CN102095402B - Combination Orientation Method of Plug and Play Fiber Optic Gyroscope Total Station - Google Patents

Combination Orientation Method of Plug and Play Fiber Optic Gyroscope Total Station Download PDF

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CN102095402B
CN102095402B CN2010105792969A CN201010579296A CN102095402B CN 102095402 B CN102095402 B CN 102095402B CN 2010105792969 A CN2010105792969 A CN 2010105792969A CN 201010579296 A CN201010579296 A CN 201010579296A CN 102095402 B CN102095402 B CN 102095402B
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total powerstation
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telescope
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于先文
王庆
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Southeast University
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Abstract

A combined orientation method of plug-and-play optical fiber gyroscope total station is a hardware combination method, operation flow and calculation formula applied to mapping work, and the method is to determine the longitude of known point
Figure DEST_PATH_IMAGE002
The method comprises the steps of leveling and centering a total station on a control point, fixedly connecting an optical fiber gyroscope to a total station telescope through a locking device, connecting a power supply and computing equipment with the optical fiber gyroscope, driving the total station telescope to an east position and a west position which are horizontally different by 180 degrees through a horizontal rotation total station sighting part, driving the optical fiber gyroscope to an east compensation position and a west compensation position through a vertical rotation total station telescope by 180 degrees at the east position and the west position respectively, measuring the rotational angular speed of the earth by utilizing the optical fiber gyroscope at the four positions respectively, and calculating the true azimuth angle of a sighting axis of the total station when the east position is obtained through measurement data. The invention has simple structureAnd the total station orientation can be realized under the condition of only one control point by simple operation without calibrating the connection error.

Description

即插即用式光纤陀螺全站仪组合定向方法Combination Orientation Method of Plug and Play Fiber Optic Gyroscope Total Station

技术领域 technical field

本发明涉及一种定向方法,具体是一种应用于测绘工作的即插即用式光纤陀螺与全站仪组合定向方法,本发明属于机械测绘的技术领域。The invention relates to an orientation method, in particular to a combined orientation method of a plug-and-play optical fiber gyroscope and a total station for surveying and mapping. The invention belongs to the technical field of mechanical surveying and mapping.

背景技术 Background technique

在测绘工作中,利用全站仪进行碎部点测量或放样时,需要先确定全站仪视准轴的方位角,即进行全站仪定向。现行的全站仪定向方法是把全站仪架设在一个已知控制点上,后视另一个相隔较远的已知控制点,利用两点坐标反算获得全站仪视准轴方位角。GPS定位技术具有点位测量时不需要点间通视的优势,目前已成为进行控制测量的主要手段。现行的全站仪定向方法要求GPS测得控制点间即需要通视又需要相隔一定的距离,这使得GPS技术的优势没能充分发挥,同时也给在通视困难地区的控制点布设带来了难度。因此,实际工作迫切需要一种可行简便的定向方法,实现在只有一个GPS控制点的情况下就可以完成角秒级的全站仪定向,免去需要有一个用于定向的后视点的麻烦。使用现有的角秒级陀螺经纬仪虽能满足上述要求,但由于使用的是机械陀螺,设备笨重且价格昂贵,目前主要用于井下坑道测量。使用该类仪器前需进行仪器常数标定,且定向的操作过程复杂,这都使得其难以在普通测绘工作中推广;况且目前由于全站仪具有经纬仪无法比拟的优点,经纬仪在绝大数测绘工作中已被全站仪取代。In surveying and mapping work, when using the total station for point measurement or stakeout, it is necessary to first determine the azimuth of the total station's collimation axis, that is, to carry out the total station orientation. The current total station orientation method is to set up the total station on a known control point, look back at another known control point far away, and obtain the azimuth of the total station's collimation axis by inverse calculation of the coordinates of the two points. GPS positioning technology has the advantage of not needing inter-point vision during point measurement, and has become the main means of control measurement. The current total station orientation method requires that the control points measured by GPS need to be both in sight and at a certain distance, which makes the advantages of GPS technology not fully utilized, and also brings difficulties to the layout of control points in areas where visibility is difficult. difficulty. Therefore, there is an urgent need for a feasible and simple orientation method in practical work, which can realize the orientation of the total station at the arc-second level with only one GPS control point, and avoid the trouble of having a backsight point for orientation. Although the use of the existing arc-second gyro theodolite can meet the above requirements, but because the mechanical gyro is used, the equipment is heavy and expensive, and it is mainly used for underground tunnel measurement at present. Before using this type of instrument, it is necessary to calibrate the instrument constant, and the operation process of orientation is complicated, which makes it difficult to popularize in ordinary surveying and mapping work; moreover, because the total station has the incomparable advantages of theodolite, theodolite is used in most surveying and mapping work. has been replaced by a total station.

