CN114440825B - Wind power tower foundation deformation monitoring method based on Beidou adjustment transmission combined reference - Google Patents

Wind power tower foundation deformation monitoring method based on Beidou adjustment transmission combined reference Download PDF

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CN114440825B
CN114440825B CN202210188170.1A CN202210188170A CN114440825B CN 114440825 B CN114440825 B CN 114440825B CN 202210188170 A CN202210188170 A CN 202210188170A CN 114440825 B CN114440825 B CN 114440825B
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吴成
夏娜
汪银
杨浩
王聪
王军
谢宇晗
侯杰文
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Abstract

The invention discloses a wind power tower foundation deformation monitoring method based on a Beidou adjustment transmission combined reference, which comprises the following steps: 1, establishing a monitoring area geometric model, and abstracting a monitoring area point distribution model frame; 2, carrying out triangular division on the monitoring area according to the Delaunay triangular domain division concept; 3, dividing and deriving the triangular domain according to the search mode of the edge pointer insertion point to finish the triangular division of the whole monitoring area; 4, setting up different monitoring stations at different positions of the divided area to finish cascading, and obtaining the relative elevation difference between any two points; 5, finding an optimal reference plane of the monitoring area by adopting a RANSAC-like algorithm, and obtaining an optimal reference point; and 6, taking the optimal datum point as a reference point to obtain a sedimentation result of the whole area. The method can solve the problem that the monitoring area cannot determine the position of the optimal reference station, can effectively measure the overall geological settlement value of the large-area, and has wide application prospect.

Description

Wind power tower foundation deformation monitoring method based on Beidou adjustment transmission combined reference
Technical Field
The invention relates to a Beidou static monitoring method for regional geological foundation settlement aiming at an offshore wind farm environment, which belongs to a practical application method of a high-precision satellite positioning technology, and is also suitable for regional geological foundation settlement monitoring of a same geographic position, and is not limited to a single application scene of the offshore wind farm.
Background
Under the trend of low carbon and large development, wind power generation is used as a green energy technology which is most rapid in development, has wide prospect and relatively mature technology, wherein the volume and the technology growth of offshore wind power generation are most remarkable, and the development is towards large scale, intelligent and large scale. At present, the main mode of operation and maintenance of offshore wind power facilities is the periodic inspection and intelligent sensing technology of operation and maintenance ships, wherein a great part of operation and maintenance ships are only aimed at wind turbines and matched parts, the gesture monitoring content of an infrastructure is less, particularly, the monitoring on the aspect of foundation settlement of the infrastructure in a wind power plant is almost blank, and the intelligent analysis of integral visualization of the rear end is not facilitated.
The offshore wind farm is characterized by wide distribution range and large area, and is positioned in an offshore area, but has a short distance from the coastline. For monitoring foundation settlement of offshore wind farm facilities, the difficulty is mainly that no suitable method is available to obtain measurement results meeting the precision requirement. The acceleration type sensor is used for continuous monitoring, accumulated errors exist, the continuous accurate measurement is not suitable, and the traditional high-precision GNSS static measurement has the following problems because a proper datum point cannot be determined to establish a datum station:
(1) laying the reference station along the coastline can cause the distance from the reference station to the mobile station to be too far, so that communication is difficult, full coverage cannot be achieved, and the precision is seriously reduced;
(2) any position of the wind power plant area is likely to be settled, the position of a proper layout datum point is unknown, and the technical implementation is difficult.
Disclosure of Invention
In order to solve the difficulty in the application scene of adopting Beidou static measurement, the invention provides a Beidou adjustment transmission combined reference wind power tower foundation deformation monitoring method so as to be capable of truly measuring the geological settlement result of the wind power plant area, solve the problem that the monitoring area cannot determine a proper position to set up a reference point, and reduce the potential safety hazard of wind power plant infrastructure.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the invention discloses a wind power tower foundation deformation monitoring method based on a Beidou adjustment transmission combined reference, which is characterized by comprising the following steps of:
step 1: establishing a geometric model, and abstracting the structure of the point distribution model from the geometric model;
abstracting an area covered by an offshore wind farm environment into a closed curved surface G, abstracting a fan foundation pile in the closed curved surface G into each marking point and forming a marking point set K= { K 1 ,k 2 ,…,k i ,…,k n }, where k i Indicating the i-th mark point, n indicating the number of mark points; dividing the marking points of the marking point set K into three types, including a reference station, a multi-reference observation station and a common observation station, so as to construct a wind power plant geometric model;
the closed curved surface G is abstracted into a global rectangle IN_area, one vertex of the global rectangle IN_area is taken as an origin, two sides adjacent to the origin are taken as an x axis and a y axis, so that a three-dimensional rectangular coordinate system D is established, each mark point is abstracted into each distribution point, and the distribution points are recorded as a distribution point set S= { S 1 ,S 2 ,…,S i ,…,S n S, where S i Representing the ith layout point, dividing the points in the layout point set S into three types of root node J, intersection node W and child node I, and marking as
