CN110864654A - Side slope deformation measurement method based on ultra wide band measurement - Google Patents
Side slope deformation measurement method based on ultra wide band measurement Download PDFInfo
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- CN110864654A CN110864654A CN201911193730.7A CN201911193730A CN110864654A CN 110864654 A CN110864654 A CN 110864654A CN 201911193730 A CN201911193730 A CN 201911193730A CN 110864654 A CN110864654 A CN 110864654A
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- G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
- G01B15/06—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons for measuring the deformation in a solid
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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Abstract
The invention relates to a slope deformation measuring method based on ultra wide band measurement, which comprises the following steps: setting a reference system comprising at least three reference stations on a stable point of the slope, and measuring the position coordinates of each reference station in the reference system; arranging measuring equipment on a measuring point of the side slope, and networking by using an ultra-wideband network; calculating to obtain the data transmission time between the measuring equipment and each reference station; then calculating to obtain the real-time distance between the measuring equipment and each reference station according to the preset ultra-wideband wireless carrier transmission speed; calculating to obtain real-time coordinates of the slope measuring points according to the position coordinates of the reference stations and the real-time distances between the reference stations and the measuring equipment; and judging the deformation state of the side slope measuring points according to the real-time coordinates of the side slope measuring points to realize side slope deformation measurement. The slope deformation measuring method can calculate the real-time position of the measuring equipment while transmitting the slope data of the measuring equipment, so that the efficiency and the effect of slope deformation measurement can be improved.
Description
Technical Field
The invention relates to the technical field of side slope engineering, in particular to a side slope deformation measuring method based on ultra wide band measurement.
Background
At present, monitoring and early warning of sudden geological disasters such as collapse, landslide, debris flow and the like are more and more emphasized. The main task of geological disaster monitoring is to monitor geological disaster time-space domain evolution information and acquire continuous time-space deformation data to the maximum extent, the most mature and stable method is to observe and evaluate the safety and stability conditions of geological disaster bodies such as side slopes by measuring displacement deformation, and the monitoring method comprises ground surface relative displacement monitoring, GPS/Beidou satellite monitoring, deep displacement monitoring, inclination state monitoring and the like.
For example, chinese patent publication No. CN109138003B discloses a method for monitoring the horizontal displacement of a deep soil based on ranging from opposite sides, which belongs to the field of monitoring the horizontal displacement of deep soil, and includes S1, freely arranging a total station at any P point around a foundation pit, and observing any two known datum points C1 and C2 to obtain the coordinates of the P point of a freely-arranged station; s2, arranging each deep horizontal displacement monitoring point on the monitoring section; s3, observing all monitoring points SC1-i on each monitoring section SC1 of the foundation pit by using a total station to obtain the horizontal distances and horizontal disc degrees from the point P to other reference points C1, C2 and monitoring points SC1, and calculating to obtain the horizontal distances from the reference point C2 to all monitoring points SC 1-i; s4, calculating the horizontal displacement and the accumulated deformation of the horizontal displacement of the monitoring point relative to the reference point; and S5, calculating the component of the horizontal distance of the monitoring point in the direction of the foundation pit slope.
The method for monitoring the horizontal displacement of the deep layer of the soil body in the prior scheme is also a method for measuring the deformation of the side slope, and the deformation of the side slope is monitored by a total station. Although the total station has high precision, the total station is expensive in price and too large in cost, is a precise optical electronic instrument and is difficult to apply to severe conditions, and a large space is required for a host computer installation point; and measuring slope deformation needs to be accomplished in the open air, which makes the effect of slope deformation measurement not good.
