CN114757238A - Method and system for monitoring deformation of subway protection area, electronic equipment and storage medium - Google Patents
Method and system for monitoring deformation of subway protection area, electronic equipment and storage medium Download PDFInfo
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Abstract
The application provides a method, a system, electronic equipment and a storage medium for monitoring deformation of a subway protection area, which comprise the following steps: receiving GNSS monitoring signals of a subway protection area to be monitored, which are sent by a monitoring satellite; filtering the GNSS monitoring signal into a first GNSS monitoring signal through a Kalman filtering pair; processing the first GNSS monitoring signal into a second monitoring signal through a preset cloud and mist layer filtering algorithm; and comparing the second monitoring signal with a preset subway protection area specification threshold value, and if the second monitoring signal exceeds the subway protection area specification threshold value, the subway protection area deforms. When the monitoring satellite acquires the deformation related data through the GNSS, the influence of the cloud layer on the satellite signal is filtered, and the acquired data are more accurate.
Description
Technical Field
The application belongs to the field of navigation positioning, and particularly relates to a method and a system for monitoring deformation of a subway protection area, electronic equipment and a storage medium.
Background
With the continuous acceleration of the urbanization process in China, the construction of subway projects in various big cities in China is increasingly increased, and the urban subway project is a good choice for solving traffic jam in the big cities due to the convenience, high efficiency, safety and small use amount of overground space. In the subway construction and operation process, the safety problem of the subway protection area is always concerned, and how to intelligently and efficiently realize the automatic safety monitoring of the subway protection area becomes the problem which needs to be solved urgently. The GNSS (Global Navigation Satellite System) has long been an important technical means in the field of deformation monitoring with the advantages of all weather, high precision, large range, easy automation realization and the like, and has rapidly developed and widely applied, particularly in the aspects of plate motion, ground surface settlement, dam automatic monitoring, land and sea vertical motion monitoring, landslide monitoring and the like, so that satisfactory results and precision are obtained, and important bases are provided for management and decision making.
However, the existing satellite signals related to GNSS are easily affected during the transmission process, and thus the monitoring effect is affected.
Disclosure of Invention
The embodiment of the invention mainly aims to provide a method, a system, electronic equipment and a storage medium for monitoring deformation of a subway protection area, so that when a monitoring satellite acquires deformation related data through a GNSS, the influence of a cloud layer on satellite signals is filtered, and the acquired data is more accurate.
In a first aspect, a method for monitoring deformation of a subway protection area is provided, where the method includes:
receiving a GNSS monitoring signal of a subway protection area to be monitored, which is sent by a monitoring satellite;
filtering the GNSS monitoring signal into a first GNSS monitoring signal through a Kalman filtering pair;
processing the first GNSS monitoring signal into a second monitoring signal through a preset cloud and mist layer filtering algorithm;
and comparing the second monitoring signal with a preset subway protection area specification threshold value, and if the second monitoring signal exceeds the subway protection area specification threshold value, the subway protection area deforms.
In one possible implementation, the kalman filtered object includes: errors caused by doppler effect, multipath errors, channel errors, satellite clock errors, ephemeris errors.
In another possible implementation manner, the processing the first GNSS monitoring signal into a second GNSS monitoring signal by a preset cloud-fog filtering algorithm includes:
obtaining cloud and mist grade V according to cloud and mist densitym；
Acquiring the attenuation intensity of the cloud to the satellite signal of the monitoring satellite according to a preset cloud attenuation formula:
said D ismIs the attenuation intensity;
acquiring the actual strength of the satellite signal of the monitoring satellite according to the attenuation strength: d = Dn-DmD is the actual strength of the satellite signal received by the sensor, DnThe initial strength of the satellite signal of the monitoring satellite;
and processing the first GNSS monitoring signal into a second GNSS monitoring signal according to the actual intensity D.
In a second aspect, there is provided a system for deformation monitoring of a protected zone of a subway, the system comprising:
the monitoring signal receiving module is used for receiving GNSS monitoring signals of a subway protection area to be monitored, which are sent by a monitoring satellite;
the filtering module is used for filtering the GNSS monitoring signal into a first GNSS monitoring signal through a Kalman filtering pair;
the processing module is used for processing the first GNSS monitoring signal into a second monitoring signal through a preset cloud and mist layer filtering algorithm;
And the judging module is used for comparing the second monitoring signal with a preset subway protection area specification threshold value, and if the second monitoring signal exceeds the subway protection area specification threshold value, the subway protection area deforms.