Figure RE-GDA0003532976390000021
Wherein J is m Is the mth root node, W r Is the r-th intersection point, I w R, e and w are the number of the child nodes of the root node and the node of the intersection respectively, so that a structure of a point distribution model is formed;
step 2: partitioning Delaunay triangular domains based on the minimum monitoring unit model;
step 2.1: defining a minimum monitoring unit model;
constructing a triangle domain delta J by taking three root nodes as vertexes x J y J z ，x,y,z∈[1,r]Then respectively constructing three circle domains A by taking the three root nodes as circle centers x 、A y 、A z Let three circle fields A x 、A y 、A z A common cross domain with three circles exists between the two, the common cross domain is marked as M, and one layout point in the common cross domain M is used as a cross node, so that a triangle domain delta J x J y J z Three circular fields A x 、A y 、 A z And a junction constitutes a minimum monitoring unit model;
step 2.2: determining a construction function of the Delaunay triangle domain;
any layout point IN the global rectangle IN_area is selected as the intersection point W t T=1, 2, …, e-1; and is used to construct a triangle field ΔJ x J y J z Determining Delaunay triangle domain ΔJ using formula (1) x J y J z Is a building function of (2)
Figure RE-GDA0003532976390000022
Figure RE-GDA0003532976390000023
In the formula (1), J x ，J y ，J z For the constructed triangular domain DeltaJ x J y J z Is included in the three vertices of (a); alpha x ,α y ,α z For the constructed triangular domain DeltaJ x J y J z Is included in the three inner corners of (a); r is the communication radius of the reference station;
Figure RE-GDA0003532976390000024
to include the intersection point W t Triangle field Δj of (2) x J y J z Jacobian ratio of (V)Value of->
Figure RE-GDA0003532976390000031
Is delta field delta J x J y J z Is a part of the area of (2);
calculating triangular domains DeltaJ by using the formulas (2) - (4) x J y J z The Jacobian ratio value of three sides of (3) H x 、|H| y 、|H| z ：
Figure RE-GDA0003532976390000032
Figure RE-GDA0003532976390000033
Figure RE-GDA0003532976390000034
In the formulas (2) to (4),
Figure RE-GDA0003532976390000035
is delta field delta J x J y J z Three vertex abscissas under a three-dimensional rectangular coordinate system D; />
Figure RE-GDA0003532976390000036
Is delta field delta J x J y J z The three vertexes of (2) are on the ordinate under the three-dimensional rectangular coordinate system D; l (L) x 、l y 、l z Is delta field delta J x J y J z Three sides J of (2) x J y 、J y J z 、J x J z Is a side length of (2);
obtaining a triangle domain DeltaJ using (5) x J y J z Jacobian ratio value of (C)
Figure RE-GDA0003532976390000037
Figure RE-GDA0003532976390000038
In the formula (5), H min And |H| max Is the triangle field DeltaJ x J y J z The minimum and maximum of the jacobian of (c);
step 2.3: setting the minimum step length of the coverage of the root node, and reducing the traversal range of the solution set element;
step 2.3.1: defining a minimum step size MinStep of the root node coverage area by using a formula (6):
Figure RE-GDA0003532976390000039
in the formula (6), U (W) t R) represents an intersection point W t A neighborhood centered on a reference station communication radius R, len (S p ,S q ) Is a traffic node W t Is provided with a point S in R neighborhood p To the layout point S q M represents the distance of the intersection point W t The number of child nodes present in the R neighborhood;
Figure RE-GDA00035329763900000310
the number of the arranged combinations is;
step 2.3.2: finding all the layout points satisfying the survival criterion shown in the formula (7) from the layout point set S and taking the layout points as solution set elements:
R≥Step(S i ,W t )≥MinStep,i∈[1,n] (7)
in the formula (7), step (S) i ,W t ) Represents any ith layout point S in the layout point set S i To the intersection node W t Is used for the actual step length;
step 2.3.3: according to the disaggregation element and the junction W t Coordinates of (c)
Figure RE-GDA00035329763900000311
Solving the formula (1) and the formula (5) to obtain the triangular domain delta J x J y J z Is defined by three root nodes J x ,J y ,J z Coordinates in a three-dimensional rectangular coordinate system D;
step 3: triangle domain division derivation based on edge pointer insertion point search;
step 3.1: defining a triangular domain edge pointer and providing a triangular domain division derivative direction;
in the triangular domain DeltaJ x J y J z The three sides of the three are respectively provided with a side pointer P x 、P y 、P z Edge pointer P x 、P y 、P z Starting from the initial triangle field DeltaJ x J y J z Three sides J of (2) y J z 、J x J z 、J x J y Mid-point, edge pointer P x 、P y 、P z Is directed to the initial triangle field deltaj x J y J z Is outside of (2);
step 3.2: determining an intersection point in the next triangular domain according to the direction of the edge pointer;
selecting triangle field ΔJ x J y J z Calculating intersection points in the corresponding edge pointer directions by using (8):
Figure RE-GDA0003532976390000041
in the formula (8), A' and A are defined circle fields taking two vertexes of the side where the side pointer is positioned as circle centers,
Figure RE-GDA0003532976390000042
representing a crossover node W t+1 Coordinates of (c);
step 3.3: determining the coordinates of the residual root nodes of the newly divided triangular domain;
new crossover node W obtained according to step 3.2 t+1 T+1 ε {1,2, …, e }; obtaining a third root node of the newly divided triangular domain by using the formulas (1) and (5) on the basis of knowing two vertexes and an intersection point of the newly divided triangular domain;
step 3.4: repeating the processes of the steps 3.2-3.3 to conduct triangular domain division derivatization, judging that the direction Area division reaches a boundary when the point of which the pointer direction does not meet the formulas (1) and (8) exists, and replacing the next pointer direction to conduct Area division derivatization until the coverage Area rectangle IN_area is ended;
