WO2022001104A1 - Integrated monitoring method for internal and external deformation of rock-fill dam - Google Patents

Abstract

An integrated monitoring method for internal and external deformation of a rock-fill dam, the method comprising: on the basis of a pipeline measurement robot, performing collection in a compression-resistant flexible pipeline, so as to obtain internal deformation data of a rock-fill dam; on the basis of a Beidou/GNSS monitoring system, performing collection on a monitoring point, so as to obtain external deformation data of the rock-fill dam; and performing post-processing so as to obtain an internal deformation monitoring index and an external deformation monitoring index, performing analysis in combination with the internal deformation monitoring index and the external deformation monitoring index, so as to obtain an overall deformation curve, and performing early warning according to curve analysis and a set threshold value. A unified geographic reference coordinate system is utilized for internal deformation data of a rock-fill dam and external deformation monitoring data, which is observed in real time over the long term, of the dam, so as to realize integrated monitoring of the internal and external deformation of the rock-fill dam.

Description

An integrated monitoring method for internal and external deformation of rockfill dam technical field

The invention relates to the technical field of engineering measurement, in particular to an integrated monitoring method for inner and outer deformation of a rockfill dam.

Background technique

The face rockfill dam is an important type of dam. Because of its safety, economy and good adaptability, it has become the preferred dam type for hydropower development in my country. In recent years, my country's rockfill dam technology has developed rapidly, and a number of 200-meter-level high-face rock-fill dams have been built. The face rockfill dam is composed of an anti-seepage system composed of a face-toe-joint water stop and a rockfill (or sand and gravel) dam body. The faceplate and rockfill body will deform to a certain extent due to its own gravity and water storage pressure during the construction and operation periods. According to the dam safety monitoring specification, the internal and external deformation of the dam are usually monitored at the same time. The monitoring of the internal and external deformation of the dam is not only the basis for grasping the safety state of the dam, but also the basis for evaluating the engineering quality and understanding the deformation mechanism of the dam. Therefore, it is very important to continuously and accurately observe the internal and external deformation indicators of these dams during dam construction and operation. In the prior art, due to the lack of suitable measurement methods due to the characteristics of invisible and impermeable electromagnetic waves inside the dam, large-scale, high-density and high-precision deformation monitoring of the dam has always been a major problem in the field of dam engineering.

Therefore, the existing technology still needs to be improved and developed.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an integrated monitoring method for the internal and external deformation of a rockfill dam in view of the above-mentioned defects of the prior art, which aims to solve the problem that in the prior art, it is difficult to monitor the interior of the dam and cannot realize the internal deformation of the dam. , the problem of external integration monitoring.

The technical scheme adopted by the present invention to solve the technical problem is as follows:

An integrated monitoring method for internal and external deformation of a rockfill dam, wherein a compressive flexible pipeline is arranged in a to-be-monitored area in the rockfill dam, and the compressive flexible pipeline can be deformed with the deformation of the rockfill dam, Several magnetic measurement marks are arranged along the pressure-resistant flexible pipeline; the external deformation monitoring points outside the rockfill dam are arranged with a Beidou/GNSS monitoring system;

The monitoring method includes the steps:

Based on the pipeline measurement robot, the internal deformation data of the rockfill dam is acquired in the compression-resistant flexible pipeline;

Based on the Beidou/GNSS monitoring system, the external deformation data of the rockfill dam is collected from the external deformation monitoring points;

respectively processing the internal deformation data of the rockfill dam and the external deformation data of the rockfill dam to obtain an internal deformation monitoring index and an external deformation monitoring index;

A data analysis curve is obtained by analyzing the internal deformation monitoring index and the external deformation monitoring index, and an early warning is performed according to the data analysis curve.

The integrated monitoring method for internal and external deformation of the rockfill dam, wherein the internal deformation data of the rockfill dam is the three-dimensional deformation of the compression-resistant flexible pipeline;

The pipeline-based measurement robot collects and obtains internal deformation data of the rockfill dam in the compression-resistant flexible pipeline, including:

By means of regular collection, in each time period, the pipeline measurement robot moves from bottom to top in the pressure-resistant flexible pipeline, and measures the three-dimensional curve of the pressure-resistant flexible pipeline in this time period;

According to the three-dimensional curve of the pressure-resistant flexible pipeline in each time period, the three-dimensional deformation amount of the pressure-resistant flexible pipeline is obtained.

In the integrated monitoring method for internal and external deformation of a rockfill dam, the pipeline measurement robot includes: a power supply system and a positioning and attitude determination system connected to the power supply system; and a number of compressive flexible pipelines are arranged along the line. Magnetic measurement marker; the positioning and attitude determination system includes: fiber optic inertial navigation, odometer and magnetometer;

In each time period, the pipeline measurement robot moves from bottom to top in the pressure-resistant flexible pipeline, and obtains the three-dimensional curve of the pressure-resistant flexible pipeline during the time period, including:

The magnetometer obtains magnetic marker point position data by continuously measuring the magnetic intensity of the magnetic measurement marker;

The optical fiber inertial navigation and the odometer are combined and measured to obtain three-dimensional position data and attitude data;

Performing data joint adjustment calculation on magnetic marker point position data, three-dimensional position data and attitude data to obtain the three-dimensional curve of the compression-resistant flexible pipeline;

The three-dimensional deformation of the pressure-resistant flexible pipeline is obtained according to the three-dimensional curve of the pressure-resistant flexible pipeline in each time period, including:

The three-dimensional curves of the pressure-resistant flexible pipeline in each time period are associated with the position data of the magnetic marker points to obtain the three-dimensional deformation of the pressure-resistant flexible pipeline.

