CN112731534B - Method, system, electronic device and readable medium for joint positioning of double acoustic emission events by considering P-wave first-motion system errors - Google Patents
Method, system, electronic device and readable medium for joint positioning of double acoustic emission events by considering P-wave first-motion system errors Download PDFInfo
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Abstract
The invention discloses a double-sound emission event joint positioning method, a double-sound emission event joint positioning system, electronic equipment and a readable storage medium, wherein P wave first-break system errors are considered; then eliminating the earthquake generating time by a double difference method; subtracting corresponding equations of the same sensors under the two acoustic emission events to eliminate P wave first-arrival system errors, further acquiring P wave first-arrival data combinations of more than 7 sensors, and solving positioning points corresponding to each sensor combination by using a Newton iterative algorithm to further obtain a plurality of positioning points; finally, a gravity value based on distance is proposed to characterize the point density around a single positioning point, and the point with the maximum gravity value is taken as the positioning result. The method of the invention considers P-wave first-arrival system errors, can realize simultaneous positioning of double-sound emission events, and has the characteristics of strong noise resistance, high positioning precision and the like.
Description
Technical Field
The invention belongs to the field of acoustic emission monitoring, and particularly relates to a method and a system for joint positioning of double acoustic emission events by considering P-wave first-motion system errors and a readable storage medium.
Background
The acoustic emission positioning usually adopts a ray travel time positioning method, namely, an objective function is established by using the observation data and the theoretical travel time of each sensor. The traditional positioning method is developed mostly based on a Geiger (1912) method, and the essence is to linearize a nonlinear equation set and solve the nonlinear equation set through a least square method, and the method is greatly influenced by an initial positioning point; furthermore, Waldhauser proposes a double-difference positioning method, and assumes that propagation paths of two similar seismic event excitation wave fields are similar, so that the influence of structural abnormality on the common path on travel time when similar earthquakes propagate to a station is effectively reduced, errors caused by the complexity of a crust structure can be effectively reduced, and a reliable result is provided for underground micro-seismic positioning of a mine.
The acoustic emission positioning accuracy based on travel time is directly related to the quality of P wave first arrival data. The long-short time window mean value ratio method (STA/LTA method) proposed by Allen is widely applied, and the change of the first-arrival amplitude and frequency of the P wave is fully considered by the functional function of the long-short time window mean value ratio method. Sleeman and van Eck assume that the front and back of the P wave first arrival are two different states, and an autoregressive cell red criterion (AR-AIC) method deduced by a maximum likelihood method is widely applied to P wave first arrival picking. The PAI-K/S method based on the kurtosis and skewness functions of the high-order statistics is also well applied to P wave first-arrival pickup. The P-wave arrival time picking method is established on the assumption that the waveform has no systematic observation error, and is influenced by the coupling state of the sensor and the rock sample, the response time of the sensor, the checking level and the like, so that the waveform monitored by the sensor has systematic error related to the structure of a receiving end in arrival time; and the signals monitored by the sensors are transmitted to an acoustic emission data preprocessing and storage system through an amplifier, and the time synchronization of each sensor may have certain drift. Thus, it can be presumed that a P-wave first arrival time systematic error of each acoustic emission signal due to a field effect at the location of the sensor, a device response, and the like should exist.
In terms of multi-event source localization, Douglas first proposed a joint inversion method (JED) of source location and station correction in 1967, which can invert the source location and n station corrections for m events, i.e., introduce "station corrections" for each station to account for the errors caused by velocity model simplification, and later extended by Dewey to a JHD method that includes source depth localization. In order to solve the problem that the matrix is too large due to the fact that the number of events m and stations n is too large, in 1983, Pavlis and Booker propose a PMLE method for parameter separation, and further simplified by Pujol. According to the first arrival P wave travel time data of earthquake in Kunming table network region, the King Ailanthus, appetite and the like are corrected by using JHD and parameter separation method to obtain the P wave travel time of each station, and the positioning accuracy is greatly improved. In 1976, Crosson firstly proposed a joint inversion theory (SSH) of the seismic source position and the velocity structure, and the method does not need to calibrate the wave velocity, can obtain much information about the velocity structure, and is a positioning method widely used at present. In contrast to the JED method, this method does not introduce station corrections, but inverts the velocity structure as an unknown parameter simultaneously with the seismic source. The positioning method has the problems that P wave first arrival large picking errors are possibly caused, data parameter dimensionality is too high to accurately position, and the like, and the method is not used for positioning acoustic emission events.
