CN100480631C - High precision all-purpose autogiro and composing method thereof - Google Patents
High precision all-purpose autogiro and composing method thereof Download PDFInfo
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Abstract
The invention relates to a fast orientation system, which is formed by gyroscope used to ascertain north direction, and automatic following electric instrument used to measure trilinear coordinates. It id formed by automatic gyroscope 3, automatic following electric instrument 1, screw coupling device 2, timing signal channel 4, palmtop 5, power controller 6, GPS RTK receiver 8, GPS base station 9 and fast orientation measuring control software 10. It is suit for subway shield driving, channel piercing, remote weapon fast orientating, city cadastral measuring, craft cabin measuring and mine emergency orientating and so on.
Description
Technical field:
The present invention relates to determine the gyroscope of real north and measure three-dimensional coordinate from the quick positioning and directing system that the motion tracking electronic total station constitutes, especially gyro-theodolite is transformed into the all-round instrument of High Precision Automatic gyro.Instrument is applicable to measurement, emergency relief location, mine etc. in metro shield driving, tunnel holing through, the quick positioning and directing of long-range weapon, Urban Cadastral Survey, the ships cabin.
Background technology:
Once directed standard deviation is less than ± 5 " High Precision Automatic gyro-theodolite be the accurately just directed instrument of being badly in need of of high precision engineering survey and strategic missile.Adopt the High Precision Automatic gyro-theodolite Gyromat3 orientation of Germany, instruct driving, got through Great Britain and France's seabed tunnel; Muscovite every long-range missile carrier loader is equipped with two ± 3～5 " the automatic gyroscope transit; Metro shield speedy drivage need be used the automatic gyroscope orientation, as the measuring basis of automatic guide robot measurement; The following construction to underground development, automatic gyroscope transit automatic gyroscope total powerstation is a necessary apparatus;
But once directed standard deviation is ± 5, and " or the production difficulty of lower High Precision Automatic gyro-theodolite is big; have only the U.S., Russia, Germany, sentence tooth profit that product is arranged in the world; the middle precision gyroscope transit of premier in the world Switzerland Leica company is best in the world, does not but also have the automatic gyroscope transit.
Is there High Precision Automatic gyro-theodolite in other countries? reach what level? be not reported.
China once succeeded in developing ± 7 " the automatic gyroscope transit, principle is similar with Germany.From relevant research paper as seen, the systematic influence of this instrument temperature is obvious, and data discrete is bigger.After this do not see the report of producing and developing more high-precision automatic gyroscope transit is arranged.
As the achievement in research of non-High Precision Automatic gyro-theodolite, there is following a few family in China:
The GAOS gyro-theodolite automatic orientation system that cooperated to finish by Central South University and 13 smeltings, 3 companies in November, 1993, once Ding Xiang standard deviation is ± 10 ".
The Gyrocompass with Fast Alignment that in Dec, 1993, factory's cooperation was finished.Once Ding Xiang standard deviation is ± 27 ".
The precision of the automatic gyroscope transit that certain is produced is about ± 20 " and ± 40 ".
As seen China does not also have ± 5 " the High Precision Automatic gyro-theodolites of following error.
Because the military value of High Precision Automatic gyro-theodolite is very big, the U.S. embargos China.About the reference of research with report also seldom.
The Gyromat2000 of Germany is considered to best in the world High Precision Automatic gyro-theodolite, but has following problem:
1. the final orientation survey result of this automatic gyroscope transit be directed edge true azimuth, i.e. gyroscopic azimuth, rather than grid azimuth.This just needs to calculate by interior industry, directed result is added meridian convergence correct, and obtains grid azimuth again.Because surveying work normally carries out in Gauss's rectangular coordinate system;
2. it has only directed function, and in underground survey work, the coordinate system on ground need be introduced underground, the direction that promptly needs accurately to measure the three-dimensional coordinate of underground point and play initial line, this just need with other range finding, measurement elevation and to instrument finish.Just measure respectively and need more manpowers and time;
3. sufficiently long stand-by period of appliance requires, so that the difference that makes instrument internal temperature and environment temperature just begins orientation survey during less than 5 ℃, the instrument instructions claims that when this temperature difference was 20 ℃, the stand-by period reached 103 minutes! And in measuring process, in case the instrument internal temperature variation surpasses 0.25 ℃/minute, this time measured to alarm automatically and cancelled.This instrument is high with price is cost, has designed a full-automatic key and has sought northern process, will seek the north time to shorten to 8 minutes, and for the very long stand-by period, some is lost more than gain;
4. this full-automatic instrument complete set weighs 34 kilograms.
