CN105674945A - Seabed landslide monitoring device and method based on MEMS sensor - Google Patents

Abstract

The invention discloses a seabed landslide monitoring device and method based on an MEMS sensor, and belongs to the technical field of seabed monitoring. A monitoring unit consists of a plurality of monitoring subunits which are connected in series. The monitoring unit is placed in a protection cover. The monitoring unit enables a monitored signal to be transmitted to a processing unit. The processing unit enables the processed signal to be transmitted to a computer terminal. A power module supplies a working voltage to a data processor. The MEMS sensor is fixed in a long pipe through a damping piece. One end of the long pipe is connected with one end of a soft connection pipe. The power module is connected with the MEMS sensor, and supplies the working voltage to the MEMS sensor. The MEMS sensor is connected with a data input port of the data processor. The data processor enables the processed data to be transmitted to the computer terminal. The device and method can achieve the monitoring and data recording of the changes of multiple layers of a seabed, achieves the monitoring of a single point to a plurality of points so as to form a three-dimensional monitoring plane, provides visual data for the research of the changes of the stratum of the seabed, and provide information support for the early-warning services of the seabed landslide.

Description

A kind of submarine landslide monitoring device and monitoring method based on MEMS sensor

Technical field

The present invention relates to a kind of device that shows in real time stratum, seabed change conditions for Real-Time Monitoring and host computer, belong toSubmarine observation technical field, relates in particular to a kind of submarine landslide monitoring device and monitoring method based on MEMS sensor.

Background technology

Submarine landslide is unconsolidated soft-sediment or have the rock of weak structural plane on submarine slope, at Action of Gravity FieldThe lower phenomenon of sliding of occurring along the weak structural plane in slope, belongs to the one of Oceanic disasters. There is the reason of submarine landslide, oneAspect is due to deposit internal structure and dynamic condition, and as more in the content of bottom sediment medium clay soil material, natural gas producesRaw high pressure etc.; On the other hand, be that bring out some outside, as earthquake, wave etc. Submarine landslide except directly endanger drilling platforms,Outside the facilities such as submarine optical fiber cable, submarine pipeline, harbour, harbour, large-scale submarine landslide also can cause seabed mud-rock flow, even can causeTsunami, causes serious failure loss.

Be used at present landly for the monitoring on landslide, and it is less to be applied to the research of submarine landslide. To submarine landslideSurvey and be mostly qualitative understanding, lack corresponding submarine observation instrument and equipment. Due to the complexity of environments such as subsea, sea bed stratum becomesEmotionally condition change procedure is slow and trickle, and the territorial scope relating to is wide, adopts observation of fixed place and time and the record of manual type, workWork amount is large, and cost is high. Along with the continuous construction of people's seabed engineering, the study on monitoring of stratum, seabed variation more and more has importantFunction and significance.

In Chinese invention patent application prospectus CN201510453219.1, disclose a kind of for submarine landslideThe equipment of monitoring, the rotation in this invention between every joint sealing stock is rotated by a kind of ball auxiliary structure, rotating space cone angleEach direction is only 50 °, and has ignored between every joint stock except the variation at angle of inclination, also can carry out translation and move.The ball auxiliary structure of this invention, has not only limited the scope at angle of inclination between stock, but also the translation having limited between stock movesMoving. In addition, the magnetic inductive film that this invention adopts precision in the time measuring change of pitch angle trickle between every joint stock is nowhere near.

Summary of the invention

In order to overcome existing land landslide disaster monitoring device complex structure, engineering is huge, consumes resources, and data are not smartTrue shortcoming, the invention provides a kind of low power consuming, and data are accurate, small and exquisite easy-operating submarine landslide monitoring device, and it can be rightThe sea bed of certain depth is realized point the variation monitoring of aspect stratum and an animated show, from monitor single point-to-multipoint can form three-dimensionalMonitoring surface, shows for the research of stratum, seabed variation provides host computer intuitively, further to submarine landslide, earthquake, tsunami etc.Natural calamity and early warning thereof provide information support.

The present invention is achieved by the following technical programs: a kind of submarine landslide monitoring device based on MEMS sensor,Comprise processing unit, computer terminal, monitoring means, protective cover; Wherein, described monitoring means is by some monitoring of series connection successivelyUnit composition; Described monitoring means is placed in protective cover; The signal monitoring is passed to processing unit by described monitoring means;Signal after treatment is passed to computer terminal by processing unit;

Described processing unit comprises power module and data processor; Described power module provides work for data processorVoltage;

Described monitoring subelement comprises long tube, hose connector, MEMS sensor and vibration damping sheet; Described MEMS sensor passes throughVibration damping sheet is fixed in long tube; One end of long tube is connected with one end of hose connector;

Described power module is connected with MEMS sensor, for MEMS sensor provides operating voltage; Described MEMS sensorBe connected with the data-in port of data processor; Data after treatment are passed to computer terminal by data processor.