In the integrated monitoring method for internal and external deformation of a rockfill dam, the pipeline measurement robot further comprises: an acquisition control system connected to the power supply system; the acquisition control system comprises: a synchronization control board and an acquisition computer; The synchronization control board is used to realize the synchronization of measurement position data, three-dimensional position data and attitude data; the acquisition computer is used to control the synchronization control board and the positioning and attitude system.

In the integrated monitoring method for internal and external deformation of the rockfill dam, wherein the Beidou/GNSS monitoring system includes: a monitoring management station set on the rockfill dam and an on-site reference station set on the bedrock;

Based on the Beidou/GNSS monitoring system, the external deformation data of the rockfill dam is collected at the external deformation monitoring point, including:

Based on GNSS, collect the observation value of the monitoring management station and the observation value of the on-site reference station in real time;

By adopting the double difference strategy, the observation value of the monitoring management station and the observation value of the on-site reference station are processed to obtain the external deformation data of the rockfill dam.

The method for integrated monitoring of internal and external deformation of a rockfill dam, wherein the double-difference strategy is used to process the observed value of the monitoring management station and the observed value of the on-site reference station to obtain the external deformation of the rockfill dam data, including:

According to the observation value of the monitoring management station and the observation value of the on-site reference station, the initial coordinates of the meter-level accuracy are obtained;

Linearizing the initial coordinates to obtain a linearized observation value;

performing data quality editing on the linearized observation value to obtain an edited observation value; wherein each arc segment of the edited observation value is smaller than a preset length;

superimposing the normal equation on the edited observation value to obtain the normal equation of the overall solution;

The ambiguity is fixed and the parameters are solved for the normal equation of the overall solution to obtain the external deformation data of the rockfill dam.

In the integrated monitoring method for internal and external deformation of a rockfill dam, the internal deformation monitoring indicators include: horizontal displacement, vertical settlement and panel deflection; the external deformation monitoring indicators include: horizontal displacement, vertical displacement, deflection and inclination.

The integrated monitoring method for internal and external deformation of a rockfill dam, wherein the data analysis curve is obtained by analyzing the internal deformation monitoring index and the external deformation monitoring index, and an early warning is performed according to the data analysis curve, including:

The data analysis curve is obtained by analyzing the internal deformation monitoring index and the external deformation monitoring index;

When the data in the data analysis curve exceeds the preset deformation threshold, an early warning is performed.

In the integrated monitoring method for the inner and outer deformation of the rockfill dam, wherein the compression-resistant flexible pipeline is laid out by the following steps:

Before the face plate of the rockfill dam is poured, a fixed point is set on the crest of the to-be-monitored area of the rockfill dam, and the pipeline groove is laid out according to the fixed point to obtain the fixed point lead;

According to the fixed point lead wire, a pipeline burying groove is dug in the extruded side wall of the rockfill dam;

The post-filling of the pressure-resistant flexible pipeline is placed in the pipeline burying groove, so as to complete the layout of the pressure-resistant flexible pipeline.

In the integrated monitoring method for internal and external deformation of a rockfill dam, wherein the pressure-resistant flexible pipe adopts a polyethylene pipe, and the diameter of the pressure-resistant flexible pipe is greater than 180 mm.

Beneficial effect: When the dam is constructed, the pressure-resistant flexible pipeline is laid in the area to be monitored. The pipeline measuring robot is poured into the compressive flexible pipeline, and the pipeline measuring robot moves in the pipeline to collect the deformation data of the rockfill dam. The internal deformation data of the rockfill dam observed in different periods and the long-term real-time observation of the external deformation monitoring data of the dam are used in a unified geographic reference coordinate system to realize the integrated monitoring of the internal and external deformation of the rockfill dam.

Description of drawings

Fig. 1 is a flow chart of the integrated monitoring method for the inner and outer deformation of a rockfill dam according to the present invention.

FIG. 2 is a flow chart of deformation detection in the rockfill dam in the present invention.

Fig. 3 is a flow chart of the external deformation detection of the rockfill dam in the present invention.

Fig. 4 is a flow chart of the external deformation data processing of the rockfill dam in the present invention.

detailed description

In order to make the objectives, technical solutions and advantages of the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

The inventor found that, at present, the internal deformation monitoring of dams mainly monitors three types of deformation indicators: horizontal displacement, vertical settlement and panel deflection. Among them, the horizontal displacement of the dam refers to the horizontal deformation of the monitoring point perpendicular to the axial direction of the dam, which is generally measured by a horizontally layered tensioned wire displacement meter or a vertically arranged inclinometer. The vertical settlement of the dam refers to the vertical descending displacement of the monitoring point of the dam body during construction and operation. Usually, the horizontal layered "water tube" sedimentation instrument or the vertically arranged electromagnetic sedimentation instrument and the beam tube sedimentation instrument are used for measurement. The vertical settlement of the dam refers to the vertical descending displacement of the monitoring point of the dam body during construction and operation. Usually, the horizontal layered "water tube" sedimentation instrument or the vertically arranged electromagnetic sedimentation instrument and the beam tube sedimentation instrument are used for measurement. In these existing monitoring methods, once the instrument is installed and buried, it cannot be repaired, and it is easily damaged, and the survival rate of the instrument is low, which affects the integrity of monitoring data and measurement accuracy. Moreover, all the sensors are point-buried, and the deformation trend curve of the dam can only be obtained after fitting.

