CN112509284B - A monitoring and early warning method, device and terminal equipment for geological disasters - Google Patents

Abstract

The invention is applicable to the field of early warning of geological disasters, and relates to a monitoring and early warning method, device and terminal equipment for geological disasters. The monitoring and early warning method for geological disasters includes: obtaining a response signal and a magnetic signal of the measured body, wherein the response signal is an acceleration signal obtained by measuring the measured body with an accelerometer; decomposing the acceleration signal, Obtain the static acceleration signal and the dynamic acceleration signal; perform fusion calculation on the static acceleration signal and the magnetic signal to obtain the static inclination of the measured body; obtain the dynamic displacement of the measured body based on the dynamic acceleration signal; based on the static inclination and dynamic The displacement is used to obtain the geological disaster early warning results of the measured body. The method for monitoring and early warning of geological disasters mentioned above can realize the measurement of inclination angle and small displacement on each axis of the sensor and the measured body, and provide early warning of geological disasters more accurately and in time.

Description

A monitoring and early warning method, device and terminal equipment for geological disasters

technical field

The invention belongs to the field of early warning of geological disasters, and in particular relates to a monitoring and early warning method, device and terminal equipment of geological disasters.

Background technique

Geological disasters have the characteristics of critical suddenness and huge destructive power. In recent thousands of years, with the increasing frequency of human engineering activities, geological disasters have become more and more frequent, causing more and more losses, and even landslides caused by some major engineering constructions have strong Concealment, it is difficult to find hidden safety hazards without the help of advanced monitoring equipment. In order to effectively avoid or reduce the losses caused by geological disasters, scholars at home and abroad have conducted a large number of experiments and practical research on landslides, and have achieved a series of remarkable results in the aspects of landslide cognition, discovery, monitoring, forecasting, and prevention. . It is of great scientific and engineering significance to carry out the research and development of landslide monitoring instruments, the exploration of monitoring methods, and the application research of monitoring data. With the rapid development of MEMS sensors, integrated MEMS accelerometers, multi-axis measurement IMUs (inertial measurement units, including accelerometers, gyroscopes and magnetometers) have begun to be applied to scenarios such as landslide and collapse monitoring, but many applications are only Traditional measurement methods for MEMS measurement applications. For example, the traditional application fields of MEMS accelerometer and IMU unit are inertial navigation, attitude measurement, navigation guidance, etc. The characteristics of its measurement are mainly to measure the maneuverability of the measured object, including its position, velocity, acceleration, pitch angle, heading angle, and roll. Angle, etc.;

The monitoring and early warning of geological disasters should focus on disaster monitoring. At this time, the measured object does not undergo obvious deformation or is undergoing slow deformation. Therefore, MEMS accelerometers or IMUs are used to perform simple movements on the measured object. The state measurement method cannot meet the early warning requirements. At the same time, in the scheme of using 3-axis linear acceleration element or dual-axis inclination sensor to measure the inclination angle, there will be the problem of incomplete measurement data. Since the acceleration sensor is not sensitive to the rotation around the vertical axis, when the sensor and the measured body occur Rotation about the z-axis in the xyz Cartesian coordinate system cannot be measured, so it is also flawed.

Contents of the invention

In view of this, the embodiments of the present invention provide a geological disaster monitoring and early warning method, device and terminal equipment to solve the problem of incomplete measurement of the rotation angle of each axis of the sensor and the measured object in the prior art.

The first aspect of the embodiments of the present invention provides a method for monitoring and early warning of geological disasters, including:

Obtaining a response signal and a magnetic force signal of the measured body, wherein the response signal is a linear acceleration signal obtained by measuring the measured body with an accelerometer;

Decomposing the linear acceleration signal to obtain a static acceleration signal and a dynamic acceleration signal;

Perform fusion calculation on the static acceleration signal and the magnetic force signal to obtain the static inclination angle of the measured body;

Obtaining the dynamic displacement of the measured object based on the dynamic acceleration signal;

A geological disaster monitoring and early warning result of the measured body is obtained based on the static inclination and the dynamic displacement.

