CN112146624A - Measuring method of high-precision inclinometer - Google Patents

Measuring method of high-precision inclinometer Download PDF

Info

Publication number
CN112146624A
CN112146624A CN202011021651.0A CN202011021651A CN112146624A CN 112146624 A CN112146624 A CN 112146624A CN 202011021651 A CN202011021651 A CN 202011021651A CN 112146624 A CN112146624 A CN 112146624A
Authority
CN
China
Prior art keywords
inclinometer
target object
axis
real
magnetic north
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011021651.0A
Other languages
Chinese (zh)
Other versions
CN112146624B (en
Inventor
武牧之
庄群虎
查红星
范孝锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Ruicibo Engineering Monitoring Technology Co ltd
Original Assignee
Suzhou Ruicibo Engineering Monitoring Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Ruicibo Engineering Monitoring Technology Co ltd filed Critical Suzhou Ruicibo Engineering Monitoring Technology Co ltd
Priority to CN202011021651.0A priority Critical patent/CN112146624B/en
Publication of CN112146624A publication Critical patent/CN112146624A/en
Application granted granted Critical
Publication of CN112146624B publication Critical patent/CN112146624B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D1/00—Investigation of foundation soil in situ

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mining & Mineral Resources (AREA)
  • Paleontology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

The application relates to a measuring method of a high-precision inclinometer, which is suitable for a target object with deep horizontal displacement occurrence probability, and comprises the following steps: the device comprises an inclinometer, a three-axis gravity acceleration sensor, a three-axis gyroscope and a three-axis magnetometer which are arranged on the inclinometer, and a carrier coordinate system of the three-axis gyroscope is determined; the three-axis magnetometer and the three-axis gravity acceleration sensor are used for determining the actual magnetic north pole of the inclinometer in the inclinometer pipe of the target object, and the three-axis gyroscope determines a real coordinate system vertical to the direction of the target object through a carrier coordinate system and the magnetic north pole; and determining the real vertical direction of the target object according to the real coordinate system, then determining an included angle between the real vertical direction of the target object and the inclinometer, and calculating the deflection distance and the displacement distance of the inclinometer in the inclinometer according to the included angle so as to determine the real deep horizontal displacement of the target object. The inclinometer can eliminate errors caused by rotation and distortion of the inclinometer in the inclinometer pipe, so that the accuracy of an inclinometry result is improved.

