Bridge structural health monitoring (SHM) systems often suffer from large-scale data missing due to sensor faults, communication interruptions and other reasons during long-term operation, which seriously restricts the reliability of structural state assessment and maintenance decision-making. Compared with conventional single-channel independent modeling strategies commonly used for data imputation, their inherent neglect of spatial correlations and cross-modal causal associations among multi-source heterogeneous monitoring data such as displacement, wind speed, and temperature constrain the imputation capability, particularly when the target channel suffers from long-term continuous data loss. To address the above problems, this paper proposes a collaborative imputation framework integrating a graph attention network (GAT), a modal-aware cross-attention (MACA) mechanism and temporal encoder–decoder architecture (ITimeGAN). Firstly, the sensor feature topological graph is constructed based on the Pearson correlation coefficient, and the spatial dependency among multi-source features is adaptively learned through GAT. Then, the MACA module is introduced, which takes the target displacement as Query and environmental loads as Key/Value, and dynamically aggregates cross-modal driving information through multi-head attention. Finally, a bidirectional LSTM encoder and a unidirectional LSTM decoder are adopted to capture long-range temporal dependencies, so as to realize the accurate reconstruction of missing displacement data. Validated on the 9-dimensional real-world monitoring data from the GeoSHM system of the Forth Road Bridge (UK) under both random missing (10–50%) and continuous long-term missing (1–10 days) scenarios, ITimeGAN achieves an R2 of 0.9950 (MAE = 4.25 mm) for longitudinal displacement and 0.9759 (MAE = 6.70 mm) for vertical displacement even under 10 consecutive days of complete data absence. Ablation analysis further reveals that the incorporation of graph attention and cross-modal attention modules reduces the longitudinal displacement MAE by 57% over the baseline, with the imputation performance ranking across three displacement directions being fully consistent with the underlying physical correlation strengths, thereby confirming the effectiveness of the proposed cross-modal collaborative strategy.
Xiong et al. (Mon,) studied this question.