RU2496124C1 - System for high-precision monitoring of displacements of engineering structures - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: system has a measurement module having a GLONASS/GPS navigation antenna, a GLONASS/GPS navigation receiver, a controller with nonvolatile memory, a transceiving communication module, an accumulator battery, an accumulator battery charging device, sensor equipment for the measurement module, external sensor equipment, a personal computer-based automated operator workstation with a processor.

EFFECT: high accuracy of calculating characteristics of displacements of engineering structures and continuous monitoring of parameters of displacements of engineering structures.

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Description

The invention relates to the field of monitoring systems for the displacement of engineering structures and can be used to continuously monitor the displacements and vibrations of structural elements of bridges, dams, towers and other engineering structures with the aim of early diagnosis of the integrity of the structure, as well as the rapid detection of structural stability loss.

The prior art structured monitoring and control system for engineering systems of buildings and structures (see the patent of the Russian Federation for utility model RU 82048, published April 10, 2009) contains a central computing module with a computer server station that is connected to the block of engineering systems. The system performs the following functions: collecting parameters of engineering systems, creating a database of current parameters of engineering systems, determining trends in the parameters of engineering systems and creating a database of trends of parameters, extrapolating the trend values of the parameters of engineering systems for a constant time interval, modeling the operation of engineering systems and determining the calculated values of the parameters and their maximum permissible values, the formation of a database of the calculated parameters and their maximum d permissible values, comparing the current parameters of the system with the calculated parameters and their maximum permissible values, comparing extrapolated values and values of the current parameters of the work with the calculated parameters and their maximum permissible values, determining possible consequences, assessing damage and responding to the results of computer simulation in the case of exceeding the absolute values of the current parameters and / or extrapolated to a constant time interval values of the current parameter in the operation of engineering systems, the corresponding values of the calculated parameters of the engineering systems by values exceeding threshold values, fixing the state of the engineering systems and / or the forecasted state of the engineering systems and assessing the possible consequences caused by an emergency, and recommendations for responding to emergency situations, and also the formation of management teams of the engineering system in automatic and / or semi-automatic mode with the participation of the operator.

The prior art method for monitoring the technical condition of a building and structure (object) (see application for invention of the Russian Federation RU 2008106992, published 10.09.2010), which includes the excitation of object vibrations at natural frequencies, registration of vibrations, and / or accelerations of vibrations, and / or vibration rates, and / or vibration amplitudes, and / or slopes, and / or deflections, and / or stresses, and / or loads, and / or measurements of absolute and uneven precipitation, and / or geodetic parameters, and / or control of cracks, joints, joints, characterized in that that filter parameters of the technical condition of buildings and structures into two groups of parameters: a group of parameters of the technical condition of the lower part of the object and a group of parameters of the technical condition of the upper part of the object, determined using the parameters of the technical condition of the lower part of the object by mathematical (computer) modeling of the object, the calculated parameters of building structures the upper part of the object, compare the calculated parameters of building structures of the upper part of the object with anal The parameters of the mathematical model of the object are adjusted by the physical parameters of the building structures of the upper part of the object, determined by the results of field measurements from sensors to monitor the technical condition of the upper part of the object, provided that the calculated parameters of the building structures of the upper part of the object, determined by the results of mathematical modeling, differ from similar parameters building structures of the upper part of the object, determined by the results of field measurements by a value of b longer than a predetermined threshold, determine from the measured parameters of the technical condition of the lower part of the object the trends of the parameters of the technical state of the lower part of the object, extrapolate the trend values of the parameters of the technical condition of the lower part of the object for a given time interval, determine the predicted calculated parameters of the technical the state of building structures of the upper part of the object, fix a predictive estimate for the consumer the future technical condition of the facility based on a comparative analysis of the predicted design parameters of the technical condition of building structures of the upper part of the facility with maximum permissible values.

The prior art method and device for relative satellite positioning of moving platforms (see US patent for the invention US 6961018, publ. 01.11.2005). The invention is aimed at determining the relative position of moving platforms using satellite navigation technologies and equipment installed on the platforms. It is based on the principles of space navigation - differential systems and uses differential GNSS in modes that minimize data transfer and design loads on auxiliary processors. The invention provides accurate positioning and relative navigation.

The prior art method and device for ground-based surveying of areas with one or more unstable zones (see US patent for invention US 7199872, publ. 03.04.2007). The invention relates to the field of ground-based survey (monitoring) of a site with one or more unstable zones and at least one control point located outside the zones of instability, where the displacement is controlled by the relative readings of sensors located at different points of the site.

