CN101033967A - Total station instrument combined location method based on optical fiber gyro - Google Patents

Abstract

This invention relates to a kind of fiber-optic gyro based, full station instrument combination orientation mode, and applies to plotting work. In plotting scene, the invention connects fiber-optic gyro(1) with full station instrument telescope(3) by adaptor(2), and make optical fibre gyro can follow full station instrument telescope simultaneously do 180 degree turning reel full station instrument cross shaft, respectively on two horizontal positions of east and west direction of gyro axis that differ by 180 degree; each horizontal position process 2 x 2 position gyro data acquisition on full station instrument perpendicular tray that differ by 180 degree; using formula to count out full station instrument collimation axis true azimuth, survey station meridian convergence angle, then can obtain full station instrument collimation axis grid azimuth, realize full station instrument orient. The invention structure is simple, not need to process alignment error calibration, just simple operation can realize full station instrument orient on only one control point situation. The invention can be used for town, forest, and mountainous area such on distressed area's plotting work.

Description

Total powerstation combination orientation method based on optical fibre gyro

Technical field

The present invention relates to a kind of orientation method, specifically is a kind of total powerstation combination orientation method based on optical fibre gyro that is applied to mapping operations, the invention belongs to the technical field of machinery mapping.

Background technology

In mapping operations, when utilizing total powerstation to carry out detail point measurement or setting-out, need to determine earlier the grid azimuth of total powerstation collimation axis, promptly carry out the total powerstation orientation.Existing total powerstation orientation method is that total powerstation is erected on the known control point, and another known control of being separated by far away point of backsight utilizes two point coordinate inverses to obtain total powerstation collimation axis grid azimuth.The GPS location technology have do not need a little when position is measured between the advantage of intervisibility, the present main means of carrying out control survey that become.Existing total powerstation orientation method requires GPS to record promptly needs intervisibility to need again at intervals between the reference mark, this makes the advantage of GPS technology fail to give full play to, and also gives in the laying of the reference mark of the intervisibility area in hardship simultaneously and has brought difficulty.Therefore, real work presses for a kind of feasible easy orientation method, is implemented in the total powerstation orientation that just can finish the rad level under the situation of having only a GPS reference mark, removes from needing a trouble that is used for directed backsight point.Though use an existing rad level gyro-theodolite can satisfy above-mentioned requirements, because what use is mechanical gyro, equipment is heavy and cost an arm and a leg, and is mainly used in the down-hole adit survey at present.Need carry out the instrument constant demarcation before using this quasi-instrument, and directed complicated operating process, this all makes it be difficult to promote in common mapping operations; Moreover at present because total powerstation has the incomparable advantage of transit, transit is replaced by total powerstation in exhausted big number mapping operations.

Chinese patent publication number CN1721820A, all-round instrument of a kind of High Precision Automatic gyro and constructive method are disclosed open day on January 18th, 2006, High Precision Automatic gyro all can instrument automatic gyroscope be on the basis of standard machinery gyro, increase the dimorphism cursor, when surveying grating location position device, photelectric receiver, photoelectric signal processor, timing signal passage and when making high precision and surveying and the palm PC of control usefulness constitute, the quick positioning and directing system software controls of the automatic gyroscope in palm PC automatic gyroscope is finished automatic positioning and directing work.What this device adopted is that the automatic gyroscope structure is comparatively complicated, utilizes the motor driven gyro to increase the weight and the power consumption of equipment; Utilize this equipment to carry out still will demarcating before the orientation alignment error between automatic gyroscope and the total powerstation, it is all not too convenient to operate and carry.