5. in a single day full-automatic instrument breaks down, and just can not work fully, repeatedly kicks into the non-automatic measurement of row also dying.If it is when underground survey, meet this thing, very disappointing; Instrument adopts the work of integral method principle, and manufacturing technology, material, device, technology, debugging require high.Once there was unit development in China, be up to ± 7 " level, temperature effect is remarkable, reaches the high precision difficulty, batch produces more difficult; The Japanese partly buys the automatic gyroscope of Gyromat 2000 to mix the automatic gyroscope transit AGPI that the electronic total station of oneself producing is just produced Japan again, but orientation accuracy reduce to ± 6 ", price is 1,800,000 a yuan/platform!
6. automatic gyroscope transit survey process complexity, a lot of parameters can change in measuring process.But directed result and various parameter that instrument finally shows are few, and the variation of various parameters and operate as normal indication are also few, and be unfavorable with the improvement instrument performance for further research.
Summary of the invention:
The objective of the invention is: adopt new principle and method produce can either be high-precision fixed to the all-round instrument of automatic gyroscope that again can hi-Fix, improve the particularly equipment of High Precision Automatic gyro-theodolite of China's automatic gyroscope transit rapidly, satisfy the urgent need of national defence, subway and underground works, seabed tunnel, overlength mountain tunnel orientation works better, and thoroughly change that to rely on when carrying out gyrostatic orientation survey abroad and manually labour intensity big, problems such as the shut down time that orientation survey takies is long, and efficient is low.
The all-round instrument of the High Precision Automatic gyro of the present invention, by automatic gyroscope 3, from motion tracking electronic total station 1, ring shaped thread connector 2, timing signal passage 4, gyro power controller 6, power supply 7, GPS RTK receiver 8, constitute, it is characterized in that with supporting GPS base station 9 of RTK receiver and the quick positioning and directing system software 10 in the palm PC 5: automatic gyroscope 3 by 2 of ring shaped thread connectors on motion tracking electronic total station 1 support on motion tracking electronic total station 1; The timing signal of automatic gyroscope 3 is by 5 timing of timing signal passage 4 input palm PCs; Gyro power controller 6 is by power supply 7 power supply and the power supply of the gyro motor in the High Precision Automatic gyro 3 is provided; GPS RTK receiver 8 can replace the position of automatic gyroscope 3, on motion tracking electronic total station 1, and cooperates the positioning and directing work of the system of finishing with corresponding GPS base station 9 by 2 of ring shaped thread connectors.
High Precision Automatic gyro all can instrument automatic gyroscope 3 be on the basis of standard machinery gyro, increase dimorphism cursor 31, grating location position device 32, photelectric receiver 33, photoelectric signal processor 34, timing signal passage 4 and when making high precision and surveying and the palm PC 5 of control usefulness when surveying, by the quick positioning and directing system software of the automatic gyroscope in the palm PC 5, control automatic gyroscope 3 is finished automatic positioning and directing work.
The dimorphism cursor of High Precision Automatic gyro 3 is divided into up and down two parts, and the first half is with single line or two-wire cursor; The bottom is the straight line that a printing opacity is stayed at lighttight semicircle middle part, and live width is different with instrument, is 0.04～0.06mm, makes the light by the cursor straight line portion project the width that just in time equals grating on the grating.
Three parallel and equally spaced gratings of grating location position device 32 during the survey of High Precision Automatic gyro 3 are by the film manufacturing or directly make with the graticule of gyro 3.The photelectric receiver 33 of High Precision Automatic gyro 3 is selected silicon photocell for use, other are photosensitive or photoelectric device; The silicon photocell light-sensitive surface is close to the location grating, makes the center lines of three location gratings, accurately with graticule on K, O and-central lines of three division lines of K.
The photoelectric signal processor 34 of High Precision Automatic gyro 3 is made of photoelectric signal amplifier 341, light intensity indicator 342, comparer 343, trigger 344 and interface circuit 345, use common paster microminiature transistor and digital integrated circuit and electronic component to be contained on the little PCB, little PCB integral installation is on the housing top of gyro 3 parts, also can be loaded in inside or the power-supply controller of electric case, function is the output timing signal, guarantees the moment when the cursor center line accurately overlaps with the center line of grating under the accurate recording in palm PC 5.
High Precision Automatic gyro all can instrument signalling channel 4 be directly to utilize the RS232 standard serial port line of palm PC 5 bands, carry out wired transmission, start the PDA timing; Or be the radio channel transmission of medium with infrared, ultrasonic or microwave, circuit is simple, ripe.
High Precision Automatic gyro all can instrument be to adopt the commercial goods from motion tracking electronic total station 1, the telescope of this instrument and alidade have unlimited fine motion function and programmed control motor driven function are arranged, and have laser and do not have prism range finding, infrared distance measurement and angle measurement function, can from telescope objective, penetrate laser or double-colored directional beam.On the handle of such electronic total station 1, load onto the ring shaped thread connector that connects automatic gyroscope 3.
