CN102323578B - Microwave distance measurement-based three-dimensional displacement monitoring device and method - Google Patents

Microwave distance measurement-based three-dimensional displacement monitoring device and method Download PDF

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CN102323578B
CN102323578B CN 201110146292 CN201110146292A CN102323578B CN 102323578 B CN102323578 B CN 102323578B CN 201110146292 CN201110146292 CN 201110146292 CN 201110146292 A CN201110146292 A CN 201110146292A CN 102323578 B CN102323578 B CN 102323578B
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陈伟民
章鹏
郑大青
李存龙
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Shaoxing Manjia Intellectual Property Co ltd
Shenzhen Boshi Intellectual Property Operation Co ltd
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Chongqing University
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Abstract

The invention discloses a microwave distance measurement-based three-dimensional displacement monitoring device and method. The method comprises the steps of: establishing a reasonable reference coordinate system and a datum point, transferring a datum and a method for space multi-satellite three-dimensioning positioning of a GPS (Global Position System) on the ground in a reference manner, replacing space multiple satellites with a microwave distance measurer to generate a positioning signal; at a monitored point, replacing a GPS receiver with a microwave passive reflector to reflect the signal; applying a total station high-precision phase distance measurement method to microwave distance measurement for replacing a GPS time distance measurement method to improve measurement precision; and obtaining three-dimensional coordinate values of a monitored point by using a relation equation set between the measurement distance and the coordinate values of the datum point, and obtaining a three-dimensional displacement variable of the monitored point through comparing difference values of coordinates before the monitored point is changed. For the optical total station, the method is not easily influenced by the environment; and for the GPS, the method has the advantages of low cost and high precision, and provides a new solution thread for the health monitoring of large structures.

Description

Three-D displacement monitoring device and method based on tellurometer survey
Technical field
The present invention relates to three-D displacement monitoring device and the method for a kind of large scale structure or building, specially refer to a kind of for three-D displacement monitoring device and method based on tellurometer survey.
Background technology
The important traffic infrastructures such as bridge, tunnel, highway, railway, and the great Architectural Equipments such as stadium, arenas, airport, high-rise building are the critical infrastructures that guarantee the development of the national economy and social development.These infrastructure more or less exist some structural defect, and simultaneously, the load of infrastructure and environment for use generation acute variation cause in various degree deteriorated in advance of structure, produce posteriori functional inefficacy.Because the important infrastructure investment is huge, and the place that personnel concentrate the most often, economic activity is the most active, in case have an accident, will produce catastrophic effect difficult to the appraisal.Therefore development structure health monitoring technology is carried out the Real-Time Monitoring of configuration state to great infrastructure, status flag, seizure accident tendency with accurate grasp structure have important society and economic implications.
And in structural healthy monitoring system, three-D displacement or distortion are its important monitoring parameters, but because its both whole force-bearing situation of reflect structure and characteristic such as decay of structure.Thereby carry out the means that three-D displacement monitoring is danger warning, protection people safety.In the three-D displacement the most widely of use was measured at present, GPS and total powerstation were topmost 2 kinds:
1、GPS：
Advantage: but multi-measuring point measure simultaneously, sighting condition is good, measuring point is laid flexibly, measurement range is large, all weather operations, reliability are high;
Shortcoming: the price of each measuring point is high, technical monopoly, and real-time poor dynamic, precision is lower;
2, total powerstation:
Advantage: high precision, each measuring point is relatively cheap, and measurement range is large;
Shortcoming: need maintenance meticulously, affected greatly by misty rain, the contour gentle high humidity environment of dust, not too be fit to long-term open-air environment for use, a plurality of points of on-line measurement simultaneously, measuring point is consuming time large, is difficult to satisfy all measuring points are carried out intervisibility;
For the structure three-dimensional displacement monitoring, its needs at the scene in the field work environment, long-term work in operatorless situation, and precision prescribed is high, can measure in real time etc.; Although and GPS and total powerstation have advantage separately, but because exist defective can not satisfy the long-term field monitoring requirement of present structure three-dimensional displacement, the relative merits that carefully analyze contrast total powerstation and GPS can be found, these two kinds of optimum measurement means have complementary characteristic, namely GPS has does not exist terrestrial reference restriction, measuring point to arrange maneuverability, adapt to wide, all weather operations, measurement range is large, the reliable long-term working advantages of higher just total powerstation lack; And the advantage such as the grade measuring accuracy that total powerstation has, average measuring point be with low cost, the also the most fatal weakness of GPS just.
