CN114674212B - High-precision foundation pit displacement monitoring method and monitoring system - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
The invention relates to a high-precision foundation pit displacement monitoring method and a monitoring system, which adopt the periodic fluctuation information of satellites to be applied to GPS positioning, refine the calculation process of positioning monitoring, divide the acquired data to obtain the differential positioning results of n subintervals, realize the calculation of positioning data files of corresponding subintervals of a measuring station and a reference station, and obtain the high-precision foundation pit displacement results.
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 is characterized in that in the foundation pit excavation and underground engineering construction process, various observation and analysis works are carried out on the shape of foundation pit rock and soil, the change of supporting structure and the change of surrounding environment, monitoring results are fed back in time, the deformation and the development of 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, so that the design and the construction are guided. Because of the uncertainty and the strong complexity of the rock-soil problem in the foundation pit engineering, the foundation pit is excessively displaced and even the safety accident of collapse frequently occurs; when foundation pits with the depth of tens of meters are adjacent to buildings, subways, municipal roads and underground pipelines, great risks are caused to the surrounding environments, and once safety accidents occur, the life and property safety of people can be seriously endangered. Because the states of the characteristics of displacement, ground subsidence and the like of the supporting structure before the foundation pit is unstable are premonitory, monitoring the supporting structure in the construction process is an effective method for timely finding and controlling the safety risk of the foundation pit.
At present, the displacement monitoring of the foundation pit of the actual engineering is mainly a method for 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.
GNSS (Global Navigation Satellite System) technology is widely used in military and civil applications and is one of the fastest growing technologies. The GNSS positioning technology has the advantages of high speed, high precision, all weather, no restriction by the viewing condition, simple operation and capability of providing positioning services for users capable of receiving signals, including three-dimensional coordinates, three-dimensional speed and the like; however, the current commercialized GNSS RTK (Real Time Kinematic, RTK real-time kinematic) carrier phase difference technology can only achieve the accuracy of centimeter level, but cannot achieve the accuracy level of millimeter level of the current manual measuring instrument.
Disclosure of Invention
The invention solves the problem of how to realize high-precision sub-millimeter 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 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, has open land and is stable in rock and soil;
step 2, the measuring station and the reference station respectively receive satellite positioning signals of satellites 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 wave phase difference to resolve and calculate a differential positioning result between the measuring station and the reference station, and the differential positioning result in a preset monitoring time interval is divided into n subintervals according to a period T, so as to obtain a differential positioning set K containing the differential positioning results of the n subintervals;
step 4, continuously recording differential positioning sets of m monitoring time intervals, and constructing a differential matrix D according to satellite periodicity and satellite signal quality at the same moment in each monitoring time interval;
step 5, vectorizing the differential matrix D to obtain a vector Y;
and 6, carrying out Kalman filtering on the vector Y to obtain a displacement detection result X (n) of the foundation pit.
The beneficial effects of the invention are as follows: the periodic fluctuation information of the satellite is applied to GPS positioning, the calculation process of positioning monitoring is thinned, acquired data are divided to obtain n subintervals of differential positioning results, positioning data files of corresponding subintervals of the measuring station and the reference station are resolved, and a high-precision foundation pit displacement result is obtained.
Preferably, the acquisition strategy in the 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 the awakening time and the awakening length of a reference station and a measuring station, starting the reference station and the measuring station at the awakening time, acquiring 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 daily measuring station, when the displacement rate exceeds a preset threshold value, the measuring station and the reference station enter a continuous acquisition strategy; and when the displacement rate is lower than a preset threshold value, entering a periodic acquisition strategy.
Preferably, in the step 3, the differential positioning set K is:
K＝{L 1 ，L 2 ，...，L n }
wherein Pos represents a differential positioning result for each timing unit, L i The average value for all Pos over i subintervals is shown, namely: i is more than or equal to 1 and less than or equal to n, and the preset monitoring time interval is daily.
