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 PDFInfo
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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
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.
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