Further, the two ends of described long tube have external screw thread, the two ends of described hose connector have with long tube on outsideThe internal thread that screw thread matches.

Further, the material of described long tube and hose connector is stainless steel.

Further, described tube connector is under external force towards any direction flexural deformation, and angle of bend scope is-180 ° to 180 °.

Further, described MEMS sensor internal is integrated with accelerometer, gyroscope and digital compass.

Further, the material of described vibration damping sheet is epoxy resin, is protected sensor and is reduced sensing by cushioning effectDevice rocks the measure error causing.

Further, described protective cover is polyethylene film.

Further, described power module is high-capacity lithium battery, and described data processor adopts single-chip microcomputer.

Further, the communication between described MEMS sensor and data processor is carried out data by iic bus agreementTransmission; Communication between described data processor and computer terminal turns USB by serial ports and transmits.

A monitoring method for submarine landslide monitoring device based on MEMS sensor, specifically comprises the following steps:

(1) monitoring means is arranged in the earth bore of accomplishing fluently in advance; In the time of the change of stratum, MEMS sensor thereuponRun-off the straight changes, and MEMS sensor sends the hypercomplex number of all information of displacement to data processor, described hypercomplex numberExpress by formula (1):

Q(q₀,q₁,q₂,q₃)＝q₀+q₁i+q₂j+q₃k(1)

Wherein, q₀、q₁、q₂、q₃Being real number, is four units that form hypercomplex number Q; I, j, k be mutually orthogonal unit toAmount;

(2) connect firmly coordinate system b with MEMS sensor from setting up rigid body as benchmark, in the time of the change of MEMS sensor,Rigid body connects firmly coordinate system b and rotates θ angle, rotates γ angle, rotates along Z axis along Y-axis along X-axis relative to geographic coordinate system nAngle, therebyAttitude algorithm equation (2) to Eulerian angles form:

Wherein,For geographic coordinate system n connects firmly the transformation matrix of coordinates of coordinate system b to rigid body;

Attitude algorithm equation (3) and the formula of reduction (4) thereof of contrast Quaternion Method, can obtain formula (5):

$C_n^b=\left[\begin{array}{ccc}{q}_0^2+q_1^2-q_2^2-q_3^2& 2(q_1{q}_2+q_0{q}_3)& 2(q_1{q}_3-q_0{q}_2)\\ 2(q_1{q}_2-q_0{q}_3)& q_0^2-q_1^2+q_2^2-q_3^2& 2(q_0{q}_1+q_2{q}_3)\\ 2(q_0{q}_2+q_1{q}_3)& 2(q_2{q}_3-q_0{q}_1)& q_0^2-q_1^2-q_2^2+q_3^2\end{array}\right]---\left(3\right)$

$C_n^b=\left[\begin{array}{ccc}{T}_{11}& T_{21}& T_{31}\\ T_{12}& T_{22}& T_{32}\\ T_{13}& T_{23}& T_{33}\end{array}\right]---\left(4\right)$

Wherein, θ is the angle of pitch of MEMS sensor after variation; γ is the roll angle of MEMS sensor after variation;For becomingThe yaw angle of MEMS sensor after moving;

(3) rolling of MEMS sensor after the pitching angle theta of MEMS sensor and variation after variation step (2) being obtainedAngle γ substitution formula (6) and formula (7), obtain deviation angle α and the inclination angle phi of single long tube:

$\mathrm{\φ}=\frac{\mathrm{\π}}{2}-\arccos (cos\mathrm{\θ}\·cos\mathrm{\γ})---\left(6\right)$

$\mathrm{\α}=\arccos \left(\frac{cos(\frac{\mathrm{\π}}{2}-\mathrm{\θ})\·cos\mathrm{\γ}}{cos\mathrm{\φ}}\right)---\left(7\right)$

Wherein, the deviation angle that α is single long tube; φ is the inclination angle of single long tube;

Repeat to try to achieve by step (1)-(3) deviation angle and the inclination angle of each long tube, thereby know the change on each stratumEmotionally condition;

(4) deviation angle of each long tube step (3) being obtained and inclination angle substitution formula (8)-

(16), obtain the displacement difference L of N joint long tube with respect to first segment long tube_N1And N joint long tube is with respect to first segmentThe side-play amount ψ of long tube_N-1Thereby, know the change conditions on whole stratum;

L₂₁＝l₂(9)

ψ₁＝α₂(10)

$L_{31}=\sqrt{{l_2}^2+{l_3}^2-2l_2{l}_{3}cos(\mathrm{\π}-|{\mathrm{\α}}_2-{\mathrm{\α}}_3\left|\right)}---\left(11\right)$

