CN111487587A - Dangerous rock collapse disaster deformation monitoring method and system based on ultra-bandwidth positioning - Google Patents
Dangerous rock collapse disaster deformation monitoring method and system based on ultra-bandwidth positioning Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S5/02—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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S5/02—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
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
Abstract
The invention belongs to the technical field of disaster monitoring, and discloses a dangerous rock collapse disaster deformation monitoring method based on ultra-bandwidth positioning, wherein at least one measuring label is distributed on the surface of a disaster body, and the monitoring method comprises the following steps: signal pre-verification: respectively flying to the preset positions of the corresponding measurement tags according to the preset tracks by the mobile measurement base station, and searching the position of the optimal signal between the mobile measurement base station and the measurement tags near the preset positions according to the signal intensity threshold; positioning and measuring: the mobile measurement base station performs data acquisition and displacement change measurement on the measurement label at the position of the optimal signal; the invention also discloses a system for detecting the deformation of the dangerous rock collapse disaster based on the ultra-bandwidth positioning, which comprises a measuring host, a mobile measuring base station and a measuring label. The invention can monitor the polarity disaster in a more complex environment, and can acquire and measure data by automatically searching the optimal signal and carrying out data acquisition and measurement at the position of the optimal signal, so that the measured and calculated data is more accurate.
Description
Technical Field
The invention belongs to the technical field of disaster monitoring, and particularly relates to a dangerous rock collapse disaster deformation monitoring method and system based on ultra-bandwidth positioning.
Background
At present, the monitoring work of dangerous rock collapse bodies is still the weakest link in typical geological disaster monitoring such as collapse, landslide, debris flow and the like; early manual patrol methods have been disabled for safety reasons; at present, widely applied monitoring methods comprise a GPS monitoring method, a geodetic measurement method, a photography method, a three-dimensional laser scanning method and a related factor monitoring method; the use cost of the GPS monitoring method is too high; the geodetic method, the photographic method and the three-dimensional laser scanning method have high requirements on manual work, and the realization of automatic measurement is difficult; the related factor monitoring method is difficult to summarize and accurately obtain the corresponding relation between the related factors and the deformation of the disaster body because the actual conditions of all disaster places are greatly different.
The development of ultra-wideband (UWB) technology provides an alternative GPS implementation for regional high-precision position measurement. However, UWB is mainly applied to indoor positioning, and there are few technical cases of positioning using UWB outdoors, which generally includes a plurality of micro base stations and a plurality of location tags; the position tags are distributed and deployed in a potential dangerous rock area, receive instructions to emit UWB positioning pulse signals, and transmit information between the position tags and the micro base station in a wireless mode. However, this method has the following drawbacks:
firstly, through a sensing network composed of a plurality of micro base stations and position tags, the measurement accuracy depends on the measurement of time, so that the time between the base stations and the tags is required to be completely synchronized, but in the actual measurement, it is difficult to achieve the time synchronization between the base stations and the tags, and each node (target/base station) has its own reference clock, and a clock source is generally provided by a crystal oscillator. Due to the influence of factors such as temperature process, the crystal oscillator has frequency deviation and drift, and a phase-locked loop in a chip also has errors when the frequency of the clock is multiplied, and the errors can cause the final system clock to have errors. When the time between the base station and the label is not synchronized and gradually increases along with the time, the measurement result is displayed according to the actual measurement result, and a large error is generated in the measurement result.
Secondly, the field environment is complicated, base stations are not suitable to be built at dangerous rock places, great potential safety hazards exist, signals are caused due to the fact that shielding exists in the field, the shielding object attenuates the signals from the transmitting end to the receiving end, and the receiving end cannot receive the wireless pulse signals which arrive in a straight line.
Disclosure of Invention
The invention aims to provide a dangerous rock collapse disaster deformation monitoring method and system based on ultra-bandwidth positioning, which realize accurate acquisition and measurement of displacement change data of a measurement tag by searching and measuring the position of a tag optimal signal by using a mobile measurement base station.
The technical scheme adopted by the invention is as follows:
a dangerous rock collapse disaster deformation monitoring method based on ultra-bandwidth positioning is disclosed, wherein at least one measuring tag is distributed on the surface of a disaster body, and the monitoring method comprises the following steps:
signal pre-verification: respectively flying to the preset positions of the corresponding measurement tags according to the preset tracks by the mobile measurement base station, and searching the position of the optimal signal between the mobile measurement base station and the measurement tags near the preset positions according to the signal intensity threshold;
positioning and measuring: and the mobile measurement base station performs data acquisition and displacement measurement and calculation on the measurement label at the position of the optimal signal.
In the preferred technical scheme, in the signal pre-check, the specific steps of finding the position of the preferred signal according to the signal intensity threshold value are as follows:
s1: a signal intensity threshold value is preset in the mobile measurement base station, when the intensity of the signal received by the mobile measurement base station from the measurement label is lower than the threshold value, the signal is poor, and the mobile measurement base station starts to automatically seek optimization near the preset position;
if the signal intensity of the mobile measurement base station received by the measurement tag is greater than or equal to the threshold value, the mobile measurement base station is an excellent signal, the mobile measurement base station keeps hovering, and the positioning measurement is carried out; if the signal strength is smaller than the threshold, go to step S2;
s2: and establishing a spherical mathematical model taking the preset position as a sphere center and the distance between the preset position and the measuring label as a radius, and searching the position of the signal which is greater than or equal to the threshold value by the mobile measuring base station by taking the surface of the spherical mathematical model as a searching surface.