step 4: according to the intersection nodes, completing the elevation data association of the layout points, and obtaining the elevation difference variation quantity of all the layout points relative to any root node;
on the basis of complete division of the whole domain rectangle IN_area, all root nodes are associated with elevation data under a three-dimensional rectangular coordinate system D according to the multi-connectivity of the intersection nodes, so that any two different root nodes J IN the whole domain rectangle IN_area are obtained i 、J j Wherein the root node J j With respect to root node J i The relative elevation difference change of (2) is recorded as
Figure RE-GDA0003532976390000043
Any one of the layout points S IN the global rectangle IN_area is calculated by using the method (9) ε To any root node J i The relative elevation difference variation amount DeltaU (S ε ,J i )：
Figure RE-GDA0003532976390000051
In the formula (9), A k For the selected layout point S ε The circle field where J u Is a circle domain A k Is provided with a center root node of a circle,
Figure RE-GDA0003532976390000052
representing the arrangement point S ε The coordinate position under the three-dimensional rectangular coordinate system D; epsilon [1, n-1 ]]，i,u∈[1,r-1]；
Step 5: adopting a RANSA-like algorithm to obtain an optimal reference point in the root node;
step 5.1: constructing a fitting reference plane of each root node;
definition: global momentAny root node J IN shape IN_area i And root node J i The k nearest layout points are taken as root nodes J i The K-neighborhood of (2), denoted as K (J) i ) The method comprises the steps of carrying out a first treatment on the surface of the With K (J) i ) To fit constraint conditions, a root node J is constructed i Least square plane P (J) i ) And P (J) i ) As root node J i Is fit to the reference plane;
step 5.2: establishing an optimal reference plane solving model;
obtaining K-neighborhood K (J) using (10) i ) Is a covariate matrix OP of:
Figure RE-GDA0003532976390000053
in the formula (10), o i For root node J i K-neighborhood K (J) i ) The coordinate vector of the centroid position point of (2) in the three-dimensional rectangular coordinate system D, p represents K (J) i ) Coordinate vector of any point of the inner k set points under three-dimensional rectangular coordinate system D, (p-o) i ) Is a column vector, (p-o) i ) T Is (p-o) i ) Is a transpose of (2); the unit eigenvector corresponding to the minimum eigenvalue of the covariant matrix OP is recorded as e i Take pair e i The corresponding value after the homodromous processing is the root node J i Is a fitting reference plane P (J) i ) Unit normal of (2) i ；
Any one of the layout points S IN the global rectangle IN_area is calculated according to (11) ε To root node J i Is a fitting reference plane P (J) i ) Distance d (S) ε ,J i ) Wherein ε [1, n ]],i[1,r]；
d(S ε ,J i )＝|(S ε -o i )·n i | (11)
Step 5.3: determining an optimal datum point;
all layout points IN the global rectangle IN_area are calculated to any root node J according to (12) i Is a fitting reference plane P (J) i ) Distance summation D [ P (J) i )]；
Figure RE-GDA0003532976390000054
Taking i=1, 2, …, r to traverse all root nodes and get the minimum distance accumulation sum min { D [ P (J) i )]Sum min of minimum distance { D [ P (J) i )]The root node corresponding to the sequence is denoted as J o The optimal datum point is obtained;
step 6: calculating the optimal reference point J of all points in the area o Displacement deviation of (2);
any one of the layout points S IN the global rectangle IN_area is calculated by using the method (13) ε To the optimal root node J o The relative elevation difference variation amount DeltaU (S ε ,J o ) Thereby obtaining the global rectangle IN_area all points with respect to the optimal root node J o And as a final sedimentation result of the sedimentation monitoring of the wind farm area:
Figure RE-GDA0003532976390000061
in the formula (13), A k For laying point S ε The circle field where J u Is a circle domain A k Is provided with a center root node of a circle,
Figure RE-GDA0003532976390000062
representing the arrangement point S ε The coordinate position under the three-dimensional rectangular coordinate system D; epsilon [1, n-1 ]]，i,u∈[1,r-1]。
Compared with the existing monitoring method of the same type, the invention has the beneficial effects that:
1. the invention adopts a static measurement mode of cascading combined reference, adopts a pointer semi-coding idea to carry out the embedded division of the triangle circle of the monitoring area, realizes the full coverage of the monitoring area and the full communication of the system, can meet the full coverage of the monitoring area by less reference station layout, and ensures reliable communication;
2. according to the monitoring data obtained by the system structure, the invention adopts the RANSAC-like algorithm to perform curved surface linear fitting to obtain the optimal reference surface, so as to obtain the relative sedimentation result of the whole area which is really close to reality, and solve the problem that the similar areas of the wind power plant and the like cannot determine the proper reference station.
3. The method has wide application scenes, essentially solves the problems that the reliable datum point cannot be determined and the slow sedimentation of the datum station is weakened to influence the overall measurement, can be used for the application scenes with the problems, and is not limited to a single application scene of the offshore wind farm.
Drawings
FIG. 1 is a diagram of a geometric model of an offshore wind farm according to the present invention;
FIG. 2 is a diagram of an initial model of the invention;
FIG. 3 is a diagram of a minimum monitoring unit model of the present invention;
FIG. 4 is an initial triangular domain division diagram of the present invention;
FIG. 5 is a diagram of a triangle edge pointer neighborhood search of the present invention;
FIG. 6 is a diagram of a next area node selection rule according to the present invention;
FIG. 7 is a view showing the overall monitoring area division of the present invention;
fig. 8 is a graph of distances of the fitted reference plane to the respective root nodes according to the present invention.