Therefore, if can get chiefs both, their advantage is organically merged, the benchmark and the method that are about to the space multi-satellite three-dimensional localization of GPS are transferred on ground with using for reference, replace the space multi-satellite with microwave ranger and produce the location desired signal, at monitored some place, replace the GPS receiver with the microwave passive reverberator, the advantage such as make measuring process have not affected by environment, cost and to layout flexibly; Total powerstation laser phase precision distance measurement method is applied to tellurometer survey, replaces the time distance-finding method of GPS, distance accuracy is improved.Thereby develop a kind of collection both advantage be all over the body technology, make its have not affected by environment, cost is low, the precision advantages of higher.This technology may become a kind of brand-new three-D displacement measurement means in monitoring structural health conditions and engineering survey field, and this has Important Project for monitoring structural health conditions and even whole engineering survey circle and is worth and economic outlook.
Summary of the invention
In view of this, in order to address the above problem, the present invention proposes a kind of not affected by environment, cost is low, precision is high three-D displacement monitoring device and the method based on tellurometer survey in the three-D displacement observation process of large-sized object; Overcome the deficiency that three-D displacement monitoring device in present heavy construction monitoring structural health conditions and method exist.
One of purpose of the present invention is to propose a kind of three-D displacement monitoring device based on tellurometer survey; Two of purpose of the present invention is to propose a kind of three-dimensional displacement monitoring method based on tellurometer survey.
One of purpose of the present invention is achieved through the following technical solutions:
A kind of three-D displacement monitoring device based on tellurometer survey provided by the invention, comprise at least three microwave rangers and at least three passive reflectors, described microwave ranger is arranged at respectively on the selected reference point in ground, described passive reflector is arranged on monitored object, described microwave ranger covers the microwave of all measuring target point to the measured zone emission, the microwave that sends turns back to microwave ranger by the passive reflector at impact point place.
Further, the set-point of described microwave ranger is not on the same straight line and at a distance of certain intervals;
Further, described passive reflector scattering device different monitoring points on monitored object;
Further, described passive reflector is the microwave passive reverberator;
Further, described microwave passive reverberator adopts the metal material of energy microwave reflection to be made;
Further, described microwave ranger comprises microwave transreceiver, data processor and data display equipment, described microwave transreceiver be used for microwave signal generation, transmit and receive, the coordinate figure that described data processor is used for obtaining each distance values of measuring and utilize each distance values, reference point carries out the simultaneous solution of transcendental equation group, and by the data adjustment processing, obtain the volume coordinate of each impact point, described data display equipment is used for the demonstration of result.
Two of purpose of the present invention is achieved through the following technical solutions:
Three-dimensional displacement monitoring method based on tellurometer survey provided by the invention comprises the following steps:
Step 1: setting up reference frame OXYZ and coordinate figure is set in surveying the district is (x 1, y 1, z 1) the first reference point S 1, coordinate figure is (x 2, y 2, z 2) the second reference point S 2, coordinate figure is (x 3, y 3, z 3) the 3rd reference point S 3With monitored some R, wherein, x 1Represent the first reference point S 1At the axial coordinate figure of x, x 2Represent the second reference point S 2At the axial coordinate figure of x, x 3Represent the 3rd reference point S 3At the axial coordinate figure of x, y 1Represent the first reference point S 1At the axial coordinate figure of y, y 2Represent the second reference point S 2At the axial coordinate figure of y, y 3Represent the 3rd reference point S 3At the axial coordinate figure of y, z 1Represent the first reference point S 1At the axial coordinate figure of z, z 2Represent the second reference point S 2At the axial coordinate figure of z, z 3Represent the 3rd reference point S 3At the axial coordinate figure of z;
Step 2: measure the first reference point S 1To the distance B between monitored some R 1, measure the second reference point S 2To the distance B between monitored some R 2, measure the 3rd reference point S 3To the distance B between monitored some R 3