In addition, due to the long-term impact of water pressure on the outside of the dam, including changes in the geological environment, the monitoring of the external deformation of the rockfill dam with the help of monitoring equipment enables all-round monitoring and measurement of the safety inside and outside the dam. Projects for external deformation monitoring of dams are generally divided into: horizontal displacement monitoring, vertical displacement monitoring, deflection monitoring and tilt monitoring. The measuring instruments for external deformation observation of the face rockfill dam mainly use optical level and theodolite, or high-precision level, total station or "measuring robot" automatic total station. It can be used for observation of high-face rockfill dams with large deformation due to the advantages of all-weather and no need for sight-seeing between measuring points. At present, horizontal displacement monitoring and vertical displacement monitoring are mainly monitored by single-frequency or dual-frequency GNSS monitoring systems (usually including on-site reference stations, measuring points and monitoring and management stations). The problem of poor accuracy in monitoring the deflection and deformation of high dam panels with inclinometer holes.

On the whole, for the integrated monitoring of internal and external deformation of rockfill dams, the existing monitoring methods have the defects of high mortality and sparse monitoring points, making it difficult for the traditional methods to meet the requirements of 200 meters and above in terms of adaptability and impact resistance. The high-face rock-fill dam needs high reliability and high-precision integrated monitoring of internal and external deformation, and a monitoring system that supports internal and external integration is urgently needed to meet the monitoring problems of high-face rock-fill dams.

In view of the observation requirements of the existing internal and external deformation of the dam, a set of systems can simultaneously observe the deflection deformation, settlement deformation and horizontal deformation of the internal deformation measurement robot system and the Beidou/GNSS-based external deformation monitoring system (the GNSS here is mainly Refers to the GPS of the United States, the GLONASS of Russia and the Galileo system of the European Union to distinguish my country's Beidou positioning system), and the observation results of the two are analyzed and displayed using a unified space-time benchmark, thus forming an integrated monitoring of the internal and external deformation of the face rockfill dam new method. It should be noted that Beidou is actually a type of GNSS, and the external deformation monitoring system of this application is compatible with Beidou in my country and foreign GNSS systems.

The specific technical idea of the internal deformation measurement robot system is that when the dam is constructed, a compressive flexible pipeline is laid in the area to be monitored, and the pipeline can deform with the deformation of the dam. At the same time, magnetic measurement marks are arranged along the pipeline, and the magnetic measurement marks are fixedly connected with the pipeline. During the measurement, the three-dimensional curve of the pipeline is measured by using the measuring trolley integrated with the high-precision inertial navigation/odometer. Through the magnetic measurement marks, the three-dimensional curves of the pipeline measured at different time periods are correlated through the magnetic mark points, the three-dimensional deformation is calculated, and converted into the final deformation monitoring indicators such as panel deflection, horizontal settlement, and vertical settlement.

The external Beidou/GNSS deformation monitoring system is mainly based on Beidou high-precision satellite positioning and high-precision satellite data processing and calculation technology. It provides all-weather, all-day, millimeter-level intelligent monitoring for comprehensive early warning and protection work.

Finally, the internal deformation data of the rockfill dam observed in different periods and the long-term real-time observation of the external deformation monitoring data of the dam are used in a unified geographic reference coordinate system, and the observation results are displayed with the help of a visual monitoring and early warning platform. Carry out disaster warning.

The present invention adopts an internal and external integrated monitoring system, including two parts: an internal deformation pipeline measuring robot system and an external deformation Beidou/GNSS deformation monitoring system for online monitoring. Among them, the internal deformation of the rockfill dam is measured by a high-precision pipeline deformation measurement robot to measure the embedded pipeline. The pipeline robot integrates navigation-level laser inertial navigation and multi-channel high-resolution odometer, and the three-dimensional curve of the robot motion can be obtained through the fusion algorithm. On this basis, the vertical, horizontal and deflection deformation indexes of the pipeline curve can be calculated. The external deformation is monitored by the Beidou/GNSS deformation monitoring system. The Beidou/GNSS monitoring system consists of reference station GNSS receivers, GNSS antennas and various automated sensors arranged at the geological and structural deformation monitoring points. By solving long-term Beidou/GNSS static observation data, it can accurately measure millimeter-scale micro deformation. In order to realize the integrated high-precision monitoring of internal and external deformation, combined with the historical data of internal and external deformation of the rockfill dam and the real-time data of external deformation monitoring, real-time observation and early warning are carried out relying on the rockfill dam deformation analysis and early warning system.

Please refer to FIG. 1 to FIG. 4 at the same time, the present invention provides some embodiments of an integrated monitoring method for the inner and outer deformation of a rockfill dam.

As shown in FIG. 1, an integrated monitoring method for the inner and outer deformation of a rockfill dam of the present invention, the area to be monitored in the rockfill dam is provided with a compressive flexible pipe, and the compressive flexible pipe can be The dam is deformed and deformed, and several magnetic measurement marks are arranged along the pressure-resistant flexible pipeline; the external deformation monitoring points outside the rockfill dam are arranged with a Beidou/GNSS-based monitoring system. In other embodiments, GNSS can be replaced with BeiDou. External deformation monitoring can also be supplemented with measuring robots or synthetic aperture radar.

Specifically, the method is not limited to rockfill dams, but can also be applied to arch dams, as well as landslide bodies and dam bodies where flexible pipes can be laid. During the construction of the dam, compressive flexible pipes are laid in the area to be monitored. The pressure-resistant flexible pipe is made of polyethylene (PE) pipe, and of course can also be made of other materials, such as polypropylene, polyvinyl chloride and the like. The diameter of the pressure-resistant flexible pipe is greater than 180 mm, the diameter of the pressure-resistant flexible pipe is determined according to the size of the pipe measuring robot, and the diameter of the pressure-resistant flexible pipe needs to enable the pipe measuring robot to pass through.