In a preferred technical solution, the specific method for moving the mobile measurement base station when searching for the optimal signal along the spherical data model in step S2 is as follows:
s2 a: taking four directions of the mobile measuring base station from south, east and west as initial moving directions, starting the mobile measuring base station to move towards the four directions of the south, east and north when the signal is in a poor preset position, wherein the step length of the mobile measuring base station moving along the spherical mathematical model every time is X, and X is more than 0 and less than or equal to 1 meter;
s2 b: when the mobile measurement base station moves towards four directions of south, east, west and north, detection signals Peast, Pwest, Psouth and Pport are respectively recorded, the signal intensities of the four directions are compared, wherein (Peast and Pwest) is a first group, and (Psouth and Pport) is a second group, a larger signal value is respectively taken out from the two groups to form a third group (Peast/Pwest, Psouth/Pport), the maximum value of the signal intensity in the third group is taken and is marked as Pmax, then the two signal intensity values in the third group are respectively divided by the maximum value Pmax of the signal intensity to obtain weights of the two directions, and the weights are combined into a vector to be used as the optimization direction D1 of the mobile measurement base station;
s2 c: after the mobile measurement base station moves towards the direction D1 by the X step length, the signal intensity of four directions of south, east and west is continuously searched at a new position by the X step length, and the step S2b is repeated to obtain a new optimizing direction D2;
s2 d: and repeating the step S2b and the step S2c after obtaining a new optimizing direction until the mobile measuring base station moves to the final position which is more than or equal to the signal intensity threshold value, stopping signal pre-verification and performing positioning measurement.
In a preferred technical scheme, the specific method for positioning and calculating is as follows:
monitoring whether the signals of the mobile measurement base station and the measurement label are time-synchronized, and when the monitoring result is synchronous, calculating the distance between the mobile measurement base station and the measurement label according to the signals received by the mobile measurement base station from the measurement label;
when the monitoring results are not synchronous, the mobile measurement base station selects one of the mobile measurement base stations as a reference base station, and performs time synchronization on other mobile measurement base stations by taking the time of the reference base station as a reference to obtain the time difference of the signal transmitted by the measurement tag reaching different mobile measurement base stations, calculates the distance between the measurement tag and different mobile measurement base stations according to the time difference, obtains the three-dimensional coordinate of the measurement tag through calculation, and then calculates the displacement data of the measurement tag according to the obtained three-dimensional coordinate.
In a preferred technical solution, the specific method for calculating the three-dimensional coordinates of the measurement tag is as follows:
in Sa, selecting any three movement measuring base stations, namely a movement measuring base station AP1, a movement measuring base station AP2 and a movement measuring base station AP3, calculating the distances between the movement measuring base station AP1, the movement measuring base station AP2 and the movement measuring base station AP3 and a measurement label P1 to be measured respectively through a formula (1), and calculating the distance by using the obtained distance data meter
In the formula (1), c is the signal propagation speed, Δ t21、Δt31、Δt23Obtained from time measurements of arrival of signals at respective measurement stations, where at21For the time difference, Δ t, between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP131For the time difference, Δ t, between the arrival of the signal at the mobility measurement base station AP3 and the arrival at the mobility measurement base station AP123For the time difference between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP3, d21For the distance converted from the time difference of arrival of the signal at the mobility-measuring base station AP2 and at the mobility-measuring base station AP1, d31For the distance converted from the time difference of arrival of the signal at the mobility-measuring base station AP3 and at the mobility-measuring base station AP1, d23The distance converted from the time difference between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP 3;
sb: distance d obtained according to equation (1)21、d31、d23And calculating the three-dimensional coordinates of the measurement label P1 to be measured.
In a preferred technical solution, the specific method for calculating the three-dimensional coordinate of the measurement label P1 to be measured in step Sb is as follows:
setting the three-dimensional coordinates of the selected three mobile measurement base stations to (x)1，y1，z1),(x2，y2，z2),(x3，y3，z3) Setting the three-dimensional measurement label to be measured as (x, y, z), and then calculating the three-dimensional coordinates of the measurement label to be measured by formula (2);
in a preferred embodiment, before the signal pre-verification, the monitoring method further includes:
and (4) synchronous time correction, namely performing time correction on each mobile measurement base station.
In a preferred technical scheme, the mobile measurement base station is connected with the measurement tag through an ultra-wideband pulse signal.
The invention also provides a system for detecting the deformation of the dangerous rock collapse disaster based on ultra-bandwidth positioning, which comprises a measuring host, a mobile measuring base station and a measuring label; wherein the content of the first and second substances,
the plurality of measuring labels are distributed on the surface of the disaster body; the measurement label is in communication connection with the mobile measurement base station and is used as a monitoring target of the mobile measurement base station;
the mobile measurement base stations are provided with a plurality of measurement labels respectively corresponding to the measurement labels; the mobile measuring base station is in communication connection with the measuring host and is used for searching the position of an optimal signal between the mobile measuring base station and the measuring label under the remote control of the measuring host and acquiring the related parameters of the measuring label at the position of the optimal signal;
the measuring host is respectively in communication connection with the mobile measuring base station; the measurement host is used for remotely controlling each mobile measurement base station and calculating displacement change data of the measurement label according to relevant parameters obtained from the mobile measurement base station.
In a preferred embodiment, the measurement host includes:
the mathematical model and the calculation module are used for establishing a mathematical model for searching a good signal and calculating data;
the flight control module is used for controlling the movement of each mobile measurement base station, wherein a plurality of groups of position arrays of the mobile measurement base stations are preset, and each group of position arrays of the mobile measurement base stations comprises the flight tracks of each mobile measurement base station in the array;
the pre-checking module is used for searching the position of the optimal signal according to the signal intensity threshold value and the mathematical model and sending a movement searching instruction to the flight control module;
the data acquisition and transmission module is used for receiving data information acquired by the mobile measurement base station and sending an instruction signal to the mobile measurement base station;
the first main control module is respectively connected with the mathematical model and calculation module, the flight control module, the pre-check module and the data acquisition and transmission module and is used for receiving and processing data information from each module connected with the first main control module and sending related execution instructions to each module; the mobile measurement base station includes:
the flight driving module is used for driving the mobile measuring base station to fly and receiving a flight instruction of the flight control module;
the information transmission module is used for sending related data information and transmitting related instructions to the measurement host and the measurement label;
the first main control module is respectively connected with the flight driving module and the information transmission module and is used for receiving and processing data information from each module connected with the first main control module and sending related execution instructions to each module;
the measurement tag comprises a first signal transceiving module, and the signal transceiving module is used for transmitting signals to a mobile measurement base station.
