CN113532374A

CN113532374A - Ground settlement detection method, device, equipment and storage medium

Info

Publication number: CN113532374A
Application number: CN202110736051.0A
Authority: CN
Inventors: 曹成度; 马俊; 李海亮; 刘善勇; 胡晓斌; 袁辉; 周吕
Original assignee: China Railway Siyuan Survey and Design Group Co Ltd
Current assignee: China Railway Siyuan Survey and Design Group Co Ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2021-10-22
Anticipated expiration: 2041-06-30
Also published as: CN113532374B

Abstract

The embodiment of the invention discloses a method, a device, equipment and a storage medium for detecting ground settlement, wherein the method comprises the following steps: obtaining first deformation data of a first radar monitoring point in the radar sight line direction through a radar monitor; obtaining first data of ground settlement of a first radar monitoring point according to the first deformation data; the first radar monitoring point is any one of the plurality of radar monitoring points; obtaining second data of ground settlement of a satellite monitoring point through a satellite monitoring station; fusing the first data and the second data to obtain third data of the ground settlement of the target monitoring point; correcting second deformation data of the second radar monitoring point in the radar sight line direction according to the third data to obtain third deformation data of the second radar monitoring point after correction; the second radar monitoring point is any radar monitoring point except the first radar monitoring point in the plurality of radar monitoring points; determining a settlement amount of the ground based on the plurality of third deformation data.

Description

Ground settlement detection method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of deformation monitoring, in particular to a ground settlement detection method, a ground settlement detection device, ground settlement detection equipment and a storage medium.

Background

The ground settlement has prominent influence on major infrastructure, particularly large-scale linear engineering, and mainly shows that the design elevation of a line is reduced, the gradient of the line is changed, the settlement difference of off-line engineering is caused, and in severe cases, the structural damage can be caused, the smoothness of a track is influenced, and the normal operation is endangered. Particularly, at present, ballastless track structures are adopted by high-speed railways, the ballastless track structures are extremely sensitive to settlement, and the permanent deformation of the ballastless track structures can only recover the geometric shapes of the tracks through fasteners. However, the adjustment amount of the fastener is very limited, so that the settling amount must be strictly limited. Therefore, the real-time and all-round grasp of the ground settlement dynamic and development trend is of great importance, the basic service and the technical support are provided for the design construction and the operation management of the high-speed railway, and the deepening of the ground settlement research and prevention and treatment work is facilitated.

Global Navigation Satellite System (GNSS) positioning technology is widely applied to deformation monitoring due to its characteristics of high precision, high frequency, all weather, real time, and the like. However, GNSS measurements are poorly suited for micro-sedimentation (typically < 5 mm); meanwhile, the resolution ratio of the GNSS settlement monitoring spatial domain is low due to the number of the ground receivers, and therefore, GNSS measurement is not suitable for small-range high-density ground settlement monitoring.

An Interferometric Synthetic Aperture Radar (InSAR) technology is a new ground subsidence monitoring technology developed in recent years, which monitors a large-scale geographical landform and the scale of deformation of surface motion change in a specific area in real time in an all-weather and high-precision manner on the basis of phase characteristic information of a plurality of SAR images. In recent years, researchers at home and abroad have further derived a set of ground-based synthetic aperture radar (GBSAR) technology based on InSAR technical theory. The GBSAR technology can obtain a two-dimensional image of a monitored area through an active detection microwave imaging technology, and the high spatial resolution processing is carried out on the direction and distance of the obtained image based on the synthetic aperture and frequency stepping theory, so that the GBSAR technology has the advantages of continuously obtaining high-resolution deformation information of a local area all day long and all day long, and is flexible to install and convenient to operate. However, GBSAR observation errors increase with increasing line-of-sight distance, and accuracy decreases with increasing distance. In addition, in a mountain area with large topographic fluctuation, the terrain has the characteristics of overlapping and covering and large shadow area proportion, and the acquired interference phase can be discontinuous and even completely noisy, namely a digital elevation model DEM. However, no effective solution is available for this problem.

Disclosure of Invention

In view of the above, embodiments of the present invention are intended to provide a ground subsidence detection method, device, equipment and storage medium.

The technical embodiment of the invention is realized as follows:

the embodiment of the invention provides a ground settlement monitoring method, which is applied to detection equipment; the detection equipment comprises a satellite monitoring station and a radar monitor for monitoring radar signals reflected by a reflector; the satellite monitoring station is arranged at a satellite monitoring point; a plurality of radar monitoring points are distributed around the satellite monitoring station; each radar monitoring point is provided with the reflector; the method comprises the following steps:

obtaining first deformation data of a first radar monitoring point in the radar sight line direction through the radar monitor; obtaining first data of ground settlement of the first radar monitoring point according to the first deformation data; the first radar monitoring point is any one of the plurality of radar monitoring points;

obtaining second data of the ground settlement of the satellite monitoring point through the satellite monitoring station;

fusing the first data and the second data to obtain third data of ground settlement of the target monitoring point; the target monitoring point is a monitoring point equivalent to the first radar monitoring point and the satellite monitoring point;

correcting second deformation data of a second radar monitoring point in the radar sight line direction according to the third data to obtain third deformation data of the second radar monitoring point after correction; the second radar monitoring point is any radar monitoring point except the first radar monitoring point in the plurality of radar monitoring points;

determining a settlement amount of the ground based on a plurality of the third deformation data.

In the above scheme, the obtaining first data of ground settlement of the first radar monitoring point according to the first deformation data includes:

obtaining a first distance of the reflector of the radar monitor corresponding to the first radar monitoring point in a line of sight direction and a second distance of the reflector of the radar monitor corresponding to the first radar monitoring point in a horizontal line direction;

determining ground settlement first data for the first radar monitoring point based on the first deformation data, the first distance, and the second distance.

In the above scheme, the fusing the first data and the second data to obtain third data of ground settlement of the target monitoring point includes:

fitting the first data and the second data respectively to obtain a first fitting model of ground settlement and a second fitting model of ground settlement;

fusing the first fitting model and the second fitting model according to a preset mode to obtain a fused ground settlement model;

and obtaining third data of the ground settlement of the target monitoring point based on the ground settlement model.

In the above scheme, the fusing the first fitting model and the second fitting model according to a preset mode to obtain a fused ground settlement model includes:

obtaining a first variance of the settlement residual sequence of the first radar monitoring point according to the first fitting model and obtaining a second variance of the settlement residual sequence of the satellite monitoring point according to the second fitting model;

obtaining a third variance; determining a first weight value of the first fitting model and a second weight value of the second fitting model according to the first variance, the second variance and the third variance;

determining the fused ground settlement model based on the first weight value, the second weight value, the first fitting model and the second fitting model.

In the foregoing solution, the correcting second deformation data of a second radar monitoring point in the radar sight line direction according to the third data to obtain third deformation data after correction of the second radar monitoring point includes:

obtaining a first root mean square of a deformation residual sequence of the target monitoring point according to the third data;

obtaining a third distance of a reflector of the radar monitor corresponding to the target monitoring point in the sight line direction and a fourth distance of the reflector of the radar monitor corresponding to the second radar monitoring point in the sight line direction;

determining a second root mean square of a deformed residual sequence of the second radar monitoring point based on the first root mean square, the third distance, and the fourth distance;

and correcting the second deformation data according to the second root-mean-square, and obtaining third deformation data after the second radar monitoring point is corrected.

In the foregoing scheme, the correcting the second deformation data according to the second root-mean-square to obtain third deformation data after the second radar monitoring point is corrected includes:

obtaining a preset threshold for denoising the second deformation data according to the second root mean square;

and obtaining third deformation data after the second radar monitoring point is corrected based on the preset threshold and the second deformation data.

In the above solution, the determining the settlement amount of the ground based on the plurality of third deformation data includes:

obtaining a settlement model of each third deformation data corresponding to the second radar monitoring point according to each third deformation data in the plurality of third deformation data;

obtaining a settlement amount of the ground based on a plurality of the settlement models.