2007年9月12日公开了一种基于光纤陀螺的全站仪组合定向方法(专利号200710020904),该发明是将光纤陀螺以其轴与全站仪的横轴不超过5度夹角的方式安装到全站仪望远镜上,同时要求光纤陀螺安装到全站仪望远镜上还应满足光纤陀螺能随全站仪望远镜绕全站仪横轴做180度转动。通过水平转动全站仪照准部带动全站仪望远镜分别到相差180度的东向位置和西向位置,在东向位置和西向位置再分别通过竖直转动全站仪望远镜180度,带动光纤陀螺到东向抵偿位置和西向抵偿位置,在上述四个位置利用光纤陀螺对地球自转角速度分别进行不少于n次重复测量,利用测量数据进行如下过程解算:On September 12, 2007, a combined orientation method of a total station based on a fiber optic gyroscope (patent number 200710020904) was disclosed. Installed on the total station telescope, at the same time, it is required that the fiber optic gyro should be installed on the total station telescope, and the fiber optic gyro should also be able to rotate 180 degrees around the transverse axis of the total station with the total station telescope. Drive the total station telescope to the east and west positions with a difference of 180 degrees by horizontally rotating the collimating part of the total station, and then rotate the total station telescope 180 degrees vertically to drive the fiber optic gyroscope in the east and west positions Go to the eastward compensation position and the westward compensation position, use the fiber optic gyroscope to measure the earth's rotation angular velocity at the above four positions for no less than n times, and use the measurement data to perform the following process calculation:

-1--1-

①计算东向位置时全站仪横轴真方位角α1,具体如下:① When calculating the eastward position, the true azimuth α 1 of the transverse axis of the total station is as follows:

αα 11 == 11 22 arccosarccos [[ ww 11 -- ww 44 22 ww ieie coscos BB ·· coscos ξξ -- tgBtB ·· tgξtgξ ]]

式(1)Formula 1)

++ 11 22 arccosarccos [[ ww 22 -- ww 33 22 ww ieie coscos BB ·&Center Dot; coscos ξξ -- tgBtB ·· tgξtgξ ]]

其中:wie为已知地球自转角速度,B为控制点纬度,w1为东向位置光纤陀螺进行不少于n次重复测量的平均值,w2为东向抵偿位置光纤陀螺进行不少于n次重复测量的平均值,w3为西向抵偿位置光纤陀螺进行不少于n次重复测量的平均值,w4为西向位置光纤陀螺进行不少于n次重复测量的平均值,ξ为全站仪给出的自身竖轴倾斜角在横轴方向的投影角;Among them: w ie is the known angular velocity of the earth's rotation, B is the latitude of the control point, w 1 is the average value of no less than n repeated measurements of the eastward position of the FOG, w 2 is the eastward compensation position of the FOG for no less than The average value of n repeated measurements, w 3 is the average value of not less than n repeated measurements by the fiber optic gyroscope at the westward compensation position, w 4 is the average value of not less than n repeated measurements by the westward position fiber optic gyroscope, ξ is the full The projection angle of the inclination angle of the vertical axis given by the station instrument in the direction of the horizontal axis;

②利用测站经度B、纬度L,高斯投影中央子午线经度L0,WGS-84椭球长半轴a、短半轴b,计算本控制点子午线收敛角γ;② Calculate the meridian convergence angle γ of this control point by using the station longitude B, latitude L, Gaussian projection central meridian longitude L 0 , WGS-84 ellipsoid major semi-axis a, minor semi-axis b;

γ = l · sin B + l 3 3 · sin B · cos 2 B · ( 1 + 3 y 2 + 2 · y 4 ) + l 5 15 · sin B · cos 4 B · ( 2 - t 2 ) 式(2) γ = l &Center Dot; sin B + l 3 3 &Center Dot; sin B &Center Dot; cos 2 B &Center Dot; ( 1 + 3 the y 2 + 2 &Center Dot; the y 4 ) + l 5 15 &Center Dot; sin B &Center Dot; cos 4 B &Center Dot; ( 2 - t 2 ) Formula (2)

其中:t=tgB;

Figure BDA0000036968400000022
l=L-L0;a为WGS-84椭球长半轴;b为WGS-84椭球短半轴;L为本观测点经度;L0为高斯投影中央子午线经度;Where: t = tgB;
Figure BDA0000036968400000022
l=LL 0 ; a is the semi-major axis of the WGS-84 ellipsoid; b is the semi-minor axis of the WGS-84 ellipsoid; L is the longitude of the observation point; L 0 is the longitude of the central meridian of the Gaussian projection;

③计算出东向位置时全站仪望远镜视准轴的坐标方位角α2,即实现全站仪定向,具体如下:③Calculate the coordinate azimuth α 2 of the collimation axis of the total station telescope at the eastward position, that is, realize the orientation of the total station, as follows:

α2=α1+γ+90                式(3)α 21 +γ+90 Formula (3)