The prior art measuring seismic system using GPS receivers (see US patent for invention US 7117094, publ. 15.07.2004). A system for monitoring three-dimensional seismic data, including many digital sensors, a control and data processing center, a GPS base station with an antenna located in the hemisphere as open as possible in the upper half-plane, and rover GPS receivers that use the base station signals to determine their location with high accuracy .

The prior art method and system of GPS and WAAS phase measurements for relative positioning (see US patent for the invention US 6469663, publ. 24.10.2000). A method for accurately determining the relative position between two points using information on the phases of the carriers from receivers capable of making code and phase measurements of signals transmitted from GPS satellites, as well as signals transmitted from WAAS, EGNOS, MSAS or other wide-area differential satellite systems (hereinafter referred to as just like WAAS satellites). These signals are processed in receiving systems to determine the relative position, for shooting or other applications. Signal processing is carried out similarly to that used in existing GPS phase receivers. The method is characterized by a faster and more reliable resolution of the ambiguity of phase measurements, protection from missing phase cycles and the loss of some satellites, as well as the possibility of expanding the operating range, allowing you to increase the base between receivers by including the ionospheric model presented by WAAS.

Known from the prior art technical solutions have the following disadvantages:

- lack of accuracy in measuring displacements of engineering structures.

The technical result of the claimed invention is to increase the accuracy of calculating the displacement characteristics of engineering structures and continuous monitoring of the displacement parameters of engineering structures.

The technical result is achieved by the fact that the system of high-precision monitoring of engineering structures contains a measuring module, including a GLONASS / GPS navigation antenna, a GLONASS / GPS navigation receiver, a non-volatile memory controller, a transceiver communication module, a battery, a battery charging device, sensor equipment of the measuring module; external sensor equipment, a PC-based operator’s automated workstation with a processor, while the battery charging device is connected to the battery, which is connected to the controller with non-volatile memory, the output of the GLONASS / GPS navigation antenna is connected to the input of the GLONASS / GPS navigation receiver, the input is the output of the navigation receiver is connected to the first input-output of the controller with non-volatile memory, the second input-output of which is connected to the first input-output of the transceiver communication channel, the second input-output of which is used to exchange data with a PC-based operator’s workstation with the processor via TCP / IP communications, the output of the sensor equipment of the measuring module is connected to the controller input with non-volatile memory, the output of the external sensor equipment is connected to an automated operator’s workstation based on a personal computer with a processor through communication facilities using the TCP / IP protocol, while an automated operator’s workstation based on a personal computer with a processor has an output for Transferring information to external systems (dispatch centers).

The processor of the personal computer of the operator’s workstation is configured to:

- tracking the displacements of structural elements of engineering structures in three spatial coordinates;

- data collection from measuring modules;

- analysis of the data and determination of the displacements of the controlled points;

- determination of the spectral characteristics of the displacements (resonant frequencies of the structure);

- the formation of alarms in the event that the displacements of the controlled parameters go beyond the established boundaries;

- displaying the results of information processing in a form convenient for the operator;

- documenting and storing received data.

The features and essence of the present invention are explained in the following detailed description, illustrated by drawings, where the following is shown.

Figure 1 - Structural diagram of a system of high-precision monitoring of displacements of engineering structures, where:

1 ₁ ... 1 _L - measuring modules;

2 - controller with non-volatile memory;

3 - navigation receiver GLONASS / GPS;

4 - navigation antenna GLONASS / GPS;

5 - transceiver communication module;

6 - rechargeable battery;

7 - device for charging the battery;

8 ₁ ... 8 _M - sensor equipment of the measuring module;

9 ₁ ... 9 _N - external sensor equipment;

10 - communications;

11 - computer operator’s workstation based on a PC with a processor;

12 - external consumers of information.

Figure 2 - The algorithm of the processor automated workstation operator based on a PC with a processor, where:

13 - block collection of "raw" measurements from the measuring modules;

14 - block forming a common array of ephemeris observed navigation satellites;

15 - block forecast ephemeris observed navigation satellites;

16 - unit for preparing instantaneous "raw" measurements and ephemeris;

17 - block filtering and monitoring the continuity of measurements;

18 - block solving a navigation problem for reference and controlled points;

19 - block filtering the calculated coordinates;

20 - a block of data on the coordinates and dynamics of the object;

21 - block solving the navigation problem in the differential mode "static";

22 - block solving a navigation problem in the differential mode "dynamics";

23 - block solving a navigation problem in the differential mode of "oscillation";

24 - block special processing;

25 - block recalculation of the calculated characteristics in the parameters of the structure;

26 - block display results;

27 - data transmission unit to external consumers.

