CN118311650A - Microseismic sensor positioning method, device, system and storage medium - Google Patents

Abstract

The present invention provides a method, device, system and storage medium for positioning a microseismic sensor, and relates to the technical field of rock burst equipment. The method comprises: obtaining the source coordinates and source waveform of a preset source; constructing an objective function according to the source coordinates, source waveform and geological information of the monitoring area, optimizing the objective function to obtain the initial coordinates of the sensor; and obtaining the target coordinates of the sensor using a double difference algorithm according to the source coordinates and the initial coordinates. The beneficial effects of the present invention are as follows: by obtaining the source coordinates and source waveform, and constructing an objective function through the geological information of the monitoring area, the low-precision initial coordinates of the sensor are quickly obtained, and then the initial coordinates are further corrected using a double difference algorithm, thereby realizing the intelligent positioning of the microseismic sensor, effectively avoiding the problems of inaccurate positioning and low positioning efficiency caused by artificial measurement errors and non-standardization of sensors, increasing the positioning efficiency of the microseismic sensor, and thereby effectively improving the accuracy and reliability of rock burst warning.

Description

A microseismic sensor positioning method, device, system and storage medium

Technical Field

The present invention relates to the technical field of rock burst equipment, and in particular to a microseismic sensor positioning method, device, system and storage medium.

Background technique

Rockburst is a common geological disaster that causes great harm to mines, tunnels, hydropower and other projects. In order to prevent and mitigate the occurrence of rockburst accidents, microseismic monitoring is required and early warning signals are issued in a timely manner. Therefore, the location of the microseismic sensor for microseismic monitoring is particularly important. Even a slight error in the microseismic sensor may lead to errors in monitoring rockburst accidents.

At present, high-precision measuring instruments such as total stations are usually used to obtain more accurate microseismic sensor coordinates. However, during underground construction, microseismic sensors may move as construction progresses. After each construction, high-precision measuring instruments such as total stations need to be used to re-measure the microseismic sensors in order to accurately locate and warn of microseisms, which is time-consuming and labor-intensive, leading to increased monitoring costs.

Summary of the invention

The problem solved by the present invention is how to improve the positioning efficiency of microseismic sensors.

In order to solve the above problems, the present invention provides a microseismic sensor positioning method, device, system and storage medium.

In a first aspect, the present invention provides a microseismic sensor positioning method, comprising:

Obtaining the source coordinates and source waveform of a preset source;

Constructing an objective function according to the earthquake source coordinates, the earthquake source waveform and the geological information of the monitoring area, and solving the objective function to obtain the initial coordinates of the sensor;

The target coordinates of the sensor are obtained by using a double difference algorithm according to the source coordinates and the initial coordinates.

Optionally, constructing an objective function according to the earthquake source coordinates, the earthquake source waveform and geological information of the monitoring area includes:

Obtaining the wave velocity and attenuation coefficient of the seismic source waveform according to preset geological standards and geological information of the monitoring area, and obtaining the frequency of the seismic source waveform according to the seismic source waveform;

Obtaining a distance difference from the preset seismic source to any two of the sensors based on the wave velocity, the attenuation coefficient, the frequency and the seismic source coordinates;

The objective function is constructed according to the distance difference and the wave propagation formula.

Optionally, obtaining the distance difference between the preset seismic source and any two of the sensors based on the wave velocity, the attenuation coefficient, the frequency and the seismic source coordinates includes:

Obtaining the signal attenuation degree of the sensor according to the wave speed, the attenuation coefficient and the frequency;

Subtract the source coordinates from any two of the sensor coordinates to obtain a first distance and a second distance;

Based on the signal attenuation degree, the first distance is subtracted from the second distance to obtain the distance difference.

Optionally, constructing the objective function according to the distance difference and a wave propagation formula includes:

The objective function is constructed using a first formula, wherein the first formula includes:

Among them, Θ represents the objective function, n represents the number of preset seismic sources, R _i represents the distance between sensor i and the preset seismic source, R _j represents the distance between sensor j and the preset seismic source, x ₀ , y ₀ , z ₀ represent the seismic source coordinates, x _i , y _i , z _i represent the initial coordinates of sensor i, and x _j , y _j , z _j represent the initial coordinates of sensor j.