Therefore, how to eliminate the P-wave first-arrival picking system error of the sensor and reduce the influence of the P-wave first-arrival large picking error, so as to improve the positioning accuracy of the acoustic emission event is an urgent need to be solved.
Disclosure of Invention
The invention discloses a method, a system and a readable storage medium for jointly positioning double-acoustic emission events by considering P-wave first-motion system errors.
The invention provides a double-sound emission event combined positioning method considering P wave first-motion system errors, which comprises the following steps of:
step 1: obtaining the number M of sensors2P-wave first arrival data combinations larger than 7, and performing the following S1 and S2 with every two sensors as a small group to obtain M 21 equation with elimination of the origin time and P wave first arrival system error;
s1: establishing a P wave travel time-propagation distance relation equation between the sensor and the acoustic emission event, wherein the P wave first arrival system error is considered, on the basis of the P wave first arrival data;
s2: eliminating the error of the earthquake-generating time and the P wave first arrival system;
subtracting corresponding equations of the two sensors under the same acoustic emission event to eliminate the oscillation time; subtracting corresponding equations of the same sensor under the double-sound emission event to eliminate P wave first-motion system errors;
Step 2: based on M obtained in step 12-1 equation inversion to the localization point of the binaural emission event under the current sensor combination.
The method can eliminate the influence of P wave first-motion system errors by utilizing the means, so that the positioning accuracy of the acoustic emission event is improved, and it is understood that the elimination of the seismic moment in the method is realized by subtracting corresponding equations of two sensors under the same acoustic emission event; when the P wave first arrival system error is eliminated, the P wave first arrival system error is related to the sensor and unrelated to the seismic source, so that equations of the two seismic sources are subtracted on the basis of keeping the sensor unchanged if the P wave first arrival system error is to be eliminated, and the P wave first arrival system error corresponding to the sensor is eliminated. Meanwhile, it should be understood that the elimination of the seismic moment before the elimination of the P-wave first arrival system error may be selected, or the elimination of the P-wave first arrival system error before the elimination of the seismic moment may be selected.
Optionally, the inversion process in step 2 calculates the location points of the binaural emission event by using a newton iteration algorithm, and the implementation process is as follows:
first, M will eliminate the error of the origin time and P wave first arrival system 21 equations as the objective function gi(X), i refers to the number of the sensor, and X is the positioning position of the double-sound emission event;
Then, an objective function g is constructedi(X) a jacobian matrix;
finally, setting the initial value of the anchor point of the double-sound emission event as X1And carrying out iterative calculation according to the following iterative formula until the iterative requirement is met, stopping iteration, and outputting the positioning point of the double-sound emission event under the current sensor combination, wherein the iterative formula is as follows:
Xn＝Xn-1-J-1g(Xn-1)
wherein, Xn、Xn-1Respectively the anchor points of the nth time and the nth-1 time in the iterative process, J is a Jacobian matrix, and g (X)n-1) For M in the n-1 th iteration2-an objective function matrix of 1 objective function.