In order to solve the above problems, in the prior art, a plurality of measuring devices at a slope measuring point are collected at a data collecting base station by using a wireless networking mode and the like, then slope data (inclination angle, slope anchor cable prestress measurement, rainfall, displacement and the like) collected by the measuring devices are uploaded to a server, and the slope deformation quantity is measured and calculated by using the position change of the measuring devices while the slope data is collected. In the existing scheme, a measuring device is used for collecting slope data, a wireless network is used for device communication and slope data transmission, and calculation of the real-time position of the measuring device is completed in a server. Therefore, the data transmission of the measuring equipment and the calculation of the real-time position of the measuring equipment cannot be synchronously carried out, and the data transmission and the calculation cannot be carried out on the same equipment or the same network, so that the slope deformation measurement efficiency is low and the effect is not good.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a slope deformation measurement method capable of calculating the real-time position of a measurement device through data transmission time so as to calculate the real-time position of the measurement device while transmitting slope data of the measurement device, thereby improving the efficiency and effect of slope deformation measurement.
In order to solve the technical problems, the invention adopts the following technical scheme:
a slope deformation measurement method based on ultra wide band measurement comprises the following steps:
s1: setting a reference system comprising at least three reference stations which take ultra-wideband transceiving devices as reference stations on a stable point of a slope, and measuring the position coordinate of each reference station in the reference system;
s2: arranging an ultra-wideband transceiver on a measuring point of the side slope as measuring equipment, and networking the measuring equipment and a reference system by using an ultra-wideband network;
s3: calculating to obtain the data transmission time between the measuring equipment and each reference station according to a bilateral two-way flight time ranging method; then calculating to obtain the real-time distance between the measuring equipment and each reference station according to the data transmission time between the measuring equipment and each reference station and the preset ultra-wideband wireless carrier transmission speed;
s4: calculating to obtain real-time coordinates of the measuring equipment as real-time coordinates of the side slope measuring points according to the position coordinates of the reference stations and the real-time distances between the reference stations and the measuring equipment;
s5: and judging the deformation state of the side slope measuring points according to the real-time coordinates of the side slope measuring points to realize side slope deformation measurement.
In the scheme, a reference system is arranged at a stable point of a side slope, measuring equipment is arranged at a measuring point of the side slope to be measured, and the reference system and the measuring equipment are networked, so that data communication can be carried out between the measuring equipment and the reference system; secondly, calculating data transmission time according to a bilateral two-way flight time ranging method (calculating the data transmission time according to a timestamp during data transmission), calculating the real-time distance between the measuring equipment and the reference station according to the data transmission time, and finally calculating the real-time coordinates (real-time positions) of the slope measuring points of the measuring equipment according to the position coordinates of the reference station and the real-time distances between each reference station and the measuring equipment so as to calculate the slope deformation value. In the scheme, the slope data is transmitted and utilized, and the real-time coordinates (real-time position) of the slope measuring points of the measuring equipment are calculated by utilizing the data transmission time, so that the transmission of the slope data of the measuring equipment and the calculation of the real-time position of the measuring equipment can be carried out simultaneously, and the efficiency and the effect of slope deformation measurement can be improved. Therefore, the slope deformation measuring method in the scheme can calculate the real-time position of the measuring equipment through the data transmission time, so that the slope data of the measuring equipment is transmitted and the real-time position of the measuring equipment is calculated at the same time, and the efficiency and the effect of slope deformation measurement can be improved.
Preferably, in the step S5, a slope deformation value is calculated according to the real-time coordinates of the slope measurement point and the pre-stored original coordinates of the slope measurement point of the measurement device; then judging whether the side slope deformation value is larger than a preset side slope deformation threshold value or not, and if so, judging that the side slope deforms; if not, judging that the side slope is not deformed.
In this way, firstly, a slope deformation value is obtained through calculation according to the real-time coordinates of the slope measuring points and the pre-stored original coordinates of the slope measuring points of the measuring equipment, then the slope deformation value is compared with a slope deformation threshold value to judge whether the slope deforms, and through comparison with the original coordinates of the slope measuring points, whether the slope deforms can be effectively judged, and the effect of slope deformation measurement can be improved; in addition, the side slope deformation threshold value is used as a judgment standard for alarming, so that a proper side slope deformation threshold value can be selected according to actual requirements during use, side slope deformation measurement can be better completed, and the side slope deformation measurement effect can be improved.