$\left\{\begin{array}{c}{\mathrm{\&psi;}}_2={\mathrm{\&alpha;}}_2+\arccos \left(\frac{{l_2}^2+{L_{31}}^2-{l_3}^2}{2l_2{L}_{31}}\right),{\mathrm{\&psi;}}_2>{\mathrm{\&alpha;}}_3\\ {\mathrm{\&psi;}}_2={\mathrm{\&alpha;}}_2+\arccos \left(\frac{{l_2}^2+{L_{31}}^2-{l_3}^2}{2l_2{L}_{31}}\right),{\mathrm{\&psi;}}_2<{\mathrm{\&alpha;}}_3\end{array}\right.---\left(12\right)$

$L_{41}=\sqrt{{L_{31}}^2+{l_4}^2-2L_{31}{l}_{4}cos(\mathrm{\&pi;}-|{\mathrm{\&psi;}}_2-{\mathrm{\&alpha;}}_4\left|\right)}---\left(13\right)$

$L_{51}=\sqrt{{L_{41}}^2+{l_5}^2-2L_{41}{l}_{5}cos(\mathrm{\&pi;}-|{\mathrm{\&psi;}}_3-{\mathrm{\&alpha;}}_5\left|\right)}---\left(14\right)$

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$L_{N1}=\sqrt{{L_{N-1,1}}^2+{l_N}^2-2L_{N-1,1}{l}_{N}cos(\mathrm{\&pi;}-|{\mathrm{\&psi;}}_{N-2}-{\mathrm{\&alpha;}}_N\left|\right)}---\left(15\right)$

$\left\{\begin{array}{cc}{\mathrm{\&psi;}}_{N-1}={\mathrm{\&psi;}}_{N-2}+\arccos \left(\frac{{L_{N-1,1}}^2+{L_{N1}}^2-{l_N}^2}{2L_{N-1,1}{L}_{N1}}\right),& {\mathrm{\&psi;}}_{N-2}>{\mathrm{\&alpha;}}_N\\ {\mathrm{\&psi;}}_{N-1}={\mathrm{\&psi;}}_{N-2}-\arccos \left(\frac{{L_{N-1,1}}^2+{L_{N1}}^2-{l_N}^2}{2L_{N-1,1}{L}_{N1}}\right),& {\mathrm{\&psi;}}_{N-2}<{\mathrm{\&alpha;}}_N\end{array}\right.---\left(16\right)$

Wherein, L is the length of long tube; I and N are the natural number that is more than or equal to 2; l_iThat i joint long tube projects to levelThe length of face; φ_iIt is the inclination angle of i joint long tube; L₂₁The displacement difference of second section long tube with respect to first segment long tube; l₂?Two joint long tubes project to the length of horizontal plane; ψ₁The side-play amount of second section long tube with respect to first segment long tube; L₃₁It is Section threeLong tube is with respect to the displacement difference of first segment long tube; l₃The length that Section of three long tube projects to horizontal plane; α₂It is second section long tubeThe deviation angle; α₃It is the deviation angle of Section of three long tube; ψ₂The side-play amount of Section of three long tube with respect to first segment long tube; L₄₁The 4thJoint long tube is with respect to the displacement difference of first segment long tube; l₄The length that Section of four long tube projects to horizontal plane; α₄Section of four long tubeThe deviation angle; L₅₁The displacement difference of Section of five long tube with respect to first segment long tube; l₅That Section of five long tube projects to horizontal planeLength; ψ₃The side-play amount of Section of four long tube with respect to first segment long tube; α₅It is the deviation angle of Section of five long tube; L_N-1,1N-1 joint long tube is with respect to the displacement difference of first segment long tube; L_N1The displacement difference of N joint long tube with respect to first segment long tube; l_NNJoint long tube projects to the length of horizontal plane; ψ_N-2The side-play amount of N-1 joint long tube with respect to first segment long tube; ψ_N-1It is N jointLong tube is with respect to the side-play amount of first segment long tube; α_NIt is the deviation angle of N joint long tube.

Compared with prior art, the invention has the beneficial effects as follows:

1.N long stainless tube entirety is wrapped in protective cover, can make whole device vertically insert in sea bed, reduces initialError. In the time of equipment stratum, seabed change around, will drive long stainless tube to move, the MEMS sensor in long tube is made phaseThe attitude variation of answering, and the data that comprise all attitude informations are passed to signal processor, after calculating, signal processor passesGive host computer, final host computer is realized real-time animation and is shown.