The second aspect of the embodiments of the present invention provides a monitoring and early warning device for geological disasters, including:

A data acquisition unit, configured to acquire a response signal and a magnetic force signal of the measured body, wherein the response signal is a linear acceleration signal obtained by measuring the measured body with an accelerometer;

an information processing unit, configured to decompose the linear acceleration signal to obtain a static acceleration signal and a dynamic acceleration signal;

a static inclination calculation unit, configured to fuse and solve the static acceleration signal and the magnetic signal to obtain the static inclination of the measured body;

a dynamic displacement calculation unit, configured to obtain the dynamic displacement of the measured body based on the dynamic acceleration signal;

A communication early warning unit, configured to obtain geological hazard monitoring and early warning results of the measured body based on the static inclination and the dynamic displacement.

A third aspect of the embodiments of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, the geological Disaster monitoring and early warning method steps.

The fourth aspect of the embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the monitoring of geological disasters as described in the first aspect is implemented Steps with alert method.

Compared with the prior art, the embodiment of the present invention has the following beneficial effects: first, the embodiment of the present invention acquires the linear acceleration signal and the magnetic force signal of the measured object; then decomposes the linear acceleration signal to obtain the static acceleration signal and the dynamic acceleration signal; then perform fusion calculation on the static acceleration signal and the magnetic force signal to obtain the static inclination angle of the measured body; obtain the dynamic displacement of the measured body based on the dynamic acceleration signal; finally based on the static The inclination angle and the dynamic displacement obtain the geological disaster monitoring and early warning results of the measured body. The above calculation method can calculate the rotation inclination and displacement of the measured body on each axis according to the linear acceleration signal and the magnetic force signal of the measured body, so the embodiment of the present invention can realize the rotation inclination and displacement of the sensor and the measured body on each axis The measurement of small displacement can provide more accurate and timely early warning of geological disasters and reduce the adverse effects of geological disasters on all aspects.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only of the present invention. For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Fig. 1 is a schematic diagram of the implementation process of the monitoring and early warning method for geological disasters provided by an embodiment of the present invention;

Fig. 2 is a schematic block diagram of a geological disaster monitoring and early warning device provided by an embodiment of the present invention;

Fig. 3 is a schematic block diagram of a terminal device provided by an embodiment of the present invention.

Detailed ways

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

The term "comprising" and any other variants in the specification and claims of the present invention and the above drawings mean "including but not limited to", and are intended to cover non-exclusive inclusion. For example, a process, method or system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units not listed, or optionally further includes Other steps or units inherent in these processes, methods, products or apparatus. In addition, the terms "first", "second", and "third", etc. are used to distinguish different objects, not to describe a specific order.

In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

Fig. 1 is a schematic diagram of the implementation flow of the geological disaster monitoring and early warning method provided by an embodiment of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown.

As shown in Figure 1, the monitoring and early warning method for geological disasters may include the following steps:

Step 101 , acquiring a response signal and a magnetic force signal of the measured object, wherein the response signal is a linear acceleration signal obtained by measuring the measured object with an accelerometer.

An embodiment of the present invention provides a monitoring and early warning system for geological disasters. The system includes a terminal device, an accelerometer, and a magnetometer. The magnetometer and the accelerometer are respectively connected to the terminal device. The monitoring and early warning system for geological disasters provided by this embodiment The subject of execution of the method is the processor in the terminal device.

Among them, the object to be measured may include buildings and natural structures, such as ground, slope, rock mass and other structures are applicable. The response signal is the linear acceleration signal obtained by the accelerometer, and the magnetic force signal is the data measured by the magnetometer.

In practical applications, the accelerometer can use a 6-axis sensitive unit to detect the 3-axis linear acceleration of the measured object, for example, a variable capacitance accelerometer or a digital accelerometer with a micro-electromechanical system (MEMS) sensor can be used, and the response frequency can be 0-1KHZ, the low frequency response should reach 0HZ, and the high frequency response can be selected according to different application scenarios. For example, for soil measurement, the high frequency response can be below 1KHZ, and for rock mass measurement, a sensor with a wider frequency band can be selected appropriately.

Step 102, decomposing the linear acceleration signal to obtain a static acceleration signal and a dynamic acceleration signal.

Among them, there are many ways to decompose the linear acceleration signal.