该发明存在如下不足:首先是“光纤陀螺以其轴与全站仪的横轴不超过5度夹角的方式安装到全站仪望远镜上”这一条件对连接装置的设计与加工要求很高,为防止变形,对连接装置的材料选择也提出了很高的要求;其次,利用式(1)计算结果受安装误差角的影响较大,同时也受到全站仪横轴误差的影响;再者,采用该发明的安装方法,由于安装误差限值较小且连接装置悬臂较长,在工作现场安装难度较大。This invention has the following deficiencies: firstly, the condition that "the fiber optic gyroscope is installed on the telescope of the total station in such a way that the angle between its axis and the transverse axis of the total station does not exceed 5 degrees" requires very high requirements for the design and processing of the connecting device , in order to prevent deformation, high requirements are put forward for the material selection of the connecting device; secondly, the calculation result using formula (1) is greatly affected by the installation error angle, and is also affected by the transverse axis error of the total station; Or, using the installation method of the invention, due to the small installation error limit and the long cantilever of the connecting device, it is difficult to install at the work site.

光纤陀螺在每次开机后的测量值中都会有一个事先未知的陀螺零偏误差,这会对计算光纤陀螺轴的方位角带来误差;另外,光纤陀螺只能得到光纤陀螺轴与地球自转轴间的夹角,而在全站仪工作中,需要得到的是全站仪视准轴方位角,因此光纤陀螺轴与全站仪视准轴间存在连接误差角。There will be a previously unknown gyroscope zero bias error in the measured value after each power-on of the fiber optic gyroscope, which will bring errors to the calculation of the azimuth angle of the fiber optic gyroscope axis; In the work of the total station, what needs to be obtained is the azimuth of the collimation axis of the total station, so there is a connection error angle between the fiber optic gyro axis and the collimation axis of the total station.

发明内容 Contents of the invention

技术问题:本发明针对现有技术的不足与缺陷,提供一种即插即用式光纤陀螺全站仪组合定向方法,通过锁紧装置,将光纤陀螺背驼在全站仪望远镜上。利用全站仪望远镜可以带动光纤陀螺精确做水平和竖直各转过180度的特点,利用相应的算法,有效地消除了陀螺零偏误差和连接误差角等系统误差对全站仪定向精度的影响,使用中不用进行连接误差角标定即可得到角秒级的全站仪视准轴方位角,实现在只有一个GPS控制点的情况下即可以完成全站仪定向。Technical problem: In view of the deficiencies and defects of the prior art, the present invention provides a plug-and-play type fiber optic gyroscope combined orientation method, through the locking device, the fiber optic gyroscope is hunchbacked on the total station telescope. Using the total station telescope can drive the fiber optic gyroscope to accurately rotate 180 degrees horizontally and vertically, and use the corresponding algorithm to effectively eliminate the influence of system errors such as gyroscope zero bias error and connection error angle on the orientation accuracy of the total station Influence, the azimuth of the line of sight of the total station at the arc-second level can be obtained without calibration of the connection error angle during use, and the orientation of the total station can be completed when there is only one GPS control point.

技术方案:本发明的即插即用式光纤陀螺全站仪组合定向方法为:在已知点位经度B的控制点上整平对中全站仪,将光纤陀螺通过锁紧装置固连到全站仪望远镜上,将电源和计算设备与光纤陀螺连接,通过水平转动全站仪照准部带动全站仪望远镜分别到相差180度的东向位置和西向位置,在东向位置和西向位置再分别通过竖直转动全站仪望远镜180度,带动光纤陀螺到东向抵偿位置和西向抵偿位置,在上述四个位置利用光纤陀螺对地球自转角速度分别进行不少于n次重复测量,利用测量数据进行如下过程解算:Technical solution: The combined orientation method of the plug-and-play fiber optic gyroscope total station of the present invention is as follows: level the centering total station at the control point of known point longitude B, and fix the fiber optic gyroscope to the On the total station telescope, connect the power supply and computing equipment with the fiber optic gyroscope, and drive the total station telescope to the east and west positions with a difference of 180 degrees by horizontally rotating the collimating part of the total station. Then respectively rotate the total station telescope 180 degrees vertically to drive the fiber optic gyroscope to the eastward compensation position and the westward compensation position, and use the fiber optic gyroscope to perform no less than n times of repeated measurements on the earth's rotation angular velocity at the above four positions. The data is processed as follows:

①计算东向位置时全站仪视准轴真方位角α,具体如下:① When calculating the eastward position, the true azimuth α of the collimation axis of the total station is as follows:

αα == 11 22 (( arccosarccos ww 11 -- ww 22 22 ww ieie coscos (( BB ++ ττ NN )) ++ arccosarccos ww 33 -- ww 44 22 ww ieie coscos (( BB ++ ττ NN )) ))