Optionally, obtaining the target coordinates of the sensor by using a double difference algorithm according to the source coordinates and the initial coordinates includes:

Obtaining the residuals of any two of the sensors, and subtracting the residuals of the two sensors to obtain a double difference;

Performing Taylor expansion on the double differences, and constructing a positioning matrix based on the double differences after Taylor expansion;

The positioning matrix is solved to obtain the target coordinates of the sensor.

Optionally, solving the positioning matrix to obtain the target coordinates of the sensor includes:

Solving the positioning matrix using a singular value decomposition method to obtain a positioning correction value of the sensor;

The target coordinates of the sensor are obtained by summing the initial coordinates with the positioning correction value.

Optionally, the preset seismic source includes a historical seismic source and a calibrated seismic source, and the step of obtaining the seismic source coordinates and seismic source waveform of the preset seismic source includes:

Acquire the epicenter coordinates of the historical epicenter, search for monitoring data according to the occurrence time of the historical epicenter, and obtain the epicenter waveform of the historical epicenter;

Or the calibration source is set, the source coordinates of the calibration source are obtained, and a vibration signal is sent at the source coordinates of the calibration source, and the sensor generates a source waveform of the calibration source after collecting the vibration signal.

In the present invention, by acquiring the source coordinates and source waveform, and constructing the target function through the source coordinates, source waveform and geological information of the monitoring area, the low-precision initial coordinates of the sensor can be quickly obtained, and then the double-difference algorithm is used to further correct the initial coordinates to obtain more accurate target coordinates, thereby realizing the intelligent positioning of the microseismic sensor, effectively avoiding the problems of inaccurate positioning and low positioning efficiency caused by manual measurement errors and non-standard sensors, increasing the positioning efficiency of the microseismic sensor, and thus effectively improving the accuracy and reliability of rock burst warning.

The present invention also provides a microseismic sensor positioning device, comprising:

An acquisition module, used for acquiring the source coordinates and source waveform of a preset source;

A first processing module is used to construct an objective function according to the earthquake source coordinates, the earthquake source waveform and the geological information of the monitoring area, and solve the objective function to obtain the initial coordinates of the sensor;

The second processing module is used to obtain the target coordinates of the sensor by using a double difference algorithm according to the source coordinates and the initial coordinates.

The sensor positioning device provided by the present invention and the microseismic sensor positioning method can produce substantially the same technical effects, which will not be described in detail herein.

The present invention also provides a system, including a computer-readable storage medium storing a computer program and a processor. When the computer program is read and executed by the processor, the microseismic sensor positioning method as described above is implemented.

The electronic device provided by the present invention and the microseismic sensor positioning method can produce substantially the same technical effects, which will not be described in detail here.

The present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the microseismic sensor positioning method as described above is implemented.

The computer-readable storage medium provided by the present invention and the microseismic sensor positioning method can produce substantially the same technical effects, which will not be described in detail herein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic flow chart of a microseismic sensor positioning method according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a microseismic sensor positioning device according to an embodiment of the present invention.

Detailed ways

In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and/or in parallel. In addition, the method embodiments may include additional steps and/or omit the steps shown. The scope of the present invention is not limited in this respect.

The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". Relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

It is understood that any part of this application related to data acquisition or collection has been authorized.

As shown in FIG1 , the present invention provides a microseismic sensor positioning method, comprising:

Step S1, obtaining the source coordinates and source waveform of a preset source.