In a preferred embodiment, the measurement host further includes:
the first time synchronization module is connected with the first main control module and is used for timing the time of the mobile measurement base station;
the positioning module is connected with the first main control module and used for acquiring the position information of each mobile measurement base station; the mobile measurement base station further comprises:
the synchronous monitoring control module is connected with the second main control module and is used for monitoring whether the time of the measurement label is synchronous with that of the mobile measurement base station or not, acquiring distance data between the mobile measurement base station and the measurement label and time difference parameter data received by signals between the mobile measurement base station and the measurement label according to the time synchronization condition, processing the distance data and the time parameter data by the second main control module and then sending the distance data and the time parameter data to the measurement host through the information transmission module;
the second time synchronization module is connected with the second main control module and used for correcting the time of the mobile measurement base station according to the time service of the first time synchronization module;
the navigation positioning module is connected with the second main control module and is used for navigating and positioning;
the second signal transceiving module is connected with the second main control module and used for sending and receiving related signals from the measurement label and the measurement host respectively; the measurement tag further comprises:
and the GPS time synchronization module is connected with the first signal transceiving module and is used for sending time information and positioning information to the mobile measurement base station.
In a preferred technical solution, the signals received and transmitted by the first signal receiving and transmitting module and the second signal receiving and transmitting module are ultra-wideband pulse signals.
The invention has the beneficial effects that:
(1) by pre-checking the signals received by the mobile measurement base station, the mobile measurement base station can move to the position of the optimal signal for data acquisition and measurement according to the signal strength of the received measurement label, the technical problem that the receiving end cannot receive the wireless pulse signals which arrive in a straight line due to the fact that the signal from the transmitting end to the receiving end is attenuated by the shielding object is solved, and the acquired and measured data parameters can be more accurate and higher in precision.
(2) According to the invention, the distance and the three-dimensional coordinate between the mobile measurement base station and the measurement label are measured and calculated by combining a time difference positioning method according to the time synchronization condition of the mobile measurement base station and the measurement label, so that the time synchronization error is greatly reduced, the displacement change data of the measurement label is more accurate, and the disaster condition is better analyzed.
(3) According to the invention, the UWB chip is carried on the unmanned aerial vehicle set with the pre-stored multi-group unmanned aerial vehicle array to carry the base station, the unmanned aerial vehicle and the base station are combined, the technical problems that the field environment is complex, the base station is not easy to build at dangerous rock places and great potential safety hazards exist are solved, and the communication is carried out through the ultra wide band pulse signal, so that the measurement precision is higher.
(4) The detection system provided by the invention is very suitable for dangerous rock collapse monitoring, and has the characteristics of low cost, high measurement precision and high automation degree compared with the conventional detection system.
Drawings
FIG. 1 is an overall schematic view of the present invention;
FIG. 2 is a schematic diagram of the optimization of the mobile measurement base station of the present invention;
fig. 3 is a block schematic diagram of the monitoring system of the present invention.
Detailed Description
The invention will be further explained with reference to fig. 1-3 and the specific embodiments.
A dangerous rock collapse disaster deformation monitoring method based on ultra-bandwidth positioning is disclosed, wherein at least one measuring tag is distributed on the surface of a disaster body, and the monitoring method comprises the following steps:
signal pre-verification: respectively flying to the preset positions of the corresponding measurement tags according to the preset tracks by the mobile measurement base station, and searching the position of the optimal signal between the mobile measurement base station and the measurement tags near the preset positions according to the signal intensity threshold;
the mobile measurement base station comprises a plurality of measurement tags, a plurality of mobile measurement base stations and a plurality of mobile measurement base stations, wherein the measurement tags and the mobile measurement base stations are respectively arranged and correspond to each other; the mobile measurement base station comprises a base station and an unmanned aerial vehicle, and the unmanned aerial vehicle carries the base station to form the mobile measurement base station; the mobile measurement base station flies to a preset position according to a preset flying track, and the preset position corresponds to the initial position of the measurement tag; because signals are caused by the fact that covering exists in the field, the shielding object attenuates the signals from the transmitting end to the receiving end, and the receiving end cannot receive the wireless pulse signals which arrive linearly, signal pre-verification is conducted before the mobile measuring base station conducts positioning measurement, positioning measurement and calculation at positions with poor signals are avoided, and therefore the positioning measurement and calculation are more accurate; specifically, the signal intensity threshold is preset, and is used for judging when searching, and the position of the optimal signal is found when the signal intensity threshold is larger than or equal to the signal intensity threshold.
Positioning and measuring: and the mobile measurement base station performs data acquisition and displacement measurement and calculation on the measurement label at the position of the optimal signal.
The data information collected by the mobile measurement base station on the measurement label at the optimal signal position comprises time information and positioning information, and displacement change data of the measurement label is measured and calculated according to the information.
In a preferred embodiment, in the signal pre-verification, the specific step of finding the position of the preferred signal according to the signal strength threshold is as follows:
s1: a signal intensity threshold value is preset in the mobile measurement base station, when the intensity of the signal received by the mobile measurement base station from the measurement label is lower than the threshold value, the signal is poor, and the mobile measurement base station starts to automatically seek optimization near the preset position;
if the signal intensity of the mobile measurement base station received by the measurement tag is greater than or equal to the threshold value, the mobile measurement base station is an excellent signal, the mobile measurement base station keeps hovering, and the positioning measurement is carried out; if the signal strength is smaller than the threshold, go to step S2;
s2: and establishing a spherical mathematical model taking the preset position as a sphere center and the distance between the preset position and the measuring label as a radius, and searching the position of the signal which is greater than or equal to the threshold value by the mobile measuring base station by taking the surface of the spherical mathematical model as a searching surface.