Optionally, the objective function g corresponding to the ith and 1 st sensor combinationsi(X) is as follows:
wherein (x)01,y01,z01)、(x02,y02,z02) Position coordinates for events 1, 2 in the binaural emission event, respectively, (x)01,y01,z01,x02,y02,z02) Is expressed as X ═ X1,x2,x3,x4,x5,x6)；(xi,yi,zi)、(x1,y1,z1) Respectively represent the ith and the second1 sensor position, vpIs the velocity of P wave, ti1、ti2P-wave first arrival time t of events 1 and 2 in the dual acoustic emission event picked up by the ith sensor11、t12For the P-wave first arrival time of events 1 and 2 in the dual acoustic emission event picked up by the 1 st sensor, the constructed jacobian matrix can be represented as:
optionally, the total number of sensors is recorded as M1The final localization point of the binaural emission event is determined according to the following steps:
finding M 1The number of sensors is greater than or equal to M2And for each combined sensor, respectively inverting a group of positioning points according to the method of the steps 1-2;
then, the gravity value method based on distance represents the point density around a single positioning point, and the point with the maximum gravity value is taken as the positioning result, wherein, the position of each acoustic emission event in each group of positioning points is respectively taken as a positioning point,
the formula of the gravity value of the positioning point i is as follows:
wherein, for the same acoustic emission event, k is that the distance from the locating point i is less than the threshold value d1The number of the positioning points; dijThe Euclidean distance between the positioning point i and the j-th point in the k points is shown, and epsilon is a control parameter.
Optionally, a threshold value d1The value range of (a) is 5-15 mm, and the value range of the control parameter epsilon is 10-30 mm.
Optionally, in the P-wave travel-time propagation distance relation equation considering the P-wave first arrival system error constructed in step 1, the P-wave travel-time propagation distance relation equation between the i-th sensor and event 1 in the binaural emission event is as follows:
wherein (x)i,yi,zi) (x) for the ith sensor position coordinate01,y01,z01) For the position coordinate of event 1 in the event of a binaural emission, vpIs the velocity of P wave, t01For event 1 (x) in a binaural emission event 01,y01,z01) The moment of origin, ti1Event 1 (x) in dual acoustic emission event picked up for the ith sensor01,y01,z01) P wave first arrival time, TiP-wave first arrival system error for the ith sensor.
Alternatively, when the ith sensor and the 1 st sensor are combined in step S2, the formula for eliminating the origin time is as follows;
the formula for eliminating P-wave first-arrival system errors is as follows:
in the formula (x)02,y02,z02) For the location coordinate of event 2 in the binaural emission event, (x)1,y1,z1) Is the 1 st sensor position coordinate, t11Event 1 (x) in dual acoustic emission event picked up for the 1 st sensor01,y01,z01) P-wave first arrival time ti2、t12Event 2 (x) of dual acoustic emission events picked up by the ith and 1 st sensors, respectively02,y02,z02) P wave ofTo time, T1P-wave first arrival system error for the 1 st sensor.
In a second aspect, the present invention further provides a system based on the above method for jointly positioning two acoustic emission events considering P-wave first arrival system errors, including:
the P wave travel time-propagation distance relation equation establishing unit: the method is used for establishing a P wave travel time-propagation distance relation equation;
a dimension reduction unit: eliminating the error of the earthquake-generating time and the P wave first arrival system;
a positioning module: for obtaining M 21 equation with elimination of the origin time and P wave first arrival system error, based on M 2-1 equation inversion to the localization point of the binaural emission event under the current sensor combination.
In a third aspect, the present invention also provides an electronic device comprising a processor and a memory, the memory storing a computer program, the processor invoking the computer program to perform the steps of the method for joint localization of binaural emission events taking into account P-wave first arrival system errors.
In a fourth aspect, the present invention also provides a readable storage medium storing a computer program, which is invoked by a processor to perform the steps of the method for joint localization of binaural emission events taking into account P-wave first arrival system errors.
Advantageous effects
1. The invention provides a double-sound emission event joint positioning method and system considering P-wave first-arrival system errors and a readable storage medium, which are mainly used for solving the problems that the P-wave pickup system errors of a sensor influence the positioning accuracy of sound emission and the P-wave first-arrival data pickup large errors influence the positioning stability of the sound emission. According to the method, the earthquake-initiating time is eliminated through a double-difference method, and the P wave first-arrival system error is considered to be related to the sensor and unrelated to the earthquake sources, so that equations of the two earthquake sources are subtracted on the basis that the sensor is kept unchanged if the P wave first-arrival system error is eliminated, the P wave first-arrival system error corresponding to the sensor is eliminated, and the positioning accuracy of the acoustic emission event is improved.
