CN101914881A - Method for rapidly measuring foundation pile control net (CPIII) of rapid transit railway - Google Patents

Method for rapidly measuring foundation pile control net (CPIII) of rapid transit railway Download PDF

Info

Publication number
CN101914881A
CN101914881A CN 201010237683 CN201010237683A CN101914881A CN 101914881 A CN101914881 A CN 101914881A CN 201010237683 CN201010237683 CN 201010237683 CN 201010237683 A CN201010237683 A CN 201010237683A CN 101914881 A CN101914881 A CN 101914881A
Authority
CN
China
Prior art keywords
cpiii
net
point
data
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN 201010237683
Other languages
Chinese (zh)
Other versions
CN101914881B (en
Inventor
唐粮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yangzhou Tectang Technology Co ltd
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN2010102376834A priority Critical patent/CN101914881B/en
Publication of CN101914881A publication Critical patent/CN101914881A/en
Application granted granted Critical
Publication of CN101914881B publication Critical patent/CN101914881B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Length Measuring Devices By Optical Means (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention relates to the field of precise engineering survey, in particular to a method for rapidly measuring a foundation pile control net (CPIII) of a rapid transit railway on the basis of movable laser radar measuring technology and high-speed digital imaging technology. control net (CPIII) measurement data is obtained by using a movable high-precision measurement system comprising a laser scanner (1), a GPS/IMU positioning and orientating system (2), a high-speed digital imaging system (3), an industrial computer (4) and a power supply device (5); and united weighted adjustment is carried out on advanced net data, united measured data and auxiliary measurement points extracted from images to obtain high-precision control net (CPIII) control point coordinates. The invention can greatly shorten the measurement time of the control net (CPIII), overcomes the defect of little total correlation of discrete single-point measurement, carries out integral adjustment on all control points, has good closing property and high relative precision, obtains plane and elevation coordinates of all control points, and greatly simplifies the measurement work of the control net (CPIII).