High Precision Automatic gyro all can instrument palm PC 5 have the CPU frequency that is not less than 66MHz, Win CE or other operating system, be not less than the 8MB internal memory, have accuracy of timekeeping and reach the timer of ms, have infrared or the Bluetooth communication mouth, the reflecting prism that only needs on known point of backsight is housed in the machine just can determines the quick positioning and directing system software of the all-round instrument three-dimensional coordinate of automatic gyroscope and changing GPS RTK positioning result immediately and determine the quick positioning and directing software that automatic gyroscope all can the instrument three-dimensional coordinate immediately.
The all-round instrument of High Precision Automatic gyro, its positioning and directing software are to adopt symmetrical horology principle to seek north automatically and show real north and gyroscopic azimuth; Automatically measure zero-bit and correct directed result automatically; From employing transit method and time difference method checks, overproof warning can be resurveyed; Automatically carrying out instrument constant calculates and corrects; Automatically calculating meridian convergence calculates and the displaing coordinate position angle; Automatic record, storage and demonstration measurement environment condition, orientation method, gyro; The various parameters of instrument and variation thereof, initial data and setting-out parameter, positioning and directing result in the instrument orientation; Printing reports.
The constructive method of automatic gyroscope transit of the present invention is:
Adopt the motionless symmetrical horology principle of transit alidade, promptly accurately measure the gyro cursor double or three times by being three division line K of axis of symmetry with the O division line on the graticule, O, the moment ti of-K, by formula (1) calculates B, can try to achieve the position of gyroscope north direction on repeating circle, promptly seek north automatically.
B＝K〔1+sin(at
1-at
0)/G〕 (1)
At
0＝arctg〔sinat
1-2sinat
2+sinat
3/cosat
1-2cosat
2+cosat
3〕
A＝-K/[sin(at
0-at
2)+sin(at
3-at
0)]
Order: G=sin (at
0-at
2)+sin (at
3-at
0)
A=-K/G then
In the formula, B is the graticule reading of the equilibrium position of gyroaxis swing;
K is the symmetrical division line reading of selecting;
a＝2π/T
t
0Be that gyroaxis is by swinging the time of equilibrium position;
A is the gyro amplitude of oscillation;
T is that gyro is from the pendulum cycle;
t
1, t
2, t
3Be respectively the gyro cursor line pass on the graticule+K, 0 and-moment of K division line.
After trying to achieve the B value, can convert obtains the gyroscope north direction value.Carry out data processing and accuracy assessment through 6 fast survey methods of 3 gratings and cursor three times through 9 accurate measurement methods of 3 gratings by twice of cursor again.Then, can measure the gyroscopic azimuth on this limit to be measured of sighting automatically.
In palm PC 5, can calculate the grid azimuth of meridian convergence and directed edge automatically according to the survey station point coordinate of input.At this moment, support is gyrostatic has just finished orientation from motion tracking electronic total station 1; With manually sighting or sighting a reflecting prism on the known coordinate point automatically from motion tracking electronic total station 1 by palm PC 5 programmed control, and automatic range, measurement horizontal angle and vertical angle, in palm PC 5, just calculate and demonstrate three-dimensional coordinate automatically from motion tracking electronic total station 1.At this moment, just finished position and orientation work, and then just can begin the various surveying works that can carry out from motion tracking electronic total station 1 from motion tracking electronic total station 1.
There is not the ruined place in known Surveying Control Point or reference mark on ground, as long as GPS can work and the reference mark is arranged in kilometer range more than ten, then can be after finishing gyrocompassing, take off automatic gyroscope 3, loading onto GPS receiver 8 with ring shaped thread connector 2 locatees by the RTK mode, finish positioning and directing, and begin next step work from motion tracking electronic total station 1.
If in palm PC 5, imported in advance the coordinate of field lofting point, can be automatically brought to definite direction at once from motion tracking electronic total station 1, ejaculation laser or double-colored directional beam from telescope objective, finish to setting-out work.
In palm PC 5, the output data of all input data, measurement data, instrument parameter and the variation thereof of positioning and directing overall process, result of calculation, demonstration, give to all preserving automatically with the setting-out data and can transfer to desk-top computer, for printing and the usefulness of inquiry.As seen, palm PC 5, the all-round instrument of automatic gyroscope that combines and constitute from motion tracking electronic total station 1 and automatic gyroscope 3, under the control of the positioning and directing program in palm PC 5, not only realized seeking the full-automation of northern process, and the automaticity of whole location, orientation, setting out survey overall process is greatly improved.
