阅读说明：本技术 一种基于双毫米波雷达测距三角定位的边坡滑坡监测预警方法 (Slope landslide monitoring and early warning method based on double-millimeter-wave radar ranging triangulation positioning ) 是由 李坚 于 2020-07-23 设计创作，主要内容包括：本专利公开了一种基于双毫米波雷达测距三角定位的边坡安全监测预警方法,通过在被监测坡面上按照一定密度安装若干毫米波雷达无源反射器F,作为F点周围一定区域内的边坡滑坡监测点F；在被监测边坡的坡脚水平位置安装两处毫米波雷达A和B,A和B之间的直线距离AB长度为c；通过测量△ABF的边AF、BF的长度a、b,实现了监测点F与AB之间垂直距离h的测量；在已知边坡坡度β和AB与边坡坡脚的水平垂直距离的条件下,通过测量a和b,实现了监测F点与坡脚垂直距离L的测量；通过实时监测h或L的变化量Δh或ΔL,实现了对监测点F滑坡情况的实时监测和预警功能。(The patent discloses a slope safety monitoring and early warning method based on double millimeter wave radar ranging triangulation location, wherein a plurality of millimeter wave radar passive reflectors F are installed on a monitored slope according to a certain density and serve as slope landslide monitoring points F in a certain area around an F point; installing two millimeter wave radars A and B at the horizontal position of the slope toe of the monitored side slope, wherein the length of a straight line distance AB between the A and the B is c; the vertical distance h between the monitoring point F and the monitoring point AB is measured by measuring the lengths a and b of the sides AF and BF of the delta ABF; under the condition that the horizontal vertical distances between the slope beta and AB of the side slope and the slope toe of the side slope are known, the measurement of the vertical distance L between the monitoring point F and the slope toe is realized by measuring a and b; by monitoring the variable quantity delta h or delta L of h or L in real time, the real-time monitoring and early warning functions of the landslide condition of the monitoring point F are realized.)

1. A slope safety monitoring and early warning method based on double millimeter wave radar ranging triangulation location is characterized in that:

① A plurality of passive reflectors F of millimeter wave radar are installed on the monitored slope surface according to a certain density as slope landslide monitoring points F in a certain area around the point F, two millimeter wave radars A and B are installed at the horizontal position of the slope foot of the monitored slope, the length of the straight line distance AB between A and B is c, the triangular positioning measurement of the vertical distance h between the monitoring points F and AB is realized by measuring the lengths a and B of the edges AF and BF of △ ABF, and the horizontal vertical distance h between the slope β and AB and the slope foot CD is known_minUnder the condition, the measurement of the vertical distance L between the monitoring point F and the slope toe is realized by measuring a and b; by monitoring the variable quantity delta h or delta L of h or L in real time, the real-time monitoring and early warning functions of the landslide condition of the monitoring point F are realized.

② △ ABF area S_ABFThe relation between a and b is shown as formula 1; the relation between h and a and b is shown as formula 2; when F is shifted to F ', radars a and B measure the distance a ' and B ' to F, thereby causing a change Δ h in h as in equation 3 and causing a change Δ L in L as in equation 4.

Thirdly, the standard deviation h of the method is measured, and the relation between the standard deviation h and the measurement precision (standard deviations a and B) of the millimeter wave radars A and B in the effective distance measurement range is as shown in a formula 5; when h changes slightly (in centimeter scale), it can be considered that F slides along the slope surface, and the relation between the measurement standard deviation L of L and h is as in equation 6.

2. According to the invention, as described in claim 1, the passive reflector F reflects the millimeter wave radio frequency signals emitted by the millimeter wave radars A and B back to A and B, and the millimeter wave radars A and B realize the measurement of a and B by receiving and processing the millimeter wave radio frequency signals reflected by F.

3.① and ② according to claim 1, wherein the radar reflector mounting position F is limited to a mounting position F in which ∠ FAB and ∠ FBA of △ ABF are not less than α_min(α_min>0 in radians), α_minRelated to the values of c and h.

