment processing; Obtain the volume coordinate of each impact point, said data display equipment is used for result's demonstration.
Two of the object of the invention is realized through following technical scheme:
Three-dimensional displacement monitoring method based on tellurometer survey provided by the invention may further comprise the steps:
Step 1: in surveying the district, setting up reference frame OXYZ and coordinate figure is set is (x
1, y
1, z
1) the first reference point S
1, coordinate figure is (x
2, y
2, z
2) the second reference point S
2, coordinate figure is (x
3, y
3, z
3) the 3rd reference point S
3With monitored some R, wherein, x
1Represent the first reference point S
1At the axial coordinate figure of x, x
2Represent the second reference point S
2At the axial coordinate figure of x, x
3Represent the 3rd reference point S
3At the axial coordinate figure of x, y
1Represent the first reference point S
1At the axial coordinate figure of y, y
2Represent the second reference point S
2At the axial coordinate figure of y, y
3Represent the 3rd reference point S
3At the axial coordinate figure of y, z
1Represent the first reference point S
1At the axial coordinate figure of z, z
2Represent the second reference point S
2At the axial coordinate figure of z, z
3Represent the 3rd reference point S
3At the axial coordinate figure of z;
Step 2: measure the first reference point S
1To the distance B between the monitored some R
1, measure the second reference point S
2To the distance B between the monitored some R
2, measure the 3rd reference point S
3To the distance B between the monitored some R
3
Step 3: confirm the relation equation group of distance between monitored some R and each reference point through following formula, and pass through to calculate the initial coordinate values (x that this relation equation group obtains monitored some R
r, y
r, z
r),
In the formula, | S
1R| representes the first reference point S
1To the distance between the monitored some R, | S
2R| representes the second reference point S
2To the distance between the monitored some R, | S
3R| representes the 3rd reference point S
3To the distance between the monitored some R, x
rThe axial coordinate figure of x when representing monitored some R original state, y
rThe axial coordinate figure of y when representing monitored some R original state, z
rThe axial coordinate figure of z when representing monitored some R original state;
Step 4: through the said method of step 1 to step 3 measure current coordinate figure after monitored some R coordinate position changes (x '
r, y '
r, z '
r),
Wherein, x '
rRepresent the axial coordinate figure of x after monitored some R coordinate position changes, y '
rRepresent the axial coordinate figure of y after monitored some R coordinate position changes, z '
rRepresent the axial coordinate figure of z after monitored some R coordinate position changes;
Step 5: calculate the three-D displacement variation delta R that obtains monitored some R through following formula,
In the formula, Δ x
rRepresent that monitored some R is at the axial displacement of x, Δ y
rRepresent that monitored some R is at the axial displacement of y, Δ z
rRepresent that monitored some R is at the axial displacement of z.
Further, in the said method, the said first reference point S
1, the second reference point S
2, the 3rd reference point S
3For placing the location point of microwave ranger;
Further, in the said method, said monitored some R is used as the location point of placing the microwave passive reflector;
Further, in the said method, the said first reference point S that establishes
1, the second reference point S
2, the 3rd reference point S
3Distance to monitored some R is to carry out tellurometer survey through microwave ranger and microwave passive reflector to obtain.
The invention has the advantages that: through setting up the reasonable reference coordinate system and selecting suitable reference point; Get the two chief of total powerstation and GPS, their advantage is organically merged; The benchmark and the method that are about to the space multi-satellite three-dimensional localization of GPS are transferred on the ground with using for reference, replace the space multi-satellite with microwave ranger and produce the location desired signal; At monitored some place, replace the GPS receiver with the microwave passive reflector and come reflected signal; Total powerstation high precision phase ranging method is applied to tellurometer survey, replaces the gps time distance-finding method and improve measuring accuracy; Utilize the relation equation group between measuring distance and the reference point coordinate, obtain the D coordinates value of monitored point, the difference of coordinate position before and after changing through more monitored point, and then obtain the three-D displacement variable quantity of monitored point.This method is difficult for affected by environmently for the optics total powerstation, and this method cost is low for Global Positioning System (GPS), precision is high, for the large scale structure health monitoring provides new solution thinking.This technology possibly become a kind of brand-new three-D displacement measurement means in monitoring structural health conditions and engineering survey field, have Important Project value and economic outlook for monitoring structural health conditions and even whole engineering survey circle.