Gyromat2000 is conceived to " key is sought north ", realizes seeking northern process full automation with time a few minutes, and has paid high cost for this reason, and other are measured with evaluation work still needs manually-operated and expensive time and manpower; The High Precision Automatic gyro of the present invention all can instrument then be the robotization of being based on whole positioning and directing and follow-up measurement overall process.So from finishing whole measuring task at the scene, of the present invention with better function, automaticity is higher, the working time is shorter, and efficient is higher, and instrument is based on existing mature technology simultaneously, and the production difficulty is less, product price ratio height.
The present invention adopts the all-round instrument of the intelligent High Precision Automatic gyro of palm PC 5 controls, and its advantage and good effect embody as follows:
1. the High Precision Automatic gyro of the present invention all can have automatic positioning and directing function by instrument.Except that the function of seeking north automatically, automatically sight target in addition, automatically use time difference method and transit method to carry out checking measurements, carry out various calculating and correction automatically, just can obtain at the scene that various last measurement results and guide and to finish whole surveying works etc. all multi-functional.And this instrument do not need preheating, is that to finish whole positioning and directing surveying work speed at present at the scene faster, the instrument that efficient is higher;
The automatic gyroscope 3 of this all-round instrument by standard machinery gyro transformation success after, orientation accuracy and stability improve a lot.The model machine precision is less than ± 5 ", stride into the ranks of high accuracy gyroscope theodolite;
3. this all-round instrument is ± 0.2 with standard deviation " the high precision zero-bit observe and measurement result added the zero-bit ways of correction automatically and successfully solved the zero-bit variation issue that causes because of a variety of causes, this is that instrument is obtained high-precision another key.The long-term stability of the stable and instrument performance of the instrument constant that is highly advantageous to;
4. this all-round instrument is introduced palm PC 5, integrates measurement, control, signal Processing, record, calculating, storage, demonstration, form, has improved orientation accuracy, and multi-functional, intelligent degree is a kind of innovations to automatic gyroscope 3, has independent intellectual property right;
This all-round automatic detail record of instrument the measurement environment condition in the orientation survey, various measurement result and instrument data, error or the like, a kind of further research is provided and has improved instrument, the means of raising precision.This is that other automatic gyroscopes are unexistent, and is significant with production level to the automatic gyroscope research that improves China;
The positioning and directing software of independent development of the present invention step by step pilot operationp person finish gyrocompassing work smoothly, unlikely maloperation; The process and the operate as normal indication of each step also are provided at any time; Kept the repertoire that the artificial orientation measures simultaneously.Improved reliability;
7. this all-round instrument has the performance of light wind in Hangzhoupro and vibrations, makes instrument when subway and mine underground work, and other work do not need shut-down, can reduce idle cost;
8. the invention provides and transform successfully that precision standard machinery gyro is the complete set technology of automatic gyroscope in maximum GAK of China's on-hand quantity 1 and the JT15 type, these instruments are transformed into orientation equipment and the technical merit that middle and high precision automatic gyroscope transit will improve the whole industry rapidly, save a large amount of funds and production cost;
9. the manufacturing of this all-round instrument is easy, helps producing in batches, satisfies the urgent need of economic construction and national defense construction, breaks embargo; Instrument cost performance height is about 1/3 of import price.
Be further described below in conjunction with drawings and Examples
Description of drawings: Fig. 1 constitutes block diagram for the all-round instrument of automatic gyroscope
The quick positioning and directing system software 10 of automatic gyroscope in motion tracking electronic total station 1, ring shaped thread connector 2, automatic gyroscope 3, timing signal passage 4, palm PC 5, gyro power controller 6, power supply 7, GPSRTK receiver 8, GPS base station 9, palm PC 5;
Fig. 2 is that the timing signal passage of automatic gyroscope part constitutes block diagram
Photelectric receiver 33, photoelectric signal processor 34,
Fig. 3 is the formation block diagram of photoelectric signal processor
Fig. 4 is dimorphism cursor figure;
Grating location position device synoptic diagram when Fig. 5 is survey
Referring to figs. 1 through Fig. 5, get ready from motion tracking electronic total station 1: automatic gyroscope 3 passes through 2 of ring shaped thread connectors on motion tracking electronic total station 1 support are from the motion tracking electricity On the sub-total powerstation 1; The timing signal of automatic gyroscope 3 is by the timing signal passage 4 input palms Computer 5 timing, and by positioning and directing systems soft ware 10 controls that are contained in the palm PC 5 The positioning and directing work of whole all-round instrument; Gyro power controller 6 is powered by power supply 7 and is provided The power supply of the gyro motor in the High Precision Automatic gyro 3; GPS RTK receiver 8 can be got For the position of automatic gyroscope 3, entirely standing from the motion tracking electronics by 2 of ring shaped thread connectors On the instrument 1, and cooperate the positioning and directing work of completion system with corresponding GPS base station 9.