Description

The quick measuring method of a kind of high-speed railway foundation pile control net CPIII
Technical field
The present invention relates to field of precise engineering survey, particularly based on the quick measuring method of the high-speed railway foundation pile control net CPIII of mobile lidar measurement and high speed digital image-forming technology.
Background technology
The high-speed railway engineering surveying control network is divided into three grades, and the first order is that circuit control net (CPII net), the third level are foundation pile control net (CPIII net) for basis control net (CPI net), the second level, the unified state coordinate system that adopts.The CPIII net is mainly track laying and operation maintenance provides the control benchmark, the control point is that road along the line direction is laid in pairs every 40-60 rice, the spacing at every pair of control point is about 15 meters, the CPIII control survey is to implement on circuit control net CPII coordinate results basis, the routine work method has followingly severally (draws " the accurate control net of high-speed railway CPIII measuring technique is analyzed " from Zhang Huairen and Wu Qiaosheng with the lower part, the scientific and technical innovation Leader, 2010, No.06):
(1) method of polar coordinates.On a CPII control point, establish the station,, directly measure the coordinate at CPIII control point with the polar coordinates method with another some orientation.This moment, CPIII measured as the point that looses, and its precision mainly is limited by restrictions such as point, instrument grade, observation conditions, and each CPIII point is all independently obtained, so the correlation of CPIII is not strong.
(2) angle measurement intersection.Establish the station respectively on two CPII control points, observe same CPIII control point, the angle value by CPII coordinate and observation carries out intersection and calculates, and obtains the coordinate at CPIII control point.But in actual observation, portion C PIII point can not be on two CPII directions intervisibility, simultaneously, the characteristic of strip line causes intersection angle too small, can influence the precision of plotted point.
(3) survey linear intersection.With the angle measurement intersection, on two CPII control points, establish the station respectively, observe same CPIII control point, carry out intersection by the distance of CPII coordinate and observation and calculate, obtain the coordinate at CPIII control point.The method is subjected to the influence of part observation condition equally, and other shading, instrument centering, instrument range accuracy etc. are bigger to the influence of precision as a result, need carry out the atmosphere refractive power, instrument adds corrections such as multiplying constant.
(4) offset distance intersection.The principle of offset distance intersection is: utilize two CPII control points to set up an orientation direction, measure the CPIII control point and arrive the distance at one of them CPII control point to vertical distance and intersection point on this direction, thereby calculate the coordinate at CPIII control point.The method is fairly simple in operation, and precision is higher.But not exclusively vertical because of offset distance with directed sight line, also need to adopt the quick short steps measuring method to measure CPIII point approximate coordinate at the railway opposite side.But this method method is the same with method of polar coordinates, and the correlation of each CPIII is not strong.
Above method be based on all that static measurement instruments such as total powerstation, transit, level gauge carry out by station discontinuous measuring method, consuming time very long, efficient is extremely low, and the observation condition (as atmosphere, light etc.) during to measurement requires very high, add that the correlation between the CPIII control point is not strong, can't guarantee the precision of CPIII foundation pile control net.
Summary of the invention
Along with the fast development of high speed railway construction, Code for engineering surveying is also constantly improving and is improving, and has the high-acruracy survey achievement that adopts corresponding new technology, new method could obtain to satisfy code requirement only.Problem such as the correlation between, CPIII control point low for the measurement efficient that solves above CPIII control survey method is not strong, the present invention has adopted a kind of completely new approach based on mobile lidar measurement and high speed digital image-forming technology, has improved the measurement efficient of CPIII net and the resistance to overturning of this control net itself widely.
The technical solution adopted for the present invention to solve the technical problems is: use the mobile high precision measuring system of being made up of laser scanner (1), GPS/IMU positioning and directing system (2), high speed digital imaging system (3), industrial control computer (4) and electric supply installation (5) to obtain CPIII net survey data, by uniting weighted adjustment according to the subsidiary point coordinate data of extracting in, translocation data and the image, obtain high-precision CPIII control point coordinate with senior netting index.
Before carrying out mobile lidar measurement, need to use the special-purpose laser measurement identifier of a kind of railway, the cloth mark is carried out at each control point of CPIII control net.The laser measurement identifier of railway special use is made up of object ball (6), centering rod (7) and fixed point identity device (8).The laser that mobile lidar measurement system sends at the volley arrives the receiver that turns back to laser scanner (1) behind object ball (6) surface from different perspectives, resolve based on measuring table GPS/IMU data, obtain a plurality of umbilical point coordinates, a need just can calculate the center point coordinate of spherical object thing by the coordinate of any three points on ball surface in theory, unnecessary point can be used for compensating computation, get rid of rough error, obtain more precise and stable object ball (6) center point coordinate, thereby set up the mathematical relationship between the control point of the central point of object ball (6) and fixed point identity device (8) sign, solve the Laser emission multi-angle of mobile laser radar system and cause the probabilistic problem of fixed point because of the Random Laser point.The parameters such as frequency of mobile platform speed, final certainty of measurement and laser scanner are the factors of decision object ball (6) size.Object ball (6) adopts the good material of laser reflectivity, has encoding of graphs on the sphere, is convenient to discern in digital image.
A kind of method of high-speed railway CPIII foundation pile control net being measured fast based on mobile lidar measurement and high speed digital image-forming technology, mobile high precision measuring system is installed on motion platform, use laser scanner (1) the CPIII net to be scanned along the high ferro circuit, use GPS/IMU positioning and directing system (2) to obtain each GPS position constantly in the motion, angle and acceleration information, use high speed digital imaging system (3) to take the overlapping digital image of many degree of CPIII net and periphery, by the data preliminary treatment, the base station data that the directed locator data of GPS/IMU is obtained in conjunction with the GPS base station, calculate motion trace data, re-use data processing software and laser point cloud initial data and digital image initial data are resolved be the digital image data behind three-dimensional point cloud and the geodetic orientation, calculate the observation coordinate at CPIII control point and the subsidiary point coordinates of choosing.For improving CPIII control point precision, select a pair of and CPII net to use the angle measurement intersection or the intersection of finding range is measured these CPIII translocation points as CPIII translocation point in all reasonable CPIII control point at sighting condition and aspect crossing for how much at a certain distance.With known CPI, CPII control point coordinate, the CPIII translocation point coordinates that measures and CPIII observation coordinate that calculates and subsidiary point coordinates, the associating weighted adjustment, excluding gross error, calculate accurate three-dimensional coordinate in each control point of CPIII and CPIII net mass parameter, as: RMS value, level and vertical error etc.