The embodiment of the invention provides a ground settlement monitoring device, which is applied to detection equipment; the detection equipment comprises a satellite monitoring station and a radar monitor for monitoring radar signals reflected by a reflector; the satellite monitoring station is arranged at a satellite monitoring point; a plurality of radar monitoring points are distributed around the satellite monitoring station; each radar monitoring point is provided with the reflector; the device comprises: a first obtaining unit, a second obtaining unit, a fusion unit, a correction unit, and a determination unit, wherein:

the first obtaining unit is used for obtaining first deformation data of a first radar monitoring point in the radar sight line direction through the radar monitor; obtaining first data of ground settlement of the first radar monitoring point according to the first deformation data; the first radar monitoring point is any one of the plurality of radar monitoring points;

the second obtaining unit is used for obtaining second data of the ground settlement of the satellite monitoring point through the satellite monitoring station;

the fusion unit is used for fusing the first data and the second data to obtain third data of ground settlement of a target monitoring point; the target monitoring point is a monitoring point equivalent to the first radar monitoring point and the satellite monitoring point;

the correction unit is used for correcting second deformation data of a second radar monitoring point in the radar sight line direction according to the third data to obtain third deformation data after the second radar monitoring point is corrected; the second radar monitoring point is any radar monitoring point except the first radar monitoring point in the plurality of radar monitoring points;

the determining unit is used for determining the settlement amount of the ground surface based on a plurality of third deformation data.

In the above scheme, the first obtaining unit is further configured to obtain a first distance in a line-of-sight direction of the reflector corresponding to the radar monitor and the first radar monitoring point, and a second distance in a horizontal line direction of the reflector corresponding to the radar monitor and the first radar monitoring point; determining ground settlement first data for the first radar monitoring point based on the first deformation data, the first distance, and the second distance.

In the above scheme, the fusion unit is further configured to perform fitting processing on the first data and the second data respectively to obtain a first fitting model of ground settlement and a second fitting model of ground settlement; fusing the first fitting model and the second fitting model according to a preset mode to obtain a fused ground settlement model; and obtaining third data of the ground settlement of the target monitoring point based on the ground settlement model.

In the above scheme, the fusion unit is further configured to obtain a first variance of the settlement residual sequence of the first radar monitoring point according to the first fitting model and obtain a second variance of the settlement residual sequence of the satellite monitoring point according to the second fitting model; obtaining a third variance; determining a first weight value of the first fitting model and a second weight value of the second fitting model according to the first variance, the second variance and the third variance; determining the fused ground settlement model based on the first weight value, the second weight value, the first fitting model and the second fitting model.

In the above scheme, the correcting unit is further configured to obtain a first root mean square of a deformed residual sequence of the target monitoring point according to the third data; obtaining a third distance of a reflector of the radar monitor corresponding to the target monitoring point in the sight line direction and a fourth distance of the reflector of the radar monitor corresponding to the second radar monitoring point in the sight line direction; determining a second root mean square of a deformed residual sequence of the second radar monitoring point based on the first root mean square, the third distance, and the fourth distance; and correcting the second deformation data according to the second root-mean-square, and obtaining third deformation data after the second radar monitoring point is corrected.

In the foregoing scheme, the correcting unit is further configured to obtain a preset threshold for performing noise reduction processing on the second deformation data according to the second root-mean-square; and obtaining third deformation data after the second radar monitoring point is corrected based on the preset threshold and the second deformation data.

In the foregoing scheme, the determining unit is further configured to obtain, according to each of the third deformation data in the plurality of third deformation data, a settlement model of each of the third deformation data corresponding to the second radar monitoring point; obtaining a settlement amount of the ground based on a plurality of the settlement models.

The embodiment of the invention provides ground settlement monitoring equipment, which comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor executes the program to realize any step of the method.

Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements any of the steps of the above-mentioned method.

The embodiment of the invention provides a ground settlement detection method, a device, equipment and a storage medium, wherein the method comprises the following steps: obtaining first deformation data of a first radar monitoring point in the radar sight line direction through the radar monitor; obtaining first data of ground settlement of the first radar monitoring point according to the first deformation data; the first radar monitoring point is any one of the plurality of radar monitoring points; obtaining second data of the ground settlement of the satellite monitoring point through the satellite monitoring station; fusing the first data and the second data to obtain third data of ground settlement of the target monitoring point; the target monitoring point is a monitoring point equivalent to the first radar monitoring point and the satellite monitoring point; correcting second deformation data of a second radar monitoring point in the radar sight line direction according to the third data to obtain third deformation data of the second radar monitoring point after correction; the second radar monitoring point is any radar monitoring point except the first radar monitoring point in the plurality of radar monitoring points; determining a settlement amount of the ground based on a plurality of the third deformation data. By adopting the technical scheme of the embodiment of the invention, the first data and the second data are fused to obtain third data of the ground settlement of the target monitoring point; correcting second deformation data of a second radar monitoring point in the radar sight line direction according to the third data to obtain third deformation data of the second radar monitoring point after correction; determining a settlement amount of the ground based on a plurality of the third deformation data; the GBSAR technology is used for overcoming the defect of low spatial resolution of the GNSS technology, and the defect of error amplification in GBSAR deformation monitoring is overcome by fusing settlement monitoring data of the two technologies, so that the accuracy of GBSAR deformation monitoring is improved.

Drawings

Fig. 1 is a schematic flow chart of a method for monitoring ground settlement according to an embodiment of the present invention;

fig. 2 is a schematic view of a projection relationship between a line of sight direction and a horizontal line direction of deformation monitoring of a radar monitor in a ground settlement monitoring method according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a satellite monitoring point and a radar monitoring point in a ground settlement monitoring method according to an embodiment of the present invention;

FIG. 4 shows a process J of monitoring ground settlement according to an embodiment of the present invention₀₁A deformation time sequence diagram of a monitoring point where the corner reflector is located in the sight line direction;

FIG. 5 shows a process J of monitoring ground settlement according to an embodiment of the present invention₀₁A schematic diagram of a settlement time sequence of a radar monitoring point where the corner reflector is located;

FIG. 6 shows a process G in the method for monitoring ground settlement according to the embodiment of the present invention₀₁At satellite monitoring stationsA schematic diagram of a settling time sequence of satellite monitoring points;

FIG. 7 shows a process J of monitoring ground settlement according to an embodiment of the present invention₀₁Time series of sedimentation of monitoring points and J₀₁A schematic diagram of a settlement time sequence after the monitoring points and the GNSS monitoring points are fused;

FIG. 8 shows a process J of monitoring ground settlement according to an embodiment of the present invention₀₂A schematic diagram of deformation time series before and after the monitoring point filtering;

fig. 9 is a schematic structural diagram of a ground settlement monitoring device according to an embodiment of the present invention;

fig. 10 is a schematic diagram of a hardware entity structure of the ground settlement monitoring device according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following describes specific technical solutions of the present invention in further detail with reference to the accompanying drawings in the embodiments of the present invention. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

The embodiment provides a ground settlement monitoring method, which is applied to detection equipment; the detection equipment comprises a satellite monitoring station and a radar monitor for monitoring radar signals reflected by a reflector; the satellite monitoring station is arranged at a satellite monitoring point; a plurality of radar monitoring points are distributed around the satellite monitoring station; and each radar monitoring point is provided with the reflector.

Fig. 1 is a schematic flow chart of an implementation of a method for monitoring ground settlement according to an embodiment of the present invention, and as shown in fig. 1, the method includes:

step S101: obtaining first deformation data of a first radar monitoring point in the radar sight line direction through the radar monitor; obtaining first data of ground settlement of the first radar monitoring point according to the first deformation data; the first radar monitoring point is any one of the plurality of radar monitoring points.

It should be noted that the ground settlement monitoring method may be a regional ground settlement monitoring method, and as an example, the regional ground settlement monitoring method may be a method for monitoring regional ground settlement by combining GNSS and ground-based radar interferometry.