Preferably, in step S5, calculating to obtain a slope deformation value according to the real-time coordinates of the slope measurement point and the real-time coordinates of the measurement device obtained by the last calculation; then judging whether the side slope deformation value is larger than a preset side slope deformation threshold value or not, and if so, judging that the side slope deforms; if not, judging that the side slope is not deformed.
Therefore, the slope deformation value is obtained by calculating according to the real-time coordinate of the slope measuring point and the real-time coordinate of the measuring equipment obtained by the last calculation, and then the slope deformation value is compared with the slope deformation threshold value to judge whether the slope deforms or not; in addition, the side slope deformation threshold value is used as a judgment standard for alarming, so that a proper side slope deformation threshold value can be selected according to actual requirements during use, side slope deformation measurement can be better completed, and the side slope deformation measurement effect can be improved.
Preferably, in the step S5, after the slope deformation measurement is performed, the process returns to the step S3 to perform the next slope deformation measurement, and the time difference between the two slope deformation measurements is taken as a measurement period.
Like this, the measurement cycle formula measuring method compares with continuous incessant mode, has the advantage of practicing thrift the energy consumption, extension equipment life-span, is favorable to promoting the effect that slope deformation measured.
Preferably, in step S5, if it is determined that the slope is deformed, an alarm is issued; and if the slope is not deformed, the reference system and the measuring equipment enter a dormant state until the slope deformation in the next measuring period is measured.
Therefore, the alarm can be sent or the dormancy can be controlled according to the result of the slope deformation measurement, the effects of saving energy consumption and prolonging the service life of equipment are achieved, and the effect of slope deformation measurement is favorably improved.
Preferably, in step S3, the step of calculating the real-time distance between the measuring apparatus and any reference station in the reference system includes the following steps:
s301: sending a first data packet to the reference station by the measuring equipment, and recording the sending time T1 of the first data packet;
s302: the reference station receives a first data packet sent by the measuring equipment and records the receiving time T2 of the first data packet; then the reference station sends a second data packet to the measuring equipment, and records the sending time T3 of the second data packet;
s303: the measuring equipment receives a second data packet sent by the reference station and records the receiving time T4 of the second data packet; then the measuring equipment sends a third data packet to the reference station and records the sending time T5 of the third data packet;
s304: the reference station receives a third data packet sent by the measuring equipment and records the receiving time T6 of the third data packet;
s305: calculating to obtain data transmission time according to the first data packet sending time T1, the first data packet receiving time T2, the second data packet sending time T3, the second data packet receiving time T4, the third data packet sending time T5 and the third data packet receiving time T6; and then calculating to obtain the real-time distance between the measuring equipment and the reference station according to the data transmission time and the preset ultra-wideband wireless carrier transmission speed.
Therefore, the data transmission time is calculated by recording the timestamps of data packet sending and receiving, so that the data transmission time can be calculated while slope data transmission is normally completed, the real-time distance between the measuring equipment and the reference station can be calculated according to the transmission speed of the ultra-wideband wireless carrier, and the efficiency and the effect of slope deformation measurement can be improved by the synchronous calculation mode.
Preferably, in S305, the data transmission time is calculated by using the following formula:
The ultra-wideband transceiver has a data processing process from the process of receiving a data packet to the process of sending the data packet, namely, a time delay exists, and the time delay is related to the performance (processing speed) of the ultra-wideband transceiver, so that the time delay is difficult to accurately calculate; however, if the time delay is not measured and eliminated, the calculation of the data transmission time has a large error, thereby affecting the effect of measuring the slope deformation.
In the scheme, when the formula is adopted for calculation, the existing time delay can be eliminated, so that the effect of slope deformation measurement can be improved; in addition, the scheme can make full use of the timestamps of sending and receiving of the data packets, so that the data transmission time can be calculated while slope data transmission is normally completed, the real-time distance between the measuring equipment and the reference station can be calculated according to the transmission speed of the ultra-wideband wireless carrier, and the mode of synchronous calculation is favorable for improving the efficiency and the effect of slope deformation measurement.