As shown in fig. 2, by establishing the spherical mathematical model with the preset position as the center of sphere and the distance between the preset position and the measurement tag as the radius, the mobile measurement base station can search a wider range when searching for the position of the optimal signal, and cannot deviate from the actual position of the measurement tag when searching, so that the position of the optimal signal can be found to the greatest extent.
In a preferred embodiment, the specific method for moving the mobile measurement base station when searching for the optimal signal along the spherical data model in step S2 is as follows:
s2 a: taking four directions of the mobile measuring base station from south, east and west as initial moving directions, starting the mobile measuring base station to move towards the four directions of the south, east and north when the signal is in a poor preset position, wherein the step length of the mobile measuring base station moving along the spherical mathematical model every time is X, and X is more than 0 and less than or equal to 1 meter;
s2 b: when the mobile measurement base station moves towards four directions of south, east, west and north, detection signals Peast, Pwest, Psouth and Pport are respectively recorded, the signal intensities of the four directions are compared, wherein (Peast and Pwest) is a first group, and (Psouth and Pport) is a second group, a larger signal value is respectively taken out from the two groups to form a third group (Peast/Pwest, Psouth/Pport), the maximum value of the signal intensity in the third group is taken and is marked as Pmax, then the two signal intensity values in the third group are respectively divided by the maximum value Pmax of the signal intensity to obtain weights of the two directions, and the weights are combined into a vector to be used as the optimization direction D1 of the mobile measurement base station;
s2 c: after the mobile measurement base station moves towards the direction D1 by the X step length, the signal intensity of four directions of south, east and west is continuously searched at a new position by the X step length, and the step S2b is repeated to obtain a new optimizing direction D2;
s2 d: and repeating the step S2b and the step S2c after obtaining a new optimizing direction until the mobile measuring base station moves to the final position which is more than or equal to the signal intensity threshold value, stopping signal pre-verification and performing positioning measurement.
The mobile measurement base station searches from east-west-north directions at the preset position and searches the position of the optimal signal according to the method, so that the position of the optimal signal can be searched more efficiently and accurately, and the measurement efficiency and the measurement precision are greatly improved. Specifically, the X step size is preferably 0.1 meter.
In a preferred embodiment, the specific method of the positioning measurement is as follows:
monitoring whether the signals of the mobile measurement base station and the measurement label are time-synchronized, and when the monitoring result is synchronous, calculating the distance between the mobile measurement base station and the measurement label according to the signals received by the mobile measurement base station from the measurement label;
when the monitoring results are not synchronous, the mobile measurement base station selects one of the mobile measurement base stations as a reference base station, and performs time synchronization on other mobile measurement base stations by taking the time of the reference base station as a reference to obtain the time difference of the signal transmitted by the measurement tag reaching different mobile measurement base stations, calculates the distance between the measurement tag and different mobile measurement base stations according to the time difference, obtains the three-dimensional coordinate of the measurement tag through calculation, and then calculates the displacement data of the measurement tag according to the obtained three-dimensional coordinate.
When the mobile measurement base station enters the tag positioning and measuring step, although each measurement tag carries out time correction on the measurement tag, due to the fact that the geographic position and the environment of the dangerous rock are limited, time correction cannot be finished when GPS signals are weak, accuracy of the time of the measurement tag cannot be guaranteed, and therefore the situation of time asynchronization exists, and therefore displacement data of the measurement tag can be calculated through time difference pair calculation displacement data under the situation that monitoring results are not synchronous.
In a preferred embodiment, the specific method for calculating the three-dimensional coordinates of the measurement tag is as follows:
in Sa, selecting any three movement measuring base stations, namely a movement measuring base station AP1, a movement measuring base station AP2 and a movement measuring base station AP3, calculating the distances between the movement measuring base station AP1, the movement measuring base station AP2 and the movement measuring base station AP3 and a measurement label P1 to be measured respectively through a formula (1), and calculating the distance by using the obtained distance data meter
In the formula (1), c is the signal propagation speed, Δ t21、Δt31、Δt23Obtained from time measurements of arrival of signals at respective measurement stations, where at21For the time difference, Δ t, between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP131For signals arriving at the mobility measurement base station AP3 and arriving at the mobility measurement base stationTime difference, Δ t, of AP123For the time difference between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP3, d21For the distance converted from the time difference of arrival of the signal at the mobility-measuring base station AP2 and at the mobility-measuring base station AP1, d31For the distance converted from the time difference of arrival of the signal at the mobility-measuring base station AP3 and at the mobility-measuring base station AP1, d23The distance converted from the time difference between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP 3;
sb: distance d obtained according to equation (1)21、d31、d23And calculating the three-dimensional coordinates of the measurement label P1 to be measured.
In a preferred embodiment, the specific method for calculating the three-dimensional coordinates of the measurement tag P1 to be measured in step Sb is as follows:
setting the three-dimensional coordinates of the selected three mobile measurement base stations to (x)1，y1，z1),(x2，y2，z2),(x3，y3，z3) Setting the three-dimensional measurement label to be measured as (x, y, z), and then calculating the three-dimensional coordinates of the measurement label to be measured by formula (2);
in a preferred embodiment, before the signal pre-verification, the monitoring method further comprises:
and (4) synchronous time correction, namely performing time correction on each mobile measurement base station.
Wherein, each node (target/base station) has its own reference clock, and the clock source is generally provided by a crystal oscillator. Due to the influence of factors such as a temperature process and the like, a crystal oscillator has frequency deviation and drift, a phase-locked loop and the like in the second UWB chip also have errors when the frequency of the clock is multiplied, and the errors can cause the final system clock to have errors. As time increases, the resulting time error becomes larger and larger; these factors ultimately result in the accuracy of capturing the radio message transmit and receive timestamps being affected, and frequency drift can result in shifting the center frequency of the ultra-wideband wireless pulse wave. Therefore, time correction is carried out before signal pre-calibration, so that time synchronization errors can be greatly reduced, and measured data can be more accurate through a time difference calculation method in the positioning measurement and calculation step. Specifically, the time correction is performed on each mobile measuring base station by the measuring host, and the mobile measuring base station and the measuring tag can be based on the time of the measuring host, so that the measured data is more accurate.