Step 3: determine the relation equation group of distance between monitored some R and each reference point by following formula, and obtain the initial coordinate values (x of monitored some R by calculating this relation equation group r, y r, z r),
| S 1 R | 2 = D 1 2 = ( x 1 - x r ) 2 + ( y 1 - y r ) 2 + ( z 1 - z r ) 2 | S 2 R | 2 = D 2 2 = ( x 2 - x r ) 2 + ( y 2 - y r ) 2 + ( z 2 - z r ) 2 | S 3 R | 2 = D 3 2 = ( x 3 - x r ) 2 + ( y 3 - y r ) 2 + ( z 3 - z r ) 2
In formula, | S 1R| represents the first reference point S 1To the distance between monitored some R, | S 2R| represents the second reference point S 2To the distance between monitored some R, | S 3R| represents the 3rd reference point S 3To the distance between monitored some R, x rThe axial coordinate figure of x when representing monitored some R original state, y rThe axial coordinate figure of y when representing monitored some R original state, z rThe axial coordinate figure of z when representing monitored some R original state;
Step 4: by step 1 to the described method of step 3 measure current coordinate figure after monitored some R coordinate position changes (x ' r, y ' r, z ' r),
Wherein, x ' rRepresent the axial coordinate figure of x after monitored some R coordinate position changes, y ' rRepresent the axial coordinate figure of y after monitored some R coordinate position changes, z ' rRepresent the axial coordinate figure of z after monitored some R coordinate position changes;
Step 5: calculate the three-D displacement variation delta R that obtains monitored some R by following formula,
Δx r = x r - x ′ r Δy r = y r - y ′ r Δz r = z r - z ′ r
In formula, Δ x rRepresent that monitored some R is at the axial displacement of x, Δ y rRepresent that monitored some R is at the axial displacement of y, Δ z rRepresent that monitored some R is at the axial displacement of z.
Further, in said method, described the first reference point S 1, the second reference point S 2, the 3rd reference point S 3For placing the location point of microwave ranger;
Further, in said method, described monitored some R is used as the location point of placing the microwave passive reverberator;
Further, in said method, the described first reference point S that establishes 1, the second reference point S 2, the 3rd reference point S 3Distance to monitored some R is to carry out tellurometer survey by microwave ranger and microwave passive reverberator to obtain.
The invention has the advantages that: by setting up rational reference frame and selecting suitable reference point, get total powerstation and GPS both the chief, their advantage is organically merged, the benchmark and the method that are about to the space multi-satellite three-dimensional localization of GPS are transferred on ground with using for reference, replace the space multi-satellite with microwave ranger and produce the location desired signal; At monitored some place, replace the GPS receiver with the microwave passive reverberator and come reflected signal; Total powerstation high-precision phase position distance-finding method is applied to tellurometer survey, replaces the gps time distance-finding method and improve measuring accuracy; Utilize the relation equation group between measuring distance and reference point coordinate, obtain the D coordinates value of monitored point, the difference of coordinate position before and after changing by more monitored point, and then obtain the three-D displacement variable quantity of monitored point.The method is difficult for affected by environmently for the optics total powerstation, and the method cost is low for Global Positioning System (GPS), precision is high, for the large scale structure health monitoring provides new solution thinking.This technology may become a kind of brand-new three-D displacement measurement means in monitoring structural health conditions and engineering survey field, have Important Project for monitoring structural health conditions and even whole engineering survey circle and be worth and economic outlook.
Other advantage of the present invention, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on being apparent to those skilled in the art to investigating hereinafter, perhaps can be instructed from the practice of the present invention.The objectives and other advantages of the present invention can be passed through following instructions, claims, and in accompanying drawing, the specifically noted structure realizes and obtains.
Description of drawings
In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing, wherein:
Fig. 1 is ground local positioning system general principles schematic diagram;
Fig. 2 is based on tellurometer survey three-D displacement monitoring schematic diagram;
Fig. 3 is based on tellurometer survey three-D displacement monitoring schematic flow sheet;
Fig. 4 is the tellurometer survey schematic diagram.