One, from the motion tracking electronic total station
This is to adopt motor to drive total powerstation 1 as the supporter of automatic gyroscope 3. It is except having one As outside the functions such as range finding, angle measurement, calculating, electronics bubble, biaxial compensation of electronic total station, also The infinitely fine motion of peculiar telescope and alidade again can be by computer or palm PC 5 programs Control it and rotate, and the function of automatically sighting the reflecting prism on the impact point is arranged.
High precision all-purpose autogiro of the present invention not only can carry out at the manually-operated gyroscope just directed Handled easily when seeking north improves certainty of measurement, and is convenient to realize automatically just directed, automatic seeking North and sight target; The distinctive short distance laser ranging of instrument and double-colored light source are conducive to function On-the-spot realize giving fast to setting-out.
Produce from the all-round instrument of the different serial automatic gyroscope of the accuracy of manufacture, function and automaticity Product are considered, also can select the electronic total station that does not have motor to drive, at this moment, although inconvenience is automatically Just directed, but than making things convenient for manyly with electronics or micrometer instrument, function is also much better than.
Two, automatic gyroscope 3
This is to increase photelectric receiver on the basis of the gyro part of standard machinery gyrotheodolite 33 and photoelectric signal processor 34, mix again palm PC 5 measure, control calculating, Record, demonstration and storage realize automation. Its light, mechanical, electrical subdivision and common gyro have not With, as shown in Figure 2: replace former cursor with dimorphism cursor 31; On light path subsequently, former Under the graticle rule 35, fixing consisted of by 3 equidistant and parallel light transmission strips Grating location position device 32 and light photosensitive by silicon photocell etc. or that electrooptical device consists of during survey Electric signal receiver 33, during gyro work, cursor is swung with gyro, from the light of cursor bottom outgoing During inswept grating, the signal of telecommunication of exporting from photoelectric signal receiver 33 enters photoelectric signal processor 34, from the sprocket pulse signal process timing signal passage 4 of photoelectric signal processor 34 outputs When entering palm PC 5 and making high accuracy and survey.
Fig. 4 has described the shape of dimorphism cursor, is divided into up and down two parts, the first half be single line or The two-wire cursor is with the cursor of former gyrotheodolite; The bottom is that lighttight semicircle middle part is stayed one thoroughly The straight line of light, the width of printing opacity straight line portion are 0.04 to 0.06mm, make by the cursor straight line The light of light transmission part projects the width that width on the grating equals grating; Replace former with new cursor Cursor in the gyroscope gets final product.
Grating location position device 32 was by three parallel and equally spaced grating structures when Fig. 5 had described survey Become, it can be by the film manufacturing or directly does on the graticle of former gyro 3 or with former graticle Correcting, the plate-making plated film forms; Photelectric receiver 33 can be silicon photocell, photo resistance or its His photosensitive or photoelectric device is as long as its output current or voltage increase property with the increase of light intensity Can stable get final product; The silicon photocell photosurface is close to the grating placement, makes the center lines of three location gratings Accurately with graticle on K, 0 and-central lines of three division lines of K; K with-K can To be 3 or 2.5,3.5 values such as delineation such as grade; The output of photelectric receiver 33 is drawn with shielding Line is connected to photoelectric signal processor 34.
It is by photoelectric signal amplifier 341, indication that Fig. 3 has described photoelectric signal processor 34 Device 342, comparator 343, trigger 344 and interface circuit 345 consist of, and circuit is simple, Its function is the optical signal amplification that will receive and uses the optical signal level indication that is made of a plurality of LED Device shows; Signal by level ratio, trigger and from interface end output timing signal to palm Computer guarantees to obtain exactly and record cursor center line and grating in palm PC 5 Moment when center line accurately overlaps; When adopting 9 method automatic seeking north, PDA remembers exactly Record lower 9 and overlap constantly t1-t
9, and calculate accordingly accurately the north to; This part makes With common surface mounting crystal pipe, general digital integrated electronic circuit and electronic component, integral installation is at oneself The housing top of moving gyro 3 also can be loaded in inside or the power-supply controller of electric case.
Send palm PC 5 from the timing signal of photoelectric signal processor 34 outputs through signalling channel 4.
Three, signalling channel 4
This is the medium that transmits timing signal, can directly utilize the RS232 of palm PC 5 bands The standard serial port line carries out wired transmission; Or be the radio channel of medium with infrared, ultrasonic, microwave Transmit, start the PDA timing, circuit is all fairly simple, as long as do reliably.
