CN114674212A - High-precision foundation pit displacement monitoring method and monitoring system - Google Patents
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- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
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Abstract
The invention relates to a high-precision foundation pit displacement monitoring method and a monitoring system, wherein the periodic fluctuation information of a satellite is applied to GPS positioning, the calculation process of positioning monitoring is refined, the acquired data is divided to obtain the differential positioning results of n sub-periods, the calculation of positioning data files of corresponding sub-periods of a measuring station and a reference station is realized, and the high-precision foundation pit displacement result is obtained.
Description
Technical Field
The invention belongs to the technical field of foundation pit displacement monitoring, and particularly relates to a high-precision foundation pit displacement monitoring method and system.
Background
The foundation pit monitoring is an important link in foundation pit engineering construction, and means that in the process of foundation pit excavation and underground engineering construction, various observation and analysis works are carried out on the change of the geotechnical shape and the supporting structure of the foundation pit and the change of the surrounding environment, the monitoring result is fed back in time, the deformation and the development of a stable state which are caused after further construction are predicted, and the degree of influence of the construction on the surrounding environment is judged according to the prediction to guide the design and the construction. As the uncertainty and the complexity of the geotechnical problems in the foundation pit engineering are stronger, the safety accidents of overlarge foundation pit displacement and even collapse are frequent; when a foundation pit with the depth of tens of meters is adjacent to buildings, subways, municipal roads and underground pipelines, great risks are caused to the surrounding environments, and the safety of people's lives and properties can be seriously threatened once safety accidents occur. As the states of the characteristics of displacement, ground settlement and the like of the supporting structure before instability of the foundation pit are predicted, monitoring the foundation pit before instability is an effective method for timely discovering and controlling the safety risk of the foundation pit in the construction process.
Currently, the displacement monitoring of the foundation pit of the actual engineering is mainly a method of manually measuring horizontal displacement and settlement monitoring points arranged in a supporting structure and the surrounding environment by using a high-precision total station and a precision level gauge.
The gnss (global Navigation Satellite system) technology is widely used in military and civil applications, and is one of the fastest-developing technologies. The GNSS positioning technology has the advantages of high speed, high precision, all weather, no limitation of the sight conditions, simple and convenient operation, and capability of providing positioning services including three-dimensional coordinates, three-dimensional speed and the like for users capable of receiving signals; however, the current commercial GNSS RTK (Real Time Kinematic) carrier-phase differential technology can only achieve centimeter-level accuracy, and cannot achieve millimeter-level accuracy of the current manual measurement instrument.
Disclosure of Invention
The invention solves the problem of how to realize high-precision sub-millimeter-scale foundation pit displacement monitoring. In order to solve the problems, the invention provides a high-precision foundation pit displacement monitoring method, which comprises the following steps:
step 5, vectorizing the difference matrix D to obtain a vector Y;
and 6, performing Kalman filtering on the vector Y to obtain a displacement detection result X (n) of the foundation pit.
The invention has the beneficial effects that: the method applies the periodic fluctuation information of the satellite to GPS positioning, refines the calculation process of positioning monitoring, divides the acquired data to obtain the differential positioning results of n sub-periods, realizes the calculation of the positioning data files of the corresponding sub-periods of the measuring station and the reference station, and obtains the high-precision foundation pit displacement result.
Preferably, the acquisition strategy in step 2 is a continuous acquisition strategy or a periodic acquisition strategy or an adaptive acquisition strategy, wherein:
the continuous acquisition strategy is as follows: the measuring station and the reference station continuously monitor and record satellite positioning signals and periodically transmit the satellite positioning signals to the cloud server every hour;
the periodic acquisition strategy is as follows: presetting awakening time and awakening length of a reference station and a measuring station, starting the reference station and the measuring station at the awakening time, collecting a positioning data file and a reference positioning data file with the awakening length duration, transmitting the positioning data file and the reference positioning data file to a cloud server, and entering a dormant state;
the adaptive acquisition strategy is as follows: according to the displacement rate of the measuring station every day, when the displacement rate exceeds a preset threshold value, the measuring station and the reference station enter a continuous acquisition strategy; and entering a periodic acquisition strategy when the displacement rate is lower than a preset threshold value.
Preferably, the differential positioning set K in step 3 is:
K＝{L1，L2，...，Ln}
in the formula, Pos represents a differential positioning result per unit of time, LiRepresents the average over all Pos in i sub-periods, i.e.:
the preset monitoring time interval is every day.
Preferably, the differential positioning set of m monitoring time intervals in step 4 is as follows:
K1＝{L11，L12，…，L1n}
K2＝{L21，L22，…，L2n}
...
Km＝{Lm1，Lm2，…，Lmn}
The constructed difference matrix D is:
in the step 5, vectorizing the difference matrix D to obtain a vector Y:
Y＝[D2 D3 … Dm]＝
[D21 D22 … D2n D31 D32 … D3n Dm1 Dm2 … Dmn]；
the step 6 specifically comprises:
step 601, constructing a Kalman filtering model:
X(n)＝AX(n-1)+Bw
Y(n)＝CX(n)+v
wherein X (n) is the output value of Kalman filtering,
y (n) is the nth measurement after vectorization of the difference matrix, w is white noise with a mean of 0 and a variance of P, and v is white noise with a mean of 0 and a variance of Q; a is the state transition matrix and,
b is a control input matrix which is,
c is the observation of the state to do,
a high-precision foundation pit displacement monitoring system based on a high-precision foundation pit displacement monitoring method comprises the following steps:
the measuring station is arranged at the peripheral position of the foundation pit and used for receiving the satellite positioning signal and analyzing the satellite positioning signal into a positioning data file for storage;
the reference station is arranged in an area which is far away from the foundation pit and has stable rock soil and is used for receiving the satellite positioning signal and analyzing the satellite positioning signal into a reference positioning data file for storage;
the cloud server is in communication connection with the reference station and the measuring station respectively and is used for receiving a reference positioning data file of the reference station and a positioning data file of the measuring station regularly; and the foundation pit displacement monitoring method is carried out on the positioning data file and the reference positioning data file to obtain a foundation pit displacement result.
Drawings
FIG. 1 is a graph showing the results of a monitoring experiment in example 1 of the present invention;
FIG. 2 is a graph of experimental measurement errors for an embodiment 1 of the present invention;
fig. 3 is a system configuration diagram of embodiment 2 of the present invention.
Description of reference numerals:
1. measuring values; 2. a foundation pit; 3. a reference station; 4. and a cloud server.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Detailed description of the preferred embodiment 1
A high-precision foundation pit displacement monitoring method comprises the following steps:
K＝{L1，L2，...，Ln}
Where Pos represents the differential positioning result per unit of time, LiRepresents the average over all Pos in i sub-periods, i.e.:
and 4, continuously recording the differential positioning sets of the m monitoring time intervals:
K1＝{L11，L12，…，L1n}
K2＝{L21，L22，…，L2n}
...
Km＝{Lm1，Lm2，…，Lmn}
constructing a difference matrix D according to the satellite periodicity and the satellite signal quality of each monitoring time interval at the same moment:
step 5, vectorizing the difference matrix D to obtain a vector Y:
Y＝[D2 D3 … Dm]＝
[D21 D22 … D2n D31 D32 … D3n Dm1 Dm2 … Dmn]
and 6, performing Kalman filtering on the vector Y to obtain a displacement detection result X (n) of the foundation pit:
constructing a Kalman filtering model:
X(n)＝AX(n-1)+Bw
Y(n)＝CX(n)+v
wherein X (n) is an output value of Kalman filtering,
y (n) is the nth measurement after vectorization of the difference matrix, w is white noise with a mean of 0 and a variance of P, and v is white noise with a mean of 0 and a variance of Q; a is a state transition matrix,
b is a control input matrix which is,
c is the observation of the state to do,
wherein, the collection strategy in the step 2 is a continuous collection strategy or a periodic collection strategy or a self-adaptive collection strategy, wherein:
the continuous acquisition strategy is as follows: the measuring station and the reference station continuously monitor and record satellite positioning signals and periodically transmit the satellite positioning signals to the cloud server every hour;
the periodic collection strategy is as follows: presetting awakening time and awakening length of a reference station and a measuring station, starting the reference station and the measuring station at the awakening time, collecting a positioning data file and a reference positioning data file with the awakening length duration, transmitting the positioning data file and the reference positioning data file to a cloud server, and entering a dormant state;
The adaptive acquisition strategy is as follows: according to the displacement rate of the measuring station every day, when the displacement rate exceeds a preset threshold value, the measuring station and the reference station enter a continuous acquisition strategy; and entering a periodic acquisition strategy when the displacement rate is lower than a preset threshold value.
Experiment:
the three-dimensional translation stage is used for adjusting the distance of 2mm to the north every other day, and the displacement detection method of the embodiment is adopted to obtain the monitoring experiment result shown in fig. 1 and the measurement error map shown in fig. 2.
Specific example 2
As shown in fig. 3, the high-precision foundation pit displacement monitoring system of the high-precision foundation pit displacement monitoring method includes:
the measuring stations 1 are arranged at the peripheral positions of the foundation pit 2 and used for receiving satellite positioning signals and analyzing the satellite positioning signals into positioning data files for storage, the number of the measuring stations 1 on each slat of the foundation pit is more than or equal to 3, and the horizontal distance between each measuring station 1 and each measuring station 1 is less than 20 meters;
the reference station 3 is arranged in an area which is far away from the foundation pit 1 and has stable rock soil and is used for receiving the satellite positioning signal and analyzing the satellite positioning signal into a reference positioning data file for storage;
the cloud server 4 is in communication connection with the reference station 3 and the measuring station 1 respectively, and is used for periodically receiving a reference positioning data file of the reference station 3 and a positioning data file of the measuring station 1; and the positioning data file and the reference positioning data file are subjected to the foundation pit displacement monitoring method described in the specific embodiment 1 to obtain a foundation pit displacement result, in addition, the client side obtains the foundation pit displacement result through remote orientation with the cloud server, and the client side of the specific embodiment is a PC or a mobile terminal.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and such changes and modifications will fall within the scope of the present invention.
Claims (5)
1. A high-precision foundation pit displacement monitoring method is characterized by comprising the following steps:
step 1, arranging a measuring station at the pit edge of a foundation pit, and arranging a reference station in an area which is far away from the foundation pit, is open in terrain and is stable in rock soil;
step 2, the measuring station and the reference station respectively receive satellite positioning signals of a satellite according to an acquisition strategy, respectively analyze the satellite positioning signals into a positioning data file and a reference positioning data file, and transmit the positioning data file and the reference positioning data file to the cloud server;
step 3, the cloud server firstly adopts carrier phase difference to resolve a differential positioning result between the measuring station and the reference station, and divides the differential positioning result in a preset monitoring time interval into n sub-intervals according to a period T to obtain a differential positioning set K containing the n sub-interval differential positioning results;
step 4, continuously recording the differential positioning sets of m monitoring time intervals, and constructing a differential matrix D according to the satellite periodicity and the satellite signal quality of each monitoring time interval at the same moment;
Step 5, vectorizing the difference matrix D to obtain a vector Y;
and 6, performing Kalman filtering on the vector Y to obtain a displacement detection result X (n) of the foundation pit.
2. A high accuracy foundation pit displacement monitoring method according to claim 1, wherein the collection strategy in step 2 is a continuous collection strategy or a periodic collection strategy or an adaptive collection strategy, wherein:
the continuous acquisition strategy is as follows: the measuring station and the reference station continuously monitor and record satellite positioning signals and periodically transmit the satellite positioning signals to the cloud server every hour;
the periodic acquisition strategy is as follows: presetting awakening time and awakening length of a reference station and a measuring station, starting the reference station and the measuring station at the awakening time, collecting a positioning data file and a reference positioning data file with the awakening length duration, transmitting the positioning data file and the reference positioning data file to a cloud server, and entering a dormant state;
the adaptive acquisition strategy is as follows: according to the displacement rate of the measuring station every day, when the displacement rate exceeds a preset threshold value, the measuring station and the reference station enter a continuous acquisition strategy; and entering a periodic acquisition strategy when the displacement rate is lower than a preset threshold value.
3. A high-precision foundation pit displacement monitoring method as claimed in claim 2, wherein the differential positioning set K in step 3 is:
K＝{L1，L2，...，Ln}
Where Pos represents the differential positioning result per unit of time, LiRepresents the average over all Pos in i sub-periods, i.e.:
the preset monitoring time interval is every day.
4. A high-precision foundation pit displacement monitoring method according to claim 3, wherein the differential positioning set of m monitoring time intervals in step 4 is as follows:
K1＝{L11，L12，…，L1n}
K2＝{L21，L22，…，L2n}
Km＝{Lm1，Lm2，…，Lmn}
the constructed difference matrix D is:
in the step 5, the difference matrix D is vectorized to obtain a vector Y:
Y＝[D2 D3 … Dm]＝
[D21 D22 … D2n D31 D32 … D3n Dm1 Dm2 … Dmn]；
the step 6 specifically includes:
step 601, constructing a Kalman filtering model:
X(n)＝AX(n-1)+Bw
Y(n)＝CX(n)+v
wherein X (n) is an output value of Kalman filtering,
y (n) is the nth measurement after vectorization of the difference matrix, w is white noise with a mean of 0 and a variance of P, and v is white noise with a mean of 0 and a variance of Q; a is the state transition matrix and,
b is a control input matrix which is,
c is the observation of the state to do,
5. a high-precision foundation pit displacement monitoring system based on the high-precision foundation pit displacement monitoring method of any one of claims 1-4, which is characterized by comprising the following steps:
the measuring station (1) is arranged at the peripheral position of the foundation pit (2) and used for receiving the satellite positioning signal and analyzing the satellite positioning signal into a positioning data file for storage;
the reference station (3) is arranged in an area which is far away from the foundation pit (2) and has stable rock soil and is used for receiving the satellite positioning signal and analyzing the satellite positioning signal into a reference positioning data file for storage;
The cloud server (4) is in communication connection with the reference station (3) and the measuring station (1) respectively and is used for periodically receiving a reference positioning data file of the reference station (3) and a positioning data file of the measuring station (1); and resolving the positioning data file and the reference positioning data file to obtain a foundation pit displacement result.
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