2. MEMS sensor assembly of the present invention, has merged accelerometer, and gyroscope and digital compass, canTo record accurately roll angle, the angle of pitch, yaw angle and the magnetic azimuth of displacement, and it is long further to calculate deviational surveyThe inclination angle of pipe and the deviation angle. MEMS sensor sample speed is high, has ensured the real-time of data.

3. stainless steel soft tube connector of the present invention, the bending that can realize under external force any direction becomesShape, angle of bend scope is-180 ° to 180 °, with respect to Chinese invention patent application prospectusCN201510453219.1, monitoring range of the present invention is much larger.

4. the present invention, for the monitoring equipment of stratum, seabed variation, is applicable to seabed and land long-time, big data quantityFormation information gathers. Wherein, power module adopts jumbo lithium battery power supply, with the system that ensures data acquisition in low-power consumptionUnder pattern, can work long hours, guarantee reliability and the continuity of data.

5. the seabed formation data that the present invention obtains, can carry out quantitative analysis, by follow-up master system analysis, energyEnough form three-dimensional data and can carry out process playback, patterned data show and can show appearance factor to seabed visual and clearlyThe change procedure of slippage, has important scientific research and using value.

6. before the data of the present invention in data processor obtains sensor buffer memory, carried out initial attitude fromCalibration, comprises geomagnetic data calibration and two aspects of attitude algorithm calibration, has reduced accumulated error and null offset, has improved essenceReally property.

Equipment convenient operation of the present invention, cost precision low, data acquisition high, when can be used for monitoring under water and gatheringBetween reach more than three months, subtract reduced-maintenance expense, also have advantages of simultaneously manufacture simple, be convenient for carrying and use.

Brief description of the drawings

For the technical scheme of the clearer explanation embodiment of the present invention or prior art, below will be to embodiment or existingIn technical description, the accompanying drawing of required use is briefly described.

Fig. 1 is system architecture schematic diagram of the present invention;

Fig. 2 is the structural representation that the present invention monitors subelement;

Fig. 3 is the variation schematic diagram of long tube under stratum variation active force;

Fig. 4 is System Working Principle figure of the present invention;

Fig. 5 is the horizontal plane perspective view of monitoring means;

Fig. 6 is that the poor and deviation angle of long tube when variation global displacement is calculated schematic diagram;

In figure, processing unit 1, computer terminal 2, monitoring means 3, protective cover 4, long tube 31, hose connector 32, MEMS sensingDevice 33, vibration damping sheet 34.

Detailed description of the invention

For making object, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present inventionIn accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment isThe present invention's part embodiment, instead of whole embodiment. Based on the embodiment in the present invention, those of ordinary skill in the artNot making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of protection of the invention.

Shown in Fig. 1, the present invention includes processing unit 1, computer terminal 2, monitoring means 3, protective cover 4; Wherein, described prisonMeasurement unit 3 is made up of some monitoring subelements of series connection successively; Described monitoring means 3 is placed in protective cover 4; Described monitoring is singleThe signal monitoring is passed to processing unit 1 by unit 3; Signal after treatment is passed to computer terminal 2 by processing unit 1;

Described processing unit 1 comprises power module and data processor; Described power module provides work for data processorMake voltage;

Described monitoring subelement comprises long tube 31, hose connector 32, MEMS sensor 33 and vibration damping sheet 34;

Described MEMS sensor 33 is fixed in long tube 31 by vibration damping sheet 34; One end of long tube 31 and hose connector 32One end is connected;

Described power module is connected with MEMS sensor 33, for MEMS sensor 33 provides operating voltage; Described MEMS passesSensor 33 is connected with the data-in port of data processor; Data after treatment are passed to computer terminal 2 by data processor.

The two ends of described long tube 31 have external screw thread, the two ends of described hose connector 32 have with long tube 31 on external screw threadThe internal thread matching.

The material of described long tube 31 and hose connector 32 is stainless steel.

Described hose connector 32 is under external force towards any direction flexural deformation, and angle of bend scope is-180 ° and arrives180°。

Described MEMS sensor 33 inside are integrated with accelerometer, gyroscope and digital compass;

The material of described vibration damping sheet 34 is epoxy resin, is protected sensor and is reduced sensor rock and make by cushioning effectThe measure error becoming. Described protective cover 4 is polyethylene film.

Communication between described MEMS sensor 33 and data processor is carried out transfer of data by iic bus agreement; InstituteStating communication between data processor and computer terminal turns USB by serial ports and transmits.

Described MEMS sensor 33 can adopt the product of the MPU-9150 of InvenSense company model, but is not limited to this;Described power module is high-capacity lithium battery, can adopt the JN-R1230A-S model of Shenzhen Ju Neng lithium battery Co., LtdProduct, but be not limited to this; Described data processor adopts single-chip microcomputer, can adopt the product of the STM32 model of ALIENTEK, butBe not limited to this.