4. According to the right② of claim 1, wherein the method comprises real-time monitoring and early warning of landslide at monitoring point F by uniform step counting method, and setting the early warning limit of step counter i (i is a non-negative integer) as N_max(N_max> 0); the step length of the variable quantity of h and L caused by F displacement is delta h_step、ΔL_step，Δh_step≧h、ΔL_step≧ L; every time F shifts cause a change Δ h in h and L or Δ L reaches Δ h_stepOr Δ L_stepIf yes, adding 1 to the counter i; when i is cumulatively increased to equal N_maxAnd in time, the monitoring point F is indicated to have landslide and reach the early warning limit value.

Equation 1

Equation 2

Equation 3

Equation 4

Equation 5

Equation 6

Technical Field

The invention relates to a slope landslide monitoring and early warning method based on double millimeter wave radar ranging triangulation location, relates to a millimeter wave radar ranging method, and relates to a slope safety monitoring and early warning method.

Background

Slope engineering geological conditions of highways and railway lines in mountain areas are complex, influence factors are multiple, management and maintenance difficulty is high, and once slope deformation and damage occur, serious consequences are usually caused to transportation production safety of highways and railways. In the past, the side slope safety monitoring is carried out mainly by on-site patrol judgment of management personnel, and various professional instrument tests and monitoring are carried out on high side slopes with complex weight points or higher heights, so that the problems of high cost, time and labor waste, incapability of timely grasping potential safety risks of side slope bodies and protective structures and the like exist. In order to solve the problem, with the development of the technology, researchers carry out a large amount of scientific research on the problem, and provide a plurality of slope landslide detection methods for realizing slope safety monitoring and early warning. At present, slope safety monitoring and early warning methods are roughly classified into four categories according to the adopted sensing technology: the method comprises a slope safety monitoring method based on distributed sensing, a slope safety monitoring method based on GPS technology, a slope safety monitoring method based on synthetic aperture radar and a slope safety monitoring method based on traditional sensors.

A side slope safety monitoring method based on distributed sensing mainly comprises the steps of laying or pre-embedding optical fibers or gratings for sensing on a monitored side slope, monitoring the deformation of the side slope by using an optical fiber sensing technology, and realizing the monitoring of the side slope safety. According to the technical scheme, the fiber grating sensors, the distributed sensing optical fibers or cables and other sensing periods need to be pre-buried in the construction period of the slope engineering, the construction engineering amount is large, and the cost is high.

A slope safety monitoring method based on GPS technology is based on the principle that a deformation sensitive part arranged on a slope is provided with a Beidou or GPS receiver as a monitoring station, a GPS receiver is arranged at the toe of the slope as a reference station, and whether the monitoring station is displaced or not is monitored by processing GPS signals received by the GPS receiver, and finally whether landslide or other monitoring and early warning is carried out on the deformation sensitive part of the slope or not is realized. According to the technical scheme, a high-precision satellite navigation system receiver is needed, the displacement monitoring precision of mm level or cm level is achieved, the precision can be achieved only by matching with a ground differential station, and the receiver and the ground differential station are expensive; and secondly, the power supply problem of monitoring points taking a satellite navigation system receiver as a core and the communication problem between the monitoring points and a data processing center need to be solved, so that the overall cost of the system is greatly increased.

A synthetic aperture radar-based slope safety monitoring method is based on the basic principle that a synthetic aperture technology and interferometry and other technologies of a synthetic aperture radar are utilized, the synthetic aperture radar generates a high-resolution image by utilizing platform motion and a signal processing algorithm to acquire high-precision and high-resolution slope deformation information, a two-dimensional high-resolution image of a slope is achieved, and monitoring and early warning of the slope are achieved by processing the image. The monitoring precision of the technical scheme is different from m level to mm level, the radar system belongs to the application of radar technology, and the whole system is expensive in manufacturing cost.

The slope safety monitoring method based on the traditional sensor utilizes the traditional stress sensor, angle sensor, displacement sensor and the like as sensing units, and realizes slope safety monitoring by carrying out point type arrangement and networking on the monitored slope and monitoring the deformation or displacement of the slope through the sensor; this solution usually requires a large number of sensors to be deployed on the monitored slope and also requires a synchronous design of the communication network for collecting the information collected by the sensors, and therefore has been gradually replaced by other technologies.