The burying and installation process of the pressure-resistant flexible pipeline includes the laying out of the pipeline groove, the excavation of the pipeline groove, and the packing outside the pipeline groove. Compression-resistant flexible pipes can be optimized for the dam. Specifically, the pressure-resistant flexible pipeline is laid out by the following steps:

Step A1: Before the face plate of the rockfill dam is poured, a fixed point is set on the dam crest of the area to be monitored of the rockfill dam, and the pipeline groove is laid out according to the fixed point to obtain the fixed point lead.

Specifically, the fixed point leads are identified with the instrument.

Step A2, according to the fixed point lead, dig out a pipeline burying groove in the extruded sidewall of the rockfill dam.

Specifically, with the fixed point lead as the center, the section of the extruded sidewall is artificially excavated to form a pipeline embedment groove with a width of about 60cm and a height of about 60cm. The pipeline burial groove is located in the main riverbed section where the deflection and deformation of the panel are relatively large.

Step A3: Putting the pressure-resistant flexible pipeline into the pipeline embedment groove and then packing the pressure-resistant flexible pipeline to complete the layout of the pressure-resistant flexible pipeline.

Specifically, after the pressure-resistant flexible pipe is put into the pipe burying groove, the remaining gaps in the pipeline burying groove are filled, and the pressure-resistant flexible pipe is buried. Then, proceed to the face slab pouring of the rockfill dam to complete the construction of the rockfill dam.

The monitoring method includes the following steps:

Step S100 , based on the pipeline measurement robot, collect and obtain the internal deformation data of the rockfill dam in the compressive flexible pipeline.

Specifically, as shown in FIG. 2 , since the compressive flexible pipeline can be deformed with the deformation of the rockfill dam, the internal deformation data of the rockfill dam can be obtained by monitoring the deformation of the compressive flexible pipeline. Therefore, the The internal deformation data of the rockfill dam is the three-dimensional deformation of the compressive flexible pipeline. The pipeline measuring robot is poured into the compressive flexible pipeline, and the pipeline measuring robot is moved in the compressive flexible pipeline by a hoist or a power robot, thereby collecting the deformation data of the rockfill dam.

Step S100 specifically includes:

Step S110: In each time period, the pipeline measurement robot moves from bottom to top in the pressure-resistant flexible pipeline, and measures the three-dimensional curve of the pressure-resistant flexible pipeline in this time period by means of periodic collection. .

Specifically, the data is collected by means of regular collection, that is, data is collected every predetermined time interval, for example, once a day, then the collection period is 1 day; for another example, if the data is collected every 12 hours, then the collection period for 12 hours. In order to improve the accuracy of collection, each collection period can be collected several times, and the average processing of the data collected for several times is performed.

When collecting data, a hoist or a power robot is used to make the pipeline measurement robot move from bottom to top in the pressure-resistant flexible pipeline. Of course, in other implementations, it can also move from top to bottom.

Specifically, the pipeline measurement robot includes: a power supply system and a positioning and attitude determination system connected to the power supply system; several magnetic measurement marks are arranged along the pressure-resistant flexible pipeline; the positioning and attitude determination system mainly includes: an optical fiber Inertial navigation, odometer and magnetometer. The power supply system includes high-capacity lithium battery, power display circuit, charging circuit, etc. The power supply system is used to supply power to the pipeline measurement robot. The positioning and attitude system is used to determine the position and attitude. The magnetic measurement mark is fixed to the pressure-resistant flexible pipeline. The magnetometer should be used to sense the magnetic measurement mark along the pipeline. By continuously measuring the magnetic intensity, the peak position of the magnetic intensity is detected, so as to correlate the magnetic marker with the measurement time and further correlate the measurement position. Fiber optic inertial navigation and odometry are used for fusion measurement of 3D position and attitude.

Specifically, the pipeline measurement robot further includes: a collection control system connected to the power supply system; the collection control system includes: a synchronization control board and a collection computer; the synchronization control board is used to measure position data, three-dimensional position Data and attitude data are synchronized; the acquisition computer is used to control the synchronization control board and the positioning and attitude system. The acquisition computer is also used for data acquisition and storage.

The pipeline measurement robot also includes: an input and output system connected to the power supply system, the input and output system includes a collection switch, an indicator light, a wireless Wi-Fi, a USB interface, etc., and provides an interface for interacting with external communication. Input-output systems are used for data input and output.

Step S110 specifically includes:

Step S111, the magnetometer obtains the position data of the magnetic marker point by continuously measuring the magnetic intensity of the magnetic measurement marker.

Specifically, the magnetic measurement marks can be sequentially connected to the pressure-resistant flexible pipe at predetermined intervals, and the positions of the magnetic measurement marks on the pressure-resistant flexible pipe are different, that is, the magnetic measurement marks are located at different depths of the pressure-resistant flexible pipe . When the magnetometer measures the magnetic strength, the closer the magnetometer is to the magnetic measurement mark, the greater the magnetic strength; the farther the magnetometer is from the magnetic measurement mark, the more effective the magnetic strength is. When the compressive flexible pipe is deformed, the magnetic measurement mark will also move, that is to say, how the compressive flexible pipe is deformed can be determined by the positions of the magnetic measurement marks in different time periods.