2. In a further preferred scheme, the method calculates the seismic source position by utilizing a Newton iteration algorithm, wherein the influence of the seismic time and the P wave first arrival system error is eliminated, and simultaneously, the unknown number is reduced, so that the Newton iteration method after the dimensionality reduction of the unknown number is easier to obtain a better positioning point, and the influence of unstable positioning results of single iteration is greatly reduced.
3. In a further preferred scheme, a plurality of seismic source positioning results are obtained according to various combinations of sensors, a distance-based gravity value method is provided for representing the point density around a single positioning point, and a point with the largest gravity value is used as a positioning result, so that the influence of P-wave first-arrival large picking errors is greatly reduced, and the reliability of the positioning result of an acoustic emission event is further improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a graph of acoustic emission test events and respective sensor location coordinates;
FIG. 3 is a plot of P-wave first-arrival time noise and system error points applied by each sensor;
FIG. 4 is a positioning point diagram obtained by solving a set of equations corresponding to combinations of more than 6 sensors by Newton's iteration, wherein FIG. 4(a) and FIG. 4(b) correspond to event 1 and event 2, respectively;
fig. 5 is a diagram of the localization result of the dual acoustic emission event, wherein fig. 5(a) and 5(b) correspond to event 1 and event 2, respectively.
Detailed Description
According to the double-acoustic-emission-event joint positioning method considering the P-wave first-arrival system error, the P-wave first-arrival system error is considered, the influence of the earthquake-starting time and the P-wave first-arrival system error is effectively eliminated by using the double-acoustic-emission event, and the Newton iteration method after unknown dimensionality reduction is easier to obtain a better positioning point. In addition, in order to further improve the positioning accuracy, P-wave first-arrival combined data is selected for inversion, the influence of P-wave first-arrival picking errors and instability of a single iteration positioning result can be greatly reduced, a plurality of positioning points corresponding to a plurality of combinations are further obtained, the density of points around the single positioning point is represented by a distance-based gravity value method, the point with the largest gravity value is used as the positioning result, and therefore the positioning result with high reliability is obtained.
The technical scheme of the invention is explained by taking a double-sound emission event as an example as follows:
firstly, a P wave travel time-propagation distance relation equation is established on the basis of P wave first arrival data. The method comprises the following specific steps:
setting the positions of the events 1 and 2 in the double-sound emission event as (x)01,y01,z01)、(x02,y02,z02) The oscillation moments are respectively t01、t02The P wave first arrival system error of the ith sensor is TiThe velocity of the P wave being constant v pThus, the relationship between the distance of propagation of the P-wave and the time of the acoustic emission event can be expressed as:
wherein i is the sensor number (i ═ 1,2, …, M)1)，M1Is the total number of sensors, (x)i,yi,zi) Is the ith sensor position coordinate, ti1、ti2The number of unknowns in inversion of two acoustic emission events is 8+ M for the P wave first arrival time of events 1 and 2 in the dual acoustic emission event picked by the ith sensor1And (4) respectively.
Then, the double difference method is used to eliminate the origin time t of the events 1 and 201、t02Using the P-wave propagation distance and time relation equation ((i ═ 2,3, …, M) corresponding to each sensor1) Multiply-subtract the equation for the first sensor:
as can be seen from the above equations (3) and (4), the origin time is related to the acoustic emission event only, and therefore, the origin time can be eliminated by subtracting the equations of the two sensors corresponding to the same acoustic emission event.
Then, subtracting corresponding equations of the same sensors under the two acoustic emission events, and eliminating P wave first arrival system error TiTo obtain 6 parameters (x)01,y01,z01,x02,y02,z02) The method of the equation set is as follows: subtracting formula (3) from formula (4):
as can be seen from the above equation (5), in order to eliminate the P-wave first-arrival system error corresponding to the sensor, the P-wave first-arrival system error can be eliminated by subtracting the equations of 2 seismic sources on the basis of the same sensor.