Owing to use high speed digital imaging system (3), the digital image that obtains has the overlapping characteristics of many degree, in these images, can extract a plurality of coding characteristic points that have the overlapping CPIII sphere of three degree at least and the obvious object of periphery as the subsidiary point.On the one hand, subsidiary point can participate in simultaneous adjustment and calculate, and improves the precision and the stability of CPIII control net, and on the other hand, subsidiary point also can be used as the foundation of checking CPIII control point precision.
For the certainty of measurement of guaranteeing the CPIII foundation pile control net can reach the millimeter level, mobile lidar measurement system should be equipped with high-frequency, high-precision laser scanner (1), be used for guaranteeing to obtain highdensity three-dimensional point cloud, GPS/IMU positioning and directing system (2) also needs the most advanced in the world positioning and directing of employing system, guarantee that the positioning and directing precision can be better than the millimeter level, digital camera per second in the high speed digital imaging system (3) should be able to be taken the digital image of number frame even tens of frames, consider the needs of night work, can also the infrared digital camera of integrated high-speed.
The present invention has shortened the Measuring Time of CPIII control net greatly, overcome the little shortcoming of discrete type spot measurement population characteristic valuve, overall adjustment is carried out at each control point, closed is good, the relative accuracy height, and obtain the plane and the elevation coordinate at each control point simultaneously, simplified the surveying work of CPIII foundation pile control net on a large scale effectively.
Description of drawings
Fig. 1 is the system schematic of the mobile lidar measurement system that uses of the present invention.
Fig. 2 is flow chart of data processing figure of the present invention.
Fig. 3 is the measurement flow chart of CPIII foundation pile control net of the present invention.
Fig. 4 is the schematic diagram of railway special measurement sign of the present invention.
The specific embodiment
Fig. 1 is the system schematic that high-speed railway of the present invention moves the lidar measurement system.This system is made up of laser scanner (1), GPS/IMU positioning and directing system (2), high speed digital imaging system (3), industrial computer (4) and electric supply installation (5).Electric supply installation (5) is that laser scanner (1), GPS/IMU positioning and directing system (2), high speed digital imaging system (3), industrial computer (4) provide electric power safeguard.Laser scanner (1), GPS/IMU positioning and directing system (2), high speed digital imaging system (3) are by industrial computer (4) control.System is installed on the motion platform, in motion process, by laser scanner (1) emission laser beam and receive the laser pulse of reflected back, by GPS/IMU positioning and directing system (2) obtain move in each positioning and directing data constantly, take CPIII control net digital image along the line by high speed digital imaging system (3), above data all arrive industrial computer (4) by cable storage, carry out data solver by data processing software again.
Fig. 2 is flow chart of data processing figure of the present invention.Obtain the laser scanning initial data of CPIII net along the high ferro circuit by laser scanner (1); By the positioning and directing data that GPS/IMU positioning and directing system (2) obtains, associating GPS base station data resolves and obtains motion trace data; Take the original digital image of CPIII net along the high ferro circuit by high speed digital imaging system (3).Go out the three-dimensional point cloud that CPIII nets by laser scanning initial data and motion trace data combined calculation, calculate the observation coordinate at CPIII control point; Digital image-forming initial data Union Movement track data carries out obtaining after data are handled the digital image after the orientation, therefrom extracts the coding characteristic point of CPIII sphere and the obvious object of periphery as the subsidiary point, calculates the three-dimensional coordinate of these subsidiary points.Select at a certain distance a pair of and CPII Netcom look and the how much all reasonable CPIII of encounter conditions control points as CPIII translocation point, use angle measurement intersection or range finding intersection that these CPIII translocation points are measured.With known CPI, CPII control point coordinate, the CPIII translocation point coordinates that measures and CPIII observation coordinate that calculates and subsidiary point coordinates, the associating weighted adjustment, excluding gross error, calculate accurate three-dimensional coordinate in each control point of CPIII and CPIII net mass parameter, as: RMS value, level and vertical error etc.
Fig. 3 is the measurement flow chart of CPIII foundation pile control net, and step is as follows:
Step S1: on each control point of CPIII net, lay the special-purpose laser measurement identifier of railway of the present invention;
Step S2: set up the GPS base station, setting up the place and should being chosen on the control point of CPI or CPII net of GPS base station is evenly distributed to few 3 GPS base stations about 10 kilometers measurement category planted agents;
Step S3: use mobile high precision measuring system that the CPIII net is scanned along the line, obtain laser scanning initial data, GPS/IMU positioning and directing data and digital image-forming initial data;
Step S4: select a pair of looking with how much all reasonable CPIII of encounter conditions to net the translocation point of control point at a certain distance, use the angle measurement intersection or the intersection of finding range that these CPIII net translocation points are measured as the CPIII net with CPII Netcom;
Step S5: resolve movement locus, the base station data that the GPS base station of setting up among the positioning and directing data integrating step S2 that high-precision GPS/IMU positioning and directing system (2) obtains obtains through the data preliminary treatment, calculates high-precision track data; The track data that the base station data that obtains based on a plurality of GPS base station of good geometry calculates precision and stable aspect all more excellent;
Step S6: the track data that calculates among laser scanning initial data and the step S5 is united the three-dimensional point cloud that calculates the CPIII net;
Step S7: the track data that calculates among digital image-forming initial data and the step S5 is united the CPIII net that calculates after the orientation and the digital image data of surrounding enviroment;
Step S8: extract the spherical coordinate of object ball (6) that CPIII in the three-dimensional point cloud nets the special-purpose laser measurement identifier of railway at each control point, calculate each sphere centre coordinate;
Step S9: utilize the mathematical relationship at center point coordinate and the control point of its sign of the object ball (6) of the special-purpose laser measurement identifier of railway, calculating CPIII nets the observation coordinate at each control point;
Step S10: utilize the digitized video correlation technique, in the overlapping digital image of many degree after orientation, sphere coding characteristic point and peripheral obviously object that extraction is laid in the special-purpose laser measurement identifier of railway on the CPIII net control point calculate the three-dimensional coordinate of these subsidiary points as the subsidiary point;
Step S11: known CPI, CPII network control system point coordinates, CPIII net observation coordinate, CPIII net translocation point coordinates, subsidiary point coordinates are united weighted adjustment, excluding gross error.
Calculate CPIII and net accurate three-dimensional coordinate in each control point and CPIII net mass parameter, as: RMS value, level and vertical error etc.
Fig. 4 is the schematic diagram of railway special measurement sign of the present invention, is made up of object ball (6), centering rod (7) and fixed point identity device (8).All imbed fixed point identity device (8) at each control point of CPIII foundation pile control net, erect centering rod (7) and object ball (6), if existing other signs on the CPIII net control point, can use the fixing railway special measurement sign of the present invention of additive method, aim at CPIII net control point as long as guarantee the tip of centering rod (7).