Other advantage of the present invention, target and characteristic will be set forth in instructions subsequently to a certain extent; And to a certain extent; Based on being conspicuous to those skilled in the art, perhaps can from practice of the present invention, obtain instruction to investigating of hereinafter.Target of the present invention and other advantage can be passed through following instructions, claims, and the structure that is particularly pointed out in the accompanying drawing realizes and obtains.
Description of drawings
In order to make the object of the invention, technical scheme and advantage clearer, will combine accompanying drawing that the present invention is made further detailed description below, wherein:
Fig. 1 is a ground local positioning system general principles synoptic diagram;
Fig. 2 is based on tellurometer survey three-D displacement monitoring synoptic diagram;
Fig. 3 is based on tellurometer survey three-D displacement monitoring schematic flow sheet;
Fig. 4 is the tellurometer survey synoptic diagram.
Embodiment
Below will combine accompanying drawing, the preferred embodiments of the present invention will be carried out detailed description; Should be appreciated that preferred embodiment has been merely explanation the present invention, rather than in order to limit protection scope of the present invention.
Fig. 1 is a ground local positioning system general principles synoptic diagram; As shown in the figure: the three-D displacement monitoring device based on tellurometer survey provided by the invention; Comprise at least three microwave rangers, at least three passive reflectors; The embodiment of the invention adopts four passive reflector R1, R2, R3, R4; Said microwave ranger is arranged at respectively on the selected reference point in ground; Said passive reflector is arranged on the monitored object, and said miniature stadimeter is to the microwave of all measuring target point of measured zone emission covering, and the microwave that is sent turns back to stadimeter by the passive reflector at impact point place.
Further specify, being provided with a little not on same straight line of said stadimeter, said passive reflector disperses to be arranged at different monitoring points on the monitored object.
Further specify, said passive reflector is the microwave passive reflector, and said microwave passive reflector adopts the metal material of ability microwave reflection to be made, and can select metal materials such as aluminium, copper to make the microwave passive reflector in the embodiment of the invention.
Further specify; Said microwave ranger comprises the microwave transreceiver; This microwave transreceiver comprises dual-mode antenna A1 as shown in fig. 1, A2, A3, data processor and data display equipment; Said microwave transreceiver be used for microwave signal generation, transmit and receive, said data processor is used to obtain each distance values of measuring and utilizes the coordinate figure of each distance values, reference point to carry out the simultaneous solution of transcendental equation group, and through the data adjustment processing; Obtain the volume coordinate of each impact point, said data display equipment is used for result's demonstration.
Fig. 2 is based on tellurometer survey three-D displacement monitoring synoptic diagram, and Fig. 3 is based on tellurometer survey three-D displacement monitoring schematic flow sheet; As shown in the figure: the three-dimensional displacement monitoring method based on tellurometer survey provided by the invention may further comprise the steps:
Step 1: in surveying the district, setting up reference frame OXYZ and coordinate figure is set is (x
1, y
1, z
1) the first reference point S
1, coordinate figure is (x
2, y
2, z
2) the second reference point S
2, coordinate figure is (x
3, y
3, z
3) the 3rd reference point S
3With monitored some R, wherein, x
1Represent the first reference point S
1At the axial coordinate figure of x, x
2Represent the second reference point S
2At the axial coordinate figure of x, x
3Represent the 3rd reference point S
3At the axial coordinate figure of x, y
1Represent the first reference point S
1At the axial coordinate figure of y, y
2Represent the second reference point S
2At the axial coordinate figure of y, y
3Represent the 3rd reference point S
3At the axial coordinate figure of y, z
1Represent the first reference point S
1At the axial coordinate figure of z, z
2Represent the second reference point S
2At the axial coordinate figure of z, z
3Represent the 3rd reference point S
3At the axial coordinate figure of z;
Further specify, in surveying the district, the said first reference point S
1, the second reference point S
2, the 3rd reference point S
3Coordinate figure be given value, be used for placing the location point of microwave ranger; Said monitored some R is used as the location point of placing the microwave passive reflector.