Then, solving the positioning point corresponding to each sensor combination by using a Newton iterative algorithm, wherein the implementation mode is as follows:
is provided with
Labelling unknowns (x)01,y01,z01,x02,y02,z02) Is X ═ X1,x2,x3,x4,x5,x6) Thus, the Jacobian matrix at Newton iterations can be expressed as:
when the number of the seismic sources is 2, M2Greater than or equal to 7.
Further (x) of Newton's iterative process can be obtained1,x2,x3,x4,x5,x6) The parameters are as follows:
wherein, X1The central point of the target range is often taken as an initial value set manually; when X is presentn＝Xn-1Then the iteration is terminated. Using XnAnd taking the corresponding parameters as positioning points under the P-wave data. In this embodiment, the iteration termination condition is Xn＝Xn-1(ii) a In other possible embodiments, the number of iterations or other conditions, or X, may also be setnAnd Xn-1Within a certain error range.
It should be noted that the objective function g is constructed on the basis of solving the P-wave first-motion system errori(x01,y01,z01,x02,y02,z02) In the present embodiment, it is preferable to calculate the seismic source position by using a newton iteration method, but the present invention is not limited to this method, and technical means that the seismic source position can be inverted based on multiple sets of objective functions are within the scope of the present invention.
It should be understood that when the number of seismic sources is 2, M is described above2Greater than or equal to 7, i.e., at least 6 sets of sensor data are required to participate in the calculations of equations (1) -7 above. Then for all sensors, with M 2Grouping into groups is possible in many ways, e.g.
Each group of sensors can obtain a group of positioning points according to the formula (7) to further obtain a plurality of groups of positioning points, and in order to select the positioning point with the highest reliability, the invention further provides a gravity value method based on distance to represent the point density around a single positioning point, and the point with the largest gravity value is taken as a positioning result. The gravity value of anchor point i is defined as follows:
wherein, for the same seismic source, k is that the distance from the positioning point i is less than a threshold value d1Number of anchor points, d1Taking 5-15 mm; dijThe Euclidean distance between the locating point i and the j point in the k points is set; epsilon is a parameter for controlling the influence of small points of individual distances, and is 10-30 mm.
It should be noted that, in the present embodiment, it is preferable to determine the positioning point by the gravity value method based on distance, but in other feasible manners, it also belongs to the protection scheme of the present invention that no multi-group calculation is performed, but the positioning accuracy is lower than the accuracy of the positioning point determined by the gravity value method based on distance.
Based on the explanation of the above technical solution, the following explanation is made in this embodiment by taking the dual sound emission event as an example: as shown in fig. 1, a method for joint localization of dual acoustic emission events considering P-wave first arrival system errors in this embodiment includes the following steps:
Step 1: establishing a P wave travel time-propagation distance relation equation about the double-sound emission event on the basis of P wave first arrival data;
step 2: eliminating the origin time t of the events 1 and 2 by the double difference method01、t02；
And step 3: subtracting corresponding equations of two sensors with the same acoustic emission events to eliminate P wave first-arrival system error TiObtaining a 6-parameter equation set related to the three-dimensional seismic source positions of the two acoustic emission events;
and 4, step 4: acquiring P wave first arrival data combinations of more than or equal to 7 sensors, wherein the total combination number is
And 5: solving the positioning point corresponding to each sensor combination by using a Newton iterative algorithm so as to obtain a plurality of positioning points;
step 6: the gravity value method based on distance represents the point density around a single positioning point, and takes the point with the maximum gravity value as the positioning result.
In some possible embodiments, the present invention further provides a system based on the above method for jointly positioning two acoustic emission events considering P-wave first arrival system errors, including:
the P wave travel time-propagation distance relation equation establishing unit: the method is used for establishing a P wave travel time-propagation distance relation equation;
a dimension reduction unit: eliminating the error of the earthquake-starting time and the P wave first arrival system. The specific operation of the dimension reduction unit can refer to the corresponding steps of the foregoing method.
Wherein, every two sensors form a group to obtain an equation for eliminating the earthquake-initiating time and the P wave first-motion system error;
a positioning module: for obtaining M 21 equation with elimination of the origin time and P wave first arrival system error, based on M2-1 equation inversion into anchor points for the binaural emission event.