Preferably, the reference system comprises three ultra-wideband transceiver devices as reference stations, and the three ultra-wideband transceiver devices can be distributed in a triangular manner in the same plane.
Therefore, a reference system can be formed by the three reference stations, and the left side of the side slope position of the measuring equipment can be positioned by calculating the real-time distance between the measuring equipment and the reference station in the reference system, so that the real-time coordinates of the side slope measuring points can be accurately calculated, and the effect of side slope deformation measurement can be improved.
Preferably, when there is no error in calculating the real-time distance between the measuring device and each reference station, in step S4, the real-time coordinates of the measuring device are calculated by the following steps: and respectively making three circles by taking the position coordinates of the three reference stations as circle centers and taking the real-time distance from the measuring equipment to the corresponding reference station as a radius, wherein the intersection point of the three circles is the real-time coordinate of the measuring equipment.
Therefore, the position coordinates of the three reference stations are used as the circle centers, the real-time distance from the measuring equipment to the corresponding reference station is used as the radius to make three circles, the left side of the slope position of the measuring equipment can be positioned, the real-time coordinates of the slope measuring points can be accurately calculated, and the slope deformation measuring effect can be favorably improved.
Preferably, when there is an error in the calculation of the real-time distance between the measuring device and each reference station, in step S4, the following steps are adopted to calculate the real-time coordinates of the measuring device:
s401: establishing an initial equation of position (x)i-x)2+(yi-y)2＝Ri 2(i-1, 2,3) in which x isiAs abscissa of the position coordinate of the reference station, yiIs the ordinate of the position coordinate of the reference station, x is the abscissa of the real-time position of the measuring device, y is the ordinate of the real-time position of the measuring device, RiMeasuring the real-time distance between the equipment and a reference station;
s402: determining position coordinates of three reference stations, respectively first reference station position coordinates (x)1,y1) Second reference station position coordinate (x)2,y2) Third reference station position coordinate (x)3,y3)；
S403: establishing a position matrix equation
Then, the position matrix is substituted into the position initial equation to obtain a position equation
S404: solving a position equation
To obtain the coordinate equation α ═ (X) by least squares solutionTX)-1XTβ；
S405. according to the coordinate equation α ═ (X)TX)-1XTβ, calculating real-time coordinates of the measuring device.
In the actual side slope measuring process, errors, such as errors existing in a clock crystal oscillator or errors caused by influence of wind speed on ultra-wideband wireless carrier transmission speed, inevitably exist, so that when a three-point positioning method (namely, three circles are used for finding intersection points to determine the real-time coordinates of the side slope measuring points of the measuring equipment, and the method is only suitable for an ideal state), the three circles cannot intersect at one point, and the real-time coordinates of the side slope measuring points of the measuring equipment are not determined.
In the scheme, the sum of squares of differences can be minimized by establishing a position matrix equation and solving a least square solution, so that the real-time coordinates of the side slope measuring points of the measuring equipment can be accurately measured by calculation under the condition that three circles are not intersected at the same point (when errors exist in the calculation of the real-time distances between the measuring equipment and each reference station), and the effect of measuring the deformation of the side slope is favorably improved.
Drawings
For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
FIG. 1 is a logic block diagram of a slope deformation measurement method according to an embodiment;
FIG. 2 is a logic diagram for calculating a real-time distance according to one embodiment;
FIG. 3 is a schematic diagram of calculating a real-time distance according to a first embodiment;
fig. 4 is a logic block diagram of calculating real-time coordinates of slope measurement points of the measuring device in the second embodiment.
Detailed Description
The following is further detailed by the specific embodiments:
the first embodiment is as follows:
the embodiment discloses a slope deformation measuring method based on ultra wide band measurement.
