Development of a real-time deformation monitoring system with integrated GNSS and accelerometer

This paper designs an STM32 microcontroller based Global Navigation Satellite System (GNSS) and accelerometer data acquisition device that enables real-time deformation monitoring applications. The STM32F103ZET6 is used as the main control chip, and also the GNSS board and accelerometer are used to acquire data, and the data are transmitted to the server through the 4G module. The data are read from the server and the Kalman filter algorithm is used to fuse GNSS data with accelerometer data so that real-time deformation monitoring can be achieved and verified by static experiments. The results show that the baseline drift of the accelerometer can be automatically corrected and the standard deviation of displacement (STD) is better than 1.114 cm in all three directions after fusion; the STD of velocity is better than 0.072 cm/s; and the STD of acceleration is better than 0.485 cm/s² after correction of baseline drift.