In some embodiments, the localization module calculates the source location in newton's iterative algorithm. In some embodiments, the system further comprises a fine positioning unit for characterizing a density of points around the single positioning point by a distance-based gravity value method, and taking a point with a largest gravity value as a positioning result.
It should be understood that, the specific implementation process of the above unit module refers to the method content, and the present invention is not described herein in detail, and the division of the above functional module unit is only a division of a logic function, and there may be another division manner in the actual implementation, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. Meanwhile, the integrated unit can be realized in a hardware form, and can also be realized in a software functional unit form.
In a third aspect, the present invention also provides an electronic device comprising a processor and a memory, the memory storing a computer program, the processor invoking the computer program to perform the steps of the method for joint localization of binaural emission events taking into account P-wave first arrival system errors.
The content of the foregoing method is referred to for the specific implementation process of each step.
In a fourth aspect, the present invention also provides a readable storage medium storing a computer program, which is invoked by a processor to perform the steps of the method for joint localization of binaural emission events taking into account P-wave first arrival system errors.
The content of the foregoing method is referred to for the specific implementation process of each step.
It should be understood that in the embodiments of the present invention, the Processor may be a Central Processing Unit (CPU), and the Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The memory may include both read-only memory and random access memory, and provides instructions and data to the processor. The portion of memory may also include non-volatile random access memory. For example, the memory may also store device type information.
The readable storage medium is a computer readable storage medium, which may be an internal storage unit of the controller according to any of the foregoing embodiments, for example, a hard disk or a memory of the controller. The readable storage medium may also be an external storage device of the controller, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the controller. Further, the readable storage medium may also include both an internal storage unit of the controller and an external storage device. The readable storage medium is used for storing the computer program and other programs and data required by the controller. The readable storage medium may also be used to temporarily store data that has been output or is to be output.
Data validation
FIG. 2 is a graph of acoustic emission test events and respective sensor location. The triangles in the figure represent 12 sensors; the five-pointed star is two acoustic emission test events. Wherein the position coordinate (X) of event 11,Y1,Z1) Position coordinate (X) of event 2 of (30,20,65) mm2,Y2,Z2) The (50,15,15) mm, and the position coordinates of each sensor are shown in Table 1. The P wave propagation speed is set to be 3.6mm/us, and the P wave propagation time of signals received by each sensor is easily obtained according to the propagation distance and the speed. Specific values of P-wave propagation time are shown in table 1.
TABLE 1 Acoustic emission test event, position coordinates of each sensor and P-wave propagation time
Fig. 3 is a plot of individual sensor plus noise versus system error points. Considering that in an actual situation, large error influence exists in P wave first arrival data pickup, errors exist in system observation errors of sensors, errors exist in artificial subjectivity, and the like, random errors and sensing system errors are added to the sensors of the event 1 and the event 2, namely 1us of Gaussian distribution noise serves as random noise, 2us of Gaussian distribution noise is met, then an absolute value of the Gaussian distribution noise is taken as a system error, and the actual situation is simulated. The specific incremental error values for each sensor in event 1 and event 2 are shown in table 2.