Specifically, before obtaining the preset earthquake source, a monitoring device and a monitoring network are first constructed in the monitoring area. For example, the monitoring device includes multiple microseismic sensors, a data acquisition device, a data processing device and an early warning device, wherein the microseismic sensor can be placed in the rock mass or on the surface of the rock mass to monitor the microseismic signal in the rock mass; the data acquisition device is used to collect the signal generated by the microseismic sensor and transmit it to the data processing device; the data processing device is used to process and analyze the microseismic signal to determine the coordinates of the microseismic sensor in space; the early warning device is used to issue a rock burst early warning signal based on the characteristics of the microseismic signal; after completing the layout of the monitoring device and the network, it is necessary to run the acquisition software and set appropriate screening and filtering parameters to ensure that the monitoring network can obtain and save effective vibration signals. In this embodiment, more than 8 channels of microseismic sensors are arranged, and each channel adopts a uniaxial acceleration type microseismic sensor or a velocity type microseismic sensor. The microseismic sensor transmits the collected vibration signal to the data acquisition device and the data processing device. The data acquisition device and the data processing device collect, process and filter the vibration signal to obtain an effective vibration signal, and transmit the preliminarily processed vibration signal to the remote analysis system by wired or wireless means to identify the type of signal, pick up and analyze it in time.

The preset source can be a source with a known position in historical monitoring, that is, a historical source, or a new source with a determined position can be constructed, that is, the position of the source is calibrated to obtain a calibration source (such as a calibration gun) and its coordinates. When the preset source is a historical source, the monitoring information of the stored historical source is directly retrieved. For example, according to the time when the historical source occurred, the source coordinates and source waveform of the historical source are found. When the preset source is a calibration source, the coordinates of the calibration source are pre-set, the calibration gun is controlled to start, or the calibration source coordinate position is struck, and the arranged microseismic sensors receive vibration signals to generate the source waveform of the calibration source.

Step S2: constructing an objective function according to the earthquake source coordinates, the earthquake source waveform and the geological information of the monitoring area, and solving the objective function to obtain the initial coordinates of the sensor.

Specifically, the initial coordinates are low-precision coordinates determined based on the earthquake source coordinates, earthquake source waveforms, and geological information of the monitoring area, that is, the initial positioning of the sensor. It should be noted that each microseismic monitoring environment, such as the geological environment, is different. When constructing the objective function using the earthquake source waveform and earthquake source coordinates, the transmission of vibration signals in different geological environments should be considered. Therefore, based on the known earthquake source coordinates, earthquake source waveforms, and geological information of the monitoring area, the objective function is constructed to solve the initial coordinates of the sensor with lower precision, providing a basis for the subsequent determination of the target coordinates.

Step S3: Obtain the target coordinates of the sensor using a double difference algorithm according to the source coordinates and the initial coordinates.

In this embodiment, by acquiring the source coordinates and source waveform, and constructing the target function through the source coordinates, source waveform and geological information of the monitoring area, the low-precision initial coordinates of the sensor can be quickly obtained, and then the double-difference algorithm is used to further correct the initial coordinates to obtain more accurate target coordinates, thereby realizing the intelligent positioning of the microseismic sensor, effectively avoiding the problems of inaccurate positioning and low positioning efficiency caused by manual measurement errors and non-standard sensors, increasing the positioning efficiency of the microseismic sensor, and effectively improving the accuracy and reliability of rock burst warning.

Optionally, constructing an objective function according to the earthquake source coordinates, the earthquake source waveform and geological information of the monitoring area includes:

The wave velocity and attenuation coefficient of the seismic source waveform are obtained according to the preset geological standard and the geological information of the monitoring area, and the frequency of the seismic source waveform is obtained according to the seismic source waveform.

Specifically, the preset geological standard may include geological survey data, and the geological information of the monitoring area is determined based on the geological survey data, and then the corresponding wave velocity and attenuation coefficient of the microseismic wave are determined, and the waveform frequency is obtained based on the acquired source waveform.

Obtaining the distance difference between the preset seismic source and any two of the sensors based on the wave velocity, the attenuation coefficient, the frequency and the seismic source coordinates includes:

The signal attenuation degree of the sensor is obtained according to the wave speed, the attenuation coefficient and the frequency, and is expressed by the formula:

Where R represents the distance between the sensor and the preset source, A(R) represents the signal attenuation when the distance is R, exp represents the natural exponential function, c represents the wave velocity, Q represents the attenuation coefficient, and f represents the frequency.

The coordinates of the earthquake source are respectively subtracted from the coordinates of any two sensors (eg, sensor i and sensor j) to obtain a first distance R _i and a second distance R _j .

Based on the signal attenuation degree, the first distance _Ri is subtracted from the second distance _Rj to obtain the distance difference.