A monitoring method for submarine landslide monitoring device based on MEMS sensor, specifically comprises the following steps:

(1) monitoring means is arranged in the earth bore of accomplishing fluently in advance; In the time of the change of stratum, will drive long tube to occurTilt variation, is arranged on the MEMS sensor run-off the straight variation thereupon on long tube top, and MEMS sensor is through inner numeral fortuneDynamic survey after processor fusion treatment, obtains the hypercomplex number that comprises all information of displacement attitude, and sends data processing toDevice, described hypercomplex number is expressed by formula (1):

Q(q₀,q₁,q₂,q₃)＝q₀+q₁i+q₂j+q₃k(1)

Wherein, q₀、q₁、q₂、q₃Being real number, is four units that form hypercomplex number Q; I, j, k be mutually orthogonal unit toAmount;

(2) connect firmly coordinate system b with MEMS sensor from setting up rigid body as benchmark, in the time of the change of MEMS sensor,Rigid body connects firmly coordinate system b and rotates θ angle, rotates γ angle, rotates along Z axis along Y-axis along X-axis relative to geographic coordinate system nAngle, therebyAttitude algorithm equation (2) to Eulerian angles form:

Wherein,For geographic coordinate system n connects firmly the transformation matrix of coordinates of coordinate system b to rigid body;

Attitude algorithm equation (3) and the formula of reduction (4) thereof of contrast Quaternion Method, can obtain formula (5):

$C_n^b=\left[\begin{array}{ccc}{q}_0^2+q_1^2-q_2^2-q_3^2& 2(q_1{q}_2+q_0{q}_3)& 2(q_1{q}_3-q_0{q}_2)\\ 2(q_1{q}_2-q_0{q}_3)& q_0^2-q_1^2+q_2^2-q_3^2& 2(q_0{q}_1+q_2{q}_3)\\ 2(q_0{q}_2+q_1{q}_3)& 2(q_2{q}_3-q_0{q}_1)& q_0^2-q_1^2-q_2^2+q_3^2\end{array}\right]---\left(3\right)$

$C_n^b=\left[\begin{array}{ccc}{T}_{11}& T_{21}& T_{31}\\ T_{12}& T_{22}& T_{32}\\ T_{13}& T_{23}& T_{33}\end{array}\right]---\left(4\right)$

Wherein, θ is the angle of pitch of MEMS sensor after variation; γ is the roll angle of MEMS sensor after variation;For becomingThe yaw angle of MEMS sensor after moving;

(3) rolling of MEMS sensor after the pitching angle theta of MEMS sensor and variation after variation step (2) being obtainedAngle γ substitution formula (6) and formula (7), obtain deviation angle α and the inclination angle phi of single long tube:

$\mathrm{\&phi;}=\frac{\mathrm{\&pi;}}{2}-\arccos (cos\mathrm{\&theta;}\&CenterDot;cos\mathrm{\&gamma;})---\left(6\right)$

$\mathrm{\&alpha;}=\arccos \left(\frac{cos(\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;})\&CenterDot;cos\mathrm{\&gamma;}}{cos\mathrm{\&phi;}}\right)---\left(7\right)$

Wherein, the deviation angle that α is single long tube; φ is the inclination angle of single long tube;

Repeat to try to achieve by step (1)-(3) deviation angle and the inclination angle of each long tube, thereby know the change on each stratumEmotionally condition.

(4) deviation angle of each long tube step (3) being obtained and inclination angle substitution formula (8)-(16), obtain NJoint long tube is with respect to the displacement difference L of first segment long tube_N1And N joint long tube is with respect to the side-play amount ψ of first segment long tube_N-1Thereby,Know the change conditions on whole stratum;

L₂₁＝l₂(9)

ψ₁＝α₂(10)

$L_{31}=\sqrt{{l_2}^2+{l_3}^2-2l_2{l}_{3}cos(\mathrm{\&pi;}-|{\mathrm{\&alpha;}}_2-{\mathrm{\&alpha;}}_3\left|\right)}---\left(11\right)$

$\left\{\begin{array}{c}{\mathrm{\&psi;}}_2={\mathrm{\&alpha;}}_2+\arccos \left(\frac{{l_2}^2+{L_{31}}^2-{l_3}^2}{2l_2{L}_{31}}\right),{\mathrm{\&psi;}}_2>{\mathrm{\&alpha;}}_3\\ {\mathrm{\&psi;}}_2={\mathrm{\&alpha;}}_2+\arccos \left(\frac{{l_2}^2+{L_{31}}^2-{l_3}^2}{2l_2{L}_{31}}\right),{\mathrm{\&psi;}}_2<{\mathrm{\&alpha;}}_3\end{array}\right.---\left(12\right)$