TABLE 2P wave first arrival pickup error and systematic error
| | Event | 1 | Event | 2 random error | Systematic error |
| 1 | -0.6657 | -0.6073 | 2.0362 | ||
| 2 | -0.7396 | 0.4257 | 2.2732 | ||
| 3 | -0.8282 | -0.3624 | 2.2294 | ||
| 4 | -0.5168 | -0.5445 | 1.1767 | ||
| 5 | -1.2513 | -0.3969 | 1.9664 | ||
| 6 | 0.2321 | -0.6740 | 0.5136 | ||
| 7 | 0.0100 | -0.8101 | 2.1181 | ||
| 8 | -0.2600 | 1.0130 | 0.0955 | ||
| 9 | -0.2674 | 0.5777 | 0.8308 | ||
| 10 | -0.6491 | -0.0962 | 0.1385 | ||
| 11 | 0.2593 | -0.8786 | 0.2914 | ||
| 12 | -0.3166 | -0.6827 | 2.4704 |
FIG. 4 is a graph of the results of a Newton's iterative method for solving a set of equations corresponding to a combination of greater than 6 sensors. In fig. 4(a) and 4(b), the triangles represent 12 sensors, the five stars are positions of the acoustic emission test testing event 1(30,20,65) and the event 2(50,15,15) respectively, and the dots in the diagrams are positioning points corresponding to each sensor combination obtained by solving through a newton iteration method. The positioning points are distributed densely and are mostly close to the positions of the test events 1 and 2, and the known Newton iteration method is used for solving the function formula of the unknown number after dimensionality reduction, so that a better positioning point is easy to obtain. The selected P wave first-motion combined data is inverted, a plurality of positioning points corresponding to a plurality of combinations can be effectively obtained, and the positioning point distribution aggregation area is close to the position of a real event.
Fig. 5 is a graph of dual acoustic emission event localization results. In fig. 5(a) and 5(b), the triangles represent 12 sensors, the five-pointed star respectively tests the original positions of event 1(30,20,65) mm and event 2(50,15,15) mm in the acoustic emission test, and the point density around a single positioning point is represented by a distance-based gravity value method, wherein the point density is represented by the light color in the graph, and the lighter the color is, the smaller the gravity value around the single positioning point is, and the darker the color is, the larger the gravity value is. Therefore, the point with the largest gravity value is taken as the result of positioning (30.44, 19.38, 65.05) mm of event 1 and the result of positioning (48.97, 14.70, 14.84) mm of event 2. The positioning errors of the event 1 and the event 2 are calculated to be 0.76mm and 1.08mm respectively, and the positioning errors are small. Therefore, the method for jointly positioning the double-acoustic-emission events by considering the P-wave first-motion system errors has good positioning accuracy and is worthy of popularization.
Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the above embodiments are merely illustrative of the exemplary implementations of the present invention, and the details of the embodiments are not to be construed as limiting the scope of the present invention, and any obvious changes, such as equivalent alterations, simple substitutions, etc., based on the technical solutions of the present invention may be made without departing from the spirit and scope of the present invention.
Claims (8)
1. A joint positioning method for double acoustic emission events considering P-wave first arrival system errors is characterized by comprising the following steps:
step 1: obtaining the number M of sensors2P-wave first-arrival data combinations greater than or equal to 7, and performed with each two sensors as a small group, e.g.S1 and S2 gave M21 equation with elimination of the origin time and P wave first arrival system error;
s1: establishing a P wave travel time-propagation distance relation equation between the sensor and the acoustic emission event, wherein the P wave first arrival system error is considered, on the basis of the P wave first arrival data;
s2: eliminating the error of the earthquake-generating time and the P wave first arrival system;
subtracting corresponding equations of the two sensors under the same acoustic emission event to eliminate the oscillation time; subtracting corresponding equations of the same sensor under the double-sound emission event to eliminate P wave first-motion system errors;
step 2: based on M obtained in step 121, inverting the positioning points of the dual-sound emission events under the current sensor combination by using a Newton iterative algorithm;
wherein M will eliminate the error of the origin time and P wave first arrival system2-1 equations as objective functions, respectively;
the inversion process of the step 2 adopts a Newton iterative algorithm to calculate the positioning points of the double-sound emission events, and the execution process is as follows:
First, M will eliminate the error of the origin time and P wave first arrival system21 equations as the objective function gi(X), i refers to the number of the sensor, and X is the positioning position of the double-sound emission event;
then, an objective function g is constructedi(X) a jacobian matrix;