In a preferred embodiment, the mobile measuring base station is connected with the measuring tag through an ultra-wideband pulse signal.
The invention also provides a system for detecting deformation of dangerous rock collapse disaster based on ultra-bandwidth positioning, which comprises a measuring host, a mobile measuring base station and a measuring label, as shown in fig. 1 and 3; wherein the content of the first and second substances,
the plurality of measuring labels are distributed on the surface of the disaster body; the measurement label is in communication connection with the mobile measurement base station and is used as a monitoring target of the mobile measurement base station;
the mobile measurement base station comprises a plurality of measurement labels, a plurality of mobile measurement base stations and a plurality of mobile measurement base stations, wherein the plurality of measurement labels correspond to one mobile measurement base station respectively; specifically, a pulse signal is sent to the outside by a measuring tag, a mobile measuring base station flies to a preset position corresponding to the measuring tag according to a preset track, receives the pulse signal and sends a related instruction signal at the preset position, and the displacement change data is collected, calculated and calculated.
The mobile measurement base stations are provided with a plurality of measurement labels respectively corresponding to the measurement labels; the mobile measuring base station is in communication connection with the measuring host and is used for searching the position of an optimal signal between the mobile measuring base station and the measuring label under the remote control of the measuring host and acquiring the related parameters of the measuring label at the position of the optimal signal;
the mobile measurement base station can be a mobile device which consists of a base station and an unmanned aerial vehicle, is formed by an unmanned aerial vehicle carrying base station, and can also have the functions of the base station and the unmanned aerial vehicle; the mobile measurement base station is remotely controlled by a measurement host and flies to a preset position according to a preset flight array; the related parameters comprise time synchronization information and distance information of the mobile measurement base station and the measurement tag.
The measuring host is respectively in communication connection with the mobile measuring base station; the measurement host is used for remotely controlling each mobile measurement base station and calculating displacement change data of the measurement label according to relevant parameters obtained from the mobile measurement base station.
In a preferred embodiment, the measurement host comprises: the mathematical model and the calculation module are used for establishing a mathematical model for searching a good signal and calculating data; the flight control module is used for controlling the movement of each mobile measurement base station, wherein a plurality of groups of position arrays of the mobile measurement base stations are preset, and each group of position arrays of the mobile measurement base stations comprises the flight tracks of each mobile measurement base station in the array; the pre-checking module is used for searching the position of the optimal signal according to the signal intensity threshold value and the mathematical model and sending a movement searching instruction to the flight control module; the data acquisition and transmission module is used for receiving data information acquired by the mobile measurement base station and sending an instruction signal to the mobile measurement base station; the first main control module is respectively connected with the mathematical model and calculation module, the flight control module, the pre-check module and the data acquisition and transmission module and is used for receiving and processing data information from each module connected with the first main control module and sending related execution instructions to each module;
the mobile measurement base station includes: the flight driving module is used for driving the mobile measuring base station to fly and receiving a flight instruction of the flight control module; the information transmission module is used for sending related data information and transmitting related instructions to the measurement host and the measurement label; the first main control module is respectively connected with the flight driving module and the information transmission module and is used for receiving and processing data information from each module connected with the first main control module and sending related execution instructions to each module;
the measurement tag comprises a first signal transceiving module, and the signal transceiving module is used for transmitting signals to a mobile measurement base station.
In this embodiment, when the monitoring starts, the flight control module of the measurement host controls the mobile measurement base station to fly, the mobile measurement base station flies to a preset position corresponding to a measurement tag through the flight driving module according to a preset track, then the mobile measurement base station receives a signal sent by the measurement tag, processes and judges received signal information through the second main control module, and judges whether the signal is an optimal signal greater than or equal to a preset signal intensity threshold; when the judgment result is the optimal signal, the second main control module sends a hovering instruction to the flight driving module, and simultaneously sends state information of the mobile measurement base to the measurement host through the information transmission module, and the measurement host receives the state information through the data acquisition and transmission module and controls the mobile measurement base station to perform positioning measurement and calculation through the first main control module; when the judgment result is that the signal is not good, the second control module sends the result to a measurement host through an information transmission module, the measurement host receives and transmits the result to a first main control module through a data acquisition and transmission module, the first main control module executes a signal optimization step, a mathematical model and a calculation engine module establish a spherical mathematical model which takes the preset position as a sphere center and takes the distance between the preset position and a measurement label as a radius according to the positioning information of the measurement note acquired from the mobile measurement base station, the first main control module sends a movement instruction to a flight control module, the flight control module receives the instruction and then controls the mobile measurement base station to search a good signal along the spherical mathematical model, and meanwhile, the mobile measurement base station feeds back the received signal strength information to the measurement host; the pre-checking module is used for carrying out grouping comparison analysis according to a plurality of groups of signal strength values in different directions acquired in the excellent signal searching process, obtaining a new searching direction, and controlling the mobile measuring base station to execute the following steps through the flight control module:
s2 a: taking four directions of the mobile measuring base station from south, east and west as initial moving directions, starting the mobile measuring base station to move towards the four directions of the south, east and north when the signal is in a poor preset position, wherein the step length of the mobile measuring base station moving along the spherical mathematical model every time is X, and X is more than 0 and less than or equal to 1 meter;
s2 b: when the mobile measurement base station moves towards four directions of south, east, west and north, detection signals Peast, Pwest, Psouth and Pport are respectively recorded, the signal intensities of the four directions are compared, wherein (Peast and Pwest) is a first group, and (Psouth and Pport) is a second group, a larger signal value is respectively taken out from the two groups to form a third group (Peast/Pwest, Psouth/Pport), the maximum value of the signal intensity in the third group is taken and is marked as Pmax, then the two signal intensity values in the third group are respectively divided by the maximum value Pmax of the signal intensity to obtain weights of the two directions, and the weights are combined into a vector to be used as the optimization direction D1 of the mobile measurement base station;
s2 c: after the mobile measurement base station moves towards the direction D1 by the X step length, the signal intensity of four directions of south, east and west is continuously searched at a new position by the X step length, and the step S2b is repeated to obtain a new optimizing direction D2;
s2 d: and repeating the step S2b and the step S2c after obtaining a new optimizing direction until the mobile measuring base station moves to the final position which is more than or equal to the signal intensity threshold value, stopping signal pre-verification and performing positioning measurement.