其中:wie为已知地球自转角速度,w1为在东向位置光纤陀螺进行不少于n次重复测量的平均值,w2为在西向位置光纤陀螺进行不少于n次重复测量的平均值,w3为在东向抵偿位置光纤陀螺进行不少于n次重复测量的平均值,w4为在西向抵偿位置光纤陀螺进行不少于n次重复测量的平均值,τN为全站仪给出的自身竖轴倾斜角在子午面上的投影角,向北为正,向南为负,B为控制点的纬度。Among them: w ie is the known earth rotation angular velocity, w 1 is the average value of not less than n repeated measurements by the fiber optic gyroscope at the eastward position, and w 2 is the average value of not less than n repeated measurements by the fiber optic gyroscope at the westward position value, w 3 is the average value of not less than n repeated measurements of the fiber optic gyro at the eastward compensation position, w 4 is the average value of no less than n repeated measurements of the fiber optic gyroscope at the westward compensation position, τ N is the total station The projection angle of the inclination angle of the vertical axis given by the instrument on the meridian plane is positive to the north and negative to the south, and B is the latitude of the control point.

光纤陀螺安装到全站仪望远镜上应满足光纤陀螺能随全站仪望远镜绕全站仪横轴从光纤陀螺轴放水平时的全站仪竖直度盘位置读数β位置竖直转动180°。The fiber optic gyroscope installed on the total station telescope should meet the requirement that the fiber optic gyroscope can rotate 180° vertically with the total station telescope around the transverse axis of the total station from the position reading β of the vertical dial of the total station when it is placed horizontally from the fiber optic gyroscope axis.

所述重复测量的次数n的确定方法为:The determination method of the number of times n of described repeated measurement is:

nno == (( mm ww 44 ww ieie ·&Center Dot; coscos (( BB ++ ττ NN )) ·· sinsin αα 00 ·&Center Dot; mm αα )) 22

其中,wie为已知地球自转角速度;mw为光纤陀螺零偏稳定性;mα为定向需求精度, α0为东向位置时全站仪视准轴真方位角α的概略值。Among them, w ie is the known angular velocity of the earth's rotation; m w is the bias stability of the fiber optic gyroscope; m α is the orientation requirement accuracy, and α 0 is the approximate value of the true azimuth α of the collimation axis of the total station at the east position.

所述全站仪给出的自身竖轴倾斜角在子午面上的投影角τN的计算方法为:The calculation method of the projection angle τ N of the self vertical axis inclination angle on the meridian plane provided by the total station is:

τN=arcsin(sinτy·cosα0+sinτx·sinα0)τ N =arcsin(sinτ y ·cosα 0 +sinτ x ·sinα 0 )

其中,τx为全站仪水平电子气泡横轴分量读数;τy为全站仪水平电子气泡垂直横轴的分量读数,α0为东向位置时全站仪视准轴真方位角α的概略值。Among them, τ x is the reading of the horizontal axis component of the horizontal electronic bubble of the total station; τ y is the reading of the component of the vertical horizontal axis of the horizontal electronic bubble of the total station; Approximate value.

所述竖直度盘读数β为即插即用式光纤陀螺全站仪组合装置在精密水平转动转台上出厂标定所得。The reading β of the vertical dial is obtained by ex-factory calibration of the plug-and-play fiber optic gyro total station combination device on a precision horizontal turntable.

有益效果:本发明所述的即插即用式光纤陀螺全站仪组合定向方法对连接误差角没有限差要求,使得用于连接的锁紧装置制造简单,选材上除了要求结实牢固、尽可能轻便外,没有特殊要求。同时,本发明采用背驮式连接方式,通过锁紧装置连接光纤陀螺与全站仪照准部,使得现场将光纤陀螺安装到全站仪照准部上的工作更加简单方便。也不需进行连接误差角标定,操作过程简单,完成定向后即可取下。该方法可适用现有各类全站仪。Beneficial effects: the combined orientation method of the plug-and-play fiber optic gyroscope total station described in the present invention has no tolerance requirements on the connection error angle, which makes the locking device used for connection simple to manufacture. Apart from portability, there are no special requirements. At the same time, the present invention adopts a piggyback connection mode, and connects the fiber optic gyroscope and the collimating part of the total station through a locking device, so that the work of installing the fiber optic gyroscope on the collimating part of the total station on site is simpler and more convenient. There is no need to calibrate the connection error angle, the operation process is simple, and it can be removed after the orientation is completed. This method can be applied to various existing total stations.