Four, palm PC 5
The status of palm PC in whole instrument is extremely important, in it and the general automatic gyroscope product Simple single chip microcomputer difference, very big freely programming and memory space arranged, therefore, it makes whole Individual instrument system with better function, intelligent degree is higher, and extensibility is better, and it undertakes system Control, measurement, record, calculate, check, show, store, inquire about etc. function, make this Instrumental function surpasses multiple other instruments. PDA can have multiple choices, and no matter black and white is still color Look, if having WIN CE or other operating system, 66MHz dominant frequency, 16MB or above in Deposit, can be with the precision timing of ms level, have the ports such as RS232 serial ports to get final product. Be equipped with in the machine Only need the reflecting prism on known point of backsight just can determine immediately the all-round instrument of automatic gyroscope The quick positioning and directing software 10 of three-dimensional coordinate and process GPS RTK positioning result and immediately true Decide the all-round instrument three-dimensional coordinate of automatic gyroscope.
Five, the positioning and directing systems soft ware 10
Whole automatically, location, orientation works finish by software 10 controls and by the menu-guided surveyor.
The positioning and directing systems soft ware can with VB or other language compilation, comprise 4 parts: the location Orientation survey, calculating, inquiry and printing. According to different follow-up needs, can also expanded application Program.
1. measure
Comprise the tracking cycle that instrument parameter and determining instrument are set; Measure then the gyro on limit to be measured The azimuth.
Survey gyro azimuth following steps are arranged: be elected to when using manually-operated, each goes on foot all according to palm The prompting operation of computer 5 screen displays is until finish; Select when automatically seeking north whole seeking The north procedural order is finished automatically. These steps are:
1. input measurement environment, method;
2. survey line limit horizontal limb reading before input is surveyed;
3. zero measurement before manually or automatically surveying;
4. get approximate gyroscope north direction;
5. automatic seeking north;
6. zero measurement after manually or automatically surveying;
7. survey line limit horizontal limb reading after input is surveyed;
8. restart new once orientation;
9. finish directed.
10. show, record and store the instrument parameter that changes in orientation survey result and the various measuring process
2. calculate
Calculate as long as according to menu prompt, the necessary given data of additional input, output is tied automatically immediately Really. Computational item comprises following part:
1. the convergence of meridians is calculated
2. instrumental constant is calculated
3. grid azimuth is calculated
4. the instrument station coordinates calculates
5. the instrument coordinates of GPS location is calculated
6. setting-out-according to the given data necessary with output of requirement of engineering.
3. measurement result inquiry
The total data of orientation survey and result, the whole automatic numberings of result are recorded in the memory. Each The result can show on palm PC.
4. this program of gyrocompassing print routine can also be after palm PC and PC be online, with data Unloading is printed the positioning and directing result by printer then in PC.
Six, the gyro power controller 6
Power-supply controller of electric is connected the illuminator and the gyro machine power supply of giving in the automatic gyroscope 3 with automatic gyroscope 3 by aviation socket, tape cable plug.When manually carrying out orientation, the guide startup that the operator press program in the palm PC 5 by switch on the power-supply controller of electric panel and turn-knob or brake gyro machine.When selecting full-automatic orientation, the starting of gyro machine is carried out by the programmed control of palm PC 5 and by electronic switch with braking.Gyro power controller 6 can be by internal battery or 7 power supplies of external accumulator.
Seven, from motion tracking electronic total station 1
The control panel that oneself is arranged on motion tracking electronic total station 1, by the LCDs on the panel and a plurality of button can carry out variously taking measurement of an angle, distance, the discrepancy in elevation and electronic total station all working that can carry out.After as long as the coordinate of itself and initial direction are determined, just can finish all working independently immediately; It allows self-compiling program, and can seek target automatically and accurately sight it under the control of program.Because sighting the directed edge direction is independently with seeking north automatically, sight target and obtaining the horizontal direction reading, behind the reading of vertical angle reading and distance, the discrepancy in elevation, can pass through infrared communication mouth or bluetooth and palm PC 5 Data transmission.
Eight, GPS RTK receiver 8
This is surveying and mapping unit's General Instrument commonly used, with the supporting use in GPS RTK base station, is used for measuring the 3 d space coordinate of placement location instrument, changes into the coordinate in the coordinate system that measurement adopts in palm PC 5.With a metalwork that is connected with ring shaped thread be connected from motion tracking electronic total station 1.
Nine, GPS RTK base station 9
With 8 supporting uses
Ten, power supply 7
The inside and outside accumulator that connects of instrument
Embodiment
1. based on the standard machinery gyro-theodolite of technology maturation, partly increase photelectric receiver 33 and photoelectric signal processor 34 at gyro, mix palm PC 5 again and measure, control, calculate, write down, show and storage etc., just constitute new automatic gyroscope transit.If the performance of non-automatic gyro-theodolite is more stable, the once directed standard deviation of new automatic gyroscope transit will be less than ± 5 " the level of High Precision Automatic gyro-theodolite.If common mechanical gyro transit, the once directed standard deviation of the new automatic gyroscope transit of formation can be less than ± 10 ".Two kinds of new instruments have been arranged, just can satisfy the needs of almost various engineering orientations.