Detailed Description
In this embodiment, a method for monitoring deformation of wind power tower foundation with a combined reference of Beidou adjustment transmission is used to solve the problem that a part of application scenes cannot determine an optimal position to set up a reference station, and specifically includes the following steps:
step 1: establishing a geometric model, and abstracting a framework of a point distribution model from the geometric model;
the geometric model of the engineering problem can be described by points, curves and sealing surfaces, and fig. 1 is a model for arranging wind turbine foundation piles of an offshore wind farm, wherein the region covered by the offshore wind farm environment is abstracted into a sealing curved surface G, the wind turbine foundation piles in the sealing curved surface G are abstracted into various marking points, and a marking point set K= { K is formed 1 ,k 2 ,…,k i ,…,k n }, where k i Indicating the i-th mark point, n indicating the number of mark points; dividing the marking points of the marking point set K into three types, including a reference station, a multi-reference observation station and a common observation station, so as to construct a wind power plant geometric model;
further abstracting a point distribution model according to geometric features and coordinate ranges of the geometric model, as shown IN fig. 2, abstracting the closed curved surface G into a global rectangle in_area, using one vertex of the global rectangle in_area as an origin, using two sides adjacent to the origin as an x axis and a y axis, thereby establishing a three-dimensional rectangular coordinate system, marking as a coordinate system D, abstracting each marking point as each distribution point, and marking as a distribution point set s= { S 1 ,S 2 ,…,S i ,…,S n S, where S i Representing the ith set point, dividing the points in the set S of set points into three types of root node J, intersection node W and child node I, and marking as
Figure RE-GDA0003532976390000071
Wherein J is m Is the mth root node, W r Is the r-th intersection point, I w For the W-th child node, r, e and W are the number of root nodes and intersecting node child nodes respectively, the root node J corresponds to a reference station in the geometric model, the intersecting node W corresponds to a multi-reference observation station class, and the child node I corresponds to a common observation station class, so that a framework of the point distribution model is formed;
wherein, the reference station refers to: and continuously observing the satellite navigation signals for a long time, and transmitting the observed data to a ground fixed observation station for differential operation in real time or at fixed time by a communication facility.
The common differential positioning observation station refers to: and the satellite positioning observation station only receives the differential data sent by the specific reference station to perform differential calculation.
The multi-reference differential positioning observation station refers to: and satellite positioning observation stations which simultaneously receive differential data transmitted by a plurality of surrounding reference stations and respectively perform differential calculation.
Step 2: partitioning Delaunay triangular domains based on the minimum monitoring unit model;
step 2.1: defining a minimum monitoring unit model;
defining a minimum monitoring unit, wherein the minimum monitoring unit is formed by constructing a triangle field delta J x J y J z Three circular fields A x 、A y 、A z And an intersection, as shown in FIG. 3; the minimum monitoring unit is constructed as follows: constructing a triangle domain delta J by taking three root nodes as vertexes x J y J z ，x,y,z∈[1,r]X, y, z e N, N being a positive integer set; and then respectively constructing three circle domains A by taking the three root nodes as circle centers x 、A y 、A z Let three circle fields A x 、A y 、A z And a common intersection area with three circles exists, which is marked as M, and one layout point in the common intersection area M is used as an intersection point to complete the construction of the minimum monitoring unit model.
The practical significance of constructing the minimum monitoring unit is that the large-area monitoring area is divided into triangular domains, and the reference station data of three vertexes of the triangular domains are related through the intersecting node established at the center of the triangular domains.
Step 2.2: determining a construction function of the Delaunay triangle domain;
any layout point IN the global rectangle IN_area is selected as the intersection point W t T=1, 2, …, e-1; and is used to construct a triangle field ΔJ x J y J z Determining Delaunay triangle domain ΔJ using formula (1) x J y J z Is a building function of (2)
Figure RE-GDA0003532976390000081
Figure RE-GDA0003532976390000082
In the formula (1), J x ，J y ，J z For the constructed triangular domain DeltaJ x J y J z Is included in the three vertices of (a); alpha x ,α y ,α z For the constructed triangular domain DeltaJ x J y J z Is included in the three inner corners of (a); r is the communication radius of the reference station;
Figure RE-GDA0003532976390000083
to include the intersection point W t Triangle field Δj of (2) x J y J z Jacobian ratio value of->
Figure RE-GDA0003532976390000084
Is delta field delta J x J y J z Is a part of the area of (2);
calculating triangular domains DeltaJ by using the formulas (2) - (4) x J y J z The Jacobian ratio value of three sides of (3) H x 、|H| y 、|H| z ：
Figure RE-GDA0003532976390000085
Figure RE-GDA0003532976390000086
Figure RE-GDA0003532976390000087
In the formulas (2) to (4),
Figure RE-GDA0003532976390000088
is delta field delta J x J y J z Three vertex abscissas in the coordinate system D; />
Figure RE-GDA0003532976390000089
Figure RE-GDA00035329763900000810
Is delta field delta J x J y J z Is on the ordinate of the three vertices of the coordinate system D; l (L) x 、l y 、l z Is delta field delta J x J y J z Three sides J of (2) x J y 、J y J z 、J x J z Is a side length of (2);
then, based on the minimum and maximum values in each Jacobian determinant obtained as described above, a triangular domain DeltaJ is obtained by using the formula (5) x J y J z Jacobian ratio value of (C)
Figure RE-GDA0003532976390000091
Figure RE-GDA0003532976390000092
In the formula (5), H min And |H| max Is the triangle field DeltaJ x J y J z The minimum and maximum of the jacobian of (c);
for the partition construction of Delaunay triangle domain, calculating the partition quality by adopting the product sum of the Jacobian ratio value and the area thereof; the Jacobian ratio value reflects the regularity of the triangular domain, and when the Jacobian ratio value of the triangular domain formed by solution
Figure RE-GDA0003532976390000093
The quality of the triangular domain is considered to be better, the Delaunay triangular dividing thought is adopted, the minimum angle of the triangular domain is maximized to enable the dividing area to be standard, the area division is enabled to have good uniformity and easy extensibility, meanwhile, the requirement that the area of the triangular domain is required to be divided as large as possible under the communication distance requirement is met, and therefore the full coverage of the area can be achieved by adopting fewer reference station layout.