Claims (4)

1. the measuring method of a high-speed railway foundation pile control net CPIII, use is by laser scanner (1), GPS/IMU positioning and directing system (2), high speed digital imaging system (3), the mobile high precision measuring system that industrial computer (4) and electric supply installation (5) are formed, it is characterized in that: under the state of motion, obtain the laser point cloud and the digital image data of CPIII net in road along the line, associating GPS/IMU positioning and directing data, calculate the observation coordinate and the subsidiary point coordinates at CPIII net control point, by with known CPI, CPII network control system point coordinates, the CPIII translocation point coordinates that translocation obtains is united weighted adjustment, obtains precision and can reach three-dimensional coordinate and the CPIII net mass parameter that millimetre-sized CPIII nets each control point.
2. the measuring method of high-speed railway foundation pile control net CPIII according to claim 1, step is as follows:
Step S1: on each control point of CPIII net, lay the special-purpose laser measurement identifier of railway of the present invention;
Step S2: set up the GPS base station, setting up the place and should being chosen on the control point of CPI or CPII net of GPS base station is evenly distributed to few 3 GPS base stations about 10 kilometers measurement category planted agents;
Step S3: use mobile high precision measuring system that the CPIII net is scanned along the line, obtain laser scanning initial data, GPS/IMU positioning and directing data and digital image-forming initial data;
Step S4: select a pair of looking with how much all reasonable CPIII of encounter conditions to net the translocation point of control point at a certain distance, use the angle measurement intersection or the intersection of finding range that these CPIII net translocation points are measured as the CPIII net with CPII Netcom;
Step S5: resolve movement locus, the base station data that the GPS base station of setting up among the positioning and directing data integrating step S2 that high-precision GPS/IMU positioning and directing system (2) obtains obtains through the data preliminary treatment, calculates high-precision track data; The track data that the base station data that obtains based on a plurality of GPS base station of good geometry calculates precision and stable aspect all more excellent;
Step S6: the track data that calculates among laser scanning initial data and the step S5 is united the three-dimensional point cloud that calculates the CPIII net;
Step S7: the track data that calculates among digital image-forming initial data and the step S5 is united the CPIII net that calculates after the orientation and the digital image data of surrounding enviroment;
Step S8: extract the spherical coordinate of object ball (6) that CPIII in the three-dimensional point cloud nets the special-purpose laser measurement identifier of railway at each control point, calculate each sphere centre coordinate;
Step S9: utilize the mathematical relationship at center point coordinate and the control point of its sign of the object ball (6) of the special-purpose laser measurement identifier of railway, calculating CPIII nets the observation coordinate at each control point;
Step S10: utilize the digitized video correlation technique, in the overlapping digital image of many degree after orientation, sphere coding characteristic point and peripheral obviously object that extraction is laid in the special-purpose laser measurement identifier of railway on the CPIII net control point calculate the three-dimensional coordinate of these subsidiary points as the subsidiary point;
Step S11: known CPI, CPII network control system point coordinates, CPIII net observation coordinate, CPIII net translocation point coordinates, subsidiary point coordinates are united weighted adjustment, excluding gross error.
Calculate CPIII and net accurate three-dimensional coordinate in each control point and CPIII net mass parameter, as: RMS value, level and vertical error etc.
3. realize that the railway special measurement that uses in the measuring method of the described high-speed railway foundation pile control net of claim 2 CPIII identifies, form by object ball (6), centering rod (7) and fixed point identity device (8), it is characterized in that: marker uses object ball (6), solves the Laser emission multi-angle of mobile laser radar system and causes the probabilistic problem of fixed point because of the Random Laser point.
4. railway special measurement sign according to claim 3, it is characterized in that: object ball (6) adopts the good material of laser reflectivity, have encoding of graphs on the sphere, be convenient to discern in digital image, size is selected according to the parameters such as frequency of mobile platform speed, final certainty of measurement and laser scanner.
CN2010102376834A 2010-07-27 2010-07-27 Method for rapidly measuring foundation pile control net (CPIII) of rapid transit railway Expired - Fee Related CN101914881B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010102376834A CN101914881B (en) 2010-07-27 2010-07-27 Method for rapidly measuring foundation pile control net (CPIII) of rapid transit railway