Substituting the difference between the first distance _Ri and the second distance _Rj into the above signal attenuation degree expression formula, we can get:

Wherein, i and j are the numbers of sensors respectively, _Ri represents the first distance between sensor i and the preset seismic source, _Rj represents the second distance between sensor j and the preset seismic source, _Ai and _Aj represent the maximum amplitudes of the seismic source waveforms of sensor i and sensor j respectively.

The objective function is constructed according to the distance difference and the wave propagation formula.

Specifically, the wave propagation formula is Then, the objective function is constructed according to the first distance _Ri , the second distance _Rj and the wave propagation formula, and the objective function is constructed using the first formula, wherein the first formula includes:

Among them, Θ represents the objective function, n represents the number of preset seismic sources, R _i represents the distance between sensor i and the preset seismic source, R _j represents the distance between sensor j and the preset seismic source, x ₀ , y ₀ , z ₀ represent the seismic source coordinates, x _i , y _i , z _i represent the initial coordinates of sensor i, and x _j , y _j , z _j represent the initial coordinates of sensor j.

An optimization algorithm such as the Nelder-Mead simplex localization method or the particle swarm method is used to optimize the objective function, so as to minimize the initial coordinates of sensor i, x _i , y _i , z _i , and the initial coordinates of sensor j, x _j , y _j , z _j . This process is repeated until the initial coordinates of all sensors are solved.

Optionally, obtaining the target coordinates of the sensor by using a double difference algorithm according to the source coordinates and the initial coordinates includes:

Obtain the residuals of any two of the sensors, and subtract the residuals of the two sensors to obtain a double difference.

Specifically, for microseismic event k, there must be a residual error between the theoretical travel time of the elastic wave reaching sensor i and the actual travel time. Right now Among them, t ^obs represents the theoretical travel time, and t ^cal represents the actual travel time. When the elastic wave reaches two sensors i and j at close distances, there must be a residual error. and Subtracting the two can get a set of double residuals, that is, double difference Specifically expressed as:

in, represents the travel time of the elastic wave from the preset source to sensor i, represents the travel time of the elastic wave from the preset source to sensor j.

Taylor expansion of the double difference yields

Among them, Δξ ⁱ = ( ^Δxi , ^Δyi , ^Δzi , Δt ⁱ ) represents the positioning correction value of the initial coordinates of sensor i, ^Δxi , ^Δyi , ^Δzi are the coordinate vector corrections of sensor i, Δt ⁱ is the correction value of the estimated earthquake occurrence time of sensor i, Δξ ^j = ( ^Δxj , ^Δyj , ^Δzj , Δt ^j ) represents the positioning correction value of the initial coordinates of sensor j, ^Δxj , ^Δyj , ^Δzj are the coordinate vector corrections of sensor j, Δt ^j is the correction value of the estimated earthquake occurrence time of sensor j, ξ represents..., δ represents...

Expand to get:

Wherein, v _P represents the velocity of P wave, _Rik and _Rjk represent the distances from the preset source k to the sensor i and the sensor k respectively, and _xk , _yk and _zk represent the coordinates of the preset source k.

The positioning matrix Gm=d is constructed based on the double difference after Taylor expansion:

Solving the positioning matrix to obtain the target coordinates of the sensor includes:

Solving the positioning matrix Gm=d by, for example, a singular value decomposition (SVD) method or a least square QR-factorization (LSQR) method to obtain positioning correction values Δξi=[ ^Δxi , ^Δyi , ^Δzi , ^Δti ] ^T and Δξj=[ ^Δxj , ^Δyj , ^Δzj , ^Δtj ] ^T of the sensor;

The target coordinates of the sensor are obtained by summing the initial coordinates with the positioning correction value.