本发明所述的即插即用式光纤陀螺/全站仪组合定向方法可以有效消除光纤陀螺零偏误差和陀螺连接至全站仪上带来的连接误差角对全站仪定向带来的精度影响。由于本发明采用的操作方法及计算方法,使得光纤陀螺零偏误差得到了消除,同时,连接误差角在水平面上投影分量对定向精度的影响也得到了消除。通过出厂前在精密水平转动转台上标定,可得光纤陀螺轴水平时全站仪竖直度盘读数β,使得连接误差角在竖直面上投影分量对定向精度的影响也得到了消除。每次工作时,现场将光纤陀螺通过锁紧装置安装到全站仪照准部上,会存在微小的安装误差;该误差对定向精度的影响小于1″。另外,本发明采用的操作方法及计算方法,使得到的全站仪视准轴方位角不受全站仪横轴误差的影响。The plug-and-play fiber optic gyroscope/total station combined orientation method of the present invention can effectively eliminate the zero bias error of the fiber optic gyroscope and the connection error angle caused by the connection of the gyroscope to the total station and the accuracy of the orientation of the total station Influence. Due to the operation method and calculation method adopted in the present invention, the zero bias error of the fiber optic gyroscope is eliminated, and at the same time, the influence of the projection component of the connection error angle on the horizontal plane on the orientation accuracy is also eliminated. Through calibration on the precision horizontal turntable before leaving the factory, the vertical dial reading β of the total station can be obtained when the fiber optic gyroscope axis is horizontal, so that the influence of the projection component of the connection error angle on the vertical surface on the orientation accuracy is also eliminated. When working every time, the fiber optic gyroscope is installed on the aiming part of the total station by the locking device on the spot, and there will be a slight installation error; the impact of this error on the orientation accuracy is less than 1 ". In addition, the operating method adopted in the present invention and The calculation method makes the azimuth of the collimation axis of the total station not affected by the error of the transverse axis of the total station.

附图说明 Description of drawings

图1为即插即用式光纤陀螺全站仪组合定向方法技术流程图;Fig. 1 is the technical flowchart of the combined orientation method of the plug-and-play fiber optic gyroscope total station;

图2为光纤陀螺与全站仪望远镜间的连接方式图;Figure 2 is a connection diagram between the fiber optic gyroscope and the total station telescope;

其中有:光纤陀螺1、锁紧装置2、全站仪望远镜3、电源4、计算设备5。Among them are: fiber optic gyroscope 1, locking device 2, total station telescope 3, power supply 4, computing equipment 5.

具体实施方式 Detailed ways

本发明是利用光纤陀螺敏感地球自转角速度为全站仪定向,具体技术方案是:在已知点位经度B的控制点上整平对中全站仪,将光纤陀螺通过锁紧装置固连到全站仪望远镜上,将电源和计算设备与光纤陀螺连接,通过水平转动全站仪照准部带动全站仪望远镜分别到水平相差180度的东向位置和西向位置,在东向位置和西向位置再分别通过竖直转动全站仪望远镜180度,带动光纤陀螺到东向抵偿位置和西向抵偿位置,在上述四个位置利用光纤陀螺对地球自转角速度分别进行不少于n次重复测量,利用测量数据计算东向位置时全站仪视准轴真方位角α,计算公式如下:The present invention utilizes the earth's rotation angular velocity sensitive to the optical fiber gyroscope to orient the total station, and the specific technical solution is: level the centering total station at the control point of the known point longitude B, and fix the optical fiber gyroscope to the On the total station telescope, connect the power supply and computing equipment with the fiber optic gyroscope, and drive the total station telescope to the east and west positions with a horizontal difference of 180 degrees by horizontally rotating the sighting part of the total station. The positions are then rotated vertically by 180 degrees of the total station telescope to drive the fiber optic gyroscope to the east compensation position and the west compensation position. In the above four positions, the fiber optic gyroscope is used to measure the earth's rotation angular velocity for no less than n times. The measurement data calculates the true azimuth α of the collimation axis of the total station when calculating the eastward position, and the calculation formula is as follows:

α = 1 2 ( arccos w 1 - w 2 2 w ie cos ( B + τ N ) + arccos w 3 - w 4 2 w ie cos ( B + τ B ) ) 式(4) α = 1 2 ( arccos w 1 - w 2 2 w ie cos ( B + τ N ) + arccos w 3 - w 4 2 w ie cos ( B + τ B ) ) Formula (4)

其中:wie为已知地球自转角速度,w1为在东向位置光纤陀螺(1)进行不少于n次重复测量的平均值,w2为在西向位置光纤陀螺(1)进行不少于n次重复测量的平均值,w3为在东向抵偿位置光纤陀螺(1)进行不少于n次重复测量的平均值,w4为在西向抵偿位置光纤陀螺(1)进行不少于n次重复测量的平均值,τN为全站仪给出的自身竖轴倾斜角在子午面上的投影角,向北为正,向南为负,B为控制点的纬度。Among them: w ie is the known earth rotation angular velocity, w 1 is the average value of no less than n repeated measurements made by the fiber optic gyroscope (1) in the east direction, and w 2 is not less than The average value of n times of repeated measurements, w 3 is the average value of not less than n times of repeated measurements carried out by the fiber optic gyro (1) in the east direction compensation position, w 4 is not less than n times by the fiber optic gyroscope (1) in the west direction compensation position The average value of repeated measurements, τ N is the projection angle of the vertical axis inclination angle on the meridian plane given by the total station, positive to the north, negative to the south, and B is the latitude of the control point.