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010102376834A CN101914881B (en) 2010-07-27 2010-07-27 Method for rapidly measuring foundation pile control net (CPIII) of rapid transit railway

Publications (2)

Publication Number Publication Date
CN101914881A true CN101914881A (en) 2010-12-15
CN101914881B CN101914881B (en) 2012-02-01

Family

ID=43322505

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2010102376834A Expired - Fee Related CN101914881B (en) 2010-07-27 2010-07-27 Method for rapidly measuring foundation pile control net (CPIII) of rapid transit railway

Country Status (1)

Country Link
CN (1) CN101914881B (en)

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101913368A (en) * 2010-08-11 2010-12-15 唐粮 System and method for fast precise measurement and total factor data acquisition of high speed railway
CN102147252A (en) * 2010-12-30 2011-08-10 中铁三局集团电务工程有限公司 Method for determining strut positions of contact network of special railway line for passenger traffic
CN102359042A (en) * 2011-07-22 2012-02-22 中南大学 Railway track accurate measurement control network establishing method
CN102425085A (en) * 2011-10-20 2012-04-25 中铁第一勘察设计院集团有限公司 CPIII plane network retesting method in running and maintaining phase of high-speed railway
CN102493296A (en) * 2011-11-24 2012-06-13 中铁四局集团第一工程有限公司 Method for measuring longspan steel truss girder rail control network
CN102518013A (en) * 2011-12-30 2012-06-27 中铁十二局集团第一工程有限公司 Method for construction of measurement and pavement of GRP (ground reference point) of ballastless track reference network
CN102953305A (en) * 2012-10-22 2013-03-06 中铁三局集团有限公司 Multilevel-control-network GPS (global positioning system) optimization measurement method
CN103103899A (en) * 2013-02-07 2013-05-15 中铁上海设计院集团有限公司 Track maintenance base point plane measurement method
CN103132412A (en) * 2013-02-07 2013-06-05 中铁上海设计院集团有限公司 Track maintenance base point lateral deviation measuring method based on Helen formula
CN103419812A (en) * 2013-09-04 2013-12-04 中国人民解放军国防科学技术大学 Rail subgrade settlement measuring method based on combination of camera shooting, satellite and inertia measurement
CN105316986A (en) * 2014-06-03 2016-02-10 北京星网宇达科技股份有限公司 Track parameter dynamic test car based on combination of inertial sensor and navigational satellite
CN105490810A (en) * 2014-09-19 2016-04-13 腾讯科技(深圳)有限公司 Method and device for processing virtual resource data and system
CN105844995A (en) * 2016-05-20 2016-08-10 中铁第勘察设计院集团有限公司 Railway line operation and maintenance measuring method based on vehicle-mounted LiDAR technology
CN105866764A (en) * 2015-12-01 2016-08-17 中国科学院上海技术物理研究所 On-satellite laser altimeter rough error elimination method integrated with multi-source data
CN106354008A (en) * 2016-08-10 2017-01-25 中铁第勘察设计院集团有限公司 CPIII (control points of III level) control net adjustment method
CN107422332A (en) * 2017-06-19 2017-12-01 广州普华灵动机器人技术有限公司 A kind of method for being applied to rail engineering machinery positioning based on CPIII control nets
CN108426601A (en) * 2017-02-12 2018-08-21 钱浙滨 A kind of orbital plane control net node working method and device
CN108663029A (en) * 2018-02-01 2018-10-16 深圳市建设综合勘察设计院有限公司 A kind of method, storage medium and terminal obtaining underwater cylindrical stub information
CN109351645A (en) * 2018-10-08 2019-02-19 广州德泰克自动化科技有限公司 A kind of automatic packages equipment of intelligence
CN109785381A (en) * 2018-12-06 2019-05-21 苏州炫感信息科技有限公司 A kind of optical inertial fusion space-location method, positioning device and positioning system
CN110108984A (en) * 2019-05-24 2019-08-09 中国南方电网有限责任公司超高压输电公司检修试验中心 The spatial relationship synchronous method of power-line patrolling laser radar system multisensor
CN110158381A (en) * 2019-06-04 2019-08-23 成都希格玛光电科技有限公司 A kind of orbital forcing method for fast measuring and system
CN110940271A (en) * 2019-11-14 2020-03-31 陕西国一四维航测遥感有限公司 Method for detecting, monitoring and intelligently carrying and installing large-scale industrial manufacturing of ships and the like based on space three-dimensional measurement and control network
CN111121735A (en) * 2020-01-03 2020-05-08 中国船舶重工集团公司第七0七研究所 Tunnel, subway and mine excavation tunneling autonomous positioning and orienting system and method
CN109459765B (en) * 2018-12-12 2020-09-01 中铁二局集团有限公司 High-precision tunnel independent control network establishment method based on existing GNSS control network
CN113362468A (en) * 2021-07-05 2021-09-07 上海大学 Dimension measuring method for hub of train wheel