Embodiment
Below with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail; Should be appreciated that preferred embodiment only for the present invention is described, rather than in order to limit protection scope of the present invention.
Fig. 1 is ground local positioning system general principles schematic diagram; As shown in the figure: the three-D displacement monitoring device based on tellurometer survey provided by the invention, comprise at least three microwave rangers, at least three passive reflectors, the embodiment of the present invention adopts four passive reflector R1, R2, R3, R4, described microwave ranger is arranged at respectively on the selected reference point in ground, described passive reflector is arranged on monitored object, described miniature stadimeter covers the microwave of all measuring target point to the measured zone emission, the microwave that sends turns back to stadimeter by the passive reflector at impact point place.
Further illustrate, the set-point of described stadimeter not on the same straight line, described passive reflector scattering device different monitoring points on monitored object.
Further illustrate, described passive reflector is the microwave passive reverberator, and described microwave passive reverberator adopts the metal material of energy microwave reflection to be made, and can select the metal materials such as aluminium, copper to make the microwave passive reverberator in the embodiment of the present invention.
Further illustrate, described microwave ranger comprises the microwave transreceiver, this microwave transreceiver comprises dual-mode antenna A1, A2, A3, data processor and data display equipment as shown in fig. 1, described microwave transreceiver be used for microwave signal generation, transmit and receive, the coordinate figure that described data processor is used for obtaining each distance values of measuring and utilize each distance values, reference point carries out the simultaneous solution of transcendental equation group, and by the data adjustment processing, obtain the volume coordinate of each impact point, described data display equipment is used for the demonstration of result.
Fig. 2 is based on tellurometer survey three-D displacement monitoring schematic diagram, and Fig. 3 is based on tellurometer survey three-D displacement monitoring schematic flow sheet; As shown in the figure: the three-dimensional displacement monitoring method based on tellurometer survey provided by the invention comprises the following steps:
Step 1: setting up reference frame OXYZ and coordinate figure is set in surveying the district is (x 1, y 1, z 1) the first reference point S 1, coordinate figure is (x 2, y 2, z 2) the second reference point S 2, coordinate figure is (x 3, y 3, z 3) the 3rd reference point S 3With monitored some R, wherein, x 1Represent the first reference point S 1At the axial coordinate figure of x, x 2Represent the second reference point S 2At the axial coordinate figure of x, x 3Represent the 3rd reference point S 3At the axial coordinate figure of x, y 1Represent the first reference point S 1At the axial coordinate figure of y, y 2Represent the second reference point S 2At the axial coordinate figure of y, y 3Represent the 3rd reference point S 3At the axial coordinate figure of y, z 1Represent the first reference point S 1At the axial coordinate figure of z, z 2Represent the second reference point S 2At the axial coordinate figure of z, z 3Represent the 3rd reference point S 3At the axial coordinate figure of z;
Further illustrate, in surveying the district, described the first reference point S 1, the second reference point S 2, the 3rd reference point S 3Coordinate figure be given value, be used for placing the location point of microwave ranger; Described monitored some R is used as the location point of placing the microwave passive reverberator.
Step 2: utilize microwave ranger and microwave passive reverberator to carry out tellurometer survey, measure the first reference point S 1To the distance B between monitored some R 1, measure the second reference point S 2To the distance B between monitored some R 2, measure the 3rd reference point S 3To the distance B between monitored some R 3
Step 3: determine the relation equation group of distance between monitored some R and each reference point by following formula, and obtain the initial coordinate values (x of monitored some R by calculating this relation equation group r, y r, z r),
| S 1 R | 2 = D 1 2 = ( x 1 - x r ) 2 + ( y 1 - y r ) 2 + ( z 1 - z r ) 2 | S 2 R | 2 = D 2 2 = ( x 2 - x r ) 2 + ( y 2 - y r ) 2 + ( z 2 - z r ) 2 | S 3 R | 2 = D 3 2 = ( x 3 - x r ) 2 + ( y 3 - y r ) 2 + ( z 3 - z r ) 2
In formula, | S 1R| represents the first reference point S 1To the distance between monitored some R, | S 2R| represents the second reference point S 2To the distance between monitored some R, | S 3R| represents the 3rd reference point S 3To the distance between monitored some R, x rThe axial coordinate figure of x when representing monitored some R original state, y rThe axial coordinate figure of y when representing monitored some R original state, z rThe axial coordinate figure of z when representing monitored some R original state;
Step 4: by step 1 to the described method of step 3 measure current coordinate figure after monitored some R coordinate position changes (x ' r, y ' r, z ' r),
Wherein, x ' rRepresent the axial coordinate figure of x after monitored some R coordinate position changes, y ' rRepresent the axial coordinate figure of y after monitored some R coordinate position changes, z ' rRepresent the axial coordinate figure of z after monitored some R coordinate position changes;
Step 5: calculate the three-D displacement variation delta R that obtains monitored some R by following formula,
Δx r = x r - x ′ r Δy r = y r - y ′ r Δz r = z r - z ′ r
In formula, Δ x rRepresent that monitored some R is at the axial displacement of x, Δ y rRepresent that monitored some R is at the axial displacement of y, Δ z rRepresent that monitored some R is at the axial displacement of z.