Step 2.3: setting the minimum step length of the coverage of the root node, and reducing the traversal range of the solution set element;
step 2.3.1: defining a minimum step size MinStep of the root node coverage area by using a formula (6):
Figure RE-GDA0003532976390000094
the [ (x) ray ]6) Wherein U (W) 1 R) represents a start intersection point W with the reference station communication radius R as a radius 1 R neighborhood, len (S p ,S q ) For initiating the intersection point W t Is provided with a point S in R neighborhood p To the layout point S q M represents the distance of the intersection point W t The number of child nodes present in the R neighborhood;
Figure RE-GDA0003532976390000095
the number of the arranged combinations is; the physical meaning of the minimum step size is reaction W t The node density in the adjacent domain is used for defining the minimum step length, so that the number of the child nodes in the overlapping traffic domain of two adjacent root nodes is increased, and the traffic nodes in the multi-triangle division area are ensured to be communicated.
Step 2.3.2: finding all the layout points satisfying the survival criterion shown in the formula (7) from the layout point set S and taking the layout points as solution set elements:
R≥Step(S i ,W t )≥MinStep,i∈[1,n] (7)
in the formula (7), step (S) i ,W t ) Represents any ith layout point S in the layout point set S i To the intersection node W t Is used for the actual step length;
step 2.3.3: based on the disaggregated elements, the junction point W is known again t Coordinates of
Figure RE-GDA0003532976390000096
On the basis, solving the formula (1) and the formula (5) to obtain the triangle domain delta J x J y J z Is defined by three root nodes J x ,J y ,J z Coordinates in the coordinate system D;
taking t=1 according to the calculation process of the step 2, constructing an initial triangular domain, and recording as delta J 1 J 2 J 3 Initial triangle field Δj 1 J 2 J 3 The intersection point of (a) is denoted as W 1 As shown in fig. 4, root node J 1 ,J 2 ,J 3 A satellite positioning reference station is arranged at the position, and a node W is crossed 1 Setting up multiple reference observation stations at the site to obtain J simultaneously 1 ,J 2 ,J 3 Differential of three satellite positioning reference stationsData, three groups of differential calculation results are obtained, and J can be obtained through the multi-reference observation station 1 ,J 2 ,J 3 The relative positioning information between every two of the three reference stations is the basis for completing the data association of the whole area;
step 3: triangle domain division derivation based on edge pointer insertion point search;
step 3.1: defining a triangular domain edge pointer and providing a triangular domain division derivative direction;
the edge pointer defining the triangle field is shown in FIG. 5, at triangle field ΔJ x J y J z The three sides of the three are respectively provided with a side pointer P x 、P y 、 P z Edge pointer P x 、P y 、P z Starting from the initial triangle field DeltaJ x J y J z Three sides J of (2) y J z 、J x J z 、J x J y Mid-point, edge pointer P x 、P y 、P z Is directed to the initial triangle field deltaj x J y J z Is outside of (2);
step 3.2: determining the intersection point of the next divided triangular domain according to the direction of the edge pointer, as shown in fig. 6;
selecting triangle field ΔJ x J y J z Calculating an intersection point in the edge pointer direction by using (8):
Figure RE-GDA0003532976390000101
in the formula (8), A' and A are defined circle fields taking two vertexes of the side where the side pointer is positioned as circle centers,
Figure RE-GDA0003532976390000102
representing a crossover node W t Coordinates of->
Figure RE-GDA0003532976390000103
Representing a crossover node W t+1 Coordinates of (c);
traversingTriangle field ΔJ x J y J z If the three edge pointer directions in the selected edge pointer direction cannot find the layout points meeting the requirement (8), judging that the triangular domain division in the edge pointer direction reaches the boundary, and stopping the triangular domain division derivation in the corresponding direction; otherwise, if the point meeting the requirement (8) exists in the direction of the selected side pointer, the intersection point of the direction is obtained and recorded by utilizing the formula (8), the judgment and the solution are completed until all three directions are completely judged, and the step 3.2 is finished, and the step 3.3 is carried out.