Specifically, the initial coordinates of sensor i are summed with the positioning correction value of sensor i, that is, θ ⁱ =θ ⁱ +Δξ ⁱ =(x+ ^Δxi , y+ ^Δy , z+ ^Δz , t+ ^Δtj ); the initial coordinates of sensor j are summed with the positioning correction value of sensor j, that is, θ ^j =θ ^j +Δξ ^j =(x+ ^Δxj , y+ ^Δyj , z+ ^Δzj , t+ ^Δtj ), and the steps of constructing the positioning matrix based on the double difference after Taylor expansion are repeated. When the corrections Δξ ⁱ and Δξ ^j are small enough, the iteration is terminated. Finally, the target coordinates of sensor i and sensor j are obtained.

The initial coordinates of other sensors are corrected using the above method to obtain the target coordinates of all sensors.

This embodiment also provides a microseismic sensor positioning device, including:

An acquisition module, used for acquiring the source coordinates and source waveform of a preset source;

A first processing module is used to construct an objective function according to the earthquake source coordinates, the earthquake source waveform and the geological information of the monitoring area, and solve the objective function to obtain the initial coordinates of the sensor;

The second processing module is used to obtain the target coordinates of the sensor by using a double difference algorithm according to the source coordinates and the initial coordinates.

The first processing module is also used to obtain the wave velocity and attenuation coefficient of the monitoring area according to the preset geological standards and the geological information of the monitoring area, and obtain the frequency according to the source waveform; obtain the distance difference from the preset source to any two of the sensors based on the wave velocity, the attenuation coefficient, the frequency and the source coordinates; and construct the objective function according to the distance difference and the wave propagation formula.

The first processing module is also used to obtain the signal attenuation degree of the sensor according to the wave velocity, the attenuation coefficient and the frequency; the source coordinates are respectively subtracted from any two of the sensor coordinates to obtain a first distance and a second distance; based on the signal attenuation degree, the first distance and the second distance are subtracted to obtain the distance difference.

The first processing module is further used to construct the objective function using a first formula, wherein the first formula includes:

Among them, Θ represents the objective function, k represents..., n represents the number of preset seismic sources, R _i represents the distance between sensor i and the preset seismic source, R _j represents the distance between sensor j and the preset seismic source, x ₀ , y ₀ , z ₀ represent the seismic source coordinates, x _i , y _i , z _i represent the initial coordinates of sensor i, and x _j , y _j , z _j represent the initial coordinates of sensor j.

The second processing module is also used to obtain the residuals of any two of the sensors, subtract the residuals of the two sensors to obtain a double difference; perform Taylor expansion on the double difference, and construct a positioning matrix based on the double difference after Taylor expansion; solve the positioning matrix to obtain the target coordinates of the sensor.

The second processing module is also used to solve the positioning matrix using a singular value decomposition method to obtain a positioning correction value of the sensor; and to obtain the target coordinates of the sensor by summing the initial coordinates with the positioning correction value.

The acquisition module is also used to obtain the source coordinates of the historical earthquake source, search the monitoring data according to the occurrence time of the historical earthquake source, and obtain the source waveform of the historical earthquake source; or set the calibration earthquake source, obtain the source coordinates of the calibration earthquake source, and send a vibration signal at the source coordinates of the calibration earthquake source. After collecting the vibration signal, the sensor generates the source waveform of the calibration earthquake source.

The microseismic sensor positioning device and the microseismic sensor positioning method provided in this embodiment can produce substantially the same technical effects, and will not be described in detail herein.

This embodiment further provides a system, including a computer-readable storage medium storing a computer program and a processor. When the computer program is read and executed by the processor, the microseismic sensor positioning method as described above is implemented.

The system provided in this embodiment and the microseismic sensor positioning method can produce substantially the same technical effects, which will not be described in detail here.

This embodiment further provides a computer-readable storage medium, characterized in that a computer program is stored on the storage medium, and when the computer program is executed by a processor, the microseismic sensor positioning method as described above is implemented.

The computer-readable storage medium provided in this embodiment and the microseismic sensor positioning method can produce substantially the same technical effects, which will not be described in detail herein.

An electronic device that can be used as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present invention described and/or required herein.

The electronic device includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input/output (I/O) interface is also connected to the bus.