The number of the satellite monitoring stations can be determined according to actual conditions, and is not limited herein. The satellite monitoring station can be a GNSS monitoring station; the satellite monitoring station is arranged at a satellite monitoring point, and can be a GNSS monitoring station arranged at the satellite monitoring point; the satellite monitoring points can be arranged in a ground settlement monitoring area, which can be referred to as a monitoring area for short. In practical application, the ground settlement monitoring area can be a railway roadbed monitoring area, and two GNSS monitoring stations can be arranged in the railway roadbed monitoring area closest to a rail and are respectively marked as G₀₁And G₀₂。

The radar monitor for monitoring the radar signal reflected by the reflector may be a radar monitor for monitoring the reflected signal of the reflector; the reflector may be determined according to actual conditions, and as an example, the reflector may be a corner reflector.

A plurality of radar monitoring points are distributed around the satellite monitoring station; the specific number of the radar monitoring points can be determined according to the actual situation, and is not limited herein. As an example, the specific number of the radar monitoring points may be set according to the area of the ground settlement monitoring area and the evaluation requirement, for example, the specific number of the radar monitoring points may be 10. The reflector may be provided at each of the radar monitoring points such that the reflector is provided at each of the radar monitoring points of the plurality of radar monitoring points. As an example, the reflector is arranged at each of the radar monitoring points in the plurality of radar monitoring points, and one corner reflector is arranged at each of 10 radar monitoring points, namely 10 corner reflectors are arranged in total, which can be written as J for convenience of understanding₀₁、J₀₂、…、J₁₀。

The radar monitor may be determined according to actual conditions, and is not limited herein, and as an example, the radar monitor may be a GBSAR monitor, which may also be referred to as a GBSAR instrument or a radar. The GBSAR monitor can be arranged outside a monitoring area and a certain point with higher terrain and more stable deformation is selected; in practical application, a GNSS reference station can be established by selecting a place with stable deformation and better satellite signal observation condition outside the monitoring area.

In practical application, the arrangement of the monitoring points can establish a small number of GNSS monitoring stations for the key positions in a monitoring area, and arrange corner reflectors for improving GBSAR radar reflection signals nearby the GNSS monitoring stations; and additionally arranging a plurality of corner reflectors according to the area and the evaluation requirement, and numbering all GNSS monitoring stations and the corner reflectors. Selecting a certain point with higher terrain and more stable deformation outside the monitoring area as a mounting point of the GBSAR instrument; and selecting a place with stable deformation and better satellite signal observation conditions outside the monitoring area to establish the GNSS reference station. The GBSAR monitor is leveled, and the radar antenna can be aligned to a monitoring area by adjusting the included angle between the antenna beam of the GBSAR monitor and the horizontal plane of the radar.

The obtaining of the first deformation data of the first radar monitoring point in the radar sight line direction by the radar monitor may be to perform data acquisition on radar signals reflected by reflectors at all radar monitoring points in the monitoring area by the radar monitor to obtain the first deformation data of the first radar monitoring point in the radar sight line direction; wherein the first deformation data may be a deformation time series. In practical application, the radar monitor can be used for collecting data of radar signals reflected by reflectors at all radar monitoring points in a monitoring area, processing software is carried out on the data by the radar monitor according to the actual topographic condition and the signal reflection intensity of the monitoring area, and finally deformation time sequences of all radar monitoring points in the sight line direction are obtained through the steps of image registration, interference measurement, interference pattern filtering, phase unwrapping, atmosphere correction and the like, so that the deformation time sequences of any radar monitoring point in the plurality of radar monitoring points in the radar sight line direction are obtained.

Step S102: and obtaining second data of the ground settlement of the satellite monitoring point through the satellite monitoring station.

It should be noted that the second data of the ground settlement of the satellite monitoring point obtained by the satellite monitoring station may be the coordinates of the satellite monitoring point within a preset time period obtained by the satellite monitoring station, and the second data of the ground settlement of the satellite monitoring point is obtained according to the coordinates. Wherein the preset time is related to an observation time of the radar monitor; the observation time of the radar monitor can be understood as the time of the radar monitor for acquiring data of a monitored area; the preset time is related to the observation time of the radar monitor, which can be understood as selecting the same observation time starting point and time period as the radar monitor. The coordinates may include longitude and latitude and elevation of the satellite monitoring points at a certain time within a preset time period. The second data may be a satellite monitoring point ground settlement time series. As an example, the obtaining, by the satellite monitoring station, coordinates of the satellite monitoring points within a preset time period may be that the satellite monitoring station obtains observation data of a GNSS reference station and a GNSS monitoring station within the same observation time period as the radar monitor and known coordinates of the GNSS reference station, and calculates all coordinates of each satellite monitoring point within the time period in a geodetic coordinate system by using a carrier phase dynamic Real time differential (RTK) technique; the coordinates may be noted as (B, L, H), where B is the geodetic latitude, L is the geodetic longitude, and H is the geodetic height. The second data of the ground settlement of the satellite monitoring points are obtained according to the coordinates, namely, for each GNSS monitoring station, the first time point in the time period is used as a reference time point, the geodetic heights of all the time points in the time period are subtracted from the geodetic heights of the reference time point, and all the results are arranged according to the time sequence to obtain the settlement time sequence of the satellite monitoring stations in the time period; this time series of sedimentation can be denoted as S_GiWhere i is 1,2,3 … m, m represents the number of GNSS monitoring points, and a specific value of m may be determined according to actual conditions, which is not limited herein, and as an example, m may be 2.

Step S103: fusing the first data and the second data to obtain third data of ground settlement of the target monitoring point; the target monitoring point is the monitoring point equivalent to the first radar monitoring point and the satellite monitoring point.

It should be noted that the target monitoring point is the monitoring point where the first radar monitoring point and the satellite monitoring point are equivalent, mainly considering that when the first radar monitoring point is infinitely close to the satellite monitoring point, the ground settlement of the first radar monitoring point may be substantially consistent with the ground settlement of the satellite monitoring point, and two monitoring points (the first radar monitoring point and the satellite monitoring point) may be equivalent to one target monitoring point, which may also be referred to as a key monitoring point. In practical application, when the first radar monitoring point is the nearest radar monitoring point around the satellite monitoring point, the target monitoring point may be similar to the first radar monitoring point, that is, the target monitoring point may be the nearest radar monitoring point around the satellite monitoring point.

The first data and the second data are fused to obtain third data of the ground settlement of the target monitoring point, wherein the step of fusing the first data and the second data according to a preset mode to obtain the third data of the ground settlement of the target monitoring point; the preset mode may be determined according to an actual situation, and is not limited herein. As an example, the preset manner may be a weighted average manner. In practical application, the first data and the second data are fused according to a preset mode, and the third data of the ground settlement of the target monitoring point is obtained, namely the first data and the second data are respectively subjected to fitting processing to obtain a first fitting model of the ground settlement and a second fitting model of the ground settlement; fusing the first fitting model and the second fitting model according to a preset mode to obtain a fused ground settlement model; and obtaining third data of the ground settlement of the target monitoring point based on the ground settlement model.

Step S104: correcting second deformation data of a second radar monitoring point in the radar sight line direction according to the third data to obtain third deformation data of the second radar monitoring point after correction; the second radar monitoring point is any radar monitoring point except the first radar monitoring point in the plurality of radar monitoring points.

It should be noted that the second radar monitoring point may be any radar monitoring point of the plurality of radar monitoring points except the first radar monitoring point, and may also be understood as another radar monitoring point of the plurality of radar monitoring points except the first radar monitoring point, which may be referred to as another GBSAR monitoring point for short.

Correcting second deformation data of a second radar monitoring point in the radar sight line direction according to the third data, and obtaining the third deformation data after the second radar monitoring point is corrected can be understood as correcting deformation data of other radar monitoring points according to the third data and obtaining the deformation data after the other radar monitoring points are corrected; this process of correction may be understood as a process of correcting errors.