The measuring modules are installed in the controlled points of the object (structure) selected at the inspection stage, and one of the measuring modules is installed on the reference object, relative to which the characteristics of the displacements of the controlled object will be measured. The measuring modules installed on the controlled object are designated as control points, the measuring module installed on the reference object is designated as the reference point. The measuring modules are connected to the computer operator’s workstation with a processor using communication tools, such as wired communication lines, wireless communication lines, including via the Internet.

If necessary, sensor equipment, for example, inclinometers, accelerometers, humidity sensors, temperature sensors, etc., is installed on the controlled object along with measuring modules, which is connected to the computer operator’s workstation with the processor using communication tools, for example, wire lines , wireless communication lines, including via the Internet using converting devices. Some sensors are part of the measuring module.

Measurements using the navigation field of global navigation satellite systems (GNSS) cannot be carried out at all critical points of the structure and cannot provide control of a number of important parameters. Therefore, the effectiveness of monitoring structures significantly increases if you additionally use inertial and other sensor equipment, such as inclinometers, accelerometers, humidity, temperature, etc. In this case, it is advisable to place part of the sensors inside the measuring modules, and the other part outside the modules. The measuring modules and external sensors are connected to the computer workstation of the operator on the basis of the PC with the processor using communication tools, such as wired or wireless communication lines.

The device operates as follows.

The GLONASS / GPS navigation receiver (3) receives the GNSS GLONASS / GPS signals via the GLONASS / GPS navigation antenna (4) and, together with the data received from the built-in sensors (8 ₁ ... 8 _M ), is stored by means of a controller with non-volatile memory (2) , then acting on the transceiver communication module (5). From the transceiver communication module (5), the signal is transmitted via communication means (10) to the operator’s workstation on the basis of a PC with a processor (11), which receives data from all measuring modules (1 ₁ ... 1 _L ) in the form of "raw" measurements and ephemeris information, buffers them (queues them for processing), in addition, writes them to a file archive for post-processing capabilities. Data from stand-alone sensors (9 ₁ ... 9 _N ) that do not require a precise real-time time reference are also transmitted to the operator’s workstation based on a PC with a processor (11), where they undergo joint processing with data received from the measuring modules ( 1 ₁ ... 1 _L ). The processing results are transmitted to external systems (12), for example, to dispatch centers.

The raw measurement collection unit from the measurement modules 13 receives data from all measurement modules in the form of pseudorange codes, phase measurements and ephemeris information, buffers them (puts it in the queue for processing), and also writes it to a file archive for post-processing. In parallel with the accumulation of measurements in the block of collection of "raw" measurements from the measuring modules 13, in the block for generating a common ephemeris array of the observed navigation satellites 14, an array of ephemeris information of the observed satellites is formed. According to the ephemeris information in the ephemeris forecast block of the observed navigation satellites 15, the coordinates of the satellites are calculated at five-second time intervals, which allows to reduce the load on the processor. It is enough to calculate the satellite’s coordinates for three points in time (t, (t + 5), (t + 10)) and construct an interpolating second-order polynomial for the time interval [t, t + 10]:

$$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=\left[\begin{array}{c}{a}_{\mathrm{one}}\\ a_2\\ a_3\end{array}\right]t^2+\left[\begin{array}{c}{b}_{\mathrm{one}}\\ b_2\\ b_3\end{array}\right]t+\left[\begin{array}{c}{c}_{\mathrm{one}}\\ c_2\\ c_3\end{array}\right]$$

When processing measurements obtained at a rate of 20 Hz (in 10 s - 200 samples), this will allow performing only 3 calculations using numerical integration (instead of 200), and to calculate the coordinates of the satellites within the interval [t, t + 10], use a polynomial of the form :

$$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=\left[\begin{array}{c}{a}_{\mathrm{one}}\\ a_2\\ a_3\end{array}\right]t^2+\left[\begin{array}{c}{b}_{\mathrm{one}}\\ b_2\\ b_3\end{array}\right]t+\left[\begin{array}{c}{c}_{\mathrm{one}}\\ c_2\\ c_3\end{array}\right]$$

As calculations show, the interpolation error does not exceed 1 mm.