所述的光纤陀螺(1)安装到全站仪望远镜(3)上应满足光纤陀螺(1)能随全站仪望远镜(3)绕全站仪横轴(4)从光纤陀螺轴放水平时的全站仪竖直度盘位置读数β位置竖直转动180°。The installation of the fiber optic gyroscope (1) on the total station telescope (3) should satisfy the requirement that the fiber optic gyroscope (1) can be placed horizontally from the fiber optic gyro axis around the total station transverse axis (4) along with the total station telescope (3) The position reading β of the vertical dial of the total station is rotated vertically by 180°.

所述重复测量的次数n的确定方法为:The determination method of the number of times n of described repeated measurement is:

n = ( m w 4 w ie · cos ( B + τ N ) · sin α 0 · m α ) 2 式(5) no = ( m w 4 w ie &Center Dot; cos ( B + τ N ) &Center Dot; sin α 0 &Center Dot; m α ) 2 Formula (5)

其中,wie为已知地球自转角速度;mw为光纤陀螺零偏稳定性;mα为定向需求精度,α0为东向位置时全站仪视准轴真方位角α的概略值。Among them, w ie is the known angular velocity of the earth's rotation; m w is the bias stability of the fiber optic gyroscope; m α is the required orientation accuracy, and α 0 is the approximate value of the true azimuth α of the collimation axis of the total station at the eastward position.

所述全站仪给出的自身竖轴倾斜角在子午面上的投影角τN的计算方法为:The calculation method of the projection angle τ N of the self vertical axis inclination angle on the meridian plane provided by the total station is:

τN=arcsin(sinτy·cosα0+sinτx·sinα0)                 式(6)τ N =arcsin(sinτ y ·cosα 0 +sinτ x ·sinα 0 ) Formula (6)

其中,τx为全站仪水平电子气泡横轴分量读数;τy为全站仪水平电子气泡垂直横轴的分量读数,α0为东向位置时全站仪视准轴真方位角α的概略值。所述竖直度盘读数β为即插即用式光纤陀螺/全站仪组合装置在精密水平转动转台上出厂标定所得。Among them, τ x is the reading of the horizontal axis component of the horizontal electronic bubble of the total station; τ y is the reading of the component of the vertical horizontal axis of the horizontal electronic bubble of the total station; Approximate value. The reading β of the vertical dial is obtained by ex-factory calibration of the plug-and-play fiber optic gyroscope/total station combination device on a precision horizontal turntable.

下面结合附图和实施例对本发明进一步进行说明:Below in conjunction with accompanying drawing and embodiment the present invention is further described:

图1为即插即用式光纤陀螺全站仪组合定向方法技术流程图,其包含七个操作步骤。应用本发明的具体实施例是在南京市玄武区进行地籍测绘时,在控制点A上进行全站仪定向。控制点A处于某居民小区内,四周被建筑物包围,按传统全站仪定向方法需在距控制点A二百米以远处布设一用于定向的控制点B,这是很困难的,利用本发明不需布控制点B就可以完成全站仪定向。本实施例采用了北京航空航天大学研制的型号为F98H-M型光纤陀螺仪(产品编号:F98H-M0902017),数据记录和计算利用型号为多普达696的PDA进行,采用的全站仪型号为尼康DTM-452C。在控制点A利用本发明进行全站仪定向的具体操作及计算过程如下:Fig. 1 is a technical flowchart of the combined orientation method of the plug-and-play fiber optic gyro total station, which includes seven operation steps. A specific embodiment of the application of the present invention is to carry out total station orientation on control point A when carrying out cadastral surveying and mapping in Xuanwu District, Nanjing. Control point A is in a residential area surrounded by buildings. According to the traditional total station orientation method, a control point B for orientation needs to be arranged at a distance of 200 meters from control point A. This is very difficult. Utilizing the invention, the orientation of the total station can be completed without distributing the control point B. This embodiment adopts the model F98H-M type fiber optic gyroscope (product number: F98H-M0902017) developed by Beihang University, and the data recording and calculation are carried out by the PDA model of Dopod 696, and the model of the total station adopted is Nikon DTM-452C. Utilize the present invention to carry out the specific operation and calculation process of total station orientation at control point A as follows:

1)全站仪安置:在已知点纬度为32°03′28″的控制点A上安置全站仪;1) Total station installation: install the total station on the control point A whose known point latitude is 32°03′28″;