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0914921A (en) * 1995-06-27 1997-01-17 Nikon Corp Non-contact three-dimensional measuring instrument
JP2002365054A (en) * 2001-06-08 2002-12-18 Sokkia Co Ltd Surveying equipment network system
JP2003240550A (en) * 2002-02-14 2003-08-27 Sokkia Co Ltd Automatic displacement measuring system
CN1877253A (en) * 2005-06-09 2006-12-13 山东科技大学 Vehicular three-dimensional measuring system and method for close-range target
CN101153796A (en) * 2006-09-25 2008-04-02 株式会社拓普康 Surveying method, surveying system and surveying data processing program
CN101819271A (en) * 2010-04-13 2010-09-01 唐粮 Laser measurement identifier

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0914921A (en) * 1995-06-27 1997-01-17 Nikon Corp Non-contact three-dimensional measuring instrument
JP2002365054A (en) * 2001-06-08 2002-12-18 Sokkia Co Ltd Surveying equipment network system
JP2003240550A (en) * 2002-02-14 2003-08-27 Sokkia Co Ltd Automatic displacement measuring system
CN1877253A (en) * 2005-06-09 2006-12-13 山东科技大学 Vehicular three-dimensional measuring system and method for close-range target
CN101153796A (en) * 2006-09-25 2008-04-02 株式会社拓普康 Surveying method, surveying system and surveying data processing program
CN101819271A (en) * 2010-04-13 2010-09-01 唐粮 Laser measurement identifier