In step S112, the optical fiber inertial navigation and the odometer are combined to obtain three-dimensional position data and attitude data.

Specifically, the three-dimensional position data and attitude data are obtained by combining the mileage data of the multi-odometer and the inertial navigation data of the fiber-optic inertial navigation through Kalman filtering and RTS smoothing algorithm. The odometer includes a photoelectric encoder, and three-dimensional position data and attitude data are obtained through the fusion measurement of the optical fiber inertial navigation and the odometer. Attitude data includes the inclination angle. The pipe measuring robot measures section by section at a certain interval from bottom to top in the pipe. The sensor of the fiber optic inertial navigation will reflect the change of the inclination angle of the pipe measuring robot at each depth, and the change of the inclination angle will be changed through the cable. The converted electrical signal is measured and recorded or stored.

Step S113 , performing a joint data adjustment on the magnetic marker point position data, the three-dimensional position data and the attitude data to obtain a three-dimensional curve of the compression-resistant flexible pipeline.

Specifically, after each data collection is completed, a joint data adjustment is performed to obtain a three-dimensional curve of the compression-resistant flexible pipeline. The position of each point on the three-dimensional curve of the pressure-resistant flexible pipe is a three-dimensional position. For example, the three-dimensional position is represented by x-coordinate, y-coordinate and z-coordinate. The three-dimensional curve of the pressure-resistant flexible pipe connects the magnetic marker points, and the inclination angle is The slope of each point on the three-dimensional curve of a compressive flexible pipe.

Specifically, step S113 includes:

Step S1131 , constructing multiple types of constraints, wherein the multiple types of constraints include inertial measurement value constraints, mileage measurement value constraints, control point measurement constraints, zero-speed correction measurement constraints, non-integrity measurement constraints, and landmark distance constraints.

Step S1132 , taking the three-dimensional position data and attitude data as initial values of iterative optimization, and minimizing the errors of multiple types of constraints through an optimization estimation algorithm to obtain a three-dimensional curve of the compression-resistant flexible pipeline.

Specifically, a variety of constraints are constructed, and the optimal navigation state trajectory x _nav , the inertial navigation error parameter sequence x _imu and the calibration parameter between the inertial navigation and the odometer x _{dmi are} obtained by minimizing the residual of the constraints.

[x _nav ,x _imu ,x _dmi ] ^T

＝arg min(|p _imu r _imu |+|p _dmi r _dmi |+|p _cpt r _cpt |+|p _nhc r _nhc |+|p _ldm r _ldm |

+|p _stb r _stb |)

Among them: r _imu is the original measurement value constraint of the inertial measurement unit; r _dmi is the high-precision encoder measurement value constraint; r _{nhc is the} non-integrity motion constraint; _rcpt is the high-precision control point constraint; r _ldm is the round-trip trajectory distance constraint; r _stb is the zero bias stability constraint of the inertial measurement unit; p is the weight of various constraints, p _imu is the weight of the original measurement value constraint of the inertial measurement unit, p _dmi is the weight of the high-precision encoder measurement value constraint, and p _cpt is high The weight of the precision control point constraint, p _stb is the inertial measurement unit zero bias stability constraint, p _{nhc is} the weight of the non-integrity motion constraint, p _ldm is the weight of the round-trip trajectory distance constraint; p _imu , p _dmi , and p _{cpt are} determined by the original The noise of the measured value is determined; p _nhc , p _ldm are determined by the trajectory shape; p _{stb is} determined by the inertial navigation bias stability; arg min( ) is the value of the variable when the formula in the brackets reaches the minimum value, for example, Function F(x, y): arg minF(x, y) refers to the value of variables x and y when F(x, y) achieves the minimum value.

By constructing the optimization factor graph, the global optimization problem constructed by the formula is iteratively solved, and finally the globally optimal three-dimensional trajectory of the pipeline can be obtained, that is, the three-dimensional curve of the compressive flexible pipeline.

Step S120: Obtain the three-dimensional deformation of the pressure-resistant flexible pipeline according to the three-dimensional curve of the pressure-resistant flexible pipeline in each time period.

Specifically, the three-dimensional curves of the pressure-resistant flexible pipeline in each time period are associated with the position data of the magnetic marker points to obtain the three-dimensional deformation of the pressure-resistant flexible pipeline. Due to the deformation of the compressive flexible pipeline, the positions of the magnetic marker points on the deformed position in the three-dimensional curve of the compressive flexible pipeline in each time period are different. The deformation amount of the compressive flexible pipe is obtained, specifically, the deformation amount is a three-dimensional deformation amount, that is, the deformation amount on the x coordinate, the y coordinate and the z coordinate. In addition to the magnetic marker points, pipeline joint points can also be used, and the characteristic positions of magnetic marker points and pipeline joint points can be used as landmark point constraints (accurate position reference points) to improve the accuracy of pipeline 3D curve solution.

Step S200 , based on the Beidou/GNSS monitoring system, collect and obtain external deformation data of the rockfill dam at the external deformation monitoring point.

Specifically, as shown in Figure 3, the Beidou/GNSS-based external deformation monitoring system includes the installation of external deformation monitoring points, the collection of sensing data of monitoring points, the calculation of external deformation monitoring indicators, the analysis and early warning of external deformation indicators, and the The monitoring results show several parts. The Beidou/GNSS monitoring system includes: a monitoring management station set on the rockfill dam and an on-site reference station set on the bedrock. The difference between the monitoring management station and the on-site reference station is that the location is different. The monitoring management station is set on the rockfill dam as a mobile station. After the rockfill dam is deformed, the location of the monitoring management station will also change accordingly. The field reference station is set on the bedrock, that is, the site reference station is used as a reference, and the position of the field reference station remains unchanged. The external deformation data of the rockfill dam is obtained by monitoring the change of the relative position between the management station and the on-site reference station. It should be noted that there can be multiple external deformation monitoring points, that is, there are multiple monitoring management stations. There can be one or more field reference stations. Both the monitoring management station and the on-site reference station are built on a stable concrete base to avoid the monitoring and management station and the on-site reference station from changing positions due to other factors.