Correcting second deformation data of a second radar monitoring point in the radar sight line direction according to the third data, wherein the third deformation data obtained after the second radar monitoring point is corrected can be a first root mean square of a deformation residual sequence of the target monitoring point obtained according to the third data; determining a second root mean square of a deformation residual sequence of the second radar monitoring point according to the first root mean square; and correcting the second deformation data according to the second root-mean-square, and obtaining third deformation data after the second radar monitoring point is corrected. The first root mean square can be obtained according to a first preset formula; the second root mean square may be obtained according to a second preset formula; the first preset formula and the second preset formula may be determined according to actual conditions, and are not limited herein.

Step S104: determining a settlement amount of the ground based on a plurality of the third deformation data.

The determining of the settlement amount of the ground based on the plurality of third deformation data may be determining a settlement model of each third deformation data corresponding to the second radar monitoring point based on the plurality of third deformation data, and obtaining the settlement amount of the ground based on the plurality of settlement models. For convenience of understanding, here exemplified and explained, the determining of the settlement model of each of the third deformation data corresponding to the second radar monitoring point based on the plurality of third deformation data may be to project each of the third deformation data in the plurality of third deformation data to a vertical direction, and obtain the settlement model of each of the third deformation data corresponding to the second radar monitoring point; the settlement amount of the ground is obtained based on the plurality of settlement models, and the settlement amount of the monitoring area, namely the settlement amount of the ground, can be obtained by substituting observation time into the plurality of settlement models.

According to the ground settlement monitoring method provided by the embodiment of the invention, the first data and the second data are subjected to fusion processing to obtain third data of ground settlement of a target monitoring point; correcting second deformation data of a second radar monitoring point in the radar sight line direction according to the third data to obtain third deformation data of the second radar monitoring point after correction; determining a settlement amount of the ground based on a plurality of the third deformation data; the GBSAR technology is used for overcoming the defect of low spatial resolution of the GNSS technology, and the defect of error amplification in GBSAR deformation monitoring is overcome by fusing settlement monitoring data of the two technologies, so that the accuracy of GBSAR deformation monitoring is improved.

In an optional embodiment of the present invention, the obtaining first data of ground settlement of the first radar monitoring point according to the first deformation data comprises: obtaining a first distance of the reflector of the radar monitor corresponding to the first radar monitoring point in a line of sight direction and a second distance of the reflector of the radar monitor corresponding to the first radar monitoring point in a horizontal line direction; determining ground settlement first data for the first radar monitoring point based on the first deformation data, the first distance, and the second distance.

In this embodiment, obtaining the first distance in the line of sight direction of the reflector corresponding to the radar monitor and the first radar monitoring point may be obtaining, by the radar monitor, distances in the line of sight direction of all reflectors from the radar monitor. As an example, the distance of all reflectors from the radar monitor in the line-of-sight direction may be obtained by using the software of the GBSAR monitoring apparatus, and the distance is denoted as AC for ease of understanding.

The obtaining of the second distance of the radar monitor in the horizontal line direction from the reflector corresponding to the first radar monitoring point may be obtaining a first coordinate of the radar monitor and a second coordinate of the reflector corresponding to the first radar monitoring point in the horizontal line direction; and determining the second distance according to the first coordinate and the second coordinate. For ease of understanding, the first coordinate may be denoted as (X) by way of example herein_G，Y_G) The second coordinate may be noted as (X)_J，Y_J) The second distance may be called a flat distance, denoted as AB, and the second distance may be

In practical applications, the GNSS-RTK receiver can be used to measure the coordinates (X) of the positions of all the corner reflectors_J，Y_J) And coordinates (X) of GBSAR monitor_G，Y_G) Wherein subscript J represents a corner reflector and subscript G represents a GBSAR instrument, according to the formula:

the straight distance between the radar and all corner reflectors, i.e. AB, is calculated.

Determining ground settlement first data for the first radar monitoring point based on the first deformation data, the first distance, and the second distance may be determining ground settlement first data for the first radar monitoring point in a preset formula based on the first deformation data, the first distance, and the second distance; the preset formula needs to be determined according to actual conditions, and is not limited herein; the first data may be a time series.

For ease of understanding, this is exemplified here. Fig. 2 is a schematic view of a projection relationship between a line of sight direction and a horizontal line direction of deformation monitoring of a radar monitor in a ground settlement monitoring method according to an embodiment of the present invention, and as shown in fig. 2, an AB straight line represents a horizontal line; AB represents the plane distance between the radar monitor and the radar monitoring point; the AD line represents the line of sight; AC represents the line-of-sight distance between the radar monitor and the monitoring point of the monitor; the BC line represents the vertical direction; BC represents the settlement distance of the monitoring point; DC represents the projection of the settlement of the radar monitoring point on the sight line, namely the deformation of the monitoring point obtained by GBSAR on the sight line; the angle between line AB and line AD represents the tilt angle, and can be represented by α. From the geometrical relationships in fig. 1, it can be seen that: DC ═ BC × sin α, where α denotes the tilt angle, since cos α ═ AB/AC, therefore:

the deformation time sequence DC of the radar sight line of the GBSAR monitoring point closest to each GNSS monitoring point, AB and AC can be substituted into the formula (1) to obtain the settlement time sequence BC of the GBSAR monitoring point. In the embodiment of the invention, the settlement time sequence obtained according to the GBSAR monitoring data can be named as S_JiThe subscript i indicates the number of the corner reflectors, wherein i ═ 1,2,3 … n, n indicates the number of the corner reflectors, and the specific value of n can be determined according to practical situations, and is not limited herein, and as an example, n can be 10.

In the embodiment of the invention, considering that the GBSAR instrument can only obtain the deformation of the target in the direction of the radar sight, the deformation time sequence monitored by the GBSAR is required to be converted into the settlement time sequence of the monitoring point before the deformation time sequence monitored by the GBSAR is fused with the GNSS settlement time sequence. According to the distance from a monitoring target to the radar sight line direction and the distance between the monitoring point and the radar plane direction, the inclination angle of an antenna beam is calculated, the deformation time sequence DC of the GBSAR monitoring point closest to each GNSS monitoring point along the radar sight line is substituted into the formula (1) with AB and AC, and then the settlement time sequence of the GBSAR monitoring point can be obtained. In practical application, the distance from a monitoring target to the line-of-sight direction of the radar can be called the line-of-sight distance; the distance between the monitoring point and the radar plane direction can be called the flat distance.

In an optional embodiment of the present invention, the fusing the first data and the second data to obtain third data of ground settlement of the target monitoring point includes: fitting the first data and the second data respectively to obtain a first fitting model of ground settlement and a second fitting model of ground settlement; fusing the first fitting model and the second fitting model according to a preset mode to obtain a fused ground settlement model; and obtaining third data of the ground settlement of the target monitoring point based on the ground settlement model.

In this embodiment, the first data and the second data are respectively subjected to fitting processing to obtain a first fitting model of ground settlement and a second fitting model of ground settlement, which may be obtained by performing polynomial fitting on the first data to obtain a first fitting model of ground settlement; and performing polynomial fitting on the second data to obtain a second fitting model of the ground settlement. As an example, the polynomial fit may refer to the following fitting equation (2):

S(t)＝P₁×t^N+P₂×t^N-1+…+P_N×t+P_N+1 (2)

in the formula (2), S is a sedimentation time series, t is time, N is the order of a fitted polynomial, P₁、P₂、P₃、…P_N、P_N+1Is the coefficient of the polynomial.

