I. Introduction
Large bridges are important infrastructure of a country and region. Due to the coupling effect of complex factors such as environmental erosion, material aging, fatigue effect caused by reciprocating load and so on, structural diseases (such as concrete cracks, concrete spalling, steel fatigue cracks, etc.) and deformation (such as over limit vibration, girder deflection, bearing separation, etc.) will inevitably occur during the service period of several decades. The continuous accumulation of damage and deformation of bridge structures will directly threaten the service safety, and even lead to extreme disaster accidents. Therefore, bridge health monitoring and detection is very necessary to ensure the service safety of large bridge structures.