2)在全站仪上安装光纤陀螺:如图2,通过锁紧装置2将光纤陀螺1固连到全站仪望远镜3上,将电源4和计算设备5与光纤陀螺1连接,并开机;2) Install the fiber optic gyroscope on the total station: as shown in Figure 2, connect the fiber optic gyroscope 1 to the total station telescope 3 through the locking device 2, connect the power supply 4 and the computing device 5 to the fiber optic gyroscope 1, and turn it on;

3)东向位置采集:水平转动全站仪照准部使光纤陀螺1的轴概略指向东向后水平制动全站仪照准部,把全站仪望远镜3转到竖直度盘149°23′12″位置并竖直制动;从全站仪上读取水平电子气泡横轴分量读数τx-29″、垂直横轴的分量读数τy为55″;本实施例的定向需求精度为30角秒,全站仪横轴真方位角的概略值取90度,由式5计算得n为758次,对于本实施例即光纤陀螺每位置工作8秒钟;数据采集:按PDA上的工作键对光纤陀螺1所测得数据进行存储,8秒钟后按PDA上停止键停止对光纤陀螺1所测得数据进行存储,并算得平均值w1为-2.226671165度/小时;3) Eastward position collection: horizontally rotate the collimating part of the total station so that the axis of the fiber optic gyroscope 1 roughly points to the east, then horizontally brake the collimating part of the total station, and turn the telescope 3 of the total station to a vertical dial of 149° 23'12 "position and vertical braking; read the horizontal electronic bubble horizontal axis component reading τ x -29 " from the total station, and the vertical horizontal axis component reading τ y is 55 "; the orientation requirement accuracy of the present embodiment Be 30 arc seconds, the approximate value of the true azimuth angle of the transverse axis of the total station is 90 degrees, and n is calculated as 758 times by formula 5. For the present embodiment, the fiber optic gyroscope works for 8 seconds at each position; data collection: press the button on the PDA Press the working key to store the data measured by the fiber optic gyroscope 1. After 8 seconds, press the stop button on the PDA to stop storing the data measured by the fiber optic gyroscope 1, and calculate the average w 1 to be -2.226671165 degrees/hour;

4)西向位置采集:松开全站仪水平制动螺旋,转动全站仪照准部180度后水平制动;重复步骤3)的数据采集过程,并算得平均值w2为2.326716191度/小时;4) Westward position collection: Loosen the horizontal braking screw of the total station, turn the sighting part of the total station 180 degrees and brake horizontally; repeat the data collection process of step 3), and calculate the average w 2 to be 2.326716191 degrees/hour ;

5)东向抵偿位置采集:松开全站仪竖直制动螺旋,并转动全站仪望远镜3从竖盘149°23′12″位置到竖盘329°23′12″位置后竖直制动;重复步骤3)的数据采集过程,并算得平均值w3为-0.236344849度/小时;5) Acquisition of compensation position in the east direction: Loosen the vertical brake screw of the total station, and turn the telescope 3 of the total station from the position of 149°23′12″ of the vertical plate to the position of 329°23′12″ of the vertical plate, and then stop vertically. Move; Repeat the data collection process of step 3), and calculate mean value w 3 is-0.236344849 degree/hour;

6)西向抵偿位置采集:松开全站仪水平制动螺旋,并水平转动全站仪照准部180度后水平制动;重复步骤3)的数据采集过程,并算得平均值w4为0.336497815度/小时;6) Acquisition of westward compensation position: Loosen the horizontal brake screw of the total station, and turn the sighting part of the total station 180 degrees horizontally, then brake horizontally; repeat the data collection process of step 3), and calculate the average w 4 to be 0.336497815 degree/hour;

7)解算过程:在PDA上进行全站仪望远镜视准轴的方位角的计算,具体过程和结果如下:7) Calculation process: Calculate the azimuth angle of the collimation axis of the total station telescope on the PDA. The specific process and results are as follows:

7.1)按式6计算全站仪竖轴倾斜角在子午面上的投影角τN,初始概略坐标α0取90°,得τN=-29″;7.1) Calculate the projection angle τ N of the vertical axis inclination angle of the total station on the meridian plane according to formula 6, and the initial rough coordinate α 0 is taken as 90°, and τ N =-29″;

7.2)按式4计算全站仪视准轴方位角,地球自转角速度wie取15.041066876064度/小时,得95°47′15.4″;7.2) Calculate the azimuth angle of the collimation axis of the total station according to formula 4, and take the earth rotation angular velocity w ie as 15.041066876064 degrees/hour to get 95°47′15.4″;

为了提高解算精度,进行迭代解算:In order to improve the calculation accuracy, iterative calculation is performed:

7.3)按式6计算全站仪竖轴倾斜角在子午面上的投影角τN,初始概略坐标α0取95°47′15.4″,得τN=-34″;7.3) Calculate the projection angle τ N of the vertical axis inclination angle of the total station on the meridian plane according to formula 6, the initial approximate coordinate α 0 is 95°47′15.4″, and τ N =-34″;

7.4)按式4计算全站仪视准轴方位角,地球自转角速度wie取15.041066876064度/小时,得95°47′13.2″;7.4) Calculate the azimuth angle of the collimation axis of the total station according to formula 4, and take the earth rotation angular velocity w ie as 15.041066876064 degrees/hour to get 95°47′13.2″;

7.5)按式6计算全站仪竖轴倾斜角在子午面上的投影角τN,初始概略坐标α0取95°47′13.2″,得τN=-34″;7.5) Calculate the projection angle τ N of the vertical axis inclination angle of the total station on the meridian plane according to formula 6, the initial approximate coordinate α 0 is 95°47′13.2″, and τ N =-34″;

7.6)按式4计算全站仪视准轴方位角,地球自转角速度wie取15.041066876064度/小时,得95°47′13.2″,与上一次计算结果相比差值小于0.1″,迭代停止,得全站仪视准轴在东向位置的方位角为95°47′13.2″。7.6) Calculate the azimuth angle of the collimation axis of the total station according to formula 4, the earth rotation angular velocity w ie is taken as 15.041066876064 degrees/hour, and 95°47′13.2″ is obtained. Compared with the previous calculation result, the difference is less than 0.1″, and the iteration stops. The azimuth of the collimation axis of the total station at the east position is 95°47′13.2″.

Claims (5)

1. an instant inserted and instant using type fiber gyro total station makes up orientation method; It is characterized in that leveling centering total powerstation on the reference mark of known point position latitude B; Optical fibre gyro (1) is affixed on the total powerstation telescope (3) through locking device (2); Power supply (4) is connected with optical fibre gyro (1) with computing equipment (5); Drive total powerstation telescope (3) and divide and be clipped to the east orientation position that differs 180 degree and west through horizontally rotating the total powerstation alidade to the position, in the east orientation position with the west to the position more respectively through vertically rotating total powerstation telescope (3) 180 degree, drive optical fibre gyro (1) and compensate for position and west 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 collimation axis true azimuth α when calculating the east orientation position, specific as follows:
α = 1 2 ( arccos w 1 - w 2 2 w ie cos ( B + τ N ) + arccos w 3 - w 4 2 w ie cos ( B + τ N ) )
Wherein: w IeBe known rotational-angular velocity of the earth, w 1For optical fibre gyro (1) is no less than the mean value of n duplicate measurements, w in the east orientation position 2For be no less than the mean value of n duplicate measurements, w to position optical fibre gyro (1) in the west 3For compensating for the mean value that position optical fibre gyro (1) is no less than n duplicate measurements, w at east orientation 4For in the west to compensating for the mean value that position optical fibre gyro (1) is no less than n duplicate measurements, τ NSelf projected angle of vertical pivot pitch angle on meridian ellipse that provides for total powerstation, northwards for just, to the south for negative, B is the reference mark latitude.
2. instant inserted and instant using type fiber gyro total station according to claim 1 combination orientation method, it is characterized in that optical fibre gyro (1) be installed to should satisfy total powerstation telescope (3) on optical fibre gyro (1) can be with total powerstation telescope (3) around total powerstation transverse axis (4) from vertically 180 ° of the rotations of total powerstation altitude circle position readings β position at ordinary times that discharge water of optical fibre gyro axle.
3. instant inserted and instant using type fiber gyro total station combination orientation method according to claim 1 is characterized in that definite method of the frequency n of said duplicate measurements is:
n = ( m w 4 w ie · cos ( B + τ N ) · sin α 0 · m α ) 2
Wherein, w IeBe known rotational-angular velocity of the earth; m wBe the zero stability partially of optical fibre gyro; m αBe focal need precision, α 0The summary value of total powerstation collimation axis true azimuth α during for the east orientation position.
4. instant inserted and instant using type fiber gyro total station combination orientation method according to claim 1, its characteristic
Be self the projected angle τ of vertical pivot pitch angle on meridian ellipse that said total powerstation provides NComputing method be:
τ N=arcsin(sinτ y·cosα 0+sinτ x·sinα 0)
Wherein, τ xBe the horizontal electronics bubble of total powerstation quadrature component reading; τ yBe the reading of the horizontal electronics bubble of total powerstation select shaft component, α 0The summary value of total powerstation collimation axis true azimuth α during for the east orientation position.
5. instant inserted and instant using type fiber gyro total station according to claim 2 combination orientation method is characterized in that, said altitude circle reading β is the instant inserted and instant using type fiber gyro total station composite set demarcation gained that on the precision level rotating table, dispatches from the factory.
CN2010105792969A 2010-12-09 2010-12-09 Combination Orientation Method of Plug and Play Fiber Optic Gyroscope Total Station Active CN102095402B (en)

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