The polynomial fitting is performed on the first data to obtain a first fitting model of ground settlement, and may be performed on the first data by polynomial fitting to obtain a first best fitting model of ground settlement, where the first best fitting model is referred to as a first fitting model. And performing polynomial fitting on the second data to obtain a second fitting model of ground settlement, which may be performing polynomial fitting on the second data to obtain a second best fitting model of ground settlement, and the second best fitting model is referred to as a second fitting model. Wherein the first fitting model can be denoted as f_G(t), the second fitted model may be written asf_J(t)。

In practical application, the initial value of N may be set to 2, and the time t is substituted into the fitted polynomial to obtain a new sedimentation sequence S_NWill S_NWith the sedimentation sequence S to be fitted_JOr S_GSubtracting to obtain a sedimentation residual sequence C_NOn the basis of which C is calculated_NStandard deviation r of_N. To obtain the best fitting order, the settling time series must be fitted multiple times. When r_N-r_N+1|＜δ⁰In which is delta⁰And in order to judge whether the N is a proper preset value, stopping fitting when the N is the optimal polynomial order, and otherwise, continuing fitting the polynomial of the order N +1 to obtain a fitting model.

Fusing the first fitting model and the second fitting model according to a preset mode to obtain a fused ground settlement model; the preset mode may be determined according to an actual situation, and is not limited herein. As an example, the preset manner may be a weighted average manner.

In an optional embodiment of the present invention, the fusing the first fitting model and the second fitting model according to a preset manner to obtain a fused ground settlement model includes: obtaining a first variance of the settlement residual sequence of the first radar monitoring point according to the first fitting model and obtaining a second variance of the settlement residual sequence of the satellite monitoring point according to the second fitting model; obtaining a third variance; determining a first weight value of the first fitting model and a second weight value of the second fitting model according to the first variance, the second variance and the third variance; determining the fused ground settlement model based on the first weight value, the second weight value, the first fitting model and the second fitting model.

Obtaining a first variance of the sedimentation residual sequence of the first radar monitoring point according to the first fitting model can be calculating a first variance of the sedimentation residual sequence of the first radar monitoring point according to the first fitting model; wherein the specific calculation process canThe first variance can be expressed as r with reference to a variance calculation formula² _G。

Obtaining a second variance of the settlement residual sequence of the satellite monitoring points according to the second fitting model, wherein the second variance of the settlement residual sequence of the satellite monitoring points can be calculated according to the second fitting model; wherein, the specific calculation process can refer to a variance calculation formula, and the second variance can be recorded as r² _J。

Obtaining the third variance may be obtaining a minimum value of the first variance and the second variance, the minimum value being taken as the third variance. The third difference may also be referred to as a unit weight variance, which may be denoted as r². As an example, assume r² _GAnd r² _JMinimum value of r² _JThen r is²Is r² _J。

Determining a first weight value of the first fitting model and a second weight value of the second fitting model according to the first variance, the second variance, and the third variance may be determining a first weight value of the first fitting model according to the first variance and the third variance and determining a second weight value of the second fitting model according to the second variance and the third variance. Wherein the first weight value may be denoted as P_G(ii) a The second weight value may be denoted as P_J(ii) a Then P is_G＝r²/r² _G，P_J＝r²/r² _J。

Determining the fused ground settlement model based on the first weight value, the second weight value, the first fitting model and the second fitting model may be determining the fused ground settlement model based on the first weight value, the second weight value, the first fitting model and the second fitting model in a weighted average manner. Wherein, the weighted average mode can refer to the following formula (3):

f(t)＝(P_G×f_G(t)+PJ×f_J(t))×(P_G+P_J) (3)

in the formula (3), P_GIs a first weight value, P_JIs a second weight value, f_G(t) is a first fitting model, f_J(t) is the second fitting model, and f (t) is the fused ground subsidence model.

In practical application, the time is substituted into the fused ground subsidence model to obtain a subsidence time sequence S after the GNSS monitoring points and the GBSAR monitoring points are fused_GJAnd accordingly, the settlement amount of the target monitoring point in the selected time range and the settlement amount of a certain time point are obtained.

In an optional embodiment of the present invention, the correcting, according to the third data, second deformation data of a second radar monitoring point in a radar sight line direction to obtain third deformation data after correction of the second radar monitoring point includes: obtaining a first root mean square of a deformation residual sequence of the target monitoring point according to the third data; obtaining a third distance of a reflector of the radar monitor corresponding to the target monitoring point in the sight line direction and a fourth distance of the reflector of the radar monitor corresponding to the second radar monitoring point in the sight line direction; determining a second root mean square of a deformed residual sequence of the second radar monitoring point based on the first root mean square, the third distance, and the fourth distance; and correcting the second deformation data according to the second root-mean-square, and obtaining third deformation data after the second radar monitoring point is corrected.

In this embodiment, obtaining the first root mean square of the deformed residual sequence of the target monitoring point according to the third data may be projecting the third data back to the line of sight direction to obtain the deformed residual sequence of the target monitoring point in the line of sight direction, and calculating the root mean square of the time sequence of the line of sight direction deformed residual based on the deformed residual sequence. For convenience of understanding, in the example description herein, assuming that the first radar monitoring point is the GBSAR monitoring point closest to the GNSS monitoring point, the target monitoring point may be a GBSAR monitoring point, that is, the GBSAR monitoring point closest to the GNSS monitoring point; and substituting the observation time of the GBSAR monitoring point closest to the GNSS monitoring point into the fused settlement model, and calculating the root mean square of the visual line to the deformation residual time sequence, wherein the specific calculation process refers to the following formulas (4), (5) and (6).

V_G＝S_GJ-S_J (4)

In the formula (4), V_GAnd representing a residual sequence of the GBSAR monitoring point settlement time sequence, and accordingly obtaining a line-of-sight deformation residual time sequence:

in equation (5), V represents a line-of-sight distortion residual time series, and the root mean square of the distortion residual time series is calculated from the line-of-sight distortion residual time series:

in the formula (6), m represents the number of elements in the time series of deformation, V_iRepresenting the elements that make up the array V.

In practical applications, the first root mean square may be denoted as δ₁，δ₁It can also be called the root mean square of the distortion residual sequence from the GBSAR monitoring point nearest to the GNSS monitoring point to the radar line of sight.

Obtaining the third distance in the line of sight of the reflector corresponding to the radar monitor and the target monitoring point may be obtaining an oblique distance in the line of sight of the reflector corresponding to the radar monitor and the target monitoring point. For convenience of understanding, a target monitoring point is taken as a GBSAR monitoring point closest to a GNSS monitoring point for illustration, and an inclination distance of a reflector of the radar monitor corresponding to the target monitoring point in a line of sight direction may be denoted as AC₁，AC₁It may also be referred to as the GBSAR monitor point-to-radar slant range closest to the GNSS monitor point.

Obtaining the fourth distance in the line of sight of the reflector corresponding to the radar monitor and the second radar monitoring point may be obtaining a slant distance in the line of sight of the reflector corresponding to the radar monitor and the second radar monitoring point. For ease of understanding, this is doneThe slant distance of the reflector corresponding to the radar monitor and the second radar monitor point in the sight line direction can be recorded as AC₂，AC₂It can also be called the slant range from other GBSAR monitoring points to the radar.

Determining a second root mean square of the deformed residual sequence of the second radar monitoring point based on the first root mean square, the third distance, and the fourth distance may be determining the second root mean square of the deformed residual sequence of the second radar monitoring point according to a preset formula based on the first root mean square, the third distance, and the fourth distance. The preset formula can be determined according to actual conditions.

In practical application, mainly considering that the accuracy decreases with the increase of the distance because the observation error of the GBSAR increases with the increase of the line-of-sight distance, in the case that the deformed residual time series of other GBSAR monitoring points is unknown, the root mean square of the deformed residual time series of other GBSAR monitoring points can be calculated according to the following formulas (7) and (8):

in the above formula, AC₁And delta₁Respectively the root mean square, AC of the distortion residual sequence from the GBSAR monitoring point closest to the GNSS monitoring point to the radar₂And delta₂The root mean square of the slant range from other GBSAR monitoring points to the radar and the line-of-sight deformation residual sequence are respectively.

And correcting the second deformation data according to the second root mean square, and obtaining the third deformation data after the second radar monitoring point is corrected may be correcting an error of the second deformation data according to the second root mean square, so as to obtain the third deformation data after the second radar monitoring point is corrected. Wherein the error may be an error sequence of the deformed time sequence of the second radar monitoring point.