Optical fibre gyro have that a lot of mechanical gyros are difficult to mate advantage, mainly contain the instrument firm stable, simple in structure, cheap, start-up time is short, detection sensitivity and resolution height, can directly network with numeral output and with computer interface, the life-span is long and signal stabilization is reliable.Based on the superiority of optical fibre gyro, lot of domestic and international relevant unit all takes much count of the applied research of north-seeking of fiber optic gyroscope aspect, and achievement focuses mostly on military weaponry.Chinese patent publication number CN1877257A, a kind of single axis fiber gyro north seeker is disclosed open day on Dec 13rd, 2006, the single axis fiber gyro, rotating shaft, direction index line, stepper, single-chip microcomputer, the Xun Bei that mainly comprise as sensitive element resolve computing machine, optical fibre gyro, direction index line all are connected in the rotating shaft, stepper motor can drive rotating shaft and rotate, and can obtain the output signal of optical fibre gyro at diverse location with this; Single-chip microcomputer is mainly finished the control that countershaft rotates, and seeks north and resolves computing machine and mainly finish data sampling, handle and calculate and seek northern result.This apparatus structure is complicated, itself does not have high-precision mapping function, is difficult to simultaneously mate use with widely used total powerstation.

Summary of the invention

Technical matters: the present invention is directed to the deficiencies in the prior art and defective, a kind of total powerstation combination orientation method based on optical fibre gyro is provided, be connected by optical fibre gyro and total powerstation telescope, make full use of the total powerstation telescope and can drive the characteristics that optical fibre gyro is accurately cooked level and vertically respectively turns over 180 degree, realization need not be carried out the total powerstation collimation axis grid azimuth that process alignment error calibration can obtain the rad level, promptly can finish the total powerstation orientation under the situation of having only a GPS reference mark.In addition, the present invention has utilized that the fibre optic gyroscope volume is little, in light weight, the characteristics of instrument firm stable, has successfully overcome the strong and bigger shortcoming of power consumption of north-seeking system anti-impact force that the existing machinery gyro is caused, and simple to operation.

Technical scheme: the present invention utilizes the responsive rotational-angular velocity of the earth of gyro for being the total powerstation orientation, concrete technical scheme is at known point position longitude B, leveling centering total powerstation on the reference mark of latitude L, optical fibre gyro is affixed on the total powerstation telescope by coupling arrangement, drive total powerstation telescope branch and be clipped to the east orientation positions that differ 180 degree and west by horizontally rotating the total powerstation alidade to the position, pass through vertically to rotate total powerstation telescope 180 degree in east orientation position and west more respectively to the position, drive optical fibre gyro and compensate for position and western to compensating for the position to east orientation, utilize optical fibre gyro that rotational-angular velocity of the earth is no less than n duplicate measurements respectively in above-mentioned four positions, utilize measurement data to carry out following process and resolve:

Total powerstation transverse axis true azimuth α when 1. calculating the east orientation position ₁, specific as follows:

${\mathrm{\&alpha;}}_1=\frac{1}{2}\arccos [\frac{w_1-{\mathrm{<figure-callout\; id="4"\; label="w"\; filenames="A20071002090400102.png"\; state="\{\{state\}\}">w</figure-callout>}}_4}{2w_{\mathrm{ie}}\cos B\&CenterDot;\cos \mathrm{\&xi;}}-\mathrm{tgB}\&CenterDot;\mathrm{tg\&xi;}]+\frac{1}{2}\arccos [\frac{w_2-w_3}{2w_{\mathrm{ie}}\cos B\&CenterDot;\cos \mathrm{\&xi;}}-\mathrm{tgB}\&CenterDot;\mathrm{tg\&xi;}]$ Formula (1)

Wherein: w _IeBe known rotational-angular velocity of the earth, B is the reference mark latitude, w ₁For east orientation position optical fibre gyro is no less than the mean value of n duplicate measurements, w ₂For east orientation compensates for the mean value that the position optical fibre gyro is no less than n duplicate measurements, w ₃For the west to compensating for the mean value that the position optical fibre gyro is no less than n duplicate measurements, w ₄For the west is no less than the mean value of n duplicate measurements to the position optical fibre gyro, ξ is the projected angle of self vertical pivot pitch angle of providing of total powerstation in X direction;

2. utilize survey station longitude B, latitude L, Gauss projection central meridian longitude L ₀, WGS-84 semimajor axis of ellipsoid a, minor semi-axis b calculate this reference mark meridian convergence γ;