$L_{41}=\sqrt{{L_{31}}^2+{l_4}^2-2L_{31}{l}_{4}cos(\mathrm{\&pi;}-|{\mathrm{\&psi;}}_2-{\mathrm{\&alpha;}}_4\left|\right)}---\left(13\right)$

$L_{51}=\sqrt{{L_{41}}^2+{l_5}^2-2L_{41}{l}_{5}cos(\mathrm{\&pi;}-|{\mathrm{\&psi;}}_3-{\mathrm{\&alpha;}}_5\left|\right)}---\left(14\right)$

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$L_{N1}=\sqrt{{L_{N-1,1}}^2+{l_N}^2-2L_{N-1,1}{l}_{N}cos(\mathrm{\&pi;}-|{\mathrm{\&psi;}}_{N-2}-{\mathrm{\&alpha;}}_N\left|\right)}---\left(15\right)$

$\left\{\begin{array}{cc}{\mathrm{\&psi;}}_{N-1}={\mathrm{\&psi;}}_{N-2}+\arccos \left(\frac{{L_{N-1,1}}^2+{L_{N1}}^2-{l_N}^2}{2L_{N-1,1}{L}_{N1}}\right),& {\mathrm{\&psi;}}_{N-2}>{\mathrm{\&alpha;}}_N\\ {\mathrm{\&psi;}}_{N-1}={\mathrm{\&psi;}}_{N-2}-\arccos \left(\frac{{L_{N-1,1}}^2+{L_{N1}}^2-{l_N}^2}{2L_{N-1,1}{L}_{N1}}\right),& {\mathrm{\&psi;}}_{N-2}<{\mathrm{\&alpha;}}_N\end{array}\right.---\left(16\right)$

Wherein, L is the length of long tube; I and N are the natural number that is more than or equal to 2; l_iThat i joint long tube projects to levelThe length of face; φ_iIt is the inclination angle of i joint long tube; L₂₁The displacement difference of second section long tube with respect to first segment long tube; l₂?Two joint long tubes project to the length of horizontal plane; ψ₁The side-play amount of second section long tube with respect to first segment long tube; L₃₁It is Section threeLong tube is with respect to the displacement difference of first segment long tube; l₃The length that Section of three long tube projects to horizontal plane; α₂It is second section long tubeThe deviation angle; α₃It is the deviation angle of Section of three long tube; ψ₂The side-play amount of Section of three long tube with respect to first segment long tube; L₄₁The 4thJoint long tube is with respect to the displacement difference of first segment long tube; l₄The length that Section of four long tube projects to horizontal plane; α₄Section of four long tubeThe deviation angle; L₅₁The displacement difference of Section of five long tube with respect to first segment long tube; l₅That Section of five long tube projects to horizontal planeLength; ψ₃The side-play amount of Section of four long tube with respect to first segment long tube; α₅It is the deviation angle of Section of five long tube; L_N-1,1N-1 joint long tube is with respect to the displacement difference of first segment long tube; L_N1The displacement difference of N joint long tube with respect to first segment long tube; l_NNJoint long tube projects to the length of horizontal plane; ψ_N-2The side-play amount of N-1 joint long tube with respect to first segment long tube; ψ_N-1It is N jointLong tube is with respect to the side-play amount of first segment long tube; α_NIt is the deviation angle of N joint long tube.

Obtained the deviation angle and the inclination angle of each long tube by step (3), thereby know the change conditions on each stratum; By stepSuddenly (4) obtain the poor L of global displacement of N long tube_N1And deviation angle ψ_N-2Thereby, know the change conditions on whole stratum, thus realThe detection of existing seabottom geology variation.

Claims (10)

1. the submarine landslide monitoring device based on MEMS sensor, is characterized in that, comprises processing unit (1), computer eventuallyEnd (2), monitoring means (3), protective cover (4); Wherein, described monitoring means (3) is by some monitoring subelement groups of series connection successivelyBecome; Described monitoring means (3) is placed in protective cover (4); Described monitoring means (3) passes to the signal monitoring to process listUnit (1); Signal after treatment is passed to computer terminal (2) by processing unit (1);

Described processing unit (1) comprises power module and data processor; Described power module provides work for data processorVoltage;

Described monitoring subelement comprises long tube (31), hose connector (32), MEMS sensor (33) and vibration damping sheet (34); DescribedMEMS sensor (33) is fixed in long tube (31) by vibration damping sheet (34); One of one end of long tube (31) and hose connector (32)End is connected;

Described power module is connected with MEMS sensor (33), for MEMS sensor (33) provides operating voltage; Described MEMS passesSensor (33) is connected with the data-in port of data processor; Data after treatment are passed to computer terminal by data processor(2)。

2. the submarine landslide monitoring device based on MEMS sensor according to claim 1, is characterized in that described long tube(31) two ends have external screw thread, the two ends of described hose connector (32) have match with the external screw thread on long tube (31) inScrew thread.