In view of the advantages and disadvantages of the above technical solutions, a new method for monitoring side slope landslide needs to be provided, which has the following advantages: firstly, the measurement precision needs to meet the requirement of slope monitoring; secondly, the related equipment installed on the monitored side slope is passive equipment, so that the problem that most of the existing technical schemes need power supply is solved; thirdly, the technical scheme has strong real-time performance and system robustness. Therefore, the invention provides a slope landslide monitoring method based on double millimeter wave radar ranging triangulation location.

Disclosure of Invention

The invention aims to provide a slope landslide monitoring and early warning method based on double millimeter wave radar ranging triangulation positioning, which can realize non-contact, high-precision and fixed-point real-time continuous measurement on a slope with a certain area and make landslide warning. The invention provides a slope landslide monitoring and early warning method based on double millimeter wave radar ranging triangulation positioning (figure 1), which mainly comprises the following steps:

① A plurality of passive reflectors F of millimeter wave radar are installed on the monitored slope according to a certain density as slope landslide monitoring points F in a certain area around the point F, two millimeter wave radars are installed at the horizontal position of the slope foot of the monitored slopeThe length of a straight line distance AB between A and B is c, the triangular positioning measurement of the vertical distance h between the monitoring point F and AB is realized by measuring the lengths a and B of the sides AF and BF of △ ABF, and the horizontal vertical distance h between the known slope gradient β and the slope toe CD of the slope_minUnder the condition, the measurement of the vertical distance L between the monitoring point F and the slope toe is realized by measuring a and b; by monitoring the variable quantity delta h or delta L of h or L in real time, the real-time monitoring and early warning functions of the landslide condition of the monitoring point F are realized.

② △ ABF area S_ABFThe relation between a and b is shown as formula 1; the relation between h and a and b is shown as formula 2; when F is shifted to F ', radars a and B measure the distance a ' and B ' to F, thereby causing a change Δ h in h as in equation 3 and causing a change Δ L in L as in equation 4.

Thirdly, the standard deviation h of the method is measured, and the relation between the standard deviation h and the standard deviations a and B of the millimeter wave radars A and B in the effective distance measuring range is as shown in a formula 5; when h changes slightly (in centimeter scale), it can be considered that F slides along the slope surface, and the relation between the measurement standard deviation L of L and h is as in equation 6.

The passive reflector F is used for reflecting millimeter wave wireless radio frequency signals emitted by the millimeter wave radars A and B to the passive reflector A and the passive reflector B, and the millimeter wave radars A and B realize the measurement of the signals a and B by receiving and processing the millimeter wave wireless radio frequency signals reflected by the passive reflector F.

① and ②, in order to ensure the monitoring precision, the installation limit condition of the installation position F of the radar reflector is that the values of ∠ FAB and ∠ FBA of △ ABF are not less than α_min(α_min>0 in radians), α_minRelated to the values of c and h.

②, real-time monitoring and early warning of landslide at monitoring point F by using uniform step counting method, setting limit of step counter i (i is non-negative integer) as N_max(N_max> 0); the step length of the variable quantity of h and L caused by F displacement is delta h_stepAnd Δ L_step，Δh_step≧h、ΔL_step≧ L; every time F shifts cause a change Δ h in h and L or Δ L reaches Δ h_stepOr Δ L_stepIf yes, adding 1 to the counter i; when i is cumulatively increased toIn N_maxAnd in time, the monitoring point F is indicated to have landslide and reach the early warning limit value.

Equation 1

Equation 2

Equation 3

Equation 4

Equation 5

Equation 6

The foregoing is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Drawings

FIG. 1 is a schematic diagram of a principle of a slope landslide monitoring and early warning method based on double millimeter wave radar ranging triangulation location.

Fig. 2 is a side slope landslide monitoring and early warning system based on double millimeter wave radar ranging triangulation location.

Detailed Description

The main implementation of the slope landslide monitoring and early warning method based on dual millimeter wave radar ranging triangulation location is described below with reference to a case (fig. 2).