$\mathrm{\&gamma;}=l\&CenterDot;\sin B+\frac{l^3}{3}\&CenterDot;\sin B\&CenterDot;{\cos }^{2}B\&CenterDot;(1+{3\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="A20071002090400102.png"\; state="\{\{state\}\}">y</figure-callout>}}^2+2\&CenterDot;y^4)+\frac{l^5}{15}\&CenterDot;\sin B\&CenterDot;{\cos }^{4}B\&CenterDot;(2-t^2)$

Formula (2)

Wherein: t=tgB; ${\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="A20071002090400102.png"\; state="\{\{state\}\}">y</figure-callout>}}^2=\frac{a^2-b^2}{b^2}\&CenterDot;{\cos }^{2}B;$ L=L-L ₀A is the WGS-84 semimajor axis of ellipsoid; B is the WGS-84 semiminor axis of ellipsoid; L is this observation station longitude; L ₀Be Gauss projection central meridian longitude;

The grid azimuth α of total powerstation telescope collimation axis when 3. calculating the east orientation position ₂, promptly realize the total powerstation orientation, specific as follows:

α ₂=α ₁+ γ+90 formulas (3)

The axle of described optical fibre gyro should should be installed on the total powerstation telescope with the angle that is no more than 5 degree with the transverse axis with total powerstation;

Described optical fibre gyro is installed to also should satisfy optical fibre gyro and can do 180 degree around the total powerstation transverse axis with the total powerstation telescope and rotate on the total powerstation telescope;

Definite method of described n is:

$n={\left(\frac{m_w}{4w_{\mathrm{ie}}\&CenterDot;\cos B\&CenterDot;\sin \mathrm{\&alpha;}\&CenterDot;\sqrt{m_{\mathrm{\&alpha;}}^2-36}}\right)}^2$ Formula (4)

Wherein, w _IeBe known rotational-angular velocity of the earth; m _wBe the optical fibre gyro zero stability; m _αBe the focal need precision, total powerstation transverse axis true azimuth α when α is the east orientation position ₁The summary value.

Beneficial effect: the total powerstation combination orientation method based on optical fibre gyro of the present invention is simple to the hardware installation requirement, only need be connected optical fibre gyro by coupling arrangement and total powerstation telescope during use, make optical fibre gyro to do 180 degree rotations synchronously around the total powerstation transverse axis and can carry out the total powerstation orientation with the total powerstation telescope, need not carry out process alignment error calibration, operating process is simple, can take off after finishing orientation; The applicable existing all kinds of total powerstations of this method.In addition, the present invention has utilized that the fibre optic gyroscope volume is little, in light weight, the characteristics of instrument firm stable have successfully overcome the strong and bigger shortcoming of power consumption of north-seeking system anti-impact force that the existing machinery gyro is caused.

Total powerstation combination orientation method based on optical fibre gyro of the present invention can effectively be eliminated gyro and be mounted to the precision influence that the alignment error brought on the total powerstation is brought the total powerstation orientation, alignment error is when projected angle on the vertical plane is within 20 jiaos of branches, influence to orientation accuracy can be controlled within 2 rads, alignment error can be considered zero to the influence of orientation accuracy when projected angle on the surface level is within 1 degree.By obtain that total powerstation vertical pivot tilt sensitive value suppresses that vertical turning axle vertically do not bring to the orientation accuracy influence, its influence to orientation accuracy is limited within 5 rads.

Description of drawings:

Fig. 1 is the total powerstation combination orientation method techniqueflow chart based on optical fibre gyro;

Fig. 2 is the method for attachment figure between optical fibre gyro and total powerstation telescope;

Wherein have: optical fibre gyro 1, coupling arrangement 2, telescope 3, total powerstation transverse axis 4.