3. the submarine landslide monitoring device based on MEMS sensor according to claim 2, is characterized in that described long tube(31) and the material of hose connector (32) be stainless steel.

4. the submarine landslide monitoring device based on MEMS sensor according to claim 3, is characterized in that, described soft companyTake over (32) under external force towards any direction flexural deformation, angle of bend scope is-180 ° to 180 °.

5. the submarine landslide monitoring device based on MEMS sensor according to claim 4, is characterized in that described MEMSSensor (33) inside is integrated with accelerometer, gyroscope and digital compass.

6. the submarine landslide monitoring device based on MEMS sensor according to claim 5, is characterized in that described dampingThe material of sheet (34) is epoxy resin.

7. the submarine landslide monitoring device based on MEMS sensor according to claim 6, is characterized in that described protectionCover (4) is polyethylene film.

8. the submarine landslide monitoring device based on MEMS sensor according to claim 2, is characterized in that described power supplyModule is high-capacity lithium battery, and described data processor adopts single-chip microcomputer.

9. the submarine landslide monitoring device based on MEMS sensor according to claim 8, is characterized in that described MEMSCommunication between sensor (33) and data processor is carried out transfer of data by iic bus agreement; Described data processor andCommunication between computer terminal (2) turns USB by serial ports and transmits.

10. a monitoring method for the submarine landslide monitoring device based on MEMS sensor, is characterized in that, specifically comprises followingStep:

(1) monitoring means is arranged in the earth bore of accomplishing fluently in advance; In the time of the change of stratum, MEMS sensor occurs thereuponTilt variation, MEMS sensor sends the hypercomplex number of all information of displacement to data processor, and described hypercomplex number is passed throughFormula (1) is expressed:

Q(q₀,q₁,q₂,q₃)＝q₀+q₁i+q₂j+q₃k(1)

Wherein, q₀、q₁、q₂、q₃Being real number, is four units that form hypercomplex number Q; I, j, k are mutually orthogonal unit vectors;

(2) connect firmly coordinate system b with MEMS sensor from setting up rigid body as benchmark, in the time of the change of MEMS sensor, rigid bodyConnecting firmly coordinate system b rotates θ angle, rotates γ angle, rotates along Z axis along Y-axis along X-axis relative to geographic coordinate system nAngle, thus Europe obtainedDraw the attitude algorithm equation (2) of dihedral formula:

Wherein,For geographic coordinate system n connects firmly the transformation matrix of coordinates of coordinate system b to rigid body;

Attitude algorithm equation (3) and the formula of reduction (4) thereof of contrast Quaternion Method, can obtain formula (5):

$C_n^b=\left[\begin{array}{ccc}{q}_0^2+q_1^2-q_2^2-q_3^2& 2\left(q_1{q}_2+q_0{q}_3\right)& 2\left(q_1{q}_3-q_0{q}_2\right)\\ 2\left(q_1{q}_2-q_0{q}_3\right)& q_0^2-q_1^2+q_2^2-q_3^2& 2\left(q_0{q}_1+q_2{q}_3\right)\\ 2\left(q_0{q}_2+q_1{q}_3\right)& 2\left(q_2{q}_3-q_0{q}_1\right)& q_0^2+q_1^2-q_2^2-q_3^2\end{array}\right]---\left(3\right)$

$C_n^b=\left[\begin{array}{ccc}{T}_{11}& T_{21}& T_{31}\\ T_{12}& T_{22}& T_{32}\\ T_{13}& T_{23}& T_{33}\end{array}\right]---\left(4\right)$

Wherein, θ is the angle of pitch of MEMS sensor after variation; γ is the roll angle of MEMS sensor after variation;After variationThe yaw angle of MEMS sensor;

(3) the roll angle γ of MEMS sensor after the pitching angle theta of MEMS sensor and variation after variation step (2) being obtainedSubstitution formula (6) and formula (7), obtain deviation angle α and the inclination angle phi of single long tube:

$\mathrm{\&phi;}=\frac{\mathrm{\&pi;}}{2}-\arccos (cos\mathrm{\&theta;}\&CenterDot;cos\mathrm{\&gamma;})---\left(6\right)$

$\mathrm{\&alpha;}=\arccos \left(\frac{cos(\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;})\&CenterDot;cos\mathrm{\&gamma;}}{cos\mathrm{\&phi;}}\right)---\left(7\right)$

Wherein, the deviation angle that α is single long tube; φ is the inclination angle of single long tube;

Repeat to try to achieve by step (1)-(3) deviation angle and the inclination angle of each long tube, thereby know the variation feelings on each stratumCondition;