The below describes the process of specifically utilizing the microwave phase range finding that embodiments of the invention provide in detail:
Fig. 4 is the tellurometer survey schematic diagram, as shown in the figure, supposes that microwave transceiver 41 passes through microwave antenna 42 at t 0Constantly launch the modulated microwave I that modulating frequency is f (cycle is T=1/f) 0=A sin ω t 0, be I through the modulating wave that is returned by target passive reflector 43 former road after the transmission of distance B 1=A sin ω (t 0+ Δ t).Microwave is travelled to and fro between formed phase differential Φ between transmitter, reverberator, mistiming Δ t and is respectively:
Φ＝ω(t 0+Δt)-ωt 0＝ω·Δt＝2πf·Δt
Δt＝Φ/2πf
Phase differential also can be write as:
Φ＝N·2π+ΔΦ
Identify phase differential Φ by the high-precision phase measurement technology, namely by realizing the high-acruracy survey (D=c Δ t/2) of distance B after above-mentioned formula conversion.Be the modulating wave periodicity N that comprises in distance B due to N in above-mentioned formula, need to adopt one group of different modulating frequency f for this reason 1, f 2, f kDetermine N, the tellurometer survey that namely utilizes many modulating frequencies microwave to make up, and then realize the high-acruracy survey of Φ, Δ t, D; The method distance accuracy improves, and has overcome the low problem of GPS precision.
The above is only the preferred embodiments of the present invention, is not limited to the present invention, and obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of claim of the present invention and equivalent technologies thereof, the present invention also is intended to comprise these changes and modification interior.

Claims (5)

1. three-D displacement monitoring device based on tellurometer survey, it is characterized in that: comprise at least three microwave rangers and at least three passive reflectors, described microwave ranger is arranged at respectively on each selected reference point of ground, described passive reflector is arranged on monitored object, described microwave ranger covers the microwave of all measuring target point to the measured zone emission, the microwave that sends turns back to microwave ranger by the passive reflector at impact point place;
The set-point of described microwave ranger is not on the same straight line and at a distance of certain intervals;
Described passive reflector scattering device different monitoring points on monitored object;
Described microwave ranger comprises microwave transreceiver, data processor and data display equipment, described microwave transreceiver be used for microwave signal generation, transmit and receive, the coordinate figure that described data processor is used for obtaining each distance values of measuring and utilize each distance values, reference point carries out the simultaneous solution of transcendental equation group, and by the data adjustment processing, obtain the volume coordinate of each impact point, described data display equipment is used for the demonstration of result;
The distance of described microwave transmission adopts following formula to carry out:
D=cΔt/2；Δt=Φ/2πf；
In formula, D represents that the microwave transreceiver is transferred to the distance of target passive reflector, and Φ represents that microwave travels to and fro between formed phase differential between transmitter, reverberator, and Δ t represents that microwave travels to and fro between the formed mistiming between transmitter, reverberator; F represents that microwave launches the modulating frequency of modulated microwave.
2. the three-D displacement monitoring device based on tellurometer survey according to claim 1, it is characterized in that: described passive reflector is the microwave passive reverberator.