As shown in fig. 1: a slope deformation measurement method based on ultra wide band measurement comprises the following steps:
s1: setting a reference system comprising at least three reference stations which take ultra-wideband transceiving devices as reference stations on a stable point of a slope, and measuring the position coordinate of each reference station in the reference system;
s2: arranging an ultra-wideband transceiver on a measuring point of the side slope as measuring equipment, and networking the measuring equipment and a reference system by using an ultra-wideband network;
s3: calculating to obtain the data transmission time between the measuring equipment and each reference station according to a bilateral two-way flight time ranging method; then calculating to obtain the real-time distance between the measuring equipment and each reference station according to the data transmission time between the measuring equipment and each reference station and the preset ultra-wideband wireless carrier transmission speed;
s4: calculating to obtain real-time coordinates of the measuring equipment as real-time coordinates of the side slope measuring points according to the position coordinates of the reference stations and the real-time distances between the reference stations and the measuring equipment;
s5: and judging the deformation state of the side slope measuring points according to the real-time coordinates of the side slope measuring points to realize side slope deformation measurement.
In a specific implementation process, the reference system in step S1 includes three ultra-wideband transceiver devices serving as reference stations, and the three ultra-wideband transceiver devices can be distributed in a triangular shape in a same plane. The coordinates of the three reference stations are: first reference station position coordinates (x)1,y1) Second reference station position coordinate (x)2,y2) Third reference station position coordinate (x)3,y3)。
In a specific implementation process, distances between the measuring device set in the step S2 and reference stations in the reference system are all less than 200 m.
In the specific implementation process, as shown in fig. 2 and 3: in step S3, when calculating the real-time distance between the measuring device and any reference station in the reference system, the method includes the following steps:
s301: sending a first data packet to the reference station by the measuring equipment, and recording the sending time T1 of the first data packet;
s302: the reference station receives a first data packet sent by the measuring equipment and records the receiving time T2 of the first data packet; then the reference station sends a second data packet to the measuring equipment, and records the sending time T3 of the second data packet;
s303: the measuring equipment receives a second data packet sent by the reference station and records the receiving time T4 of the second data packet; then the measuring equipment sends a third data packet to the reference station and records the sending time T5 of the third data packet;
s304: the reference station receives a third data packet sent by the measuring equipment and records the receiving time T6 of the third data packet;
s305: calculating to obtain data transmission time according to the first data packet sending time T1, the first data packet receiving time T2, the second data packet sending time T3, the second data packet receiving time T4, the third data packet sending time T5 and the third data packet receiving time T6; and then calculating to obtain the real-time distance between the measuring equipment and the reference station according to the data transmission time and the preset ultra-wideband wireless carrier transmission speed.
The data transmission time is calculated by adopting the following formula:
Wherein, the first data packet is a POLL packet comprising a generation code (data packet ID) and time stamp data; the second packet is a Response packet including a generation code (packet ID) and time stamp data; the third packet is a Final packet including a generation code (packet ID) and time stamp data.
In a specific implementation process, when there is no error in calculating the real-time distance between the measuring device and each reference station, in step S4, when calculating the real-time coordinates of the slope measuring points of the measuring device by using a three-point positioning method: i.e. position coordinates ((x) of three reference stations, respectively1,y1)，(x2,y2)，(x3,y3) Centered at a distance R from the measuring device to the corresponding reference station in real time1,R2,R3) Three circles are made for the radius, and the intersection point of the three circles is the real-time coordinate of the measuring device.
In a specific implementation process, in the step S5, there are two methods for measuring the slope deformation: 1) calculating to obtain a slope deformation value according to the real-time coordinates of the slope measuring points and prestored original coordinates of the slope measuring points of the measuring equipment; then judging whether the side slope deformation value is larger than a preset side slope deformation threshold value or not, and if so, judging that the side slope deforms; if not, judging that the side slope is not deformed; 2) calculating to obtain a slope deformation value according to the real-time coordinates of the slope measuring points and the real-time coordinates of the measuring equipment obtained by the last calculation; then judging whether the side slope deformation value is larger than a preset side slope deformation threshold value or not, and if so, judging that the side slope deforms; if not, judging that the side slope is not deformed.
The slope deformation threshold value is reasonably set according to the specific condition of the slope, the rock stratum soil layer structure, the water permeability condition and the like.