The radio message signal due to reaching an obstacle suffers from two effects. A portion of the energy of the signal is reflected back from the obstruction while the remainder enters the obstruction. Some of the signals entering the obstacle are absorbed into the material (which may cause the material to heat up), and some of the rest may be further reflected from the far edge of the obstacle, while the rest may come out of the obstacle to block the other side.
Meanwhile, the power amplifier at the front end of the radio frequency transmitting part of the UWB chip can be adjusted to increase the transmitting power of the transmitted signal, so that the wall penetrating capacity of the signal is increased, meanwhile, the received signal strength can be amplified through L NA of the radio frequency receiving part of the second UWB chip on the unmanned aerial vehicle, and the receiving sensitivity is improved.
In a preferred embodiment, the measurement host further includes: the first time synchronization module is connected with the first main control module and is used for timing the time of the mobile measurement base station; the positioning module is connected with the first main control module and used for acquiring the position information of each mobile measurement base station;
the mobile measurement base station further comprises: the synchronous monitoring control module is connected with the second main control module and is used for monitoring whether the time of the measurement label is synchronous with that of the mobile measurement base station or not, acquiring distance data between the mobile measurement base station and the measurement label and time difference parameter data received by signals between the mobile measurement base station and the measurement label according to the time synchronization condition, processing the distance data and the time parameter data by the second main control module and then sending the distance data and the time parameter data to the measurement host through the information transmission module; the second time synchronization module is connected with the second main control module and used for correcting the time of the mobile measurement base station according to the time service of the first time synchronization module; the navigation positioning module is connected with the second main control module and is used for navigation and positioning, namely a GNSS module; the second signal transceiving module is connected with the second main control module and used for sending and receiving related signals from the measurement label and the measurement host respectively;
the measurement tag further comprises: and the GPS time synchronization module is connected with the first signal transceiving module and is used for sending time information and positioning information to the mobile measurement base station.
Before the mobile measurement base station performs signal pre-verification, an atomic clock module in a first time synchronization module of a measurement host machine is used for timing a second time synchronization module of one mobile measurement base station, the second time synchronization module is used for correcting a crystal oscillator of a second signal transceiving module of the mobile measurement base station, and meanwhile, after the mobile measurement base station feeds back to the measurement host machine every time, the measurement host machine is used for carrying out electric quantity inquiry and unmanned aerial vehicle timing on the mobile measurement base station, so that the problems that the precision of capturing radio message sending and receiving time stamps is influenced due to time difference, and the central frequency of an ultra-wideband wireless pulse wave is deviated due to frequency drift can be solved.
After the mobile measuring base station finds a good signal position, the second main control module sends an execution instruction to the synchronous monitoring control module, the synchronous monitoring control module monitors whether signals between the measuring tag and the mobile measuring base station are synchronous or not, and when monitoring results are synchronous, the synchronous monitoring control module calculates the distance between the measuring tag and the mobile measuring base station according to the signals received by the mobile measuring base station from the measuring tag to obtain distance data, so that the position information of the measuring tag can be obtained; when the monitoring results are asynchronous, the synchronous monitoring control module takes the mobile measuring base station as a reference base station, and performs time synchronization on other mobile measuring base stations by taking the reference base station as a reference to obtain the time difference of the signal of the measuring label reaching different mobile measuring base stations, so as to obtain time difference data; the synchronous monitoring control module sends the obtained time difference information data and the distance data to the measuring host through the information transmission module, and the time difference data and the distance data are calculated by the mathematical model and the calculation module of the measuring host according to the following formula to obtain the three-dimensional coordinates and the displacement data of the measuring note.
In Sa, the distances between the mobile measurement base station AP1, the mobile measurement base station AP2 and the mobile measurement base station AP3 and a measurement label P1 to be measured are calculated through a formula (1);
in the formula (1), c is the signal propagation speed, Δ t21、Δt31、Δt23Obtained from time measurements of arrival of signals at respective measurement stations, where at21For the time difference, Δ t, between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP131For the time difference, Δ t, between the arrival of the signal at the mobility measurement base station AP3 and the arrival at the mobility measurement base station AP123For the time difference between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP3, d21For the distance converted from the time difference of arrival of the signal at the mobility-measuring base station AP2 and at the mobility-measuring base station AP1, d31For the distance converted from the time difference of arrival of the signal at the mobility-measuring base station AP3 and at the mobility-measuring base station AP1, d23The distance converted from the time difference between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP 3;
sb: distance d obtained according to equation (1)21、d31、d23And calculating the three-dimensional coordinates of the measurement label P1 to be measured. Three mobile measurement base stations are selectedIs set to (x)1，y1，z1),(x2，y2，z2),(x3，y3，z3) The three-dimensional measurement tag to be measured is set to (x, y, z), and then the three-dimensional coordinates of the measurement tag to be measured are calculated by formula (2), thereby measuring the displacement data of the tag.
In a preferred embodiment, the signals received and transmitted by the first signal receiving and transmitting module and the second signal receiving and transmitting module are ultra-wideband pulse signals, wherein the first signal receiving and transmitting module and the second signal receiving and transmitting module are respectively a first UWB chip and a second UWB chip, and the crystal oscillators of the chips are also time-synchronized when time synchronization is performed.