In the unit for preparing instantaneous "raw" measurements and ephemeris 16, grouping instantaneous "raw" measurements from the measuring modules of the controlled and reference points and the corresponding satellite coordinates are transmitted to the filtering and monitoring unit for measuring continuity 17 for filtering and monitoring the continuity of measurements. In the filtering and monitoring unit for measuring continuity 17, using the differences of the phase measurements of the pseudorange, the malfunctions of the receiver are detected and restored when tracking the phase of oscillations of the carrier frequency, and extrapolation of single dropped measurements is carried out.

In the unit for solving the navigation problem for reference and controlled points 18, the navigation problem is solved independently for each of the controlled points using the analytical method. At this step, the clock shift of the receiver of the measuring module from the system time is specified. A queue is formed for processing the data in the blocks for solving the navigation problem in the differential mode "statics" 21, solving the navigation problem in the differential mode "dynamics" 22, solving the navigation problem in the differential mode "oscillation" 23, special processing 24 for solving the differential problem in them. Information on the coordinates and time shift of each measuring module is filtered in the filtering unit of the calculated coordinates 19. In the data unit on the coordinates and dynamics of object 20, statistics are generated on the averaged coordinates and dynamics of the controlled points. Further, in the blocks for solving the navigation problem in the "static" differential mode 21, solving the navigation problem in the "dynamic" differential mode 22, solving the navigation problem in the "oscillation" differential mode 23, special processing 24, the information is processed in differential mode to:

- determination of the constant component of the baseline (processing mode "static") (21);

- determination of deviations of the baseline with noise filtering (processing mode “speaker” or “movement” - block) (22);

- determination of the spectral parameters of the deviations of the baseline (processing mode "oscillation" - block) (23);

- a special processing unit 24 is provided for other specific methods of processing information (for example, for high-precision control of the subsidence of the soil of a structure without requirements for accuracy in the plane).

In the unit for converting the calculated characteristics to the parameters of the structure 25, the obtained processing results are compared with threshold values for the controlled structure and, in particular, alarms are generated.

The results display unit 26 is intended to prepare information for display, and the data transfer unit to external consumers 27 is intended to be presented to external consumers (control centers, simulation systems, decision support, etc.).

As communication tools, for example, a Jetcon 2401-mw optical modem, an MOXAIA-240-LX-T interface converter, a VDSL-media converter Planet VC-234 can be used.

In the process of testing the system of high-precision monitoring of displacements of engineering structures, the displacements of structural elements of engineering structures (bridges, high-rise buildings, etc.) were monitored in three spatial coordinates by collecting and processing data from measuring modules - controlled points, and measuring modules - reference points .

An analysis of the data obtained showed the determination of the displacements of the controlled points with an error of 0.3-1 cm, the determination of the spectral characteristics of the displacements (resonant frequencies of the structure) in the frequency range of 0.1-10 Hz with an error of not more than 1 mm, which proves the achievement of the specified technical result.

Claims (1)

A system for high-precision monitoring of engineering structures, comprising a measuring module, including a GLONASS / GPS navigation antenna, a GLONASS / GPS navigation receiver, a non-volatile memory controller, a transmitter-receiver communication module, a battery, a battery charging device, and sensor equipment for a measuring module; external sensor equipment, a PC-based operator’s automated workstation with a processor, while the battery charging device is connected to the battery, which is connected to the controller with non-volatile memory, the output of the GLONASS / GPS navigation antenna is connected to the input of the GLONASS / GPS navigation receiver, the input is the output of the navigation receiver is connected to the first input-output of the controller with non-volatile memory, the second input-output of which is connected to the first input-output of the transceiver communication channel, the second input-output of which is used to exchange data with a PC-based operator’s workstation with the processor via TCP / IP communications, the output of the sensor equipment of the measuring module is connected to the controller input with non-volatile memory, the output of the external sensor equipment is connected to an automated operator’s workstation based on a personal computer with a processor through communication facilities using the TCP / IP protocol, while an automated operator’s workstation based on a personal computer with a processor has an output for Transferring information to external systems - control centers, the processor PC automated operator workstation configured to:
- tracking the displacements of structural elements of engineering structures in three spatial coordinates;
- data collection from measuring modules;
- analysis of the data and determination of the displacements of the controlled points;
- determination of the spectral characteristics of the displacements - the resonant frequencies of the structure;
- the formation of alarms in the event that the displacements of the controlled parameters go beyond the established boundaries;
- displaying the results of information processing in a form convenient for the operator;
- documenting and storing received data.

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