In a specific implementation process, in the step S5, after the slope deformation measurement is performed for one time, the step S3 is returned to, and the next slope deformation measurement is performed, where a time difference between two slope deformation measurements is used as a measurement period; if the slope is judged to be deformed, an alarm is given; and if the slope is not deformed, the reference system and the measuring equipment enter a dormant state until the slope deformation in the next measuring period is measured.
In this embodiment, the measured data may also be filtered by using a kalman filter algorithm, because the ultra-wideband communication rate is extremely fast, and the accuracy may be improved after filtering by using the kalman filter algorithm.
Example two:
compared with the embodiment, the embodiment is different only in the method for calculating the real-time coordinates of the slope measuring points of the measuring equipment in the embodiment.
In the actual side slope measuring process, errors, such as errors existing in a clock crystal oscillator or errors caused by influence of wind speed on ultra-wideband wireless carrier transmission speed, exist inevitably, so that when a three-point positioning method (namely, three circles are used for determining the real-time coordinates of the side slope measuring points of the measuring equipment in a mode of finding intersection points, and the method is only suitable for an ideal state) is adopted, the three circles cannot intersect at one point, and the real-time coordinates of the side slope measuring points of the measuring equipment are not determined.
For this purpose, as shown in fig. 4: when the calculation of the real-time distance between the measuring equipment and each reference station has errors, the method comprises the following steps of:
s401: establishing an initial position equation: (x)i-x)2+(yi-y)2＝Ri 2(i-1, 2,3) in which x isiAs abscissa of the position coordinate of the reference station, yiIs the ordinate of the position coordinate of the reference station, x is the abscissa of the real-time position of the measuring device, y is the ordinate of the real-time position of the measuring device, RiMeasuring the real-time distance between the equipment and a reference station;
s402: determining position coordinates of three reference stations, respectively first reference station position coordinates (x)1,y1) Second reference station position coordinate (x)2,y2) Third reference station position coordinate (x)3,y3)；
S403: establishing a position matrix equation
Then, the position matrix is substituted into the position initial equation to obtain a position equation
S404: solving a position equation
To obtain the coordinate equation α ═ (X) by least squares solutionTX)-1XTβ；
S405. according to the coordinate equation α ═ (X)TX)-1XTβ, calculating real-time coordinates of the measuring device.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. A slope deformation measurement method based on ultra wide band measurement is characterized by comprising the following steps:
s1: setting a reference system comprising at least three reference stations which take ultra-wideband transceiving devices as reference stations on a stable point of a slope, and measuring the position coordinate of each reference station in the reference system;
s2: arranging an ultra-wideband transceiver on a measuring point of the side slope as measuring equipment, and networking the measuring equipment and a reference system by using an ultra-wideband network;
s3: calculating to obtain the data transmission time between the measuring equipment and each reference station according to a bilateral two-way flight time ranging method; then calculating to obtain the real-time distance between the measuring equipment and each reference station according to the data transmission time between the measuring equipment and each reference station and the preset ultra-wideband wireless carrier transmission speed;
s4: calculating to obtain real-time coordinates of the measuring equipment as real-time coordinates of the side slope measuring points according to the position coordinates of the reference stations and the real-time distances between the reference stations and the measuring equipment;
s5: and judging the deformation state of the side slope measuring points according to the real-time coordinates of the side slope measuring points to realize side slope deformation measurement.
2. The ultra-wideband measurement based slope deformation measurement method of claim 1, characterized in that: in the step S5, calculating to obtain a slope deformation value according to the real-time coordinates of the slope measuring point and the pre-stored original coordinates of the slope measuring point of the measuring device; then judging whether the side slope deformation value is larger than a preset side slope deformation threshold value or not, and if so, judging that the side slope deforms; if not, judging that the side slope is not deformed.