In the monitoring system, the measurement host further comprises a system configuration function module, a data evaluation module and a data display and analysis module which are respectively connected with the first main control module; the data evaluation module is used for evaluating the measured and calculated displacement change data of each measurement label; the system configuration module is used for setting related system parameters; the data display and analysis module is used for analyzing and displaying the estimated displacement change data and comprises a PC end and a mobile end. The measuring host and the mobile measuring base station are also connected through ultra-wideband pulse signals.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (12)
1. The utility model provides a dangerous rock collapse disaster deformation monitoring method based on super bandwidth location, calamity body surface distributes has at least one measurement label, its characterized in that: the monitoring method comprises the following steps:
signal pre-verification: respectively flying to the preset positions of the corresponding measurement tags according to the preset tracks by the mobile measurement base station, and searching the position of the optimal signal between the mobile measurement base station and the measurement tags near the preset positions according to the signal intensity threshold;
positioning and measuring: and the mobile measurement base station performs data acquisition and displacement measurement and calculation on the measurement label at the position of the optimal signal.
2. The method for monitoring deformation of dangerous rock collapse disaster based on ultra-bandwidth positioning as claimed in claim 1, wherein: in the signal pre-check, the specific steps of searching the position of the optimal signal according to the signal intensity threshold value are as follows:
s1: a signal intensity threshold value is preset in the mobile measurement base station, when the intensity of the signal received by the mobile measurement base station from the measurement label is lower than the threshold value, the signal is poor, and the mobile measurement base station starts to automatically seek optimization near the preset position;
if the signal intensity of the mobile measurement base station received by the measurement tag is greater than or equal to the threshold value, the mobile measurement base station is an excellent signal, the mobile measurement base station keeps hovering, and the positioning measurement is carried out; if the signal strength is smaller than the threshold, go to step S2;
s2: and establishing a spherical mathematical model taking the preset position as a sphere center and the distance between the preset position and the measuring label as a radius, and searching the position of the signal which is greater than or equal to the threshold value by the mobile measuring base station by taking the surface of the spherical mathematical model as a searching surface.
3. The method for monitoring deformation of dangerous rock collapse disaster based on ultra-bandwidth positioning as claimed in claim 2, wherein: the specific method for moving the mobile measurement base station when finding the optimal signal along the spherical data model in step S2 is as follows:
s2 a: taking four directions of the mobile measuring base station from south, east and west as initial moving directions, starting the mobile measuring base station to move towards the four directions of the south, east and north when the signal is in a poor preset position, wherein the step length of the mobile measuring base station moving along the spherical mathematical model every time is X, and X is more than 0 and less than or equal to 1 meter;
s2 b: when the mobile measurement base station moves towards four directions of south, east, west and north, detection signals Peast, Pwest, Psouth and Pport are respectively recorded, the signal intensities of the four directions are compared, wherein (Peast and Pwest) is a first group, and (Psouth and Pport) is a second group, a larger signal value is respectively taken out from the two groups to form a third group (Peast/Pwest, Psouth/Pport), the maximum value of the signal intensity in the third group is taken and is marked as Pmax, then the two signal intensity values in the third group are respectively divided by the maximum value Pmax of the signal intensity to obtain weights of the two directions, and the weights are combined into a vector to be used as the optimization direction D1 of the mobile measurement base station;
s2 c: after the mobile measurement base station moves towards the direction D1 by the X step length, the signal intensity of four directions of south, east and west is continuously searched at a new position by the X step length, and the step S2b is repeated to obtain a new optimizing direction D2;
s2 d: and repeating the step S2b and the step S2c after obtaining a new optimizing direction until the mobile measuring base station moves to the final position which is more than or equal to the signal intensity threshold value, stopping signal pre-verification and performing positioning measurement.
4. The monitoring method for deformation of dangerous rock collapse disasters based on ultra-bandwidth positioning according to any one of claims 1-3, characterized in that: the specific method for positioning measurement comprises the following steps:
monitoring whether the signals of the mobile measurement base station and the measurement label are time-synchronized, and when the monitoring result is synchronous, calculating the distance between the mobile measurement base station and the measurement label according to the signals received by the mobile measurement base station from the measurement label;
when the monitoring results are not synchronous, the mobile measurement base station selects one of the mobile measurement base stations as a reference base station, and performs time synchronization on other mobile measurement base stations by taking the time of the reference base station as a reference to obtain the time difference of the signal transmitted by the measurement tag reaching different mobile measurement base stations, calculates the distance between the measurement tag and different mobile measurement base stations according to the time difference, obtains the three-dimensional coordinate of the measurement tag through calculation, and then calculates the displacement data of the measurement tag according to the obtained three-dimensional coordinate.
5. The method for monitoring deformation of dangerous rock collapse disaster based on ultra-wideband positioning as claimed in claim 4, wherein: the specific method for calculating the three-dimensional coordinates of the measurement label comprises the following steps:
selecting any three mobile measurement base stations, namely a mobile measurement base station AP1, a mobile measurement base station AP2 and a mobile measurement base station AP3, and calculating the distances between the mobile measurement base station AP1, the mobile measurement base station AP2 and the mobile measurement base station AP3 and a measurement label P1 to be measured respectively according to a formula (1);
in the formula (1), c is the signal propagation speed, Δ t21、Δt31、Δt23Obtained from time measurements of arrival of signals at respective measurement stations, where at21For the time difference, Δ t, between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP131For the time difference, Δ t, between the arrival of the signal at the mobility measurement base station AP3 and the arrival at the mobility measurement base station AP123For the time difference between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP3, d21For the distance converted from the time difference of arrival of the signal at the mobility-measuring base station AP2 and at the mobility-measuring base station AP1, d31For the distance converted from the time difference of arrival of the signal at the mobility-measuring base station AP3 and at the mobility-measuring base station AP1, d23The distance converted from the time difference between the arrival of the signal at the mobility measurement base station AP2 and the arrival at the mobility measurement base station AP 3;
sb: distance d obtained according to equation (1)21、d31、d23And calculating the three-dimensional coordinates of the measurement label P1 to be measured.
