基于融合GNSS/UWB/RTS的RCC坝智能监控定位补偿方法研究  

Position compensation technology for intelligent monitoring of RCC dams in deep narrow valley based on GNSS/UWB/RTS fusion

作　　者：高浩钧 王晓玲[1] 倪磊 佟大威[1] 林威伟 何金龙 GAO Haojun;WANG Xiaoling;NI Lei;TONG Dawei;LIN Weiwei;HE Jinlong(State Key Laboratory of Hydraulic Engineering Intelligent Construction and Operation,Tianjin University,Tianjin 300354,China;Huaneng Lancang River Hydropower Inc.,Kunming 650200,China)

机构地区：[1]天津大学水利工程智能建设与运维全国重点实验室,天津300354 [2]华能澜沧江水电股份有限公司,云南昆明650200

出　　处：《水利学报》2024年第10期1248-1259,1269,共13页Journal of Hydraulic Engineering

基　　金：国家自然科学基金项目(U23B20148);华能集团总部科技项目(HNKJ20-H21TB)。

摘　　要：近年来,大坝压实质量的智能监控技术逐渐成为研究热点。现有的碾压混凝土(RCC)坝碾压作业过程实时监控技术依赖于全球导航卫星系统(GNSS),然而,对于建设在深窄河谷地区的RCC坝,GNSS系统易受两侧山体信号遮挡干扰。针对上述问题,本研究提出一种基于融合GNSS/UWB/RTS的RCC坝碾压施工智能定位补偿技术。首先,依据悬崖边壁、倒悬体遮挡处的环境特征建立了适用于深窄河谷地区的RCC坝碾压实时监控数学模型;其次,引入了超宽带(UWB)和机器人全站仪(RTS)定位补偿技术,采用耦合新息阈值与最小二乘的改进卡尔曼滤波算法融合GNSS/UWB/RTS的定位数据,实现了遮挡环境下卫星信号的连续稳定定位监控;最后,在西南某大型RCC坝工程中得到应用。结果表明,该方法能够实现对深窄河谷中RCC坝碾压施工的全地形、全过程实时监控,可弥补单纯依赖GNSS进行碾压过程实时监控所不足。In recent years,the intelligent monitoring for the compaction quality of the dams has been the hot topic of the research.The existing real-time monitoring technology for roller compacted concrete(RCC)dams relies on Global Navigation Satellite Systems(GNSS).However,for the roller compacted concrete dams built in deep narrow valleys,the GNSS system is susceptible to the interference of the signal denied caused by the occlusion of mountains.In response to the above issues,this study has proposed an intelligent positioning compensation technology for the compaction construction of RCC dams based on the fusion of GNSS/UWB/RTS.Firstly,a mathematical model for real-time monitoring of RCC dam rolling in deep narrow valley areas was established based on the environmental characteristics of the cliff sidewalls and the obstruction of the inverted suspension.Secondly,the positioning compensation technology using ultra wide band(UWB)and robot total station(RTS)was introduced.An improved Kalman filtering algorithm combining innovation threshold and least squares was adopted to fuse the GNSS/UWB/RTS data for to achieve continuous and stable positioning monitoring in satellite signal denied environments.Finally,the application results in a large-scale RCC dam project in Southwest China show that this method can achieve real-time monitoring of the entire terrain and process of RCC dam construction in deep narrow valleys.The method compensates for the shortcomings of relying solely on GNSS for real-time monitoring of the compaction process.

关 键 词：碾压混凝土坝 定位补偿 大坝智能监控 卡尔曼滤波 深窄河谷 

分 类 号：TV642[水利工程—水利水电工程]