It should be noted that the Beidou/GNSS monitoring and management station is usually fixedly buried on the panel of the dam, and can conduct real-time data observation, transmission, and early warning. Therefore, it has strong effectiveness and good stability.

Step S200 includes:

Step S210 , based on GNSS, collect the observation value of the monitoring management station and the observation value of the on-site reference station in real time.

Specifically, both the monitoring management station and the on-site reference station adopt the Beidou/GNSS monitoring system, that is to say, the monitoring management station and the on-site reference station have the same structure, and the Beidou/GNSS monitoring system includes GNSS arranged at the geological and structural building deformation monitoring points Receivers, GNSS antennas and various automation sensors. Satellite observations are collected by GNSS receivers on site base stations. The deformation reference datum is provided by solving the satellite observation data of the on-site reference station.

Step S220, adopting a double-difference strategy to process the observation value of the monitoring management station and the observation value of the on-site reference station to obtain external deformation data of the rockfill dam.

The double-difference strategy can eliminate satellite clock errors, receiver clock errors, and attenuate distance-related orbital errors, tropospheric and ionospheric errors, and obtain high-precision positioning results. The data processing software includes two solution modes: 2-hour data static solution and 3-minute data quasi-dynamic solution. Both modes use the global solution based on the normal equation to achieve the highest numerical stability and achieve the best fuzzy Degree fixed effect.

In the data calculation process, the initial coordinates of the meter-level accuracy (that is, the coordinates of the monitoring management station and the on-site reference station) are first calculated with pseudoranges, and then the observed values are re-linearized according to the initial coordinates, and then the data quality is edited to obtain The observed value of each arc segment that meets the minimum length requirement is clean, and then the normal equation is superimposed to obtain the normal equation of the overall solution. Finally, the ambiguity is fixed and the parameters are finally solved.

Specifically, step S220 includes:

Step S221: Obtain initial coordinates with meter-level accuracy according to the observation value of the monitoring management station and the observation value of the on-site reference station.

Specifically, the observations include pseudorange observations, carrier phase observations, and Doppler observations. The distance observations, carrier phase observations, and Doppler observations are given in the form of distance, phase number, and frequency, respectively. In the embodiment of the present invention, the initial coordinates with meter-level accuracy are obtained by pseudo-range calculation. Pseudorange refers to the approximate distance between the ground receiver and the satellite in the process of satellite positioning. Assuming that the satellite clock and the receiver clock are strictly synchronized, the signal can be obtained according to the transmission time of the satellite signal and the reception time of the signal received by the receiver. The propagation time of , and then multiplied by the speed of propagation can get the distance of the guard. However, there is inevitably a clock difference between the two clocks, and the signal is also affected by atmospheric refraction and other factors during the propagation process, so the distance directly measured by this method is not equal to the real distance from the satellite to the ground receiver, so the This distance is called pseudorange. Pseudoranges are calculated from the difference between the time the satellite signal leaves the satellite given by the satellite clock and the time the signal arrives at the receiver given by the receiver clock.

Specifically, GNSS high-precision positioning uses carrier observations, and the detection and repair of cycle slips and gross errors are the keys to carrier observations. In order to meet the requirements of mm-level high-precision deformation monitoring, it is necessary to correctly determine the position of the cycle slip and use a certain method to remove the gross error. At present, three kinds of combined observations are mainly used, ionospheric residual combination, MW combination and no ionosphere combination to comprehensively locate gross errors and cycle slips.

Ionospheric Combination

MW Combination (Melbourne-Wübbena Combination)

Ionosphere-free Combination

Wherein, I represents the ionospheric parameters, λ _1, λ ₂ represent the wavelength of the carrier L ₁ and L _2, N _1, N ₂ represent carrier L and L phase _{ambiguities. 1} and _2, f _1, f ₂ respectively represent L ₁ and L ₂ frequencies. P ₁ and P ₂ represent the observed values of P-code pseudoranges of carriers L ₁ and L _{2 respectively, N δ} is the ambiguity of the combination of wide-lane carrier phase observations,

Carrier phase respectively L ₁ and L ₂ in. L ₃ is the combined observation value without ionosphere.

Combine the carrier phase observations for the ionospheric residuals.

Step S222: Linearize the initial coordinates to obtain linearized observation values.

Step S223 , performing data quality editing on the linearized observation value to obtain an edited observation value; wherein each arc segment of the edited observation value is smaller than a preset length.

Step S224 , superimposing the normal equation on the edited observation value to obtain the normal equation of the overall solution.

Specifically, the obtained normal equation of the overall solution may perform normal equation stacking on the edited observation value in the next epoch.

In step S225, the ambiguity is fixed and the parameters are solved for the normal equation of the overall solution to obtain external deformation data of the rockfill dam.

