US 12,467,749 B1
Method and system for establishing space-ground integrated real-time monitoring reference for dam deformation
Shuangping Li, Hubei (CN); Bin Zhang, Hubei (CN); Zuqiang Liu, Hubei (CN); Hailong Huang, Beijing (CN); Yuanzhu Chen, Hubei (CN); Bo Shi, Hubei (CN); Zhao Tang, Hubei (CN); Huawei Wang, Hubei (CN); Zheng Wang, Hubei (CN); Yonghua Li, Hubei (CN); and Yiming Chen, Hubei (CN)
Assigned to Changjiang Spatial Information Technology Engineering Co., Ltd. (Wuhan), Wuhan (CN); and China Three Gorges Construction Engineering Corporation, Beijing (CN)
Filed by Changjiang Spatial Information Technology Engineering Co., Ltd. (Wuhan), Hubei (CN); and China Three Gorges Construction Engineering Corporation, Beijing (CN)
Filed on Jul. 22, 2025, as Appl. No. 19/276,192.
Claims priority of application No. 202411325524.8 (CN), filed on Sep. 23, 2024.
Int. Cl. G01B 21/32 (2006.01); G01S 19/14 (2010.01)
CPC G01B 21/32 (2013.01) [G01S 19/14 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A method for establishing a space-ground integrated real-time monitoring reference for dam deformation, comprising:
transmitting control instructions to a space-based Beidou system, a ground-based measurement robot system and a ground-based inverted plumb line system;
obtaining a dynamic reference point position of a dam deformation area in real time through the space-based Beidou system;
obtaining a spatial relative reference point position of the dam deformation area in real time through the ground-based measurement robot system;
obtaining a static gravity reference point position of the dam deformation area in real time through the ground-based inverted plumb line system; and
performing data fusion on the dynamic reference point position, the spatial relative reference point position, and the static gravity reference point position, and obtaining a monitoring reference value of the dam deformation area, wherein
the performing data fusion on the dynamic reference point position, the spatial relative reference point position, and the static gravity reference point position, and obtaining a monitoring reference value of the dam deformation area comprise:
constructing corresponding error equations for the dynamic reference point position, the spatial relative reference point position, and the static gravity reference point position respectively;
integrating the error equations corresponding to the dynamic reference point position, the spatial relative reference point position, and the static gravity reference point position to form an error equation of combined adjustment;
setting a comprehensive weight matrix used for representing weights of the dynamic reference point position, the spatial relative reference point position, and the static gravity reference point position; and
based on the error equation of the combined adjustment and the comprehensive weight matrix, taking a minimum sum of weighted error squares as an objective, and obtaining the monitoring reference value of the dam deformation area through a least square principle, wherein
an error equation of the dynamic reference point position is expressed as follows:
VGNSS=AGNSSX−LGNSS, wherein
VGNSS represents a residual vector of GNSS observed values of the space-based Beidou system; AGNSS represents a design matrix of the GNSS observed values; X represents the monitoring reference value of the dam deformation area; and LGNSS represents a GNSS observed value vector;
an error equation of the spatial relative reference point position is expressed as follows:
VRobot=ARobotX−LRobot, wherein
VRobot represents a residual vector of observed values of the ground-based measurement robot system; ARobot represents a design matrix of the observed values of the ground-based measurement robot system; and LRobot represents an observed value vector of the ground-based measurement robot system;
an error equation of the static gravity reference point position is expressed as follows:
VPlumbLine=APlumbLineX−LPlumbLine, wherein
VPlumbLine represents a residual vector of observed values of inverted plumb line displacement; APlumbLine represents a design matrix of the observed values of the inverted plumb line displacement; and LPlumbLine represents an observed value vector of the inverted plumb line displacement;
the error equation of the combined adjustment is expressed as follows:

OG Complex Work Unit Math
 and
the comprehensive weight matrix P is expressed as follows:

OG Complex Work Unit Math
 wherein
PGNSS represents a weight matrix of the GNSS observed values; PRobot represents a weight matrix of the observed values of a measurement robot; and PPumbLine represents a weight matrix of the observed values of the inverted plumb line displacement.