Description

Measuring method of high-precision inclinometer
Technical Field
The invention relates to a measuring method of a high-precision inclinometer, and belongs to the technical field of inclinometry.
Background
The inclinometry is a very important index in the construction monitoring of subways and large-scale buildings and the protective monitoring of dam bridge slopes. The inclinometer measures the deviation variable quantity caused by the displacement in the soil body, and can draw a displacement section diagram of the measured section. By analyzing data obtained by daily measurement, the change trend of the internal soil body can be deduced, engineering construction is guided, the structural condition is monitored, and disasters such as landslide and collapse are prevented.
The inclinometer is used in the inclinometer tube, so the accuracy of the inclinometer tube directly affects the accuracy of the final measurement result of the inclinometer. The main errors of the existing inclinometer tube are four types, namely zero error, sensitivity drift, rotation error and depth error. The first two types of inclinometers can be effectively eliminated by improving the structure and the algorithm of the inclinometer. However, the conventional biaxial inclinometer cannot effectively eliminate the rotation error.
Disclosure of Invention
The invention aims to provide a measuring method of a high-precision inclinometer, which can eliminate errors caused by rotation and distortion of the inclinometer in an inclinometer tube so as to improve the accuracy of an inclinometry result.
In order to achieve the purpose, the invention provides the following technical scheme: a measuring method of a high-precision inclinometer is suitable for a target object with deep horizontal displacement occurrence probability, and comprises the following steps:
providing an inclinometer, wherein the inclinometer comprises an inclinometer, a three-axis gravity acceleration sensor, a three-axis gyroscope and a three-axis magnetometer which are arranged on the inclinometer, and determining a carrier coordinate system of the three-axis gyroscope;
the three-axis magnetometer and the three-axis gravity acceleration sensor are used for determining the actual magnetic north pole of the inclinometer in an inclinometer pipe of a target object, and the three-axis gyroscope is used for determining a real coordinate system vertical to the direction of the target object through the carrier coordinate system and the magnetic north pole;
and determining the real vertical direction of the target object according to the real coordinate system, then determining an included angle between the real vertical direction of the target object and the inclinometer, and calculating the deflection distance and the displacement distance of the inclinometer in the inclinometer according to the included angle so as to determine the real deep horizontal displacement of the target object.
Further, the deflection distance of the inclinometer in the inclinometer is as follows:
A′i＝Acosθi+Bsinθi；
wherein, thetaiThe included angle between the inclinometer and the real vertical direction of the target object is shown as A, the measured deep horizontal displacement of the target object in the first direction is shown as A, and the measured deep horizontal displacement of the target object in the second direction is shown as B, wherein the first direction and the second direction are not parallel.
Further, the displacement distance of the inclinometer in the inclinometer tube is as follows:
B′i＝-Asinθi+Bcosθi；
wherein, thetaiThe included angle between the inclinometer and the real vertical direction of the target object is A, the deep horizontal displacement of the target object in the first direction is obtained through measurement, and the deep horizontal displacement of the target object in the second direction is obtained through measurement, wherein the first direction and the second direction are not parallel.
Further, the three-axis magnetometer and the three-axis gravitational acceleration sensor are used for determining the actual magnetic north pole of the inclinometer in the target specifically as follows:
the three axis magnetometer has a pointing magnetic north within the inclinometer, the three axis gravitational acceleration sensor is configured to correct the pointing magnetic north to determine the actual magnetic north of the inclinometer within the target.
Further, the actual magnetic north is determined by a quaternion rotation and translation algorithm.
Further, before the inclinometer is placed in the target object, the inclinometer is aligned to be vertical to the direction of the target object and stands for a period of time so as to determine the ideal vertical direction of the target object.
The invention has the beneficial effects that: the three are matched with each other to determine the coordinate of the inclinometer in the foundation pit and determine the real direction perpendicular to the foundation pit, so that the real deflection distance and the real horizontal displacement of the inclinometer in the foundation pit are calculated, the real deep horizontal displacement of the foundation pit direction is reflected, and the three are convenient and quick.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
Fig. 1 is a schematic flow chart of a measuring method of the high-precision inclinometer of the invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1, a method for measuring a high-precision inclinometer in a preferred embodiment of the invention is applicable to an object with a deep horizontal displacement occurrence probability, wherein the inclinometer is placed in the object to measure a variation curve of the object. In this embodiment, the target object is a foundation pit, and indeed, in other embodiments, the target object may also be a dam, an oil field, a ground disaster, and the like, and the application scenario of the measurement method is not specifically limited in this application.
Specifically, the measuring method of the high-precision inclinometer comprises the following steps:
the method comprises the steps of providing an inclinometer device, wherein the inclinometer device comprises an inclinometer body, a three-axis gravity acceleration sensor, a three-axis gyroscope and a three-axis magnetometer which are arranged on the inclinometer body, and determining a carrier coordinate system of the three-axis gyroscope. In this embodiment, for convenience of calculation, the carrier coordinate system of the triaxial gyroscope is a conventional coordinate system before the inclinometer body is placed in the foundation pit. Indeed, in other embodiments, the carrier coordinate system may be other, and is not limited herein according to the actual situation. Before the inclinometer is placed in the foundation pit, the inclinometer is placed in the inclinometer pipe, and then the inclinometer pipe is placed in the foundation pit for measurement. If the inclinometer is fixed, a plurality of inclinometers connected end to end are arranged in the inclinometer pipe; if the inclinometer is of a sliding type, at least one inclinometer is arranged in the inclinometer pipe, and the inclinometer is determined according to actual conditions and is not particularly limited herein.
And before the inclinometer is placed in the foundation pit, the inclinometer is aligned to the direction vertical to the foundation pit and stands for a period of time so as to determine the ideal vertical direction of the foundation pit. The standing time is determined according to actual conditions, for example, the ideal vertical direction of the foundation pit can be determined by standing the inclinometer for 3 seconds in a direction perpendicular to the foundation pit, which is not specifically limited herein and is determined according to actual conditions.
The three-axis magnetometer and the three-axis gravity acceleration sensor are used for determining the actual magnetic north pole of the inclinometer in an inclinometer pipe of a foundation pit, and the three-axis gyroscope is used for determining a real coordinate system perpendicular to the direction of the foundation pit through the carrier coordinate system and the magnetic north pole. Specifically, the three axis magnetometer has a directional magnetic north within the inclinometer, but because the inclinometer deflects within the foundation pit, the directional magnetic north is not the actual magnetic north of the three axis magnetometer within the foundation pit, and therefore the three axis gravitational acceleration sensor is used to correct the directional magnetic north to determine the actual magnetic north of the inclinometer within the foundation pit.
The determination of the actual magnetic north and the actual coordinate system is determined by a quaternion rotation and translation algorithm, and more specifically, a complementary filtering algorithm is used for correction and determination. The complementary filtering algorithm is a conventional algorithm, which can be referred to as the attitude transformation matrix disclosed in chinese patent 201110454317.9, which is the complementary filtering algorithm used, and therefore, it is not described herein again.
And determining the real vertical direction of the foundation pit according to the real coordinate system, then determining an included angle between the real vertical direction of the foundation pit and the inclinometer, and calculating the deflection distance and the displacement distance of the inclinometer in the inclinometer according to the included angle so as to determine the real deep horizontal displacement of the foundation pit. In this embodiment, it is assumed that the inclinometer and the base areThe angle of the pit in the true vertical direction is thetaiAnd measuring the horizontal displacement of the deep layer of the foundation pit in the first direction to be A, and measuring the horizontal displacement of the deep layer of the foundation pit in the second direction to be B, wherein the first direction is not parallel to the second direction. In this embodiment, the first direction is a direction perpendicular to the foundation pit, and the second direction is a direction parallel to the foundation pit, and then the true deflection distance of the inclinometer in the foundation pit is:
A′i＝Acosθi+Bsinθi；
the displacement distance of the inclinometer in the inclinometer pipe is as follows:
B′i＝-Asinθi+Bcosθi。
the real deflection displacement and the real deep horizontal displacement of each depth point of the inclinometer in the foundation pit can be calculated according to the formula, and the inclinometer curve measured on the basis accords with the real change so as to eliminate the error of the inclinometer in the foundation pit caused by rotation and distortion.
In summary, the following steps: the three are mutually matched to determine the coordinate of the inclinometer in the foundation pit and determine the real direction perpendicular to the foundation pit so as to calculate the real deflection distance and the real horizontal displacement of the inclinometer in the foundation pit, and the equipment is convenient and quick.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (6)