Step 2: utilize microwave ranger and microwave passive reflector to carry out tellurometer survey, measure the first reference point S
1To the distance B between the monitored some R
1, measure the second reference point S
2To the distance B between the monitored some R
2, measure the 3rd reference point S
3To the distance B between the monitored some R
3
Step 3: confirm the relation equation group of distance between monitored some R and each reference point through following formula, and pass through to calculate the initial coordinate values (x that this relation equation group obtains monitored some R
r, y
r, z
r),
In the formula, | S
1R| representes the first reference point S
1To the distance between the monitored some R, | S
2R| representes the second reference point S
2To the distance between the monitored some R, | S
3R| representes the 3rd reference point S
3To the distance between the monitored some R, x
rThe axial coordinate figure of x when representing monitored some R original state, y
rThe axial coordinate figure of y when representing monitored some R original state, z
rThe axial coordinate figure of z when representing monitored some R original state;
Step 4: through the said method of step 1 to step 3 measure current coordinate figure after monitored some R coordinate position changes (x '
r, y '
r, z '
r),
Wherein, x '
rRepresent the axial coordinate figure of x after monitored some R coordinate position changes, y '
rRepresent the axial coordinate figure of y after monitored some R coordinate position changes, z '
rRepresent the axial coordinate figure of z after monitored some R coordinate position changes;
Step 5: calculate the three-D displacement variation delta R that obtains monitored some R through following formula,
In the formula, Δ x
rRepresent that monitored some R is at the axial displacement of x, Δ y
rRepresent that monitored some R is at the axial displacement of y, Δ z
rRepresent that monitored some R is at the axial displacement of z.
Describe the process of specifically utilizing the microwave phase range finding that embodiments of the invention provided below in detail:
Fig. 4 is the tellurometer survey synoptic diagram, and is as shown in the figure, supposes that microwave transceiver 41 passes through microwave antenna 42 at t
0Constantly launch the modulated microwave I that modulating frequency is f (cycle is T=1/f)
0=A sin ω t
0, be I through the modulating wave that returns by target passive reflector 43 former roads after the transmission of distance B
1=A sin ω (t
0+ Δ t).Then microwave is travelled to and fro between formed phase differential Φ between transmitter, the reverberator, mistiming Δ t is respectively:
Φ＝ω(t
0+Δt)-ωt
0＝ω·Δt＝2πf·Δt
Δt＝Φ/2πf
Phase differential also can be write as:
Φ＝N·2π+ΔΦ
Identify phase differential Φ through the high-precision phase measurement technology, promptly realize the high-acruracy survey (D=c Δ t/2) of distance B through above-mentioned formula conversion back.Because the modulating wave periodicity N that N is in distance B to be comprised in the above-mentioned formula need adopt one group of different modulating frequency f for this reason
1, f
2, f
kDetermine N, the tellurometer survey that promptly utilizes many modulating frequencies microwave to make up, and then realize the high-acruracy survey of Φ, Δ t, D; This method distance accuracy improves, and has overcome the low problem of GPS precision.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, belong within the scope of claim of the present invention and equivalent technologies thereof if of the present invention these are revised with modification, then the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1. three-D displacement monitoring device based on tellurometer survey; It is characterized in that: comprise at least three microwave rangers and at least three passive reflectors; Said microwave ranger is arranged at respectively on each selected reference point of ground; Said passive reflector is arranged on the monitored object, and said microwave ranger is to the microwave of all measuring target point of measured zone emission covering, and the microwave that is sent turns back to microwave ranger by the passive reflector at impact point place.
2. the three-D displacement monitoring device based on tellurometer survey according to claim 1 is characterized in that: said microwave ranger be provided with a little not on same straight line and at a distance of certain intervals.
3. the three-D displacement monitoring device based on tellurometer survey according to claim 2 is characterized in that: said passive reflector disperses to be arranged at different monitoring points on the monitored object.