Preferably, the differential positioning set of the m monitoring time intervals in the step 4 is as follows:
K 1 ＝{L 11 ，L 12 ，...，L 1n }
K 2 ＝{L 21 ，L 22 ，...，L 2n }
…
K m ＝{L m1 ，L m2 ，...，L mn }
the constructed differential matrix D is:
and 5, vectorizing the differential matrix D to obtain a vector Y, wherein the vector Y is as follows:
Y＝[D 2 D 3 … D m ]＝
[D 21 D 22 … D 2n D 31 D 32 … D 3n … D m1 D m2 … D mn ]；
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 the output value of Kalman filtering,y (n) is the nth measured value after vectorization of the differential matrix, w is white noise with mean value of 0 and variance of P, v is white noise with mean value of 0 and variance of Q; a is a state transition matrix, ">B is the control input matrix,>c is a state observation matrix, < >>
High accuracy foundation ditch displacement monitoring system based on high accuracy foundation ditch displacement monitoring method includes:
the measuring station is arranged at the peripheral position of the foundation pit and is used for receiving satellite positioning signals and analyzing the satellite positioning signals into positioning data files for storage;
the reference station is arranged in a region far away from the foundation pit and with stable rock and soil, and is used for receiving satellite positioning signals and analyzing the satellite positioning signals into reference positioning data files for storage;
the cloud server is respectively in communication connection with the reference station and the measuring station, and periodically receives a reference positioning data file of the reference station and a positioning data file of the measuring station; and resolving the positioning data file and the reference positioning data file by the foundation pit displacement monitoring method to obtain a foundation pit displacement result.
Drawings
FIG. 1 is a graph showing the results of a monitoring experiment according to embodiment 1 of the present invention;
FIG. 2 is a graph of experimental measurement errors for embodiment 1 of the present invention;
fig. 3 is a system configuration diagram of embodiment 2 of the present invention.
Reference numerals illustrate:
1. a measurement value; 2. a foundation pit; 3. a reference station; 4. and the cloud server.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
Example 1
A high-precision foundation pit displacement monitoring method comprises 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, has open land and is stable in rock and soil;
step 2, the measuring station and the reference station respectively receive satellite positioning signals of an open global positioning system in the sky, such as GPS and Beidou 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 a cloud server;
step 3, the cloud server firstly adopts carrier wave phase difference to resolve and calculate 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 subintervals according to a period T to obtain a differential positioning set K containing the differential positioning results of the n subintervals:
K＝{L 1 ，L 2 ，...，L n }
wherein Pos represents a differential positioning result for each timing unit, L i The average value for all Pos over i subintervals is shown, namely: i is more than or equal to 1 and less than or equal to n, and the preset monitoring time interval is daily.
Step 4, continuously recording differential positioning sets of m monitoring time intervals:
K 1 ＝{L 11 ，L 12 ，...，L 1n }
K 2 ＝{L 21 ，L 22 ，...，L 2n }
…
K m ＝{L m1 ，L m2 ，...，L mn }
constructing a differential matrix D according to satellite periodicity and satellite signal quality at the same moment in each monitoring time interval:
step 5, vectorizing the differential matrix D to obtain a vector Y:
Y＝[D 2 D 3 … D m ]＝
[D 21 D 22 … D 2n D 31 D 32 … D 3n … D m1 D m2 … D mn ]
step 6, carrying out 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 the output value of Kalman filtering,y (n) is the nth measured value after vectorization of the differential matrix, w is white noise with mean value of 0 and variance of P, v is white noise with mean value of 0 and variance of Q; a isState transition matrix, a is state transition matrix, +.>B is the control input matrix,>c is a state observation matrix, < >>
The acquisition strategy in the 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 the awakening time and the awakening length of a reference station and a measuring station, starting the reference station and the measuring station at the awakening time, acquiring 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 daily measuring station, when the displacement rate exceeds a preset threshold value, the measuring station and the reference station enter a continuous acquisition strategy; and when the displacement rate is lower than a preset threshold value, entering a periodic acquisition strategy.
Experiment:
the displacement detection method of this embodiment is adopted to obtain the monitoring experiment result shown in fig. 1 and the measurement error diagram shown in fig. 2 by using the three-dimensional translation stage to adjust 2mm every other day.
Example 2
The high-precision foundation pit displacement monitoring system of the high-precision foundation pit displacement monitoring method shown in fig. 3 comprises the following components:
the measuring stations 1 are arranged at the peripheral positions of the foundation pit 2 and are 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 strip of the foundation pit is more than or equal to 3, and the horizontal distance between the measuring stations 1 and the measuring stations 1 is less than 20 meters;
the reference station 3 is arranged in an area far away from the foundation pit 1 and with stable rock and soil, and is used for receiving satellite positioning signals and analyzing the satellite positioning signals into reference positioning data files for storage;
the cloud server 4 is respectively in communication connection with the reference station 3 and the measuring station 1, and periodically receives a reference positioning data file of the reference station 3 and a positioning data file of the measuring station 1; and the foundation pit displacement monitoring method in the embodiment 1 is performed on the positioning data file and the reference positioning data file to obtain a foundation pit displacement result, and in addition, the client obtains the foundation pit displacement result through a remote azimuth with the cloud server, and the client in the embodiment is a PC or a mobile terminal.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (3)
1. The high-precision foundation pit displacement monitoring method is characterized by comprising the following steps of:
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, has open land and is stable in rock and soil;
step 2, the measuring station and the reference station respectively receive satellite positioning signals of satellites 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 wave phase difference to resolve and calculate a differential positioning result between the measuring station and the reference station, and the differential positioning result in a preset monitoring time interval is divided into n subintervals according to a period T, so as to obtain a differential positioning set K containing the differential positioning results of the n subintervals; the differential positioning set K is as follows:
K＝{L 1 ,L 2 ,...,L n }
wherein Pos represents a differential positioning result for each timing unit, L i Representing the average value of all Pos in i subintervals, wherein i is more than or equal to 1 and less than or equal to n, and the preset monitoring time interval is daily;
step 4, continuously recording differential positioning sets of m monitoring time intervals, and constructing a differential matrix D according to satellite periodicity and satellite signal quality at the same moment in each monitoring time interval;
step 5, vectorizing the differential matrix D to obtain a vector Y;
step 6, carrying out Kalman filtering on the vector Y to obtain a displacement detection result X (n) of the foundation pit;
the differential positioning set of the m monitoring time intervals in the step 4 is as follows:
K 1 ＝{L 11 ,L 12 ,…,L 1n }
K 2 ＝{L 21 ,L 22 ,…,L 2n }
…
K m ＝{L m1 ,L m2 ,…,L mn }
the constructed differential matrix D is:
and 5, vectorizing the differential matrix D to obtain a vector Y, wherein the vector Y is as follows:
Y＝[D 2 D 3 …D m ]＝[D 21 D 22 …D 2n D 31 D 32 …D 3n …D m1 D m2 …D mn ]；
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 the output value of Kalman filtering,y (n) is the nth measured value after vectorization of the differential matrix, w is white noise with mean value of 0 and variance of P, v is white noise with mean value of 0 and variance of Q; a is a state transition matrix, ">B is the control input matrix,>c is a state observation matrix, < >>
2. The method according to claim 1, wherein the acquisition strategy in the 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 the awakening time and the awakening length of a reference station and a measuring station, starting the reference station and the measuring station at the awakening time, acquiring 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 daily measuring station, when the displacement rate exceeds a preset threshold value, the measuring station and the reference station enter a continuous acquisition strategy; and when the displacement rate is lower than a preset threshold value, entering a periodic acquisition strategy.
3. A high-precision foundation pit displacement monitoring system based on the high-precision foundation pit displacement monitoring method according to any one of claims 1-2, comprising:
the measuring station (1) is arranged at the peripheral position of the foundation pit (2) and is used for receiving satellite positioning signals and analyzing the satellite positioning signals into positioning data files for storage;
the reference station (3) is arranged in a region far away from the foundation pit (2) and with stable rock and soil, and is used for receiving satellite positioning signals and analyzing the satellite positioning signals into reference positioning data files for storage;
the cloud server (4) is respectively in communication connection with the reference station (3) and the measuring station (1), and periodically receives 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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