6. The method for monitoring deformation of dangerous rock collapse disaster based on ultra-bandwidth positioning as claimed in claim 5, wherein: the specific method for calculating the three-dimensional coordinate of the measurement label P1 to be measured in step Sb is as follows:
three-dimensional of three mobile measurement stations to be selectedCoordinate set to (x)1，y1，z1)，(x2，y2，z2)，(x3，y3，z3) Setting the three-dimensional measurement label to be measured as (x, y, z), and then calculating the three-dimensional coordinates of the measurement label to be measured by formula (2);
7. the method for monitoring deformation of dangerous rock collapse disaster based on ultra-bandwidth positioning as claimed in claim 1, wherein: before the signal pre-verification, the monitoring method further comprises:
and (4) synchronous time correction, namely performing time correction on each mobile measurement base station.
8. The method for monitoring deformation of dangerous rock collapse disaster based on ultra-bandwidth positioning as claimed in claim 1, wherein: the mobile measurement base station is connected with the measurement label through an ultra-wideband pulse signal.
9. The utility model provides a dangerous rock collapse disaster deformation detecting system based on super bandwidth location which characterized in that: the system comprises a measurement host, a mobile measurement base station and a measurement label; wherein the content of the first and second substances,
the plurality of measuring labels are distributed on the surface of the disaster body; the measurement label is in communication connection with the mobile measurement base station and is used as a monitoring target of the mobile measurement base station;
the mobile measurement base stations are provided with a plurality of measurement labels respectively corresponding to the measurement labels; the mobile measuring base station is in communication connection with the measuring host and is used for searching the position of an optimal signal between the mobile measuring base station and the measuring label under the remote control of the measuring host and acquiring the related parameters of the measuring label at the position of the optimal signal;
the measuring host is respectively in communication connection with the mobile measuring base station; the measurement host is used for remotely controlling each mobile measurement base station and calculating displacement change data of the measurement label according to relevant parameters obtained from the mobile measurement base station.
10. The system for detecting deformation of dangerous rock collapse disaster based on ultra-wideband positioning as claimed in claim 9, wherein: the measurement host includes:
the mathematical model and the calculation module are used for establishing a mathematical model for searching a good signal and calculating data;
the flight control module is used for controlling the movement of each mobile measurement base station, wherein a plurality of groups of position arrays of the mobile measurement base stations are preset, and each group of position arrays of the mobile measurement base stations comprises the flight tracks of each mobile measurement base station in the array;
the pre-checking module is used for searching the position of the optimal signal according to the signal intensity threshold value and the mathematical model and sending a movement searching instruction to the flight control module;
the data acquisition and transmission module is used for receiving data information acquired by the mobile measurement base station and sending an instruction signal to the mobile measurement base station;
the first main control module is respectively connected with the mathematical model and calculation module, the flight control module, the pre-check module and the data acquisition and transmission module and is used for receiving and processing data information from each module connected with the first main control module and sending related execution instructions to each module; the mobile measurement base station includes:
the flight driving module is used for driving the mobile measuring base station to fly and receiving a flight instruction of the flight control module;
the information transmission module is used for sending related data information and transmitting related instructions to the measurement host and the measurement label;
the first main control module is respectively connected with the flight driving module and the information transmission module and is used for receiving and processing data information from each module connected with the first main control module and sending related execution instructions to each module;
the measurement tag comprises a first signal transceiving module, and the signal transceiving module is used for transmitting signals to a mobile measurement base station.
11. The system for detecting deformation of dangerous rock collapse disaster based on ultra-wideband positioning as claimed in claim 10, wherein: the measurement host further comprises:
the first time synchronization module is connected with the first main control module and is used for timing the time of the mobile measurement base station;
the positioning module is connected with the first main control module and used for acquiring the position information of each mobile measurement base station; the mobile measurement base station further comprises:
the synchronous monitoring control module is connected with the second main control module and is used for monitoring whether the time of the measurement label is synchronous with that of the mobile measurement base station or not, acquiring distance data between the mobile measurement base station and the measurement label and time difference parameter data received by signals between the mobile measurement base station and the measurement label according to the time synchronization condition, processing the distance data and the time parameter data by the second main control module and then sending the distance data and the time parameter data to the measurement host through the information transmission module;
the second time synchronization module is connected with the second main control module and used for correcting the time of the mobile measurement base station according to the time service of the first time synchronization module;
the navigation positioning module is connected with the second main control module and is used for navigating and positioning;
the second signal transceiving module is connected with the second main control module and used for sending and receiving related signals from the measurement label and the measurement host respectively; the measurement tag further comprises:
and the GPS time synchronization module is connected with the first signal transceiving module and is used for sending time information and positioning information to the mobile measurement base station.
12. The system for detecting deformation of dangerous rock collapse disaster based on ultra-wideband positioning as claimed in claim 11, wherein: the signals transmitted and received by the first signal transmitting and receiving module and the second signal transmitting and receiving module are ultra-wideband pulse signals.
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| CN112923842A (en) * | 2021-02-01 | 2021-06-08 | 中国地质环境监测院(自然资源部地质灾害技术指导中心) | Three-dimensional earth surface displacement monitoring system and method based on GNSS positioning technology |
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| CN112146614A (en) * | 2020-09-23 | 2020-12-29 | 招商局重庆交通科研设计院有限公司 | Bee colony type slope monitoring system based on earth surface inclination angle sensor |
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| CN112923842A (en) * | 2021-02-01 | 2021-06-08 | 中国地质环境监测院(自然资源部地质灾害技术指导中心) | Three-dimensional earth surface displacement monitoring system and method based on GNSS positioning technology |
| CN112923842B (en) * | 2021-02-01 | 2023-06-06 | 中国地质环境监测院(自然资源部地质灾害技术指导中心) | Three-dimensional earth surface displacement monitoring system and method based on GNSS positioning technology |
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