4. the three-D displacement monitoring device based on tellurometer survey according to claim 3 is characterized in that: said passive reflector is the microwave passive reflector.
5. the three-D displacement monitoring device based on tellurometer survey according to claim 4 is characterized in that: said microwave passive reflector adopts the metal material of ability microwave reflection to be made.
6. the three-D displacement monitoring device based on tellurometer survey according to claim 5; It is characterized in that: said microwave ranger comprises microwave transreceiver, data processor and data display equipment; Said microwave transreceiver be used for microwave signal generation, transmit and receive; The coordinate figure that said data processor is used to obtain each distance values of measuring and utilize each distance values, reference point carries out the simultaneous solution of transcendental equation group; And, obtain the volume coordinate of each impact point through the data adjustment processing, said data display equipment is used for result's demonstration.
7. based on the three-dimensional displacement monitoring method of tellurometer survey, it is characterized in that: may further comprise the steps:
Step 1: in surveying the district, setting up reference frame OXYZ and coordinate figure is set is (x
1, y
1, z
1) the first reference point S
1, coordinate figure is (x
2, y
2, z
2) the second reference point S
2, coordinate figure is (x
3, y
3, z
3) the 3rd reference point S
3With monitored some R, wherein, x
1Represent the first reference point S
1At the axial coordinate figure of x, x
2Represent the second reference point S
2At the axial coordinate figure of x, x
3Represent the 3rd reference point S
3At the axial coordinate figure of x, y
1Represent the first reference point S
1At the axial coordinate figure of y, y
2Represent the second reference point S
2At the axial coordinate figure of y, y
3Represent the 3rd reference point S
3At the axial coordinate figure of y, z
1Represent the first reference point S
1At the axial coordinate figure of z, z
2Represent the second reference point S
2At the axial coordinate figure of z, z
3Represent the 3rd reference point S
3At the axial coordinate figure of z;
Step 2: measure the first reference point S
1To the distance B between the monitored some R
1, measure the second reference point S
2To the distance B between the monitored some R
2, measure the 3rd reference point S
3To the distance B between the monitored some R
3
Step 3: confirm the relation equation group of distance between monitored some R and each reference point through following formula, and pass through to calculate the initial coordinate values (x that this relation equation group obtains monitored some R
r, y
r, z
r),
In the formula, | S
1R| representes the first reference point S
1To the distance between the monitored some R, | S
2R| representes the second reference point S
2To the distance between the monitored some R, | S
3R| representes the 3rd reference point S
3To the distance between the monitored some R, x
rThe axial coordinate figure of x when representing monitored some R original state, y
rThe axial coordinate figure of y when representing monitored some R original state, z
rThe axial coordinate figure of z when representing monitored some R original state;
Step 4: through the said method of step 1 to step 3 measure current coordinate figure after monitored some R coordinate position changes (x '
r, y '
r, z '
r),
Wherein, x '
rRepresent the axial coordinate figure of x after monitored some R coordinate position changes, y '
rRepresent the axial coordinate figure of y after monitored some R coordinate position changes, z '
rRepresent the axial coordinate figure of z after monitored some R coordinate position changes;
Step 5: calculate the three-D displacement variation delta R that obtains monitored some R through following formula,
In the formula, Δ x
rRepresent that monitored some R is at the axial displacement of x, Δ y
rRepresent that monitored some R is at the axial displacement of y, Δ z
rRepresent that monitored some R is at the axial displacement of z.
8. the three-dimensional displacement monitoring method based on tellurometer survey according to claim 7 is characterized in that: the said first reference point S
1, the second reference point S
2, the 3rd reference point S
3For placing the location point of microwave ranger.
9. the three-dimensional displacement monitoring method based on tellurometer survey according to claim 8 is characterized in that: said monitored some R is used as the location point of placing the microwave passive reflector.
10. the three-dimensional displacement monitoring method based on tellurometer survey according to claim 9 is characterized in that: the said first reference point S that establishes
1, the second reference point S
2, the 3rd reference point S
3Distance to monitored some R is to carry out tellurometer survey through microwave ranger and microwave passive reflector to obtain.
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