In one possible implementation, the kalman filtered object includes: errors caused by doppler effect, multipath errors, channel errors, satellite clock errors, ephemeris errors.
In another possible implementation manner, the processing module includes:
a cloud and fog grade acquisition unit for acquiring a cloud and fog grade V according to the cloud and fog densitym；
The attenuation intensity obtaining unit is used for obtaining the attenuation intensity of the cloud to the satellite signal of the monitoring satellite according to a preset cloud attenuation formula:
said D ismIs the attenuation intensity;
an actual intensity obtaining unit, configured to obtain an actual intensity of the satellite signal of the monitored satellite according to the attenuation intensity: d = Dn-DmD is the actual strength of the satellite signal received by the sensor, DnThe initial strength of the satellite signal of the monitoring satellite;
and the processing unit is used for processing the first GNSS monitoring signal into a second GNSS monitoring signal according to the actual intensity D.
In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the method for monitoring deformation of a subway protection zone as provided in the first aspect is implemented.
In a fourth aspect, a non-transitory computer readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, implements the method of deformation monitoring of a subway protection zone as provided in the first aspect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a flowchart of a method for monitoring deformation of a subway protection area according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for monitoring deformation of a subway protection zone according to another embodiment of the present invention;
fig. 3 is a structural diagram of a system for monitoring deformation of a subway protection area according to an embodiment of the present invention;
fig. 4 is a structural diagram of a system for monitoring deformation of a subway protection zone according to still another embodiment of the present invention;
fig. 5 is a schematic physical structure diagram of an electronic device according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar modules or modules having the same or similar functionality throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, modules, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, modules, components, and/or groups thereof. It will be understood that when a module is referred to as being "connected" or "coupled" to another module, it can be directly connected or coupled to the other module or intervening modules may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any module and all combinations of one or more of the associated listed items.
To make the objectives, technical solutions and advantages of the present application more clear, the following detailed description of the implementations of the present application will be made with reference to the accompanying drawings.
The technical solutions of the present application and the technical solutions of the present application, for example, to solve the above technical problems, will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for monitoring deformation of a subway protection zone according to an embodiment of the present invention, where the method includes:
103, processing the first GNSS monitoring signal into a second monitoring signal through a preset cloud and mist layer filtering algorithm;
and 104, comparing the second monitoring signal with a preset subway protection area specification threshold value, and if the second monitoring signal exceeds the subway protection area specification threshold value, deforming the subway protection area.
In the embodiment of the invention, the sensors arranged at different positions in the subway protection area establish communication relations with the monitoring satellite, and when the deformation monitoring of the subway protection area is started, the monitoring satellite acquires GNSS monitoring signals related to the deformation of the subway protection area through the communication with the sensors. Firstly, GNSS monitoring signals are subjected to preliminary processing through Kalman filtering, namely the GNSS monitoring signals are filtered into first GNSS monitoring signals. Since the cloud layer is a main factor affecting satellite signals, the first GNSS monitoring signal needs to be filtered into the second monitoring signal by a preset cloud layer filtering algorithm.
Wherein the objects of kalman filtering include, but are not limited to: errors caused by doppler effect, multipath errors, channel errors, satellite clock errors, ephemeris errors.
According to the embodiment of the invention, a GNSS monitoring signal of a subway protection area to be monitored, which is sent by a monitoring satellite, is received; filtering the GNSS monitoring signal into a first GNSS monitoring signal through a Kalman filtering pair; filtering the first GNSS monitoring signal into a second monitoring signal through a preset cloud and fog layer filtering algorithm; and comparing the second monitoring signal with a preset subway protection area specification threshold value, and if the second monitoring signal exceeds the subway protection area specification threshold value, the subway protection area deforms. When the monitoring satellite acquires the deformation related data through the GNSS, the influence of the cloud layer on the satellite signal is filtered, and the acquired data are more accurate.
Fig. 2 is a flowchart of a method for monitoring deformation of a subway protection zone according to still another embodiment of the present invention, where the processing the first GNSS monitoring signal into the second GNSS monitoring signal by using a preset cloud-fog filtering algorithm includes:
In the embodiment of the present invention, the cloud density can be obtained according to international public cloud density determination standards, specifically: visibility < 50m, VmIs dense fog; visibility of more than 50m and less than 200m, VmIs dense fog; visibility < 500m < 200m, VmIs light fog.