(4) deviation angle of each long tube step (3) being obtained and inclination angle substitution formula (8)-(16), obtain N joint longPipe is with respect to the displacement difference L of first segment long tube_N1And N joint long tube is with respect to the side-play amount ψ of first segment long tube_N-1Thereby, knowThe change conditions on whole stratum;

L₂₁＝l₂(9)

ψ₁＝α₂(10)

$L_{31}=\sqrt{{l_2}^2+{l_3}^2-2l_2{l}_{3}cos(\mathrm{\&pi;}-|{\mathrm{\&alpha;}}_2-{\mathrm{\&alpha;}}_3\left|\right)}---\left(11\right)$

$\left\{\begin{array}{c}{\mathrm{\&psi;}}_2={\mathrm{\&alpha;}}_2+\arccos \left(\frac{{l_2}^2+{L_{31}}^2-{l_3}^2}{2l_2{L}_{31}}\right),{\mathrm{\&psi;}}_2>{\mathrm{\&alpha;}}_3\\ {\mathrm{\&psi;}}_2={\mathrm{\&alpha;}}_2-\arccos \left(\frac{{l_2}^2+{L_{31}}^2-{l_3}^2}{2l_2{L}_{31}}\right),{\mathrm{\&psi;}}_2<{\mathrm{\&alpha;}}_3\end{array}\right.---\left(12\right)$

$L_{41}=\sqrt{{L_{31}}^2+{l_4}^2-2L_{31}{l}_{4}cos(\mathrm{\&pi;}-|{\mathrm{\&psi;}}_2-{\mathrm{\&alpha;}}_4\left|\right)}---\left(13\right)$

$L_{51}=\sqrt{{L_{41}}^2+{l_5}^2-2L_{41}{l}_{5}cos(\mathrm{\&pi;}-|{\mathrm{\&psi;}}_3-{\mathrm{\&alpha;}}_5\left|\right)}---\left(14\right)$

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$L_{N1}=\sqrt{{L_{N-1,1}}^2+{l_N}^2-2L_{N-1,1}{l}_{N}cos(\mathrm{\&pi;}-|{\mathrm{\&psi;}}_{N-2}-{\mathrm{\&alpha;}}_N\left|\right)}---\left(15\right)$

$\left\{\begin{array}{cc}{\mathrm{\&psi;}}_{N-1}={\mathrm{\&psi;}}_{N-2}+\arccos \left(\frac{{L_{N-1,1}}^2+{L_{N1}}^2-{l_N}^2}{2L_{N-1,1}{L}_{N1}}\right),& {\mathrm{\&psi;}}_{N-2}>{\mathrm{\&alpha;}}_N\\ {\mathrm{\&psi;}}_{N-1}={\mathrm{\&psi;}}_{N-2}-\arccos \left(\frac{{L_{N-1,1}}^2+{L_{N1}}^2-{l_N}^2}{2L_{N-1,1}{L}_{N1}}\right),& {\mathrm{\&psi;}}_{N-2}<{\mathrm{\&alpha;}}_N\end{array}\right.---\left(16\right)$

Wherein, L is the length of long tube; I and N are the natural number that is more than or equal to 2; l_iThe length that i joint long tube projects to horizontal planeDegree; φ_iIt is the inclination angle of i joint long tube; L₂₁The displacement difference of second section long tube with respect to first segment long tube; l₂That second section is longPipe projects to the length of horizontal plane; ψ₁The side-play amount of second section long tube with respect to first segment long tube; L₃₁Section of three long tube phaseFor the displacement difference of first segment long tube; l₃The length that Section of three long tube projects to horizontal plane; α₂It is the deflection of second section long tubeAngle; α₃It is the deviation angle of Section of three long tube; ψ₂The side-play amount of Section of three long tube with respect to first segment long tube; L₄₁Section of four lengthPipe is with respect to the displacement difference of first segment long tube; l₄The length that Section of four long tube projects to horizontal plane; α₄The inclined to one side of Section of four long tubeTo angle; L₅₁The displacement difference of Section of five long tube with respect to first segment long tube; l₅The length that Section of five long tube projects to horizontal plane;ψ₃The side-play amount of Section of four long tube with respect to first segment long tube; α₅It is the deviation angle of Section of five long tube; L_N-1,1That N-1 joint is longPipe is with respect to the displacement difference of first segment long tube; L_N1The displacement difference of N joint long tube with respect to first segment long tube; l_NThat N joint is longPipe projects to the length of horizontal plane; ψ_N-2The side-play amount of N-1 joint long tube with respect to first segment long tube; ψ_N-1It is N joint long tubeWith respect to the side-play amount of first segment long tube; α_NIt is the deviation angle of N joint long tube.