1. A measuring method of a high-precision inclinometer is suitable for a target object with deep horizontal displacement occurrence probability, and is characterized by comprising the following steps:
providing an inclinometer, wherein the inclinometer comprises an inclinometer, a three-axis gravity acceleration sensor, a three-axis gyroscope and a three-axis magnetometer which are arranged on the inclinometer, and determining a carrier coordinate system of the three-axis gyroscope;
the three-axis magnetometer and the three-axis gravity acceleration sensor are used for determining the actual magnetic north pole of the inclinometer in an inclinometer pipe of a target object, and the three-axis gyroscope is used for determining a real coordinate system vertical to the direction of the target object through the carrier coordinate system and the magnetic north pole;
and determining the real vertical direction of the target object according to the real coordinate system, then determining an included angle between the real vertical direction of the target object and the inclinometer, and calculating the deflection distance and the displacement distance of the inclinometer in the inclinometer according to the included angle so as to determine the real deep horizontal displacement of the target object.
2. The method of measuring a high precision inclinometer of claim 1, wherein the deflection distance of the inclinometer inside the inclinometer tube is:
A′i＝Acosθi+Bsinθi；
wherein, thetaiThe included angle between the inclinometer and the real vertical direction of the target object is shown as A, the measured deep horizontal displacement of the target object in the first direction is shown as A, and the measured deep horizontal displacement of the target object in the second direction is shown as B, wherein the first direction and the second direction are not parallel.
3. The method of measuring a high precision inclinometer of claim 1, wherein the displacement distance of the inclinometer inside the inclinometer tube is:
B′i＝-Asinθi+Bcosθi；
wherein, thetaiThe included angle between the inclinometer and the real vertical direction of the target object is A, the deep horizontal displacement of the target object in the first direction is obtained through measurement, and the deep horizontal displacement of the target object in the second direction is obtained through measurement, wherein the first direction and the second direction are not parallel.
4. A method of measuring a high accuracy inclinometer as claimed in claim 1, characterized in that said three axis magnetometer and said three axis gravitational acceleration sensor are used to determine the actual magnetic north of the inclinometer on a target, by:
the three axis magnetometer has a pointing magnetic north within the inclinometer, the three axis gravitational acceleration sensor is configured to correct the pointing magnetic north to determine the actual magnetic north of the inclinometer within the target.
5. The method of measurement of a high precision inclinometer of claim 4, characterized in that the actual magnetic north is determined by a quaternion rotation and translation algorithm.
6. The method of claim 1, wherein the inclinometer is left standing for a period of time aligned perpendicular to the target to determine the ideal vertical orientation of the target before the inclinometer is placed into the target.
CN202011021651.0A 2020-09-25 2020-09-25 Measuring method of high-precision inclinometer Active CN112146624B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011021651.0A CN112146624B (en) 2020-09-25 2020-09-25 Measuring method of high-precision inclinometer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011021651.0A CN112146624B (en) 2020-09-25 2020-09-25 Measuring method of high-precision inclinometer