Embodiment:

Below in conjunction with drawings and Examples the present invention is further described:

Fig. 1 is the total powerstation combination orientation method techniqueflow chart based on optical fibre gyro, and it comprises seven operation stepss.Using specific embodiments of the invention is when carrying out the land deeds mapping in the Xuanwu District, Nanjing, to carry out the total powerstation orientation on the A of reference mark.Reference mark A is in certain residential quarter, surrounded by buildings all around, need to lay one with the distant place for 200 meters at distance reference mark A by traditional total powerstation orientation method and be used for directed reference mark B, this is very difficult, utilizes the present invention not need cloth reference mark B just can finish the total powerstation orientation.Present embodiment adopted zero partially stability be 0.2 degree/hour, sample frequency is that the model of 100Hz, Zhejiang University's development is the ZD-75 optical fibre gyro, data recording and calculate utilizes model to carry out for the PDA of Dopod 696, and the total powerstation model of employing is GPT-7000L.It is as follows to utilize the present invention to carry out the concrete operations and the computation process of total powerstation orientation at reference mark A:

1) total powerstation is settled: at the known point longitude is that the reference mark A of 118 ° 47 ' 19 ", latitude be 32 ° 03 ' 28 " goes up and settles total powerstation;

2) optical fibre gyro is installed on total powerstation: as Fig. 2, by coupling arrangement 2 optical fibre gyro 1 is affixed on the total powerstation telescope 3, the angle that axle of optical fibre gyro 1 and total powerstation transverse axis are 4 is not more than 5 degree, and optical fibre gyro 1 can be cooked the rotation of 180 degree synchronously with total powerstation telescope 3 around total powerstation transverse axis 4;

3) east orientation station acquisition: rotate the total powerstation alidade and make the axle of optical fibre gyro 1 point to level braking total powerstation alidade behind the east orientation, total powerstation telescope 3 is forwarded to altitude circle 90 degree positions and vertically braking; The focal need precision of present embodiment is 30 rads, and the summary value of total powerstation transverse axis true azimuth is got 90 degree, and calculating n by formula 4 is 758 times, is that optical fibre gyro was worked for 8 seconds for present embodiment; Data acquisition: by the job key on the PDA optical fibre gyro 1 measured data are stored, go up stop key by PDA after 8 seconds and stop optical fibre gyro 1 measured data are stored, and calculate mean value w ₁For-1.62955094541491 the degree/hour;

4) east orientation compensates for station acquisition: unclamp the vertical clamp screw of total powerstation, and rotate total powerstation telescope 3 and vertically brake after dish 90 is spent perpendicular dish 270 degree positions from erecting; Repeating step 3) data acquisition, and calculate mean value w ₂For-1.27246098896772 the degree/hour;

5) west is to compensating for station acquisition: unclamp total powerstation level braking spiral, rotate total powerstation alidade 180 degree back level brakings; Repeating step 3) data acquisition, and calculate mean value w ₃Be 1.04023662764721 the degree/hour;

6) western to station acquisition: as to unclamp the vertical clamp screw of total powerstation, and rotate total powerstation telescope 3 and after altitude circle 270 is spent altitude circle 90 degree positions, vertically brake; Repeating step 3) data acquisition, and calculate mean value w ₄Be 1.86177763395571 the degree/hour;

7) resolve process: carry out the calculating of the grid azimuth of total powerstation telescope collimation axis on PDA, detailed process and result are as follows:

7.1) total powerstation transverse axis 4 true azimuth α when calculating the east orientation position by formula 1 ₁: known latitude B is 32 ° 03 ' 28 ", self vertical pivot pitch angle that total powerstation provides is 28 at the projected angle ξ of X direction ", rotational-angular velocity of the earth be 15.04106687606545 degree/hour; Total powerstation transverse axis 4 true azimuth α when calculating the east orientation position ₁It is 96 ° 32 ' 33 ";

7.2) calculating A point meridian convergence γ by formula 2: the longitude that known survey station A is ordered is 118 ° 47 ' 19 ", latitude be 32 ° 03 ' 28 ", and WGS-84 semimajor axis of ellipsoid a is that 6378137m, minor semi-axis b are 6356752m, Gauss projection central meridian longitude L ₀It is 120 ° 00 ' 00 "; Calculate A point meridian convergence γ and be-0 ° 39 ' 20 ";