3. the three-D displacement monitoring device based on tellurometer survey according to claim 2 is characterized in that: described microwave passive reverberator adopt can microwave reflection metal material be made.
4. based on the three-dimensional displacement monitoring method of tellurometer survey, it is characterized in that: comprise the following steps:
Step 1: setting up reference frame OXYZ and coordinate figure is set in surveying the district is (x 1, y 1, z 1) the first reference point S 1, coordinate figure is (x 2, y 2, z 2) the second reference point S 2, coordinate figure is (x 3, y 3, z 3) the 3rd reference point S 3With monitored some R, wherein, x 1Represent the first reference point S 1At the axial coordinate figure of x, x 2Represent the second reference point S 2At the axial coordinate figure of x, x 3Represent the 3rd reference point S 3At the axial coordinate figure of x, y 1Represent the first reference point S 1At the axial coordinate figure of y, y 2Represent the second reference point S 2At the axial coordinate figure of y, y 3Represent the 3rd reference point S 3At the axial coordinate figure of y, z 1Represent the first reference point S 1At the axial coordinate figure of z, z 2Represent the second reference point S 2At the axial coordinate figure of z, z 3Represent the 3rd reference point S 3At the axial coordinate figure of z;
Step 2: measure the first reference point S 1To the distance B between monitored some R 1, measure the second reference point S 2To the distance B between monitored some R 2, measure the 3rd reference point S 3To the distance B between monitored some R 3
Step 3: determine the relation equation group of distance between monitored some R and each reference point by following formula, and obtain the initial coordinate values (x of monitored some R by calculating this relation equation group r, y r, z r),
| S 1 R | 2 = D 1 2 = ( x 1 - x r ) 2 + ( y 1 - y r ) 2 + ( z 1 - z r ) 2 | S 2 R | 2 = D 2 2 = ( x 2 - x r ) 2 + ( y 2 - y r ) 2 + ( z 2 - z r ) 2 | S 3 R | 2 = D 3 2 = ( x 3 - x r ) 2 + ( y 3 - y r ) 2 + ( z 3 - z r ) 2
In formula, | S 1R| represents the first reference point S 1To the distance between monitored some R, | S 2R| represents the second reference point S 2To the distance between monitored some R, | S 3R| represents the 3rd reference point S 3To the distance between monitored some R, x rThe axial coordinate figure of x when representing monitored some R original state, y rThe axial coordinate figure of y when representing monitored some R original state, z rThe axial coordinate figure of z when representing monitored some R original state;
Step 4: by step 1 to the described method of step 3 measure current coordinate figure after monitored some R coordinate position changes (x ' r, y ' r, z ' r),
Wherein, x ' rRepresent the axial coordinate figure of x after monitored some R coordinate position changes, y ' rRepresent the axial coordinate figure of y after monitored some R coordinate position changes, z ' rRepresent the axial coordinate figure of z after monitored some R coordinate position changes;
Step 5: calculate the three-D displacement variation delta R that obtains monitored some R by following formula,
Δx 1 = x r - x ′ r Δ y r = y r - y ′ r Δ z r = z r - z ′ r
In formula, Δ x rRepresent that monitored some R is at the axial displacement of x, Δ y rRepresent that monitored some R is at the axial displacement of y, Δ z rRepresent that monitored some R is at the axial displacement of z;
Described the first reference point S 1, the second reference point S 2, the 3rd reference point S 3For placing the location point of microwave ranger;
If the first reference point S 1, the second reference point S 2, the 3rd reference point S 3Distance to monitored some R is to carry out tellurometer survey by microwave ranger and microwave passive reverberator to obtain;
The distance of described microwave transmission adopts following formula to carry out:
D=cΔt/2；Δt=Φ/2πf；
In formula, D represents that the microwave transreceiver is transferred to the distance of target passive reflector, and Φ represents that microwave travels to and fro between formed phase differential between transmitter, reverberator, and Δ t represents that microwave travels to and fro between the formed mistiming between transmitter, reverberator; F represents that microwave launches the modulating frequency of modulated microwave.
5. the three-dimensional displacement monitoring method based on tellurometer survey according to claim 4 is characterized in that: described monitored some R is used as the location point of placing the microwave passive reverberator.
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