Publications (2)

Publication Number Publication Date
CN112146624A true CN112146624A (en) 2020-12-29
CN112146624B CN112146624B (en) 2022-06-21

Family

ID=73896980

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011021651.0A Active CN112146624B (en) 2020-09-25 2020-09-25 Measuring method of high-precision inclinometer

Country Status (1)

Country Link
CN (1) CN112146624B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102434148A (en) * 2011-12-07 2012-05-02 西安思坦仪器股份有限公司 Wireless inclinometer while drilling
CN102536207A (en) * 2011-12-30 2012-07-04 中北大学 Gyro inclinometer attitude measurement solving method applicable to measurement of low well deviation angle
US20170211934A1 (en) * 2016-01-26 2017-07-27 Board Of Regents, The University Of Texas System Digital geologic compass/inclinometer system and method
CN107576319A (en) * 2017-11-01 2018-01-12 黄海 Without pipe omnidirectional self-correction real-time displacement measurement pipe
CN110160497A (en) * 2019-06-20 2019-08-23 惠州市博实结科技有限公司 Iron tower incline measurement method, device, computer equipment and storage medium

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102434148A (en) * 2011-12-07 2012-05-02 西安思坦仪器股份有限公司 Wireless inclinometer while drilling
CN102536207A (en) * 2011-12-30 2012-07-04 中北大学 Gyro inclinometer attitude measurement solving method applicable to measurement of low well deviation angle
US20170211934A1 (en) * 2016-01-26 2017-07-27 Board Of Regents, The University Of Texas System Digital geologic compass/inclinometer system and method
CN107576319A (en) * 2017-11-01 2018-01-12 黄海 Without pipe omnidirectional self-correction real-time displacement measurement pipe
CN110160497A (en) * 2019-06-20 2019-08-23 惠州市博实结科技有限公司 Iron tower incline measurement method, device, computer equipment and storage medium

Also Published As

Publication number Publication date
CN112146624B (en) 2022-06-21

Similar Documents

Publication Publication Date Title
CN106088166A (en) A kind of pile tube inclination measurement device and inclinometer pipe thereof are centered about assembly
CN110108279A (en) A kind of shaft tower inclinometric system and inclination calculation method
CN109282804B (en) Single-axis fiber-optic gyroscope north-seeking algorithm
CN105606066A (en) Foundation pit supporting structure deep level displacement monitoring system and method
CN104408320A (en) Method for determining center deviation of circular cylinder building structure by plane coordinate method
CN107479078A (en) Geodetic coordinates is converted to the method and system of separate planes coordinate in railroad survey
CN104674855B (en) A kind of pit displacement monitoring method based on differential technique
CN105737799B (en) A kind of detection method of pier column perpendicularity
Wang et al. The inertial technology based 3-dimensional information measurement system for underground pipeline
CN109537650B (en) Slope wide-range finder and slope deformation real-time monitoring method
CN103630123B (en) A kind of Wave Sensor
CN101787712B (en) Inclination measuring device and measuring method of sunk well
CN111121758B (en) Rapid modeling and credible positioning method for indoor magnetic map
CN103175487A (en) Method for expanding application of total-station instrument
CN107607904A (en) A kind of multiple target homogeneity recognition methods based on Angle Information
CN110530324A (en) A kind of modular architectural modular unit deformation performance detection method
CN112146624B (en) Measuring method of high-precision inclinometer
CN205954713U (en) Tubular pile deviational survey device and deviational survey pipe locating component placed in middle thereof
CN108612075A (en) A method of monitoring deep basal pit horizontal displacement
CN108917789B (en) Inclinometer orthogonality evaluation method based on relative included angle of pitch axis and roll axis
CN105627982A (en) Remote vehicle inclined aiming method
CN107219335A (en) Pipe jointer detection method based on multiple continuous wavelet transform
CN104111063B (en) A kind of Wireless 3 D obliquity sensor based on magnetic field and detection method thereof
CN106500663A (en) A kind of gradient laser measurement method and system
CN102121375A (en) Method for processing digital signal of high-temperature core sampler of continuous inclinometer

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant