CN111721262B - Automatic guiding method for total station tracking in field elevation measurement - Google Patents

Automatic guiding method for total station tracking in field elevation measurement Download PDF

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CN111721262B
CN111721262B CN202010660322.4A CN202010660322A CN111721262B CN 111721262 B CN111721262 B CN 111721262B CN 202010660322 A CN202010660322 A CN 202010660322A CN 111721262 B CN111721262 B CN 111721262B
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CN111721262A (en
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张程远
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Wuhan Institute of Rock and Soil Mechanics of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes

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Abstract

The invention discloses a total station tracking automatic guiding method in field elevation measurement. And realizing automatic positioning and running guidance of the measuring vehicle by adopting a total station tracking and course angle calculation comprehensive analysis method. The method avoids the GPS positioning, reduces the influence of weather and buildings on shielding the satellite, reduces the use cost, can realize continuous automatic mobile measurement, and provides a technical method basis for the application of the engineering patrol robot. Because the method adopts the sectional type total station positioning and the field measurement, the elevation measurement precision can reach 1mm, and the high-precision engineering quality assessment is realized.

Description

Automatic guiding method for total station tracking in field elevation measurement
Technical Field
The invention belongs to the field of engineering measurement, and particularly relates to a total station tracking automatic guiding method in field elevation measurement, which is suitable for elevation observation and quality detection of various earth surface engineering fields.
Background
In the traffic infrastructure, the elevation of a constructed engineering field, such as a railway ballast bed, a highway subgrade, an airport foundation and the like, needs to be accurately measured and rechecked so as to evaluate the quality of the engineering construction and provide accurate correction data for the next construction. The elevation measurement generally adopts a fixed sampling inspection mode, a detection section is set on a road surface at regular intervals, and each section is provided with a plurality of fixed measurement points. At present, in a commonly applied level observation mode, each step needs to be completed manually, the efficiency is low, the detection progress is greatly influenced, even the work and material stealing are caused due to large workload, and the reliability of the evaluation work is seriously reduced.
Because the elevation measurement precision of the GPS is low, and even if the horizontal precision reaches the centimeter level, the elevation measurement can be finished by static observation for a long time, the technology is not suitable for measuring the elevation of a field requiring dynamic high efficiency. Therefore, a local high-precision optical measurement means based on a total station is needed to automatically and quickly observe the actual engineering of the sampling point of the engineering field.
The total station is carried on a measuring vehicle, which is a practical and feasible scheme. In the aspect of vehicle driving, a mature automatic driving technology exists at present, and plane driving of the vehicle is controlled and measured. However, to achieve automatic and high-precision field elevation measurement, a new technical method is needed.
Disclosure of Invention
The invention aims to provide an automatic total station tracking guiding method in field elevation measurement aiming at the defects in the prior art, which is beneficial to automatic/intelligent measurement of an engineering field and improves the efficiency of elevation measurement evaluation work in actual engineering.
The purpose of the invention is realized by the following technical scheme:
a total station tracking automatic guiding method in field elevation measurement comprises the following steps:
step 1, establishing a road site coordinate system;
step 2, sequentially placing each control point along the travel road;
step 3, sequentially planning and setting the positions of all total station measuring stations along the travel route;
step 4, the automatic running vehicle runs to the position of the first total station measuring station, and the position of the first total station measuring station is recorded as a prepared measuring station position TS0Manually operating a total station on the automatic traveling vehicle to align three control points nearby, positioning and orienting the total station by adopting a rear intersection method, and reading a course angle as an initial course angle theta0；
Step 5, selecting a control point closest to the total station as the current trackingControl point CP ofnN is the serial number of the control point, and the current total station position of the automatic running vehicle is recorded as the current total station position TSmM is the serial number of the measuring station position of the total station, the tracking and observation function of the total station is started, and the current tracking control point CP is controllednPerforming automatic tracking observation, and calculating current measurement coordinate (x) of total stationq,yq,zq) The automatic running vehicle measures coordinates (x) according to the current total stationq,yq,zq) To the next total station survey station position TSm+1Driving until reaching the position near the next total station measuring station and stopping, reading the course angle and recording as theta3Recording current total station measurement coordinates (x)q,yq,zq) Is (x)sp(m+1)，ysp(m+1)，zsp(m+1))；
Step 6, driving the total station to rotate by an angle (theta)3-θ0) Returning to the horizontal zero position determined in the step 4, and carrying out zero setting operation;
step 7, calculating horizontal azimuth angles and vertical zenith angles of the total station relative to three nearby control points, driving the total station to implement backward crossing for positioning and orientation, and reading a course angle as a new initial course angle theta after the completion of positioning and orientation0Updating the currently tracked control point CPnIs the closest one of the control points to the control point,
step 8, the total station performs elevation measurement on each preset scanning point on each transverse scanning line of the road at different positions in front of and behind the current total station measuring station position to obtain coordinates of each transverse preset scanning point of the road at the current total station measuring station position;
step 9, the next total station survey station position TS in the step 5 is usedm+1As the current total station survey station position TSmAnd returning to the step 5 until the elevation measurement of the preset scanning points of all the road fields is completed.
Calculating the current total station measurement coordinates (x) as described aboveq,yq,zq) The method comprises the following steps:
position TS of next total station in automatic running vehiclem+1Course of travelIn the middle, continuously reading the course angle theta1Measuring horizontal angle theta by total station2Perpendicular angle thetavAnd an inclination distance SD, calculating the current total station measurement coordinate (x) by using the following formulaq,yq,zq)，
xq＝xcpn-SD*sin(θv)*cos(θ1+θ2-θ0)
yq＝ycpn-SD*sin(θv)*sin(θ1+θ2-θ0)
zq＝zcpn-SD*cos(θv)
xcpn,ycpn,zcpnFor the currently tracked control point CPnThe position coordinates of (a).
The horizontal azimuth angle and the vertical zenith angle as described above are obtained by the following formulas:
horizontal azimuth angle
Figure BDA0002578276400000031
xcpe≠xsp(m+1)
Vertical zenith angle
Figure BDA0002578276400000032
xcpe≠xsp(m+1)
Wherein x iscpe，ycpe，zcpeThe coordinates of one of the three nearby control points.
The positive axis of the X axis of the field coordinate system as described above points to the east, the positive axis of the Y axis points to the north, and the positive axis of the Z axis points to the vertical upward direction.
The control points as described above alternately appear on both sides of the travel road.
Compared with the prior art, the invention has the following advantages and effects:
the method avoids the GPS positioning, reduces the influence of weather and buildings on shielding the satellite, reduces the use cost, can realize continuous automatic mobile measurement, and provides a technical method basis for the application of the engineering patrol robot. Because the method adopts the sectional type total station positioning and the field measurement, the elevation measurement precision can reach 1mm, and the high-precision engineering quality assessment is realized.
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Fig. 1 is a schematic view of a spatial relationship between a control point of a travel road of an engineering site, a total station survey station position and a preset scanning point;
fig. 2 is a schematic diagram of calculating a horizontal position of a total station;
Detailed Description
The present invention will be described in further detail with reference to examples for the purpose of facilitating understanding and practice of the invention by those of ordinary skill in the art, and it is to be understood that the present invention has been described in the illustrative embodiments and is not to be construed as limited thereto.
In specific implementation, the computer is a portable computer or a desktop computer with a USB port and is used as a main control computer on the automatic traveling vehicle. The total station adopts a high-end servo type total station, has the functions of controlled rotation, automatic collimation and tracking measurement, such as a Topukang total station MS05, has the angle measurement precision of 0.5 second and the distance measurement precision of 1mm, and can reach the tracking measurement speed of 10 Hz. During actual measurement, the distance between the total station position TSi (i 1., n) and the nearest control point CPi (i 1., n) is generally not more than 100 meters, and the tracking and guiding error is not more than 10 cm; the distance between the total station position TSi (i is 1, n) and the point to be measured is within 20 meters, and the elevation measurement precision is better than 0.5 mm. The course instrument adopts a device capable of measuring a horizontal direction angle, such as a dynamic inclinometer HIS series of a comet-series, the dynamic measurement precision of the course angle can reach 0.05 degrees, the 100-meter transverse offset error is about 8cm, namely, the position error of a guide point driven by a tracking and guiding method of the total station instrument does not exceed 10cm, and the requirement of automatic collimation of the total station instrument is met.
The automatically traveling vehicle is defined as: the vehicle capable of automatically walking according to the set coordinate destination is fixedly provided with a servo type total station and a course angle measuring sensor, and the geometric relationship between the servo type total station and the course angle measuring sensor is always unchanged. The course instrument is used for measuring the included angle between the heading instrument and the north direction.
The method provides a feasible scheme for high-precision automatic measurement of the field elevation, including measurement of the road surface elevation, and comprises the following specific implementation steps:
step 1, establishing a road site coordinate system, wherein the positive axis of the X axis of the site coordinate system points to the east, the positive axis of the Y axis points to the north, and the positive axis of the Z axis points to the vertical upward direction. All the coordinate data used below are values in this coordinate system;
step 2, sequentially placing various control points along the travel road, such as CP1, CP2 and CP3 shown in FIG. 1, which are set as fixed points with known coordinates and generally appear on two sides of the travel road alternately;
step 3, sequentially planning and setting the positions of all total station measuring stations along the travel route, such as TS0、TS1、TS2.., the system is used for roughly specifying the parking position of each station of an automatic vehicle carrying the total station, so that the total station can conveniently carry out high-precision elevation measurement;
step 4, the automatic running vehicle runs to the position of the first total station measuring station, and the position of the first total station measuring station is recorded as a prepared measuring station position TS0Preparatory survey station position TS0Has the coordinate xTS0,yTS0,zTS0Manually operating a total station on the automatic traveling vehicle to align three control points nearby, positioning and orienting the total station by adopting a rear intersection method, wherein the orientation is that the reference direction of the total station is set as the y direction of a site coordinate system, and reading a course angle as an initial course angle theta0。
Step 5, selecting a control point closest to the total station as a current tracking control point CPnN is the serial number of the control point, n is a natural number greater than or equal to 1, such as 1,2,3mM is the serial number of the measuring station position of the total station, and m is 0,1,2 and 3; starting the tracking and observation function of the total station to control the current tracking control point CPnAnd carrying out automatic tracking observation. Position TS of next total station in automatic running vehiclem+1Course of travelIn the middle, continuously reading the course angle theta1Measuring horizontal angle theta by total station2Perpendicular angle thetavAnd an inclination distance SD, calculating the current total station measurement coordinate (x) by using the following formulaq,yq,zq)：
xq＝xcpn-SD*sin(θv)*cos(θ1+θ2-θ0)
yq＝ycpn-SD*sin(θv)*sin(θ1+θ2-θ0)
zq＝zcpn-SD*cos(θv)
xcpn,ycpn,zcpnFor the currently tracked control point CPnThe position coordinates of the (c) and (d),
calculating the current measurement coordinate (x) of the total station by reading data each timeq,yq,zq) Then, the current total station is measured for coordinates (x)q,yq,zq) To the autonomous vehicle, which measures the coordinates (x) according to the current total stationq,yq,zq) To the next total station survey station position TSm+1Driving until reaching the position near the next total station measuring station and stopping, reading the course angle and recording as theta3。
According to the current total station measuring coordinate (x)q,yq,zq) From the current total station survey station position TS, of the autonomous vehiclemTo the next total station survey station position TSm+1When the system is stopped nearby, the current measurement coordinate (x) of the total station is recordedq,yq,zq) Is (x)sp(m+1)，ysp(m+1)，zsp(m+1)) At this time (x)sp(m+1)，ysp(m+1)，zsp(m+1)) Will not contact the next total station survey station position TSm+1The coordinates of the total station are completely overlapped, and the automatic driving of the vehicle can cause certain deviation because the total station angle measurement, the distance measurement and the course angle measurement have certain errors.
Step 6, driving the total station to rotate by an angle (theta) under the control of a computer3-θ0) Go back to the horizontal zero position determined in step 4And carrying out zero setting operation.
Step 7, calculating horizontal azimuth angles and vertical zenith angles of the total station relative to three nearby control points according to the following formula, driving the total station to sequentially turn and search prisms of the three nearby control points (the search sighting is a standard function of the high-end total station), implementing back intersection for positioning and orientation, and reading a course angle after the completion as a new initial course angle theta0. Updating a currently tracked control point CPnBeing the closest one of the control points.
The total station rotation angle formula:
horizontal azimuth angle
Figure BDA0002578276400000061
xcpe≠xsp(m+1)
Vertical zenith angle
Figure BDA0002578276400000062
xcpe≠xsp(m+1)
Wherein x iscpe，ycpe，zcpeCoordinates of one control point of three nearby control points;
and 8, under the control of a computer connected with the total station on the automatic driving vehicle, the total station performs elevation measurement on each preset scanning point on each transverse scanning line at different positions in front of and behind the current total station measuring station position of the road, and obtains the coordinates of each transverse preset scanning point of the road at the current total station measuring station position. As shown in fig. 1, the preset scanning points near the total station position TS1 are M1_1, M1_2, M1_3, and M1_4, the preset scanning points near the total station position TS2 are M2_1, M2_2, M2_3, and M2_4, the number and the plane coordinates of the preset scanning points are preset, and the total station reaches TS1 and then sequentially measures and records the elevation.
Step 9, the next total station survey station position TS in the step 5 is usedm+1As the current total station survey station position TSmAnd returning to the step 5 until the elevation measurement of the preset scanning points of all the road fields is completed.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (5)

1. A total station tracking automatic guiding method in field elevation measurement is characterized by comprising the following steps:
step 1, establishing a road site coordinate system;
step 2, sequentially placing each control point along the travel road;
step 3, sequentially planning and setting the positions of all total station measuring stations along the travel route;
step 4, the automatic running vehicle runs to the position of the first total station measuring station, and the position of the first total station measuring station is recorded as a prepared measuring station position TS0Manually operating a total station on the automatic traveling vehicle to align three control points nearby, positioning and orienting the total station by adopting a rear intersection method, and reading a course angle as an initial course angle theta0；
Step 5, selecting a control point closest to the total station as a current tracking control point CPnN is the serial number of the control point, and the current total station position of the automatic running vehicle is recorded as the current total station position TSmM is the serial number of the measuring station position of the total station, the tracking and observation function of the total station is started, and the current tracking control point CP is controllednPerforming automatic tracking observation, and calculating current measurement coordinate (x) of total stationq,yq,zq) The automatic running vehicle measures coordinates (x) according to the current total stationq,yq,zq) To the next total station survey station position TSm+1Driving until reaching the position near the next total station measuring station and stopping, reading the course angle and recording as theta3Recording current total station measurement coordinates (x)q,yq,zq) Is (x)sp(m+1)，ysp(m+1)，zsp(m+1))；
Step 6, driving the total station to rotate by an angle (theta)3-θ0) Returning to the horizontal zero position determined in the step 4, and carrying out zero setting operation;
step 7, calculating horizontal azimuth angles and vertical zenith angles of the total station relative to three nearby control points, driving the total station to implement backward crossing for positioning and orientation, and reading a course angle as a new initial course angle theta after the completion of positioning and orientation0Updating the currently tracked control point CPnIs the closest one of the control points to the control point,
step 8, the total station performs elevation measurement on each preset scanning point on each transverse scanning line of the road at different positions in front of and behind the current total station measuring station position to obtain coordinates of each transverse preset scanning point of the road at the current total station measuring station position;
step 9, the next total station survey station position TS in the step 5 is usedm+1As the current total station survey station position TSmAnd returning to the step 5 until the elevation measurement of the preset scanning points of all the road fields is completed.
2. The method of claim 1, wherein said calculating current total station measurement coordinates (x) is performed by using a total station tracking automatic guidance method in field elevation measurementq,yq,zq) The method comprises the following steps:
position TS of next total station in automatic running vehiclem+1Continuously reading course angle theta in the running process1Measuring horizontal angle theta by total station2Perpendicular zenith angle thetavAnd an inclination distance SD, calculating the current total station measurement coordinate (x) by using the following formulaq,yq,zq)，
xq＝xcpn-SD*sin(θv)*cos(θ1+θ2-θ0)
yq＝ycpn-SD*sin(θv)*sin(θ1+θ2-θ0)
zq＝zcpn-SD*cos(θv)
xcpn,ycpn,zcpnFor the currently tracked control point CPnThe position coordinates of (a).
3. The method of claim 1, wherein said horizontal azimuth angle and vertical zenith angle are obtained by the following formula:
horizontal azimuth angle
Figure FDA0002988325240000021
xcpe≠xsp(m+1)
Vertical zenith angle
Figure FDA0002988325240000022
xcpe≠xsp(m+1)
Wherein x iscpe，ycpe，zcpeThe coordinates of one of the three nearby control points.
4. The method of claim 1, wherein a positive axis of an X-axis of said field coordinate system points to east, a positive axis of a Y-axis points to north, and a positive axis of a Z-axis points to upward vertical direction.
5. The method of claim 1, wherein said control points are alternately present on both sides of a travel path.
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