Fig. 3 is a structural diagram of a system for monitoring deformation of a subway protection zone according to an embodiment of the present invention, where the system includes:
The monitoring signal receiving module 301 is configured to receive a GNSS monitoring signal, which is sent by a monitoring satellite, of a subway protection area to be monitored;
a filtering module 302, configured to filter the GNSS monitoring signal into a first GNSS monitoring signal through a kalman filtering pair;
the processing module 303 is configured to process the first GNSS monitoring signal into a second monitoring signal through a preset cloud and mist layer filtering algorithm;
and the judging module 304 is configured to compare the second monitoring signal with a preset specification threshold of the subway protection area, and if the second monitoring signal exceeds the specification threshold of the subway protection area, deform the subway protection area.
In the embodiment of the invention, the sensors arranged at different positions in the subway protection area establish communication relations with the monitoring satellite, and when the deformation monitoring of the subway protection area is started, the monitoring satellite acquires GNSS monitoring signals related to the deformation of the subway protection area through the communication with the sensors. Firstly, GNSS monitoring signals are subjected to preliminary processing through Kalman filtering, namely the GNSS monitoring signals are filtered into first GNSS monitoring signals. Since the cloud layer is a main factor affecting satellite signals, the first GNSS monitoring signal needs to be filtered into the second monitoring signal by a preset cloud layer filtering algorithm.
Wherein the objects of kalman filtering include, but are not limited to: errors caused by doppler effect, multipath errors, channel errors, satellite clock errors, ephemeris errors.
According to the embodiment of the invention, a GNSS monitoring signal of a subway protection area to be monitored, which is sent by a monitoring satellite, is received; filtering the GNSS monitoring signal into a first GNSS monitoring signal through a Kalman filtering pair; filtering the first GNSS monitoring signal into a second monitoring signal through a preset cloud and mist layer filtering algorithm; and comparing the second monitoring signal with a preset subway protection area specification threshold value, and if the second monitoring signal exceeds the subway protection area specification threshold value, the subway protection area deforms. When the monitoring satellite acquires the deformation related data through the GNSS, the influence of the cloud layer on the satellite signal is filtered, and the acquired data are more accurate.
As shown in fig. 4, which is a structural diagram of a system for monitoring deformation of a subway protection area according to another embodiment of the present invention, the processing module 303 includes:
a cloud level acquiring unit 401 for acquiring a cloud level V according to the cloud densitym；
An attenuation intensity obtaining unit 402, configured to obtain an attenuation intensity of the cloud to the satellite signal of the monitoring satellite according to a preset cloud attenuation formula: 
D is said tomIs the decay intensity;
an actual intensity obtaining unit 403 for obtaining the actual intensity according to the attenuationSubtracting the intensity to obtain the actual intensity of the satellite signal of the monitoring satellite: d = Dn-DmD is the actual strength of the satellite signal received by the sensor, DnThe initial strength of the satellite signal of the monitoring satellite;
the processing unit 404 is configured to process the first GNSS monitoring signal into a second GNSS monitoring signal according to the actual intensity D.
In the embodiment of the present invention, the cloud density can be obtained according to international public cloud density determination standards, specifically: visibility < 50m, VmIs dense fog; visibility of more than 50m and less than 200m, VmIs dense fog; visibility < 500m < 200m, VmIs light fog.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)501, a communication Interface (Communications Interface)502, a memory (memory)503, and a communication bus 504, wherein the processor, the communication Interface, and the memory complete communication with each other through the communication bus. The processor may call logic instructions in the memory to perform subway protection zone deformation monitoring, the method comprising: receiving a GNSS monitoring signal of a subway protection area to be monitored, which is sent by a monitoring satellite; filtering the GNSS monitoring signal into a first GNSS monitoring signal through a Kalman filtering pair; processing the first GNSS monitoring signal into a second monitoring signal through a preset cloud and mist layer filtering algorithm; and comparing the second monitoring signal with a preset subway protection area specification threshold value, and if the second monitoring signal exceeds the subway protection area specification threshold value, the subway protection area deforms.