In an optional embodiment of the present invention, the correcting the second deformation data according to the second root mean square to obtain third deformation data after the second radar monitoring point is corrected includes: obtaining a preset threshold for denoising the second deformation data according to the second root mean square; and obtaining third deformation data after the second radar monitoring point is corrected based on the preset threshold and the second deformation data.

In this embodiment, the obtaining of the preset threshold for performing noise reduction on the second deformation data according to the second root mean square may be performing noise reduction on the second deformation data according to the second root mean square to obtain the preset threshold for performing noise reduction. Obtaining third deformation data after the second radar monitoring point is corrected based on the preset threshold and the second deformation data, wherein the third deformation data after the second radar monitoring point is corrected can be obtained by filtering the second deformation data according to the preset threshold; wherein the third deformation data may be a filtered deformation time series.

Obtaining the preset threshold for denoising the second deformation data according to the second root mean square may be understood as performing denoising on the deformation time sequence by using a wavelet analysis method under the condition that the root mean square of error sequences of deformation time sequences of other GBSAR monitoring points is known, so as to obtain the preset threshold for denoising the second deformation data. The preset threshold may be a noise reduction threshold, which may be determined according to an actual situation, and the noise reduction threshold may be recorded as THR.

In practical applications, the specific process of the noise reduction processing may be:

the first step is as follows: and (3) performing k-layer wavelet decomposition on the deformation time sequence by using a wavedec command in Matlab software, wherein the initial value of k is set to be 2, so as to obtain wavelet decomposition coefficients [ c, l ], wherein c is the wavelet decomposition coefficient, l is an array consisting of k +1 numbers, and the wavelet decomposition coefficients in each layer are respectively expressed by arranging from small to large.

The second step is that: using commands, bases, in softwareFrom the obtained wavelet decomposition coefficients [ c, l ]]And root mean square delta of the deformed residual sequence₂And calculating a threshold value THR required for performing wavelet denoising on the deformation time sequence. In practical application, the software may be Matlab software; the command may be a wavelet transform command, such as a wbmpen command.

The third step: using commands in software, based on the wavelet decomposition coefficients [ c, l ] obtained above]And carrying out k-layer wavelet decomposition on the deformation time sequence and carrying out threshold denoising in a soft threshold denoising mode to obtain a filtered deformation time sequence S_kJ。

The fourth step: let the original deformation time sequence be S_0JWill S_kJAnd S_0JAre subtracted, and the root mean square δ is calculated from the obtained sequence according to the above formula (6)²When delta is²Greater than a threshold delta set in advance¹If so, adding 1 to the k value to enable the filtered deformation time sequence S_kJIs S_0JRepeating the first to fourth steps until delta²<δ¹To determine the final filtered deformation time series S_kJ。

In an optional embodiment of the invention, the determining the settlement of the ground surface based on the plurality of the third deformation data comprises: obtaining a settlement model of each third deformation data corresponding to the second radar monitoring point according to each third deformation data in the plurality of third deformation data; obtaining a settlement amount of the ground based on a plurality of the settlement models.

In this embodiment, obtaining a settlement model of each third deformation data corresponding to the second radar monitoring point according to each third deformation data in the plurality of third deformation data may be to project each third deformation data in the plurality of third deformation data to a vertical direction to obtain a settlement model of each third deformation data corresponding to the second radar monitoring point. In practical application, each of the third deformation data in the plurality of third deformation data is projected to the vertical direction, and the settlement model of each third deformation data corresponding to the second radar monitoring point can be obtained asObtaining the slant distance and the parallel distance from each second radar monitoring point to a radar monitor; and obtaining a settlement model of each third deformation data corresponding to the second radar monitoring point according to a preset formula based on each third deformation data, the slope distance and the flat distance. For convenience of understanding, the slant distance may be denoted as AC, the flat distance may be denoted as AB, and the third deformation data may be denoted as f_kJ(t), the preset formula may refer to the following formula (9):

of formula (9), f'_Ji(t) is a sedimentation model.

In practical application, the observation time can be substituted into the formula (9) to obtain a more accurate settling time sequence of each second radar monitoring point, so that the settling amount of the second radar monitoring point in a selected time range and the settling amount of a certain time point can be obtained.

Obtaining the settlement of the ground based on the plurality of settlement models may be substituting observation time into the plurality of settlement models to obtain the settlement of the ground. Wherein, the settlement amount of the ground can be understood as the settlement amount of the ground corresponding to the monitoring area.

The embodiment of the invention provides a combined GNSS technology and a GBSAR technology for ground subsidence monitoring in a small-range area, aiming at the problems of poor elevation precision of GNSS measurement, insensitivity to ground micro-deformation, low spatial resolution of the small-range area, influence of atmospheric delay on an observed value of the GBSAR and the like. The GBSAR technology is used for making up the defect of low spatial resolution of the GNSS technology, and the deformation time sequences of other GBSAR monitoring points are corrected by fusing settlement monitoring data of the two technologies.

For convenience of understanding, a ground settlement monitoring method is taken as an example for a method for monitoring regional ground settlement by combining a GNSS and a ground-based radar interferometry, and specifically, settlement of areas on two sides of a section of railway subgrade is analyzed by using a GNSS technology and a GBSAR technology, and the specific steps are as follows:

the first step is as follows: two GNSS monitoring stations are arranged in the railway roadbed monitoring area closest to the railway track and respectively coded as G₀₁And G₀₂(ii) a And (4) erecting GBSAR monitoring instruments and installing GNSS reference stations at 150 meters nearby the monitoring area and in higher terrain. And moreover, corner reflectors are arranged beside the GNSS monitoring station, in addition, 9 corner reflectors are uniformly distributed at other positions in the measuring area, all the corner reflectors are numbered in sequence, and the number is J₀₁、J₀₂、…、J₁₀Wherein J₀₁And J₀₆Are respectively a distance G₀₁And G₀₂The closest corner reflector. The distribution of the specific monitoring points is shown in fig. 3, and fig. 3 is a schematic diagram of satellite monitoring points and radar monitoring points in the method for monitoring ground settlement according to the embodiment of the invention.

The second step is that: and measuring the coordinates of all corner reflectors and the installation point of the GBSAR instrument by using the GNSS-RTK receiver, and calculating the straight distance between the radar and all corner reflectors.

The third step: after the GBSAR related parameters are set, the GBSAR instrument and the GNSS monitoring station start to acquire data.

The fourth step: and processing the GBSAR acquired observation data by using the software of the GBSAR instrument, and finally obtaining the deformation time sequence of the monitoring points where all corner reflectors are located in the sight line direction through the steps of image registration, interferometry, interferogram filtering, phase unwrapping, atmospheric correction and the like. As an example, fig. 4 shows a process J in a method for monitoring ground settlement according to an embodiment of the present invention₀₁A deformation time sequence diagram of a monitoring point where the corner reflector is located in the sight line direction; as shown in fig. 4;

the fifth step: and obtaining the distances from all the corner reflectors to the sight line of the instrument by using the self-contained software of the GBSAR monitoring instrument. Transforming the time series of deformations on the line of sight into a vertical sedimentation series according to the above equation (1): s_J1、S_J2、S_J3、…S_J10. As an example, fig. 5 shows a process J in a method for monitoring ground settlement according to an embodiment of the present invention₀₁A schematic diagram of a settlement time sequence of a radar monitoring point where the corner reflector is located; as shown in fig. 5; the abscissa represents time; ordinate meterThe amount of deformation is shown.

And a sixth step: and selecting the observation data of the two GNSS monitoring points in the same observation time starting point and time period as the GBSAR monitoring points, and calculating the coordinates (B, L and H) of the GNSS monitoring points in the time period in the geodetic coordinate system by utilizing an RTK (real-time kinematic) technology. Taking the first time point of the time period as a reference time point, subtracting the geodetic heights of all time points in the time period from the geodetic height of the reference time point, and arranging all the results according to the time sequence to obtain a sedimentation time sequence S of the GNSS survey station in the time period_G1And S_G2. As an example, fig. 6 shows a step G in a method for monitoring ground settlement according to an embodiment of the present invention₀₁A schematic diagram of a settlement time sequence of a satellite monitoring point where a satellite monitoring station is located; as shown in fig. 6; the abscissa represents time; the ordinate represents the amount of deformation.