A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims (10)

1. A microseismic sensor positioning method, characterized by comprising: Obtaining the source coordinates and source waveform of a preset source; Constructing an objective function according to the earthquake source coordinates, the earthquake source waveform and the geological information of the monitoring area, and solving the objective function to obtain the initial coordinates of the sensor; The target coordinates of the sensor are obtained by using a double difference algorithm according to the source coordinates and the initial coordinates. 2. The microseismic sensor positioning method according to claim 1, characterized in that the objective function is constructed according to the earthquake source coordinates, the earthquake source waveform and the geological information of the monitoring area, comprising: Obtaining the wave velocity and attenuation coefficient of the seismic source waveform according to preset geological standards and geological information of the monitoring area, and obtaining the frequency of the seismic source waveform according to the seismic source waveform; Obtaining a distance difference from the preset seismic source to any two of the sensors based on the wave velocity, the attenuation coefficient, the frequency and the seismic source coordinates; The objective function is constructed according to the distance difference and the wave propagation formula. 3. The microseismic sensor positioning method according to claim 2, characterized in that the step of obtaining the distance difference between the preset seismic source and any two of the sensors based on the wave velocity, the attenuation coefficient, the frequency and the seismic source coordinates comprises: Obtaining the signal attenuation degree of the sensor according to the wave speed, the attenuation coefficient and the frequency; Subtract the source coordinates from any two of the sensor coordinates to obtain a first distance and a second distance; Based on the signal attenuation degree, the first distance is subtracted from the second distance to obtain the distance difference. 4. The microseismic sensor positioning method according to claim 2, characterized in that the objective function is constructed according to the distance difference and the wave propagation formula, comprising: The objective function is constructed using a first formula, wherein the first formula includes: Among them, Θ represents the objective function, n represents the number of preset seismic sources, R _i represents the distance between sensor i and the preset seismic source, R _j represents the distance between sensor j and the preset seismic source, x ₀ , y ₀ , z ₀ represent the seismic source coordinates, x _i , y _i , z _i represent the initial coordinates of sensor i, and x _j , y _j , z _j represent the initial coordinates of sensor j. 5. The microseismic sensor positioning method according to claim 2, characterized in that the step of obtaining the target coordinates of the sensor by using a double difference algorithm according to the source coordinates and the initial coordinates comprises: Obtaining the residuals of any two of the sensors, and subtracting the residuals of the two sensors to obtain a double difference; Performing Taylor expansion on the double differences, and constructing a positioning matrix based on the double differences after Taylor expansion; The positioning matrix is solved to obtain the target coordinates of the sensor. 6. The microseismic sensor positioning method according to claim 1, characterized in that the step of solving the positioning matrix to obtain the target coordinates of the sensor comprises: Solving the positioning matrix using a singular value decomposition method to obtain a positioning correction value of the sensor; The target coordinates of the sensor are obtained by summing the initial coordinates with the positioning correction value. 7. The microseismic sensor positioning method according to claim 1, characterized in that the preset seismic source includes a historical seismic source and a calibrated seismic source; the step of obtaining the seismic source coordinates and seismic source waveform of the preset seismic source comprises: Acquire the epicenter coordinates of the historical epicenter, search for monitoring data according to the occurrence time of the historical epicenter, and obtain the epicenter waveform of the historical epicenter; Or the calibration source is set, the source coordinates of the calibration source are obtained, and a vibration signal is sent at the source coordinates of the calibration source, and the sensor generates a source waveform of the calibration source after collecting the vibration signal. 8. A microseismic sensor positioning device, characterized by comprising: An acquisition module, used for acquiring the source coordinates and source waveform of a preset source; A first processing module is used to construct an objective function according to the earthquake source coordinates, the earthquake source waveform and the geological information of the monitoring area, and solve the objective function to obtain the initial coordinates of the sensor; The second processing module is used to obtain the target coordinates of the sensor by using a double difference algorithm according to the source coordinates and the initial coordinates. 9. A system, characterized in that it comprises a computer-readable storage medium storing a computer program and a processor, and when the computer program is read and executed by the processor, the microseismic sensor positioning method according to any one of claims 1 to 7 is implemented. 10. A computer-readable storage medium, characterized in that a computer program is stored on the storage medium, and when the computer program is executed by a processor, the microseismic sensor positioning method according to any one of claims 1 to 7 is implemented.