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基于状态域的GNSS/加速度计变形监测突变故障检测方法

孙澳1, 张秋昭1,2, 张云龙2, 余章俊1

1.中国矿业大学 江苏省资源环境信息工程重点实验室，江苏 徐州  221116;2.中国铁路设计集团有限公司 城市轨道交通数字化建设与测评技术国家工程实验室，天津  300308

摘要:GNSS/加速度计融合监测集合了两种传感器的优势，可以提高构（建）筑物变形监测的准确性和完整性。 目的 为了解决传统故障检测方法必须依赖假设已知真实状态信息、需要建立状态迭代器且计算效率低等问题，  方法 对传统故障检测方法和状态域一致性理论进行推导创新，提出一种基于状态域一致性理论的GNSS/加速度计集成变形监测突变故障检测方法。该方法基于状态估计值和状态预测值构建状态检验统计量，直接在状态域进行故障探测，无须已知真实状态信息且避免了状态信息的迭代计算，与传统方法相比，效率更高，鲁棒性更强。在英国威尔福德桥人为激励变形实验中，于量测域加入不同程度的粗差用以模拟突变故障，并通过所提方法对GNSS/加速度计融合过程进行故障检测。  结果 结果表明：基于状态域一致性理论的GNSS/加速度计集成变形监测突变故障检测方法可以区分桥梁正常运营过程中发生的变形和突变故障，并可对GNSS/加速度计融合时的突变故障进行检测和及时预警。 结论 研究表明基于状态域一致性理论的GNSS/加速度计集成变形监测突变故障检测方法具备相应的GNSS/加速度计融合故障检测能力，对提高GNSS/加速度变形监测的可靠性和一致性具有重要意义。

关键词:卡尔曼滤波;状态域;突变故障;变形监测;加速度计

doi:10.16186/j.cnki.1673-9787.2022050092

基金项目:国家自然科学基金资助项目（42074226）；城市轨道交通数字化建设与测评技术国家工程实验室开放课题基金资助项目（2021ZH03）

收稿日期:2022/05/27

修回日期:2022/12/23

出版日期:2024/07/31

Abrupt fault detection algorithm for GNSS/accelerometer integrated deformation monitoring based on state domain

SUN Ao1, ZHANG Qiuzhao1,2, ZHANG Yunlong2, YU Zhangjun1

1.Jiangsu Key Laboratory of Resources and Environmental Information Engineering，China University of Mining and Technology，Xuzhou  221116，Jiangsu，China;2.National Engineering Laboratory for Digital Construction and Evaluation of Urban Rail Transit，China Railway Design Group Co.，Ltd.，Tianjin  300308，China

Abstract:The GNSS/accelerometer fusion monitoring can integrate the advantages of two kinds of sensors，which can improve the accuracy and integrity of structural deformation monitoring.  Objectives The traditional fault detection methods must rely on the assumption of known real state information，and need to establish a state iterator and have low calculation efficiency. Methods This paper deduces and innovates the traditional fault detection methods and the state domain consistency theory，and proposes a GNSS/accelerometer integrated deformation monitoring abrupt fault detection method based on the state domain consistency theory.This method constructs the state test statistics based on the state estimation value and the state prediction value，which directly detects the fault in the state domain without knowing the real state information and avoiding the iterative calculation of the state information.Compared with traditional methods，it has higher efficiency and stronger robustness.In the artificial excitation deformation experiment of Wilford bridge in the UK，different degrees of gross errors were added to the measurement domain to simulate abrupt faults，and the proposed method was used to detect the faults in the fusion process of GNSS/accelerometer. Results The results show that the proposed method can distinguish the deformation and abrupt faults in the normal operation process of the bridge，and can effectively detect and timely warn the aburpt faults in the fusion process of GNSS/accelerometer.  Conclusions The proposed method has the corresponding GNSS/accelerometer fusion fault detection ability，which is of great significance to improve the reliability and consistency of GNSS/accelerometer deformation monitoring.

Key words:Kalman filter;state domain;abrupt faults;deformation monitoring;accelerometer