finally, setting the initial value of the anchor point of the double-sound emission event as X1And carrying out iterative calculation according to the following iterative formula until the iterative requirement is met, stopping iteration, and outputting the positioning point of the double-sound emission event under the current sensor combination, wherein the iterative formula is as follows:
Xn＝Xn-1-J-1g(Xn-1)
wherein, Xn、Xn-1Respectively the anchor points of the nth time and the nth-1 time in the iterative process, J is a Jacobian matrix, and g (X)n-1) For M in the n-1 th iteration2-an objective function matrix of 1 objective function;
wherein, the firsti objective functions g corresponding to the 1 st combination of sensorsi(X) is as follows:
wherein (x)01,y01,z01)、(x02,y02,z02) Position coordinates for events 1, 2 in the binaural emission event, respectively, (x)01,y01,z01,x02,y02,z02) Is expressed as X ═ X1,x2,x3,x4,x5,x6)；(xi,yi,zi)、(x1,y1,z1) Respectively representing the ith and 1 st sensor positions, vpIs the velocity of P wave, ti1、ti2P-wave first arrival time t of events 1 and 2 in the dual acoustic emission event picked up by the ith sensor11、t12For the P-wave first arrival time of events 1 and 2 in the dual acoustic emission event picked up by the 1 st sensor, the constructed jacobian matrix can be represented as:
2. The method of claim 1, wherein: total number of sensors is recorded as M1The final localization point of the binaural emission event is determined according to the following steps:
finding M1The number of sensors is greater than or equal to M2And for each combined sensor, respectively inverting a group of positioning points according to the method of the steps 1-2;
then, the gravity value method based on distance represents the point density around a single positioning point, and the point with the maximum gravity value is taken as the positioning result, wherein, the position of each acoustic emission event in each group of positioning points is respectively taken as a positioning point,
the formula of the gravity value of the positioning point i is as follows:
wherein, for the same acoustic emission event, k is that the distance from the locating point i is less than the threshold value d1The number of the positioning points; dijThe Euclidean distance between the positioning point i and the j-th point in the k points is shown, and epsilon is a control parameter.
3. The method of claim 2, wherein: threshold value d1The value range of (a) is 5-15 mm, and the value range of the control parameter epsilon is 10-30 mm.
4. The method of claim 1, wherein: in the P-wave travel time-propagation distance relation equation which is constructed in the step 1 and takes P-wave first arrival system errors into consideration, the P-wave travel time-propagation distance relation equation of the i-th sensor and the event 1 in the double-acoustic-emission event is as follows:
Wherein (x)i,yi,zi) (x) for the ith sensor position coordinate01,y01,z01) For the position coordinate of event 1 in the event of a binaural emission, vpIs the velocity of P wave, t01For event 1 (x) in a binaural emission event01,y01,z01) The moment of origin, ti1Event 1 (x) in dual acoustic emission event picked up for the ith sensor01,y01,z01) P wave first arrival time, TiP-wave first arrival system error for the ith sensor.
5. The method of claim 1, wherein: when the ith sensor and the 1 st sensor are combined in step S2, the formula for eliminating the origin moment is as follows;
the formula for eliminating P-wave first-arrival system errors is as follows:
in the formula (x)02,y02,z02) For the location coordinate of event 2 in the binaural emission event, (x)1,y1,z1) Is the 1 st sensor position coordinate, t11Event 1 (x) in dual acoustic emission event picked up for the 1 st sensor01,y01,z01) P-wave first arrival time ti2、t12Event 2 (x) of dual acoustic emission events picked up by the ith and 1 st sensors, respectively02,y02,z02) P wave first arrival time, T1P-wave first arrival system error for the 1 st sensor.
6. The system according to any one of claims 1-5, wherein: the method comprises the following steps:
the P wave travel time-propagation distance relation equation establishing unit: the method is used for establishing a P wave travel time-propagation distance relation equation;
A dimension reduction unit: eliminating the error of the earthquake-generating time and the P wave first arrival system;
a positioning module: for obtaining M21 equation with elimination of the origin time and P wave first arrival system error, based on M2-1 equation inversion to the localization point of the binaural emission event under the current sensor combination.
7. An electronic device, characterized in that: comprising a processor and a memory, said memory storing a computer program, said processor invoking said computer program for performing the steps of the method according to any of claims 1-5.
8. A readable storage medium, characterized by: a computer program is stored, which is called by a processor to perform the steps of the method of any of claims 1-5.
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