Exemplarily, the static acceleration signal and the dynamic acceleration signal can be obtained by filtering the linear acceleration signal, wherein the linear acceleration signal is subjected to high-pass filtering to obtain the dynamic acceleration signal, and the linear acceleration signal is subjected to low-pass filtering to obtain the static acceleration signal.

As another specific embodiment, in this embodiment, the static acceleration signal may also be obtained by calculating a sliding average of the linear acceleration signal or performing empirical mode decomposition (EMD) on the linear acceleration signal.

Step 103, performing fusion calculation on the static acceleration signal and the magnetic force signal to obtain the static inclination angle of the measured body.

与当地的重力加速度相等。根据a_jx,a_jy,a_jz，计算传感器在xyz直角坐标系下绕x轴转动的角度θ_x和绕y轴转动的角度θ_y，计算式为Among them, first calculate the components a _jx , a _jy , a _jz of the static acceleration a _j on each axis in the xyz Cartesian coordinate system. Under ideal conditions, when the sensor is in a static state, the modulus of its acceleration

equal to the local acceleration due to gravity. According to a _jx , a _jy , a _jz , calculate the angle θ _x that the sensor rotates around the x-axis and the angle θ _y that rotates around the y-axis in the xyz Cartesian coordinate system, the calculation formula is

According to the obtained θ _x and θ _y , calculate the component M _xh on the x-axis and the component M _yh on the y-axis after the magnetometer tilt correction, the calculation formula is

M _xh ＝M _x cos(θ _x )+M _z sin(θ _x )

M _yh ＝M _x sin(θ _y )sin(θ _x )+M _y cos(θ _y )-M _z sin(θ _y )cos(θ _x )

According to the obtained M _xh , M _yh , calculate the angle θ _z that the sensor rotates around the z-axis in the xyz Cartesian coordinate system, and the calculation formula is

Step 104, obtaining the dynamic displacement of the measured object based on the dynamic acceleration signal.

Among them, the dynamic displacement S _d is obtained from the dynamic acceleration signal through two integral operations, the calculation formula is S _d =∫∫a _d dt, and the calculation method can be the numerical integration method of the trapezoidal formula or the frequency domain integration method.

Step 105, obtaining geological disaster monitoring and early warning results of the measured body based on the static inclination and dynamic displacement.

Among them, the method of obtaining monitoring and early warning results can be based on the calculation results, real-time monitoring of the measured body θ _x , θ _y , θ _z and S _d , when any value of θ _x , θ _y , θ _z and S _d exceeds An early warning is triggered when the corresponding threshold is reached, and the early warning information is sent out.

The preset threshold in this embodiment can be set according to actual conditions, and is not limited here.

In this embodiment, the ways to send the early warning information can include various network standards such as wireless broadcasting, 2/3/4/5G signals, and narrowband Internet of Things. Various methods such as monitoring and early warning platforms.

Corresponding to the monitoring and early warning method for geological disasters in the above embodiments, FIG. 2 shows a schematic diagram of a monitoring and early warning device for geological disasters provided by an embodiment of the present invention. For ease of description, only the parts related to this embodiment are shown.

The monitoring and early warning devices for geological disasters include:

The data acquisition unit 111 is configured to acquire a response signal and a magnetic force signal of the measured body, wherein the response signal is a linear acceleration signal obtained by measuring the measured body with an accelerometer.

The information processing unit 112 is configured to decompose the linear acceleration signal to obtain a static acceleration signal and a dynamic acceleration signal.

The static inclination calculation unit 113 is configured to fuse and solve the static acceleration signal and the magnetic force signal to obtain the static inclination of the measured object.

A dynamic displacement calculation unit 114, configured to obtain the dynamic displacement of the measured object based on the dynamic acceleration signal.

The communication early warning unit 115 is used to obtain geological disaster monitoring and early warning results of the measured body based on the static inclination and dynamic displacement.

In another embodiment, the information processing unit 112 includes:

Perform high-pass filtering on the linear acceleration signal to obtain the dynamic acceleration signal;

Perform low-pass filtering on the linear acceleration signal to obtain the static acceleration signal, or calculate the sliding average value of the linear acceleration signal, and use the sliding average value as the static acceleration signal of the linear acceleration signal.