The seventh step: utilizing a polyfit command in matlab software to perform GNSS monitoring station G according to formula (2)₀₁And corner reflector J nearest thereto₀₁Obtaining respective optimal sedimentation models by polynomial fitting of the sedimentation time series, wherein G₀₁And J₀₁The polynomials of (a) are shown in equations (10) and (11). And substituting the time into the settlement model to obtain a fitted settlement sequence. On the basis, the variances r of the GNSS monitoring points and the corner reflector sedimentation residual sequence are respectively obtained² _GAnd r² _JAnd taking the minimum value as the unit weight variance r²The weights of the two sedimentation models are obtained separately. According to formula (3) to G₀₁And J₀₁The fused sedimentation model is obtained by weighted averaging, as shown in formula (12). The observation time is brought into the fused settlement model, and the settlement time sequence S after the fusion of the GNSS monitoring point and the GBSAR monitoring point can be obtained_GJAs shown in fig. 7, fig. 7 shows a process J in a method for monitoring ground settlement according to an embodiment of the present invention₀₁Time series of sedimentation of monitoring points and J₀₁A schematic diagram of a settlement time sequence after the monitoring points and the GNSS monitoring points are fused, wherein 11 is J₀₁Sedimentation time series of monitoring points, 12 is J₀₁And (4) merging the monitoring points and the GNSS monitoring points to obtain a settlement time sequence. Accordingly, GNSS or GBSAR monitoring is obtainedThe settling amount of the point in the selected time range and the settling amount of the point in time.

f_G(t)＝-2.15×10^-11×t⁴+5.73×10^-4×t³+718×t²-1.96×10⁹×t+8.33×10¹⁴ (10)

f_J(t)＝-2.31×10^-13×t⁴+9.41×10^-4×t³-934.07×t²-1.60×10⁸×t+2.48×10¹⁴ (11)

f(t)＝(0.53×f_G(t)+1×f_J(t))×(1+0.53) (12)

Eighth step: substituting the observation time of the J01 monitoring point into the fused settlement model to obtain J₀₁Calculating the J of the settlement sequence of the corner reflector according to the formulas (4) to (6)₀₁Root mean square delta of line of sight to warped residual time series₁. Due to the distance J₀₁、J₀₂、…J₀₅The nearest GNSS monitoring point is G₀₁And thus can be based on J₀₁Root mean square delta of the residual time series of₁To J₀₂、…J₀₅The warped time series of corner reflector lines of sight is filtered. J is obtained by using self-contained data processing software of GBSAR instrument₀₂、…J₀₅Calculating the root mean square of the corner reflector according to the formulas (7) to (8) by combining the distance between the corner reflector and the line of sight of the radar and the straight distance obtained in the step (2), and then utilizing Matlab software wavedec command to J₀₂、…J₀₅The deformation time series of the corner reflector is subjected to wavelet decomposition. Calculating a wavelet de-noising threshold value by utilizing a Matlab software wbmpen command according to the obtained root mean square, and finally, utilizing a Matlab software wdencmp command to pair J₀₂、…J₀₅Performing wavelet threshold denoising on the deformation time sequence to obtain J₀₂、…J₀₅The filtered deformation time series of the monitoring points. As an example, fig. 8 shows a process J in a method for monitoring ground settlement according to an embodiment of the present invention₀₂The time series diagram of the deformation before and after the monitoring point filtering is shown in FIG. 8, 21 is J₀₂Deformation time sequence before filtering of monitoring points; 22 is J₀₂Monitoring a deformation time sequence after the filtering of the points; the abscissa represents time, and the ordinate represents the amount of deformation.

The ninth step: performing polynomial fitting on the visual line direction deformation time sequence of the corner reflector subjected to the wavelet threshold denoising by utilizing Matlab software to obtain a deformation model, J₀₂The deformation model of (a) is as follows:

f_8J(t)＝-2.80×10^-9×t³+84.16×t²-1.24×t+4.59×10¹³ (13)

the tenth step: and (4) converting the deformation model of the visual line into the vertical direction according to the formula (9) to obtain more accurate settlement models of the J02 and … J05 corner reflectors. The sedimentation model of J02 is as follows.

f'_J02(t)＝8×f_8J(t) (14)

The eleventh step: and processing the settlement time sequence based on the GNSS monitoring station G02 and the deformation time sequence, the slant range and the parallel range of the monitoring points of the adjacent corner reflectors J06, J07 and … J010 according to the same steps to obtain more accurate settlement models of the monitoring points of the corner reflectors J06, J07 and … J010.

The twelfth step: and substituting the observation time into the sedimentation model of all the corner reflectors to obtain the sedimentation amount of the area.

By adopting the technical scheme of the embodiment of the invention, firstly, the sedimentation time sequences of the GNSS monitoring points and the GBSAR monitoring points closest to the GNSS monitoring points are fused to obtain the optimal sedimentation fitting curve of the key monitoring points. And secondly, obtaining error sequences of deformation time sequences of other GBSAR monitoring points according to the fused settlement time sequence. And finally, carrying out noise reduction processing on the deformation time sequence of the GBSAR monitoring points by utilizing wavelet transformation to obtain a more accurate deformation field of the monitoring area. Compared with the conventional GBSAR regional deformation monitoring, the method combines the GNSS technology and the GBSAR technology, overcomes the defect that the error is amplified in the GBSAR deformation monitoring, and improves the GBSAR deformation monitoring precision.

In this embodiment, a ground settlement monitoring device is provided, fig. 9 is a schematic structural diagram of the ground settlement monitoring device according to the embodiment of the present invention, and as shown in fig. 9, the device 20 is applied to a detection apparatus; the detection equipment comprises a satellite monitoring station and a radar monitor for monitoring radar signals reflected by a reflector; the satellite monitoring station is arranged at a satellite monitoring point; a plurality of radar monitoring points are distributed around the satellite monitoring station; each radar monitoring point is provided with the reflector; the apparatus 20 comprises: a first obtaining unit 201, a second obtaining unit 202, a fusion unit 203, a correction unit 204, and a determination unit 205, wherein:

the first obtaining unit 201 is configured to obtain, by the radar monitor, first deformation data of a first radar monitoring point in a radar sight line direction; obtaining first data of ground settlement of the first radar monitoring point according to the first deformation data; the first radar monitoring point is any one of the plurality of radar monitoring points;

the second obtaining unit 202 is configured to obtain, by the satellite monitoring station, second data of ground settlement of the satellite monitoring point;

the fusion unit 203 is configured to perform fusion processing on the first data and the second data to obtain third data of ground settlement of the target monitoring point; the target monitoring point is a monitoring point equivalent to the first radar monitoring point and the satellite monitoring point;

the correcting unit 204 is configured to correct second deformation data of a second radar monitoring point in the radar sight line direction according to the third data, and obtain third deformation data after correction of the second radar monitoring point; the second radar monitoring point is any radar monitoring point except the first radar monitoring point in the plurality of radar monitoring points;

the determining unit 205 is configured to determine a settlement amount of the ground based on a plurality of the third deformation data.

In other embodiments, the first obtaining unit 201 is further configured to obtain a first distance in the line-of-sight direction of the reflector corresponding to the radar monitor and the first radar monitoring point and a second distance in the horizontal line direction of the reflector corresponding to the radar monitor and the first radar monitoring point; determining ground settlement first data for the first radar monitoring point based on the first deformation data, the first distance, and the second distance.

In other embodiments, the fusion unit 203 is further configured to perform fitting processing on the first data and the second data respectively to obtain a first fitting model of ground settlement and a second fitting model of ground settlement; fusing the first fitting model and the second fitting model according to a preset mode to obtain a fused ground settlement model; and obtaining third data of the ground settlement of the target monitoring point based on the ground settlement model.

In other embodiments, the fusion unit 203 is further configured to obtain a first variance of the sedimentation residual sequence of the first radar monitoring point according to the first fitting model and obtain a second variance of the sedimentation residual sequence of the satellite monitoring point according to the second fitting model; obtaining a third variance; determining a first weight value of the first fitting model and a second weight value of the second fitting model according to the first variance, the second variance and the third variance; determining the fused ground settlement model based on the first weight value, the second weight value, the first fitting model and the second fitting model.

In other embodiments, the correcting unit 204 is further configured to obtain a first root mean square of a deformed residual sequence of the target monitoring point according to the third data; obtaining a third distance of a reflector of the radar monitor corresponding to the target monitoring point in the sight line direction and a fourth distance of the reflector of the radar monitor corresponding to the second radar monitoring point in the sight line direction; determining a second root mean square of a deformed residual sequence of the second radar monitoring point based on the first root mean square, the third distance, and the fourth distance; and correcting the second deformation data according to the second root-mean-square, and obtaining third deformation data after the second radar monitoring point is corrected.

In other embodiments, the correcting unit 204 is further configured to obtain a preset threshold for performing noise reduction processing on the second deformation data according to the second root-mean-square; and obtaining third deformation data after the second radar monitoring point is corrected based on the preset threshold and the second deformation data.

In other embodiments, the determining unit 205 is further configured to obtain, according to each of the third deformation data in the plurality of third deformation data, a settlement model of each of the third deformation data corresponding to the second radar monitoring point; obtaining a settlement amount of the ground based on a plurality of the settlement models.

The above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention for understanding.

It should be noted that, in the embodiment of the present invention, if the above-mentioned ground settlement monitoring method is implemented in the form of a software functional module and sold or used as a standalone product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a ground settlement monitoring device (which may be a personal computer, a server, or a network device) to perform all or part of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the invention are not limited to any specific combination of hardware and software.

Correspondingly, an embodiment of the present invention provides a ground settlement monitoring device, which includes a memory and a processor, where the memory stores a computer program operable on the processor, and the processor executes the computer program to implement the steps in the ground settlement monitoring method provided in the foregoing embodiment.

Correspondingly, the embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps in the method for monitoring ground settlement provided by the above-mentioned embodiment.

Here, it should be noted that: the above description of the storage medium and device embodiments is similar to the description of the method embodiments above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention.

It should be noted that fig. 10 is a schematic structural diagram of a hardware entity of the ground settlement monitoring device in the embodiment of the present invention, and as shown in fig. 8, the hardware entity of the ground settlement monitoring device 300 includes: a processor 301 and a memory 303, optionally, the ground settlement monitoring device 300 may further comprise a communication interface 302.

It will be appreciated that the memory 303 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memory 303 described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.

The method disclosed in the above embodiments of the present invention may be applied to the processor 301, or implemented by the processor 301. The processor 301 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 301. The Processor 301 may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. Processor 301 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 303, and the processor 301 reads the information in the memory 303 and performs the steps of the aforementioned methods in conjunction with its hardware.

In an exemplary embodiment, the ground subsidence monitoring Device may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the aforementioned methods.

In the embodiments provided in the present invention, it should be understood that the disclosed method and apparatus can be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another observation, or some features may be omitted, or not performed. In addition, the communication connections between the components shown or discussed may be through interfaces, indirect couplings or communication connections of devices or units, and may be electrical, mechanical or other.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read-Only Memory (ROM), a magnetic disk, or an optical disk.

Alternatively, the integrated unit according to the embodiment of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical embodiments of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a ground settlement monitoring device (which may be a personal computer, a server, or a network device) to perform all or part of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.

The method, the device and the computer storage medium for monitoring ground settlement described in the embodiments of the present invention are only examples of the embodiments of the present invention, but are not limited thereto, and the method, the device and the computer storage medium for monitoring ground settlement are all within the scope of the present invention.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present invention, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention. The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and all such changes or substitutions are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A ground settlement monitoring method is characterized in that the method is applied to detection equipment; the detection equipment comprises a satellite monitoring station and a radar monitor for monitoring radar signals reflected by a reflector; the satellite monitoring station is arranged at a satellite monitoring point; a plurality of radar monitoring points are distributed around the satellite monitoring station; each radar monitoring point is provided with the reflector; the method comprises the following steps:

2. The method of claim 1, wherein said obtaining first data of ground settlement for the first radar monitoring point from the first deformation data comprises:

3. The method according to claim 1, wherein the fusing the first data and the second data to obtain third data of the ground settlement of the target monitoring point comprises:

4. The method according to claim 3, wherein the fusing the first fitting model and the second fitting model according to a preset mode to obtain a fused ground settlement model comprises:

5. The method according to claim 1, wherein the correcting second deformation data of the second radar monitoring point in the radar sight line direction according to the third data to obtain the corrected third deformation data of the second radar monitoring point comprises:

6. The method of claim 5, wherein the correcting the second deformation data according to the second root mean square to obtain third deformation data corrected for the second radar monitoring point comprises:

7. The method of any of claims 1-6, wherein said determining the amount of settling of the surface based on a plurality of said third deformation data comprises:

8. A ground settlement monitoring device is characterized in that the device is applied to detection equipment; the detection equipment comprises a satellite monitoring station and a radar monitor for monitoring radar signals reflected by a reflector; the satellite monitoring station is arranged at a satellite monitoring point; a plurality of radar monitoring points are distributed around the satellite monitoring station; each radar monitoring point is provided with the reflector; the device comprises: a first obtaining unit, a second obtaining unit, a fusion unit, a correction unit, and a determination unit, wherein:

9. The apparatus according to claim 8, wherein the first obtaining unit is further configured to obtain a first distance in a line-of-sight direction of the reflector corresponding to the radar monitor and the first radar monitoring point and a second distance in a horizontal line direction of the reflector corresponding to the radar monitor and the first radar monitoring point; determining ground settlement first data for the first radar monitoring point based on the first deformation data, the first distance, and the second distance.

10. The device according to claim 8, wherein the fusion unit is further configured to perform fitting processing on the first data and the second data respectively to obtain a first fitted model of ground settlement and a second fitted model of ground settlement; fusing the first fitting model and the second fitting model according to a preset mode to obtain a fused ground settlement model; and obtaining third data of the ground settlement of the target monitoring point based on the ground settlement model.

11. The apparatus of claim 10, wherein the fusion unit is further configured to obtain a first variance of the sequence of sedimentation residuals for the first radar monitoring point according to the first fitting model and obtain a second variance of the sequence of sedimentation residuals for the satellite monitoring point according to the second fitting model;

12. The apparatus according to claim 8, wherein the correcting unit is further configured to obtain a first root mean square of the deformed residual sequence of the target monitoring point according to the third data; obtaining a third distance of a reflector of the radar monitor corresponding to the target monitoring point in the sight line direction and a fourth distance of the reflector of the radar monitor corresponding to the second radar monitoring point in the sight line direction; determining a second root mean square of a deformed residual sequence of the second radar monitoring point based on the first root mean square, the third distance, and the fourth distance; and correcting the second deformation data according to the second root-mean-square, and obtaining third deformation data after the second radar monitoring point is corrected.

13. The apparatus according to claim 12, wherein the correcting unit is further configured to obtain a preset threshold for denoising the second deformation data according to the second root-mean-square; and obtaining third deformation data after the second radar monitoring point is corrected based on the preset threshold and the second deformation data.

14. The apparatus according to any one of claims 8 to 13, wherein the determining unit is further configured to obtain a settlement model of each of the third deformation data corresponding to the second radar monitoring point according to each of the third deformation data; obtaining a settlement amount of the ground based on a plurality of the settlement models.

15. A ground settlement monitoring device comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein the processor when executing the program implements the steps of the method of any one of claims 1 to 7.

16. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.