Ambiguity fixation is a critical step for GNSS high-precision relative positioning, especially for quasi-real-time GNSS deformation monitoring networks. In order to achieve the best deformation estimation of the whole network, the method of network solution is used for data processing, and the non-difference method is used to achieve fixed ambiguity. The basic steps are:

(1) The non-differenced ionosphere-free combined ambiguities in the observation network are composed of double-difference ambiguities, which are independent double-difference ambiguities according to the possibility that the ambiguity is fixed. In order to save time, choose separate baselines and two levels of the entire network for independent baselines. 1. Baseline level: Double-difference ambiguities with a certain common viewing time (select more than 10 minutes) are all candidates for independent ambiguities. The candidate wide-lane and narrow-lane ambiguities are tested for their likelihood of being fixed. The ambiguity of Kuanzhai Lane is fixed, the ambiguity of Wide Lane is fixed, and the ambiguity of Kuanzhai Lane is not fixed, and then the independent ambiguity is selected in turn. Second, the whole network level: the independent ambiguities selected on each baseline are integrated together, and the independent ambiguities are selected in turn according to the same selection order of the aforementioned baseline levels.

(2) The clean phase and pseudorange observations with gross errors and cycle slips removed are used to obtain wide-lane ambiguity estimates and variances using the Melbourne-Wübbena (MW) combination method, and the wide-lane double-difference ambiguities are formed. The ambiguity fixation function is used to test to determine whether the ambiguity can be fixed.

(3) Combining the fixed wide-lane ambiguity with the ionospheric-free combined ambiguity obtained by parameter estimation, the estimated value and variance of the narrow-lane ambiguity are obtained. In the same way as the fixed wide-lane ambiguity, the ambiguity fixed judgment function is used to test to determine whether the ambiguity can be fixed.

(4) For the ambiguity that can be fixed in both wide-lane and narrow-lane, the fixed ionosphere-free combination of double-difference ambiguity can be further obtained by using a fixed integer.

(5) The fixed ionosphere-free combined double-difference ambiguity is introduced into the normal equation to improve the accuracy of the estimated parameters (including the unfixed ambiguity parameters). Repeat steps (1)-(5) until no new ambiguities can be fixed.

In step S300, the internal deformation data of the rockfill dam and the external deformation data of the rockfill dam are respectively processed to obtain an internal deformation monitoring index and an external deformation monitoring index.

Specifically, the internal deformation monitoring indicators include: horizontal displacement, vertical settlement, and panel deflection; the external deformation monitoring indicators include: horizontal displacement, vertical displacement, deflection, and inclination. After obtaining the internal deformation data of the rockfill dam and the external deformation data of the rockfill dam, respectively process the internal deformation data of the rockfill dam and the external deformation data of the rockfill dam, and obtain the internal deformation monitoring index and external deformation data. Deformation monitoring indicators. For example, after obtaining the three-dimensional deformation of the compressive flexible pipeline, the horizontal displacement, vertical settlement and panel deflection can be calculated to determine the internal deformation monitoring indicators.

Step S400, analyze the internal deformation monitoring index and the external deformation monitoring index to obtain a data analysis curve, and perform an early warning according to the data analysis curve.

Specifically, perform data analysis on the solved data, that is, the internal deformation monitoring index and the external deformation monitoring index, generate a data analysis curve, judge and alarm the over-limit data through a preset deformation threshold, and automatically record and generate a data analysis report . Manage and visualize the entire system, assign different levels of user permissions, manage monitoring data, and analyze raw data.

Step S400 includes:

Step S410, analyzing the internal deformation monitoring index and the external deformation monitoring index to obtain a data analysis curve.

Step S420, when the data in the data analysis curve exceeds a preset deformation threshold, perform an early warning.

Specifically, since the internal deformation data of the rockfill dam and the external deformation data of the rockfill dam adopt a unified geographic reference coordinate system, that is, the internal deformation monitoring index and the external deformation monitoring index are analyzed in the same geographic reference coordinate system, so that the internal deformation monitoring index and the external deformation monitoring index are analyzed in the same geographic reference coordinate system. The deformation and the external deformation are combined to judge the deformation of the rockfill dam, so as to realize the integrated monitoring of the internal and external deformation of the rockfill dam. With the help of visual monitoring and early warning platform, the observation results are displayed, and the disaster early warning is carried out by setting the deformation threshold.

To sum up, due to the fact that during the construction of the dam, pressure-resistant flexible pipes were laid in the area to be monitored. The pipeline measurement robot is poured into the compressive flexible pipeline, and the pipeline measurement robot moves in the pipeline to collect the deformation data of the rockfill dam. The internal deformation data of the rockfill dam observed in different periods and the long-term real-time observation of the external deformation monitoring data of the dam are used in a unified geographic reference coordinate system to realize the integrated monitoring of the internal and external deformation of the rockfill dam.

It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above descriptions, and all these improvements and transformations should belong to the protection scope of the appended claims of the present invention.

Claims (10)

1. An integrated monitoring method for internal and external deformation of a rockfill dam, characterized in that a compression-resistant flexible pipeline is arranged in a to-be-monitored area in the rockfill dam, and the compression-resistant flexible pipeline can be generated with the deformation of the rockfill dam Deformation, several magnetic measurement marks are arranged along the pressure-resistant flexible pipeline; external deformation monitoring points outside the rockfill dam are arranged with a Beidou/GNSS monitoring system;

   The monitoring method includes the steps:

   Based on the pipeline measurement robot, the internal deformation data of the rockfill dam is acquired in the compression-resistant flexible pipeline;

   Based on the Beidou/GNSS monitoring system, the external deformation data of the rockfill dam is collected from the external deformation monitoring points;

   respectively processing the internal deformation data of the rockfill dam and the external deformation data of the rockfill dam to obtain an internal deformation monitoring index and an external deformation monitoring index;