In another embodiment, the static inclination calculation unit 113 includes:

Fusion calculation of the static acceleration signal and magnetic force signal to obtain the static inclination of the measured object includes:

Based on the preset static inclination calculation formula, the static acceleration signal and the magnetic force signal are fused and solved to obtain the static inclination of the measured body, wherein the static inclination calculation formula includes:

Among them, θ _x , θ _y , θ _z represent the angles that the measured object rotates around the xyz axes in the xyz Cartesian coordinate system;

其中，a_jx，a_jy和a_jz表示静态加速度信号在xyz直角坐标系下在xyz各轴方向上的分量；Among them, a _j represents the static acceleration signal,

Among them, a _jx , a _jy and a _jz represent the components of the static acceleration signal in the xyz rectangular coordinate system in the xyz axis direction;

Wherein, M _xh represents the x-axis component of the tilt-corrected magnetic signal in the xyz rectangular coordinate system, and M _yh represents the y-axis component of the tilt-corrected magnetic signal in the xyz rectangular coordinate system.

In another embodiment, the dynamic displacement calculation unit 114 includes:

Obtaining the dynamic displacement of the measured object based on the dynamic acceleration signal includes:

Carry out the second integral operation on the dynamic acceleration signal, wherein, the second integral operation formula includes:

S _d =∫∫a _d dt

Among them, S _d represents the dynamic displacement of the measured body, a _d represents the dynamic acceleration signal, and dt represents the change in time.

It can be seen from the above-mentioned embodiment that this embodiment first obtains the response signal and the magnetic force signal of the measured body, wherein the response signal is a linear acceleration signal obtained by measuring the measured body with an accelerometer; then the linear acceleration signal is decomposed , to obtain the static acceleration signal and the dynamic acceleration signal; then fuse the static acceleration signal and the magnetic signal to obtain the static inclination of the measured object; obtain the dynamic displacement of the measured object based on the dynamic acceleration signal; finally, based on the static inclination and dynamic displacement Obtain the geological disaster monitoring and early warning results of the measured object. Based on the above calculation method, the embodiment of the present invention can realize the measurement of the rotation inclination angle and small displacement of the sensor and the measured body on each axis, more accurately and timely monitor and early warning of geological disasters, and reduce the adverse effects of geological disasters on various aspects .

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

Fig. 3 is a schematic diagram of a terminal device provided by an embodiment of the present invention. As shown in Figure 3, the terminal device 3 of this embodiment includes: a processor 30, a memory 31, and a computer program 32 stored in the memory 31 and operable on the processor 30, such as monitoring and monitoring of geological disasters Early warning procedure. When the processor 30 executes the computer program 32, it realizes the steps in the above-mentioned embodiments of the geological disaster monitoring and early warning method, such as steps 101 to 105 shown in FIG. 1 . Alternatively, when the processor 30 executes the computer program 32, it realizes the functions of each module/unit in the above-mentioned embodiments of the monitoring and early warning device for geological disasters, such as the functions of the modules 111 to 115 shown in FIG. 2 .

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal equipment and method may be implemented in other ways. For example, the device/terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated module/unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (Read-Only Memory, ROM) , random access memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable Excluding electrical carrier signals and telecommunication signals.

The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still carry out the foregoing embodiments Modifications to the technical solutions recorded in the examples, or equivalent replacement of some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should be included in within the protection scope of the present invention.

Claims (8)

1. A monitoring and early warning method for geological disasters, characterized in that the monitoring and early warning method comprises: Obtaining a response signal and a magnetic force signal of the measured body, wherein the response signal is a linear acceleration signal obtained by measuring the measured body with an accelerometer; Decomposing the linear acceleration signal to obtain a static acceleration signal and a dynamic acceleration signal; Perform fusion calculation on the static acceleration signal and the magnetic force signal to obtain the static inclination angle of the measured body; Obtaining the dynamic displacement of the measured object based on the dynamic acceleration signal; Obtaining geological disaster monitoring and early warning results of the measured body based on the static inclination and the dynamic displacement; The fusion calculation of the static acceleration signal and the magnetic force signal to obtain the static inclination of the measured body includes: Based on the preset static inclination calculation formula, the static acceleration signal and the magnetic force signal are fused and solved to obtain the static inclination of the measured body, wherein the static inclination calculation formula includes:

Among them, θ _x , θ _y , θ _z represent the angles that the measured object rotates around the xyz axes in the xyz Cartesian coordinate system; Among them, a _j represents the static acceleration signal,

Among them, a _jx , a _jy and a _jz represent the components of the static acceleration signal in the xyz rectangular coordinate system in the xyz axis direction; Wherein, M _xh represents the x-axis component of the tilt-corrected magnetic signal in the xyz rectangular coordinate system, and M _yh represents the y-axis component of the tilt-corrected magnetic signal in the xyz rectangular coordinate system. 2. The monitoring and early warning method of geological disasters according to claim 1, wherein said decomposing said linear acceleration signal to obtain a static acceleration signal and a dynamic acceleration signal comprises: performing high-pass filtering on the linear acceleration signal to obtain a dynamic acceleration signal; Performing low-pass filtering on the linear acceleration signal to obtain a static acceleration signal, or calculating a sliding average of the linear acceleration signal, and using the sliding average as a static acceleration signal of the acceleration signal. 3. the monitoring and early warning method of geological disaster according to claim 2, is characterized in that, the magnetic force signal after calculating described inclination correction comprises under xyz Cartesian coordinate system at x-axis and y-axis component: The magnetic signal is tilt-corrected based on the preset magnetic signal correction formula, and the components of the tilt-corrected magnetic signal on the x-axis and y-axis in the xyz Cartesian coordinate system are obtained, wherein the magnetic signal correction formula includes:

Among them, M _x , M _y , and M _z represent the components of the magnetic force signal on each axis of xyz in the xyz rectangular coordinate system. 4. The monitoring and early warning method for geological disasters according to any one of claims 1 to 3, wherein said obtaining the dynamic displacement of said measured body based on said dynamic acceleration signal comprises: Performing a second integral operation on the dynamic acceleration signal, wherein the second integral operation formula includes: S _d =∫∫a _d dt Among them, S _d represents the dynamic displacement of the measured body, a _d represents the dynamic acceleration signal, and dt represents the change in time. 5. A monitoring and early warning device for geological disasters, characterized in that the monitoring and early warning device includes: A data acquisition unit, configured to acquire a response signal and a magnetic force signal of the measured body, wherein the response signal is a linear acceleration signal obtained by measuring the measured body with an accelerometer; an information processing unit, configured to decompose the linear acceleration signal to obtain a static acceleration signal and a dynamic acceleration signal; a static inclination calculation unit, configured to fuse and solve the static acceleration signal and the magnetic signal to obtain the static inclination of the measured body; a dynamic displacement calculation unit, configured to obtain the dynamic displacement of the measured body based on the dynamic acceleration signal; A communication early warning unit, configured to obtain a geological hazard early warning result of the measured body based on the static inclination and the dynamic displacement; The static inclination calculation unit is specifically used for: The static acceleration signal and the magnetic force signal are fused and solved based on a preset static inclination calculation formula to obtain the static inclination of the measured body, wherein the static inclination calculation formula includes:

Among them, θ _x , θ _y , θ _z represent the angles that the measured object rotates around the xyz axes in the xyz Cartesian coordinate system; Among them, a _j represents the static acceleration signal,

Among them, a _jx , a _jy and a _jz represent the components of the static acceleration signal in the xyz rectangular coordinate system in the xyz axis direction; Wherein, M _xh represents the x-axis component of the tilt-corrected magnetic signal in the xyz rectangular coordinate system, and M _yh represents the y-axis component of the tilt-corrected magnetic signal in the xyz rectangular coordinate system. 6. The monitoring and early warning device for geological disasters according to claim 5, wherein the information processing unit includes: performing high-pass filtering on the acceleration signal to obtain a dynamic acceleration signal; Performing low-pass filtering on the acceleration signal to obtain a static acceleration signal, or calculating a sliding average of the acceleration signal, and using the sliding average as a static acceleration signal of the acceleration signal. 7. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, characterized in that, when the processor executes the computer program, the computer program according to claim The steps of the geological disaster monitoring and early warning method described in any one of 1 to 4. 8. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the computer program according to any one of claims 1 to 4 is implemented. Describe the steps of monitoring and early warning methods for geological disasters.

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