Step 3.3: determining the coordinates of the residual root nodes of the newly divided triangular domain;
new crossover node W obtained according to step 3.2 t+1 (t+1) ∈ {1,2, …, e }; obtaining a third root node of the newly divided triangular domain by using the formulas (1) and (5) on the basis of knowing two vertexes and an intersection point of the newly divided triangular domain; if the intersection node does not find the third root node meeting the formulas (1) and (5), judging that the triangular domain division in the direction of the intersection node reaches the boundary, and stopping the triangular domain division derivative in the direction;
step 3.4: repeating the process from step 3.2 to step 3.3 to carry out triangular domain division derivatization until the coverage global rectangle IN_area is ended, as shown IN FIG. 7;
step 4: according to the intersection nodes, completing the elevation data association of the layout points, and obtaining the elevation difference variation quantity of all the layout points relative to any root node;
on the basis of complete division of the whole Area rectangle IN_Area, carrying out association of elevation data under a coordinate system D on all root nodes according to the multi-connectivity of the intersection nodes, reducing the relative elevation difference variation among the layout points to be negative, and increasing the relative elevation difference variation to be positive to obtain any two different root nodes J IN the whole Area rectangle IN_Area i 、J j Wherein the root node J j With respect to root node J i The relative elevation difference change of (2) is recorded as
Figure RE-GDA0003532976390000111
N is a positive integer set;
calculated by using the method (9)Any layout point S IN the global rectangle IN_area ε To any root node J i The relative elevation difference variation amount DeltaU (S ε ,J i )：
Figure RE-GDA0003532976390000112
In the formula (9), A k For the selected layout point S ε The circle field where J u Is a circle domain A k Is provided with a center root node of a circle,
Figure RE-GDA0003532976390000113
representing the arrangement point S ε A coordinate position in the coordinate system D; epsilon [1, n-1 ]]，i,u∈[1,r-1]Epsilon, i, u epsilon N, N being a positive integer set;
step 5: adopting a RANSA-like algorithm to obtain an optimal reference point in the root node;
step 5.1: constructing fitting reference planes of all root nodes;
definition: any root node J IN the global rectangle IN_area i From root node J i The nearest k layout points are taken as root nodes J i The K-neighborhood of (2), denoted as K (J) i ) The method comprises the steps of carrying out a first treatment on the surface of the With K (J) i ) To fit constraint conditions, a root node J is constructed i Least square plane P (J) i ) And P (J) i ) As root node J i Is fit to the reference plane; taking i=1, 2, …, r, obtaining fitting reference planes of all root nodes, and recording as a plane set P, wherein p= { P (J) 1 ),P(J 2 ),…,P(J i )…,P(J m )}；
Step 5.2: establishing an optimal reference plane solving model;
obtaining K-neighborhood K (J) using (10) η ) Is a covariate matrix OP of:
Figure RE-GDA0003532976390000114
in the formula (10), o i For root node J i K-neighborhood K (J) i ) Is of the centroid of (a)The coordinate vector of the position point in the coordinate system D, p represents K (J i ) Coordinate vector of any point of the inner k set points in coordinate system D, (p-o) i ) Is a column vector, (p-o) i ) T Is (p-o) i ) Is a transpose of (2); the unit eigenvector corresponding to the minimum eigenvalue of the covariant matrix OP is recorded as e i Take pair e i The corresponding value after the homodromous processing is the root node J i Is a fitting reference plane P (J) i ) Unit normal of (2) i ；
Any one of the layout points S IN the global rectangle IN_area is calculated according to (11) ε To root node J i Is a fitting reference plane P (J) i ) Wherein ε [1, n ]],i[1,r]Epsilon, i N, the calculation of the distance from the set point to the fitting reference plane is shown in fig. 8;
d(S ε ,J i )＝|(S ε -o i )·n i | (11)
step 5.3: determining an optimal reference point
As shown IN FIG. 8, all layout points IN the global rectangle IN_area are calculated to any root node J according to the formula (12) i Is a fitting reference plane P (J) i ) Distance summation D [ P (J) i )]；
Figure RE-GDA0003532976390000121
Taking i=1, 2, …, r to traverse all root nodes, resulting in a minimum distance accumulation sum min { D [ P (J) i )]The root node corresponding to the sequence is denoted as J o The optimal datum point is obtained;
the physical meaning of the optimal datum point is a point with the minimum elevation change quantity IN all root nodes IN the whole domain rectangle IN_area, the elevation change state of the local Area can be well reflected by taking the least square surface under the constraint condition of the root node K-neighborhood as a fitting datum plane, the distance accumulation sum of all the points IN the whole domain rectangle IN_area corresponding to the fitting datum plane determined by one root node is calculated, the fitting effect of the fitting datum plane relative to the datum plane of the whole basic Area can be judged, the smaller the accumulation sum is, the better the fitting effect is, namely the optimal datum point obtained by the method is, the measuring error of static differential positioning measurement of the datum station is set at the position of the optimal datum point, and the whole Area settlement condition of the monitoring Area can be most reflected.
Step 6: calculating the optimal reference point J of all points in the region o Displacement deviation of (2);
any one of the layout points S IN the global rectangle IN_area is calculated by using the method (13) g To the optimal root node J o The relative elevation difference variation amount DeltaU (S ε ,J o )：
Figure RE-GDA0003532976390000122
In the formula (12), A k For laying point S ε The circle field where J u Is a circle domain A k Is provided with a center root node of a circle,
Figure RE-GDA0003532976390000123
representing the arrangement point S ε A coordinate position in the coordinate system D; epsilon [1, n-1 ]]，i,u∈[1,r-1]Epsilon, i, u epsilon N, N being a positive integer set;
the relative elevation difference variation of all points of the global rectangle IN_area relative to the optimal root node is obtained, and the relative elevation difference variation can be used as a final sedimentation result required by measurement, so that the wind power field Area infrastructure sedimentation monitoring is completed.
In conclusion, the final result obtained by the method is highly fitted with a true value, and the method can effectively measure the local sedimentation of a monitoring area with a large area.