3. The ultra-wideband measurement based slope deformation measurement method of claim 1, characterized in that: in the step S5, calculating to obtain a slope deformation value according to the real-time coordinates of the slope measuring point and the real-time coordinates of the measuring equipment obtained by the last calculation; then judging whether the side slope deformation value is larger than a preset side slope deformation threshold value or not, and if so, judging that the side slope deforms; if not, judging that the side slope is not deformed.
4. The ultra-wideband measurement based slope deformation measurement method according to any one of claims 2 or 3, characterized by: in step S5, after the slope deformation measurement is performed once, the process returns to step S3 to perform the next slope deformation measurement, and the time difference between the two slope deformation measurements is used as a measurement period.
5. The ultra-wideband measurement based slope deformation measurement method of claim 4, characterized in that: in step S5, if it is determined that the slope is deformed, an alarm is issued; and if the slope is not deformed, the reference system and the measuring equipment enter a dormant state until the slope deformation in the next measuring period is measured.
6. The ultra-wideband measurement based slope deformation measurement method of claim 1, characterized in that: in step S3, when calculating the real-time distance between the measuring device and any reference station in the reference system, the method includes the following steps:
s301: sending a first data packet to the reference station by the measuring equipment, and recording the sending time T1 of the first data packet;
s302: the reference station receives a first data packet sent by the measuring equipment and records the receiving time T2 of the first data packet; then the reference station sends a second data packet to the measuring equipment, and records the sending time T3 of the second data packet;
s303: the measuring equipment receives a second data packet sent by the reference station and records the receiving time T4 of the second data packet; then the measuring equipment sends a third data packet to the reference station and records the sending time T5 of the third data packet;
s304: the reference station receives a third data packet sent by the measuring equipment and records the receiving time T6 of the third data packet;
s305: calculating to obtain data transmission time according to the first data packet sending time T1, the first data packet receiving time T2, the second data packet sending time T3, the second data packet receiving time T4, the third data packet sending time T5 and the third data packet receiving time T6; and then calculating to obtain the real-time distance between the measuring equipment and the reference station according to the data transmission time and the preset ultra-wideband wireless carrier transmission speed.
7. The ultra-wideband measurement based slope deformation measurement method of claim 6, characterized in that: in S305, the data transmission time is calculated by using the following formula:
8. The ultra-wideband measurement based slope deformation measurement method of claim 1, characterized in that: the reference system comprises three ultra-wideband transceiver devices serving as reference stations, and the three ultra-wideband transceiver devices can be distributed in a triangular mode in the same plane.
9. The ultra-wideband measurement based slope deformation measurement method according to claim 8, wherein when there is no error in the calculation of the real-time distances between the measurement device and the respective reference stations, in step S4, the real-time coordinates of the measurement device are calculated by the following steps: and respectively making three circles by taking the position coordinates of the three reference stations as circle centers and taking the real-time distance from the measuring equipment to the corresponding reference station as a radius, wherein the intersection point of the three circles is the real-time coordinate of the measuring equipment.
10. The ultra-wideband measurement based slope deformation measurement method of claim 8, wherein: when there is an error in the calculation of the real-time distances between the measuring device and the respective reference stations, in step S4, the following steps are adopted to calculate the real-time coordinates of the measuring device:
s401: establishing an initial equation of position (x)i-x)2+(yi-y)2＝Ri 2(i-1, 2,3) in which x isiAs abscissa of the position coordinate of the reference station, yiIs the ordinate of the position coordinate of the reference station, x is the abscissa of the real-time position of the measuring device, y is the real-time position of the measuring deviceOrdinate of arrangement, RiMeasuring the real-time distance between the equipment and a reference station;
s402: determining position coordinates of three reference stations, respectively first reference station position coordinates (x)1,y1) Second reference station position coordinate (x)2,y2) Third reference station position coordinate (x)3,y3)；
S403: establishing a position matrix equation
Then, the position matrix is substituted into the position initial equation to obtain a position equation
S404: solving a position equation
To obtain the coordinate equation α ═ (X) by least squares solutionTX)-1XTβ；
S405. according to the coordinate equation α ═ (X)TX)-1XTβ, calculating real-time coordinates of the measuring device.
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