Cited By (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101913368A (en) * 2010-08-11 2010-12-15 唐粮 System and method for fast precise measurement and total factor data acquisition of high speed railway
CN102147252B (en) * 2010-12-30 2013-10-30 中铁三局集团电务工程有限公司 Method for measuring strut positions of contact network of special railway line for passenger traffic
CN102147252A (en) * 2010-12-30 2011-08-10 中铁三局集团电务工程有限公司 Method for determining strut positions of contact network of special railway line for passenger traffic
CN102359042A (en) * 2011-07-22 2012-02-22 中南大学 Railway track accurate measurement control network establishing method
CN102425085A (en) * 2011-10-20 2012-04-25 中铁第一勘察设计院集团有限公司 CPIII plane network retesting method in running and maintaining phase of high-speed railway
CN102493296A (en) * 2011-11-24 2012-06-13 中铁四局集团第一工程有限公司 Method for measuring longspan steel truss girder rail control network
CN102493296B (en) * 2011-11-24 2013-08-07 中铁四局集团第一工程有限公司 Method for measuring longspan steel truss girder rail control network
CN102518013A (en) * 2011-12-30 2012-06-27 中铁十二局集团第一工程有限公司 Method for construction of measurement and pavement of GRP (ground reference point) of ballastless track reference network
CN102953305A (en) * 2012-10-22 2013-03-06 中铁三局集团有限公司 Multilevel-control-network GPS (global positioning system) optimization measurement method
CN102953305B (en) * 2012-10-22 2015-05-13 山西天昇测绘工程有限公司 Multilevel-control-network GPS (global positioning system) optimization measurement method
CN103132412A (en) * 2013-02-07 2013-06-05 中铁上海设计院集团有限公司 Track maintenance base point lateral deviation measuring method based on Helen formula
CN103103899B (en) * 2013-02-07 2015-03-25 中铁上海设计院集团有限公司 Track maintenance base point plane measurement method
CN103103899A (en) * 2013-02-07 2013-05-15 中铁上海设计院集团有限公司 Track maintenance base point plane measurement method
CN103419812A (en) * 2013-09-04 2013-12-04 中国人民解放军国防科学技术大学 Rail subgrade settlement measuring method based on combination of camera shooting, satellite and inertia measurement
CN103419812B (en) * 2013-09-04 2015-09-30 中国人民解放军国防科学技术大学 A kind of method of rail subgrade settlement measurement based on shooting and satellite and IMU
CN105316986A (en) * 2014-06-03 2016-02-10 北京星网宇达科技股份有限公司 Track parameter dynamic test car based on combination of inertial sensor and navigational satellite
CN105316986B (en) * 2014-06-03 2017-05-24 北京星网宇达科技股份有限公司 Track parameter dynamic test car based on combination of inertial sensor and navigational satellite
CN105490810A (en) * 2014-09-19 2016-04-13 腾讯科技(深圳)有限公司 Method and device for processing virtual resource data and system
CN105866764A (en) * 2015-12-01 2016-08-17 中国科学院上海技术物理研究所 On-satellite laser altimeter rough error elimination method integrated with multi-source data
CN105844995A (en) * 2016-05-20 2016-08-10 中铁第勘察设计院集团有限公司 Railway line operation and maintenance measuring method based on vehicle-mounted LiDAR technology
CN105844995B (en) * 2016-05-20 2018-11-09 中铁第一勘察设计院集团有限公司 Rail track operation maintenance measurement method based on vehicle-mounted LiDAR technologies
CN106354008A (en) * 2016-08-10 2017-01-25 中铁第勘察设计院集团有限公司 CPIII (control points of III level) control net adjustment method
CN106354008B (en) * 2016-08-10 2019-05-03 中铁第一勘察设计院集团有限公司 CPIII adjustment of control network method
CN108426601A (en) * 2017-02-12 2018-08-21 钱浙滨 A kind of orbital plane control net node working method and device
CN107422332A (en) * 2017-06-19 2017-12-01 广州普华灵动机器人技术有限公司 A kind of method for being applied to rail engineering machinery positioning based on CPIII control nets
CN108663029A (en) * 2018-02-01 2018-10-16 深圳市建设综合勘察设计院有限公司 A kind of method, storage medium and terminal obtaining underwater cylindrical stub information
CN109351645A (en) * 2018-10-08 2019-02-19 广州德泰克自动化科技有限公司 A kind of automatic packages equipment of intelligence
CN109785381A (en) * 2018-12-06 2019-05-21 苏州炫感信息科技有限公司 A kind of optical inertial fusion space-location method, positioning device and positioning system
CN109459765B (en) * 2018-12-12 2020-09-01 中铁二局集团有限公司 High-precision tunnel independent control network establishment method based on existing GNSS control network
CN110108984A (en) * 2019-05-24 2019-08-09 中国南方电网有限责任公司超高压输电公司检修试验中心 The spatial relationship synchronous method of power-line patrolling laser radar system multisensor
CN110108984B (en) * 2019-05-24 2021-07-16 中国南方电网有限责任公司超高压输电公司检修试验中心 Spatial relationship synchronization method for multiple sensors of power line patrol laser radar system
CN110158381A (en) * 2019-06-04 2019-08-23 成都希格玛光电科技有限公司 A kind of orbital forcing method for fast measuring and system
CN110940271A (en) * 2019-11-14 2020-03-31 陕西国一四维航测遥感有限公司 Method for detecting, monitoring and intelligently carrying and installing large-scale industrial manufacturing of ships and the like based on space three-dimensional measurement and control network
CN111121735A (en) * 2020-01-03 2020-05-08 中国船舶重工集团公司第七0七研究所 Tunnel, subway and mine excavation tunneling autonomous positioning and orienting system and method
CN113362468A (en) * 2021-07-05 2021-09-07 上海大学 Dimension measuring method for hub of train wheel
CN113362468B (en) * 2021-07-05 2022-06-03 上海大学 Dimension measuring method for hub of train wheel