Claims (1)

1. A wind power tower foundation deformation monitoring method based on Beidou adjustment transmission combined reference is characterized by comprising the following steps of:
step 1: establishing a geometric model, and abstracting the structure of the point distribution model from the geometric model;
will be seaThe region covered by the upper wind farm environment is abstracted into a closed curved surface G, and a fan foundation pile in the closed curved surface G is abstracted into each marking point to form a marking point set K= { K 1 ,k 2 ,…,k i ,…,k n }, where k i Indicating the i-th mark point, n indicating the number of mark points; dividing the marking points of the marking point set K into three types, including a reference station, a multi-reference observation station and a common observation station, so as to construct a wind power plant geometric model;
the closed curved surface G is abstracted into a global rectangle IN_area, one vertex of the global rectangle IN_area is taken as an origin, two sides adjacent to the origin are taken as an x axis and a y axis, so that a three-dimensional rectangular coordinate system D is established, each mark point is abstracted into each distribution point, and the distribution points are recorded as a distribution point set S= { S 1 ,S 2 ,…,S i ,…,S n S, where S i Representing the ith layout point, dividing the points in the layout point set S into three types of root node J, intersection node W and child node I, and marking as
Figure RE-FDA0003532976380000011
Wherein J is m Is the mth root node, W r Is the r-th intersection point, I w R, e and w are the number of the child nodes of the root node and the node of the intersection respectively, so that a structure of a point distribution model is formed;
step 2: partitioning Delaunay triangular domains based on the minimum monitoring unit model;
step 2.1: defining a minimum monitoring unit model;
constructing a triangle domain delta J by taking three root nodes as vertexes x J y J z ，x,y,z∈[1,r]Then respectively constructing three circle domains A by taking the three root nodes as circle centers x 、A y 、A z Let three circle fields A x 、A y 、A z A common cross domain with three circles exists between the two, the common cross domain is marked as M, and one layout point in the common cross domain M is used as a cross node, so that a triangle domain delta J x J y J z Three circular fields A x 、A y 、A z One junction constitutes the mostA small monitoring unit model;
step 2.2: determining a construction function of the Delaunay triangle domain;
any layout point IN the global rectangle IN_area is selected as the intersection point W t T=1, 2, …, e-1; and is used to construct a triangle field ΔJ x J y J z Determining Delaunay triangle domain ΔJ using formula (1) x J y J z Is a building function of (2)
Figure RE-FDA0003532976380000012
Figure RE-FDA0003532976380000021
In the formula (1), J x ，J y ，J z For the constructed triangular domain DeltaJ x J y J z Is included in the three vertices of (a); alpha x ,α y ,α z For the constructed triangular domain DeltaJ x J y J z Is included in the three inner corners of (a); r is the communication radius of the reference station;
Figure RE-FDA0003532976380000022
to include the intersection point W t Triangle field Δj of (2) x J y J z Jacobian ratio value of->
Figure RE-FDA0003532976380000023
Is delta field delta J x J y J z Is a part of the area of (2);
calculating triangular domains DeltaJ by using the formulas (2) - (4) x J y J z The Jacobian ratio value of three sides of (3) H x 、|H| y 、|H| z ：
Figure RE-FDA0003532976380000024
Figure RE-FDA0003532976380000025
Figure RE-FDA0003532976380000026
In the formulas (2) to (4),
Figure RE-FDA0003532976380000027
is delta field delta J x J y J z Three vertex abscissas under a three-dimensional rectangular coordinate system D; />
Figure RE-FDA0003532976380000028
Is delta field delta J x J y J z The three vertexes of (2) are on the ordinate under the three-dimensional rectangular coordinate system D; l (L) x 、l y 、l z Is delta field delta J x J y J z Three sides J of (2) x J y 、J y J z 、J x J z Is a side length of (2);
obtaining a triangle domain DeltaJ using (5) x J y J z Jacobian ratio value of (C)
Figure RE-FDA0003532976380000029
Figure RE-FDA00035329763800000210
In the formula (5), H min And |H| max Is the triangle field DeltaJ x J y J z The minimum and maximum of the jacobian of (c);
step 2.3: setting the minimum step length of the coverage of the root node, and reducing the traversal range of the solution set element;
step 2.3.1: defining a minimum step size MinStep of the root node coverage area by using a formula (6):
Figure RE-FDA00035329763800000211
in the formula (6), U (W) t R) represents an intersection point W t A neighborhood centered on a reference station communication radius R, len (S p ,S q ) Is a traffic node W t Is provided with a point S in R neighborhood p To the layout point S q M represents the distance of the intersection point W t The number of child nodes present in the R neighborhood;
Figure RE-FDA0003532976380000031
the number of the arranged combinations is;
step 2.3.2: finding all the layout points satisfying the survival criterion shown in the formula (7) from the layout point set S and taking the layout points as solution set elements:
R≥Step(S i ,W t )≥MinStep,i∈[1,n] (7)
in the formula (7), step (S) i ,W t ) Represents any ith layout point S in the layout point set S i To the intersection node W t Is used for the actual step length;
step 2.3.3: according to the disaggregation element and the junction W t Coordinates of (c)
Figure RE-FDA0003532976380000032
Solving the formula (1) and the formula (5) to obtain the triangular domain delta J x J y J z Is defined by three root nodes J x ,J y ,J z Coordinates in a three-dimensional rectangular coordinate system D;
step 3: triangle domain division derivation based on edge pointer insertion point search;
step 3.1: defining a triangular domain edge pointer and providing a triangular domain division derivative direction;