2. adopt and up-to-date support automatic gyroscope 3 from motion tracking electronic total station 1, replace transit after, make the High Precision Automatic gyro of the present invention not only have the ability of precision distance measurement, angle measurement and measurement elevation by instrument; Also have and sight directional aim automatically---the ability of prism; Have no prism laser ranging and laser guide or give to ability; And hyundai electronics total powerstation 1 angle measurement part all has electronics bubble, biaxial compensation, can make angle measurement accuracy higher, the leveling instrument with measure more time saving and energy saving.
3. utilize the electronic total station of the unlimited fine motion function of horizontal dial, greatly reduce and manually carry out difficulty just directed and that seek northern surveying work.According to the position relation of cursor in the gyro with delineation chi zero-bit, by the servomotor tracking cursor motion of the alidade of the programmed control electronic total station in the palm PC 5 motion, position that can the automatic accurate determination inversion point and finish the first orientation of automatic gyroscope 3 rapidly;
4. servomotor and gearing-down machinery are set on the next door of the manual knob that lifts and transfer gyro, measure with control program control motor with palm PC 5 and finish the work of lifting and transferring gyro, that realizes automatic gyroscope 3 automatically seeks north;
5. in the software of palm PC 5, comprise quick positioning and directing software, it is the catoptron that instrument has only to be needed on known point of backsight, measure oblique distance and vertical angle, just can determine the three-dimensional coordinate of instrument self immediately and begin the ability of 1 various surveying work that can carry out of electronic total station, improve the efficient of positioning and directing work greatly;
6. automatic gyroscope 3 is taken off from electronic total station 1, increase a web member that GPS receiver 8 is installed, with same ring shaped thread connected mode integrated RTK-GPS receiver is contained on motion tracking electronic total station 1, just available GPS locator meams is finished GPS location and automatic gyroscope 3 orientations rapidly, obtains the three-dimensional coordinate of electronic total station 1 and begins 1 all surveying work that can carry out of electronic total station.
Embodiment: with the standard machinery gyro-theodolite serve as the base my be transformed into ± 5 " High Precision Automatic gyro 3; By being fixed on the fixing automatic gyroscope 3 of screw thread coupling 2 on motion tracking electronic total station support; On gyro 3 inner light paths, replaced former cursor with dimorphism cursor 31;
Below former graticule, fixed three gratings 32, silicon photocell 33, made 3 center lines of grating and-2.85,0 ,+2.85 graduation positions on the calibrated dial consistent; Be drawn out on automatic gyroscope 3 upper braces by a very thin shielding line from the signal of silicon photocell output; On platform, fix a circuit board, photoelectric signal processor 34 is installed on the plate; Be connected to RS232 standard 9 core plugs from the timing trigger pip of photoelectric signal processor output; The 9 core RS232 serial communication lines that carry with PDA are connected to palm PC 5 as wired passage 4 of timing signal; Give automatic gyroscope 3 power supplies with gyro power controller 6 through cable; External nickel-hydrogen accumulator power supply 7 is to 6 power supplies; With GPS RTK receiver 8, GPS RTK real-time positioning is made in corresponding GPS base station 9.With independently developed " automatic gyroscope positioning and directing system " software 10 control whole system operation.
Theoretical analysis and actual measurement show: the once directed standard deviation of this instrument is less than ± 5 ", instrument can select 6 methods and 9 methods to seek north automatically, and the time of once seeking north automatically is about 8-10 minute respectively; This is the all-round instrument of intelligent High Precision Automatic gyro that adopts palm PC 5 controls.
Claims (5)
1. the all-round instrument of a High Precision Automatic gyro is by automatic gyroscope (3), from motion tracking electronic total station (1), ring shaped thread connector (2), timing signal passage (4), gyro power controller (6), power supply (7), GPSRTK receiver (8), constitute with the supporting GPS base station (9) of GPS RTK receiver;
It is characterized in that: automatic gyroscope (3) is on the basis of standard machinery gyro, increase dimorphism cursor (31), grating location position device (32), photelectric receiver (33), photoelectric signal processor (34), timing signal passage (4) and when making high precision and surveying and the palm PC (5) of control usefulness when surveying, by the quick positioning and directing system software of the automatic gyroscope in the palm PC (5) (10), control automatic gyroscope (3) is finished automatic positioning and directing work; Wherein, dimorphism cursor (31) is divided into two parts up and down, and the first half is the straight line that a printing opacity is stayed at lighttight semicircle middle part with single line or two-wire cursor, bottom, makes the light by the cursor straight line portion project the width that just in time equals grating on the grating; Three gratings of stop position scaler (32) are parallel and equidistant during survey, by the film manufacturing or directly make with the graticule of gyroscope (3); Ring shaped thread connector (2) frame of automatic gyroscope (3) by on motion tracking electronic total station (1) support is on motion tracking electronic total station (1); The timing signal of automatic gyroscope (3) is imported palm PC (5) timing by timing signal passage (4), and is controlled the positioning and directing work of whole all-round instrument by the measurement control software (10) of palm PC (5); Automatic gyroscope power-supply controller of electric (6) is powered by power supply (7) and the power supply of the gyro motor in the High Precision Automatic gyro (3) is provided; When surveying the no Surveying Control Point in district, after gyrocompassing is finished, take off gyroscope (3), with ring shaped thread connector (2) with GPS RTK receiver (8) frame on motion tracking electronic total station (1), and cooperate the positioning and directing work of the system of finishing with corresponding GPS base station (9).
2. the all-round instrument of High Precision Automatic gyro according to claim 1, described photelectric receiver can be silicon photocell, photoresistance, perhaps other photosensitive or photoelectric device.
3. the all-round instrument of High Precision Automatic gyro according to claim 1, it is characterized in that: palm PC (5) has the CPU frequency that is not less than 66MHz, and Win CE or other operating system are not less than the 8MB internal memory, have accuracy of timekeeping and reach the timer of ms, have the RS232 serial communication port.
4. the all-round instrument of High Precision Automatic gyro according to claim 31, the feature of signalling channel wherein (4) is: directly utilize the RS232 standard serial port line of palm PC (5) band, carry out wired transmission, start the PDA timing; Or be the radio channel of medium with infrared, ultrasonic or microwave.
5. the all-round instrument of High Precision Automatic gyro according to claim 1 is characterized in that: positioning and directing system software (10) adopts symmetrical horology principle to seek north automatically and show real north and gyroscopic azimuth fast; Automatically measure zero-bit and correct directed result automatically; From employing transit method and time difference method checks, overproof warning can be resurveyed; Automatically carrying out instrument constant calculates and corrects; Automatically calculating meridian convergence calculates and the displaing coordinate position angle; The various parameters of instrument and variation, initial data and setting-out parameter, positioning and directing result, printing reports in automatic record, storage and demonstration measurement environment condition, orientation method, the gyrocompassing process.
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| CNB2004100450512A CN100480631C (en) | 2004-07-16 | 2004-07-16 | High precision all-purpose autogiro and composing method thereof |
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| CNB2004100450512A CN100480631C (en) | 2004-07-16 | 2004-07-16 | High precision all-purpose autogiro and composing method thereof |
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| CN100480631C true CN100480631C (en) | 2009-04-22 |
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| CN102809374B (en) * | 2011-05-30 | 2015-04-29 | 同济大学 | Automatic guiding measurement method for hinge connection shield machine, and apparatus thereof |
| CN102620710B (en) * | 2012-04-18 | 2014-01-22 | 赵广超 | Method and system for measuring and calculating data |
| CN103063214B (en) * | 2012-12-19 | 2016-03-30 | 北京电子工程总体研究所 | Dynamic high-precision grating scale angle of rudder reflection measurement mechanism and measuring method |
| CN103091662B (en) * | 2013-01-09 | 2015-08-05 | 上海大唐移动通信设备有限公司 | Localization method, drive test terminal and handheld terminal |
| CN103292801B (en) * | 2013-05-28 | 2015-12-02 | 中国船舶重工集团公司第七0七研究所 | Optical fiber gyroscope theodolite and north finding method thereof |
| CN103837162B (en) * | 2014-03-25 | 2016-04-13 | 东南大学 | A kind of method measuring fiber gyro total station combination orienting device combination parameter |
| CN104655095B (en) * | 2015-01-21 | 2017-06-30 | 长安大学 | A kind of method that utilization optical fibre gyro determines geographic latitude |
| CN106227094A (en) * | 2016-08-17 | 2016-12-14 | 邹霞 | Intelligent integral geometer |
| CN106227093A (en) * | 2016-08-17 | 2016-12-14 | 邹霞 | Geography information TT&C system |
| CN106646364B (en) * | 2016-11-25 | 2019-01-11 | 东莞中子科学中心 | A kind of method for measuring spatial location |
| CN111044042B (en) * | 2020-01-03 | 2022-09-13 | 中国船舶重工集团公司第七0七研究所 | Heading machine positioning navigation system and method based on gyroscopic total station and inertial navigation equipment |
| CN112504256A (en) * | 2020-11-19 | 2021-03-16 | 北京航天发射技术研究所 | High-precision low-cost heterogeneous laser gyro north finder |
| CN114166193A (en) * | 2021-12-15 | 2022-03-11 | 山东省地质测绘院 | Total station for engineering survey for effectively improving measurement accuracy |
| CN114935327A (en) * | 2022-04-26 | 2022-08-23 | 中国舰船研究设计中心 | Improvement method of deck theodolite |
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