Also Published As

Publication number Publication date
CN101914881B (en) 2012-02-01

Similar Documents

Publication Publication Date Title
CN101914881B (en) Method for rapidly measuring foundation pile control net (CPIII) of rapid transit railway
CN108181635B (en) Laser point cloud classification method for cross crossing analysis of power transmission line
CN102645203B (en) Power line crossover measurement method based on airborne laser radar data
CN101913368B (en) System and method for fast precise measurement and total factor data acquisition of high speed railway
CN105203023B (en) A kind of one-stop scaling method of vehicle-mounted three-dimensional laser scanning system placement parameter
CN106093963B (en) A method of improving the vehicle-mounted laser radar scanning data precision of railway
CN105865334B (en) Underground is built(Structure)Build object mapping method
CN109143257A (en) Unmanned aerial vehicle onboard radar mining land change monitors system and method
CN111458720A (en) Airborne laser radar data-based oblique photography modeling method for complex mountainous area
CN103644896B (en) A kind of engineering geological mapping method based on 3 D laser scanning
CN103196426A (en) Building surveying method utilizing total station and three-dimensional laser scanner
CN103747207A (en) Positioning and tracking method based on video monitor network
CN106092059A (en) A kind of works Horizontal Displacement Monitoring Method based on multi-point fitting
KR20130004227A (en) Method for determining the geographic coordinates of pixels in sar images
JP6531051B2 (en) Equipment state detection method and apparatus
CN109883418A (en) A kind of indoor orientation method and device
CN103217688A (en) Airborne laser radar point cloud adjustment computing method based on triangular irregular network
CN105844995B (en) Rail track operation maintenance measurement method based on vehicle-mounted LiDAR technologies
CN104007432A (en) Landmark laying method for checking plane precision of airborne laser radar
CN103777196B (en) Based on terrain object distance single station measuring method and the measuring system thereof of geography information
Li et al. High precision slope deformation monitoring by UAV with industrial photogrammetry
CN115713607A (en) Method for improving modeling quality based on laser radar and oblique photography
CN110069584A (en) A method of information collection and characteristic matching based on mobile terminal
CN104021259A (en) Ground scanning major-point cloud orientation method
CN104457756B (en) A kind of sea surface drag localization method based on two-shipper ranging

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C56 Change in the name or address of the patentee
CP02 Change in the address of a patent holder

Address after: 100081 room 7016, building 683, science and technology building, No. 5 South Main Street, Beijing, Haidian District, Zhongguancun

Patentee after: Tang Liang

Address before: 100101 Beijing city Chaoyang District Datun Road Theo center B block 19 layer

Patentee before: Tang Liang

CI01 Publication of corrected invention patent application

Correction item: Patentee

Correct: Tang Liang|100081 room 7016, building 683, science and technology building, No. 5 South Main Street, Beijing, Haidian District, Zhongguancun

False: Tang Liang|100081 room 7016, building 683, science and technology building, No. 5 South Main Street, Beijing, Haidian District, Zhongguancun

Number: 50

Volume: 26

ERR Gazette correction
C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20151207

Address after: 100083, Room 303, block A, real building, No. 7, Haidian District, Beijing, Zhichun Road

Patentee after: BEIJING TECTANG SCIENCE AND TECHNOLOGY Co.,Ltd.

Address before: 100081 room 7016, building 683, science and technology building, No. 5 South Main Street, Beijing, Haidian District, Zhongguancun

Patentee before: Tang Liang

TR01 Transfer of patent right

Effective date of registration: 20180108

Address after: 225000 No. 43, Taizhou Road, Guangling District, Jiangsu, Yangzhou

Patentee after: YANGZHOU TECTANG TECHNOLOGY CO.,LTD.

Address before: 100083, Room 303, block A, real building, No. 7, Haidian District, Beijing, Zhichun Road

Patentee before: BEIJING TECTANG SCIENCE AND TECHNOLOGY Co.,Ltd.

TR01 Transfer of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120201

Termination date: 20210727

CF01 Termination of patent right due to non-payment of annual fee