7.3) the grid azimuth α of total powerstation telescope collimation axis when calculating the east orientation position by formula 3 ₂Be 185 ° 53 ' 13 ", promptly realized the total powerstation orientation;

Claims (4)

1, a kind of total powerstation combination orientation method based on optical fibre gyro, it is characterized in that at known point position longitude B, leveling centering total powerstation on the reference mark of latitude L, optical fibre gyro (1) is affixed on the total powerstation telescope (3) by coupling arrangement (2), drive total powerstation telescope (3) and divide and be clipped to the east orientation positions that differ 180 degree and west by horizontally rotating the total powerstation alidade to the position, pass through vertically to rotate total powerstation telescope (3) 180 degree in east orientation position and west more respectively to the position, drive optical fibre gyro (1) and compensate for position and western to compensating for the position to east orientation, utilize optical fibre gyro (1) that rotational-angular velocity of the earth is no less than n duplicate measurements respectively in above-mentioned four positions, utilize measurement data to carry out following process and resolve:

Total powerstation transverse axis (4) true azimuth α when 1. calculating the east orientation position ₁, specific as follows:

${\mathrm{\&alpha;}}_1=\frac{1}{2}\arccos [\frac{w_1-w_4}{{2w}_{\mathrm{ie}}\cos B\&CenterDot;\cos \mathrm{\&xi;}}-\mathrm{tgB}\&CenterDot;\mathrm{tg\&xi;}]$

$+\frac{1}{2}\arccos [\frac{w_2-w_3}{{2w}_{\mathrm{ie}}\cos B\&CenterDot;\cos \mathrm{\&xi;}}-\mathrm{tgB}\&CenterDot;\mathrm{tg\&xi;}]$

Wherein: w _IeBe known rotational-angular velocity of the earth, B is the reference mark latitude, w ₁For east orientation position optical fibre gyro (1) is no less than the mean value of n duplicate measurements, w ₂For east orientation compensates for the mean value that position optical fibre gyro (1) is no less than n duplicate measurements, w ₃For the west to compensating for the mean value that position optical fibre gyro (1) is no less than n duplicate measurements, w ₄For the west is no less than the mean value of n duplicate measurements to position optical fibre gyro (1), ξ is the projected angle of self vertical pivot pitch angle of providing of total powerstation in X direction;

2. utilize survey station longitude B, latitude L, Gauss projection central meridian longitude L ₀, WGS-84 semimajor axis of ellipsoid a, minor semi-axis b calculate this reference mark meridian convergence γ;

The grid azimuth α of total powerstation telescope collimation axis when 3. calculating the east orientation position ₂=α ₁The total powerstation orientation is promptly realized in+γ+90.

2. the total powerstation combination orientation method based on optical fibre gyro according to claim 1, the angles that the axle that it is characterized in that optical fibre gyro (1) should be no more than 5 degree with the transverse axis (4) with total powerstation are installed on the total powerstation telescope (3).

3. the total powerstation combination orientation method based on optical fibre gyro according to claim 1, it is characterized in that optical fibre gyro (1) is installed to should satisfy optical fibre gyro (1) and can do 180 degree rotations around total powerstation transverse axis (4) with total powerstation telescope (3) total powerstation telescope (3) on.

4. the total powerstation combination orientation method based on optical fibre gyro according to claim 1 is characterized in that definite method of the frequency n of described duplicate measurements is:

$n={\left(\frac{m_w}{{4w}_{\mathrm{ie}}\&CenterDot;\cos B\&CenterDot;\sin \mathrm{\&alpha;}\&CenterDot;\sqrt{m_{\mathrm{\&alpha;}}^2-36}}\right)}^2$

Wherein, w _IeBe known rotational-angular velocity of the earth; m _wBe the optical fibre gyro zero stability; m _αBe the focal need precision, total powerstation transverse axis (4) true azimuth α when α is the east orientation position ₁The summary value.

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