   A data analysis curve is obtained by analyzing the internal deformation monitoring index and the external deformation monitoring index, and an early warning is performed according to the data analysis curve.
2. The integrated monitoring method for internal and external deformation of a rockfill dam according to claim 1, wherein the internal deformation data of the rockfill dam is the three-dimensional deformation of the compressive flexible pipeline;

   The pipeline-based measurement robot collects and obtains internal deformation data of the rockfill dam in the compression-resistant flexible pipeline, including:

   By means of regular collection, in each time period, the pipeline measurement robot moves from bottom to top in the pressure-resistant flexible pipeline, and measures the three-dimensional curve of the pressure-resistant flexible pipeline in this time period;

   According to the three-dimensional curve of the pressure-resistant flexible pipeline in each time period, the three-dimensional deformation amount of the pressure-resistant flexible pipeline is obtained.
3. The integrated monitoring method for internal and external deformation of a rockfill dam according to claim 2, wherein the pipeline measurement robot comprises: a power supply system and a positioning and attitude determination system connected to the power supply system; the positioning and attitude determination The system includes: fiber optic inertial navigation, odometer and magnetometer;

   In each time period, the pipeline measurement robot moves from bottom to top in the pressure-resistant flexible pipeline, and obtains the three-dimensional curve of the pressure-resistant flexible pipeline during the time period, including:

   The magnetometer obtains magnetic marker point position data by continuously measuring the magnetic intensity of the magnetic measurement marker;

   The optical fiber inertial navigation and the odometer are combined and measured to obtain three-dimensional position data and attitude data;

   Performing data joint adjustment on magnetic marker point position data, three-dimensional position data and attitude data to obtain a three-dimensional curve of the compression-resistant flexible pipeline;

   The three-dimensional deformation of the pressure-resistant flexible pipeline is obtained according to the three-dimensional curve of the pressure-resistant flexible pipeline in each time period, including:

   The three-dimensional curves of the pressure-resistant flexible pipeline in each time period are associated with the position data of the magnetic marker points to obtain the three-dimensional deformation of the pressure-resistant flexible pipeline.
4. The integrated monitoring method for inner and outer deformation of a rockfill dam according to claim 3, wherein the pipeline measurement robot further comprises: an acquisition control system connected to the power supply system; the acquisition control system comprises: a synchronization a control board and a collection computer; the synchronization control board is used to realize the synchronization of measurement position data, three-dimensional position data and attitude data; the collection computer is used to control the synchronization control board and the positioning and attitude determination system.
5. The integrated monitoring method for internal and external deformation of a rockfill dam according to claim 1, wherein the Beidou/GNSS monitoring system comprises: a monitoring management station set on the rockfill dam and a monitoring and management station set on the bedrock Field reference station;

   Based on the Beidou/GNSS monitoring system, the external deformation data of the rockfill dam is collected at the external deformation monitoring point, including:

   Based on GNSS, collect the observation value of the monitoring management station and the observation value of the on-site reference station in real time;

   By adopting the double difference strategy, the observation value of the monitoring management station and the observation value of the on-site reference station are processed to obtain the external deformation data of the rockfill dam.
6. The integrated monitoring method for internal and external deformation of a rockfill dam according to claim 5, characterized in that the double-difference strategy is used to process the observed value of the monitoring management station and the observed value of the on-site reference station Obtain the external deformation data of the rockfill dam, including:

   According to the observation value of the monitoring management station and the observation value of the on-site reference station, the initial coordinates of the meter-level accuracy are obtained;

   Linearizing the initial coordinates to obtain a linearized observation value;

   performing data quality editing on the linearized observation value to obtain an edited observation value; wherein each arc segment of the edited observation value is smaller than a preset length;

   superimposing the normal equation on the edited observation value to obtain the normal equation of the overall solution;

   The ambiguity is fixed and the parameters are solved for the normal equation of the overall solution to obtain the external deformation data of the rockfill dam.
7. The integrated monitoring method for internal and external deformation of a rockfill dam according to claim 1, wherein the internal deformation monitoring indicators include: horizontal displacement, vertical settlement and panel deflection; the external deformation monitoring indicators include: horizontal displacement , vertical displacement, deflection, and inclination.
8. The integrated monitoring method for internal and external deformation of a rockfill dam according to claim 1, wherein the internal deformation monitoring index and the external deformation monitoring index are analyzed to obtain a data analysis curve, and the data analysis curve is performed according to the data analysis curve. Warnings, including:

   The data analysis curve is obtained by analyzing the internal deformation monitoring index and the external deformation monitoring index;

   When the data in the data analysis curve exceeds the preset deformation threshold, an early warning is performed.
9. The integrated monitoring method for internal and external deformation of a rockfill dam according to claim 1, wherein the compression-resistant flexible pipeline is laid out by the following steps:

   Before the face plate of the rockfill dam is poured, a fixed point is set on the crest of the to-be-monitored area of the rockfill dam, and the pipeline groove is laid out according to the fixed point to obtain the fixed point lead;

   According to the fixed point lead wire, a pipeline burying groove is dug in the extruded side wall of the rockfill dam;

   The post-filling of the pressure-resistant flexible pipeline is placed in the pipeline burying groove, so as to complete the layout of the pressure-resistant flexible pipeline.
10. The integrated monitoring method for internal and external deformation of a rockfill dam according to claim 1, wherein the pressure-resistant flexible pipe is a polyethylene pipe, and the diameter of the pressure-resistant flexible pipe is greater than 180 mm.

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