in the triangular domain DeltaJ x J y J z The three sides of the three are respectively provided with a side pointer P x 、P y 、P z Edge pointer P x 、P y 、P z Starting from the initial triangle field DeltaJ x J y J z Three sides J of (2) y J z 、J x J z 、J x J y Mid-point, edge pointer P x 、P y 、P z Is directed to the initial triangle field deltaj x J y J z Is outside of (2);
step 3.2: determining an intersection point in the next triangular domain according to the direction of the edge pointer;
selecting triangle field ΔJ x J y J z Calculating intersection points in the corresponding edge pointer directions by using (8):
Figure RE-FDA0003532976380000033
in the formula (8), A' and A are defined circle fields taking two vertexes of the side where the side pointer is positioned as circle centers,
Figure RE-FDA0003532976380000034
representing a crossover node W t+1 Coordinates of (c);
step 3.3: determining the coordinates of the residual root nodes of the newly divided triangular domain;
new crossover node W obtained according to step 3.2 t+1 T+1 ε {1,2, …, e }; obtaining a third root node of the newly divided triangular domain by using the formulas (1) and (5) on the basis of knowing two vertexes and an intersection point of the newly divided triangular domain;
step 3.4: repeating the processes of the steps 3.2-3.3 to conduct triangular domain division derivatization, judging that the direction Area division reaches a boundary when the point of which the pointer direction does not meet the formulas (1) and (8) exists, and replacing the next pointer direction to conduct Area division derivatization until the coverage Area rectangle IN_area is ended;
step 4: according to the intersection nodes, completing the elevation data association of the layout points, and obtaining the elevation difference variation quantity of all the layout points relative to any root node;
based on the complete division of the whole domain rectangle IN_area, according to the multi-connectivity of the intersection nodesCorrelating elevation data IN a three-dimensional rectangular coordinate system D on all root nodes to obtain any two different root nodes J IN a global rectangle IN_area i 、J j Wherein the root node J j With respect to root node J i The relative elevation difference change of (2) is recorded as
Figure RE-FDA0003532976380000041
i,j∈[1,r]；
Any one of the layout points S IN the global rectangle IN_area is calculated by using the method (9) ε To any root node J i The relative elevation difference variation amount DeltaU (S ε ,J i )：
Figure RE-FDA0003532976380000042
In the formula (9), A k For the selected layout point S ε The circle field where J u Is a circle domain A k Is provided with a center root node of a circle,
Figure RE-FDA0003532976380000043
representing the arrangement point S ε The coordinate position under the three-dimensional rectangular coordinate system D; epsilon [1, n-1 ]]，i,u∈[1,r-1]；
Step 5: adopting a RANSA-like algorithm to obtain an optimal reference point in the root node;
step 5.1: constructing a fitting reference plane of each root node;
definition: any root node J IN the global rectangle IN_area i And root node J i The k nearest layout points are taken as root nodes J i The K-neighborhood of (2), denoted as K (J) i ) The method comprises the steps of carrying out a first treatment on the surface of the With K (J) i ) To fit constraint conditions, a root node J is constructed i Least square plane P (J) i ) And P (J) i ) As root node J i Is fit to the reference plane;
step 5.2: establishing an optimal reference plane solving model;
obtaining K-neighborhood K (J) using (10) i ) Is a covariate matrix OP of:
Figure RE-FDA0003532976380000044
in the formula (10), o i For root node J i K-neighborhood K (J) i ) The coordinate vector of the centroid position point of (2) in the three-dimensional rectangular coordinate system D, p represents K (J) i ) Coordinate vector of any point of the inner k set points under three-dimensional rectangular coordinate system D, (p-o) i ) Is a column vector, (p-o) i ) T Is (p-o) i ) Is a transpose of (2); the unit eigenvector corresponding to the minimum eigenvalue of the covariant matrix OP is recorded as e i Take pair e i The corresponding value after the homodromous processing is the root node J i Is a fitting reference plane P (J) i ) Unit normal of (2) i ；
Any one of the layout points S IN the global rectangle IN_area is calculated according to (11) ε To root node J i Is a fitting reference plane P (J) i ) Distance d (S) ε ,J i ) Wherein ε [1, n ]],i[1,r]；
d(S ε ,J i )＝|(S ε -o i )·n i | (11)
Step 5.3: determining an optimal datum point;
all layout points IN the global rectangle IN_area are calculated to any root node J according to (12) i Is a fitting reference plane P (J) i ) Distance summation D [ P (J) i )]；
Figure RE-FDA0003532976380000051
Taking i=1, 2, …, r to traverse all root nodes and get the minimum distance accumulation sum min { D [ P (J) i )]Sum min of minimum distance { D [ P (J) i )]The root node corresponding to the sequence is denoted as J o The optimal datum point is obtained;
step 6: calculating the optimal reference point J of all points in the area o Displacement deviation of (2);
any one of the layout points S IN the global rectangle IN_area is calculated by using the method (13) ε To the optimal root node J o The relative elevation difference variation amount DeltaU (S ε ,J o ) Thereby obtaining the global rectangle IN_area all points with respect to the optimal root node J o And as a final sedimentation result of the sedimentation monitoring of the wind farm area:
Figure RE-FDA0003532976380000052
in the formula (13), A k For laying point S ε The circle field where J u Is a circle domain A k Is provided with a center root node of a circle,
Figure RE-FDA0003532976380000053
representing the arrangement point S ε The coordinate position under the three-dimensional rectangular coordinate system D; epsilon [1, n-1 ]]，i,u∈[1,r-1]。
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