In addition, the logic instructions in the memory may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution 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 computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer, the computer is capable of executing the deformation monitoring of the subway protection zone provided by the foregoing method embodiments, where the method includes: receiving GNSS monitoring signals of a subway protection area to be monitored, which are sent by a monitoring satellite; filtering the GNSS monitoring signal into a first GNSS monitoring signal through a Kalman filtering pair; processing the first GNSS monitoring signal into a second monitoring signal through a preset cloud and mist layer filtering algorithm; and comparing the second monitoring signal with a preset subway protection area specification threshold value, and if the second monitoring signal exceeds the subway protection area specification threshold value, the subway protection area deforms.
In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to perform the deformation monitoring of the subway protection zone provided in the foregoing embodiments, and the method includes: receiving a GNSS monitoring signal of a subway protection area to be monitored, which is sent by a monitoring satellite; filtering the GNSS monitoring signal into a first GNSS monitoring signal through a Kalman filtering pair; processing the first GNSS monitoring signal into a second monitoring signal through a preset cloud and mist layer filtering algorithm; and comparing the second monitoring signal with a preset subway protection area specification threshold value, and if the second monitoring signal exceeds the subway protection area specification threshold value, the subway protection area deforms.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of execution is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial implementation of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A method of deformation monitoring of a metro protection area, the method comprising:
receiving a GNSS monitoring signal of a subway protection area to be monitored, which is sent by a monitoring satellite;
filtering the GNSS monitoring signal into a first GNSS monitoring signal through a Kalman filtering pair;
processing the first GNSS monitoring signal into a second monitoring signal through a preset cloud and mist layer filtering algorithm;
and comparing the second monitoring signal with a preset subway protection area specification threshold value, and if the second monitoring signal exceeds the subway protection area specification threshold value, the subway protection area deforms.
2. The method of claim 1, wherein the object of kalman filtering comprises: errors due to doppler effects, multipath errors, channel errors, satellite clock errors, and ephemeris errors.
3. The method of claim 1, wherein the processing the first GNSS monitoring signals into second GNSS monitoring signals by a predetermined cloud filtering algorithm comprises:
Obtaining cloud and mist grade V according to cloud and mist densitym；
Obtaining the attenuation intensity of the cloud to the satellite signal of the monitoring satellite according to a preset cloud attenuation formula:
d is said tomIs the decay intensity;
acquiring the actual strength of the satellite signal of the monitoring satellite according to the attenuation strength: d = Dn-DmD is the actual strength of the satellite signal received by the sensor, DnThe initial strength of the satellite signal of the monitoring satellite;
and processing the first GNSS monitoring signal into a second GNSS monitoring signal according to the actual intensity D.
4. A system for deformation monitoring of a protected zone of a subway, said system comprising:
the monitoring signal receiving module is used for receiving GNSS monitoring signals of a subway protection area to be monitored, which are sent by a monitoring satellite;
the filtering module is used for filtering the GNSS monitoring signal into a first GNSS monitoring signal through a Kalman filtering pair;
the processing module is used for processing the first GNSS monitoring signal into a second monitoring signal through a preset cloud and mist layer filtering algorithm;
and the judging module is used for comparing the second monitoring signal with a preset subway protection area specification threshold value, and if the second monitoring signal exceeds the subway protection area specification threshold value, the subway protection area deforms.
5. The system of claim 4, wherein the Kalman filtered object comprises: doppler-induced errors, multipath-induced errors, channel errors, satellite clock errors, and ephemeris errors.
6. The system of claim 4, wherein the processing module comprises:
a cloud and mist grade acquisition unit for acquiring a cloud and mist grade V according to the cloud and mist densitym；
An attenuation intensity obtaining unit, configured to obtain, according to a preset cloud attenuation formula, an attenuation intensity of the cloud to the satellite signal of the monitoring satellite:
d is said tomIs the decay intensity;
an actual intensity obtaining unit, configured to obtain an actual intensity of the satellite signal of the monitored satellite according to the attenuation intensity: d = Dn-DmD is the actual strength of the satellite signal received by the sensor, DnAn initial strength of a satellite signal for the monitoring satellite;
and the processing unit is used for processing the first GNSS monitoring signal into a second GNSS monitoring signal according to the actual intensity D.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of deformation monitoring of a subway protection zone as claimed in any one of claims 1 to 3 when executing the program.
8. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of deformation monitoring of a subway protection zone as claimed in any one of the claims 1 to 3.
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| CN115343734A (en) * | 2022-10-13 | 2022-11-15 | 武汉地铁集团有限公司 | GNSS deformation monitoring method based on bilinear interpolation hemisphere model |
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