CN102538726A - System and method for testing position and posture of target by using electronic theodolite - Google Patents

Abstract

The invention discloses a system and method for testing the position and the posture of a target by using an electronic theodolite. The system comprises the electronic theodolite, an auxiliary coordinate device and data processing algorithms, wherein the electronic theodolite is used for determining an angle of the tested target, the auxiliary coordinate device serves as a reference coordinate system of the electronic theodolite, and the determined angle information is transferred to a computer and is automatically resolved by the data processing algorithms in the computer. The method is characterized in that: the electronic theodolite is dispensable of being leveled during the process of testing, an x axis and a y axis are always horizontal and a z axis is always vertical in the coordinate system formed by the auxiliary coordinate device, and the fast determination of the positions and the postures of accessible and inaccessible targets can be achieved by using a single theodolite. The system and method for testing the position and the posture of the target by using the electronic theodolite can be applied to the testing of the motion accuracy of robots, the testing of tree height, tree diameter and canopy breadth in the field of forestry, and the testing in the building industry. The theodolite is dispensable of being leveled in virtue of the auxiliary coordinate device, a leveling mechanism in the theodolite can be removed, therefore, the cost for equipment is lowered; and data are automatically stored and resolved by the computer, so that the testing accuracy is improved, the labor intensity in work is lowered, and the working efficiency is increased.

Description

A kind of electronic theodolite is confirmed the test macro and the method for application thereof of object position and attitude

One, technical field

The present invention system confirms the test macro and the method for application thereof of object position or attitude about a kind of transit; Be mainly used in field of forestry and confirm the position of accessible point and unreachable point; Can be used for the kinematic accuracy that the robot field measures the mechanical arm end effector simultaneously, and other is applied to the industry and the field of transit.

Two, background technology

Up to the present, also do not see transit can be used for confirming object position or pose without leveling relevant report or document.Spirit-leveling instrument, transit and total powerstation must flatten before test, centering; During field work; Receive landform and surface geology condition effect; Leveling is loaded down with trivial details consuming time with centering, and possibly influence soft owing to ground or other factors cause the pose state of testing tool coordinate system to change in the test process, can influence the measuring accuracy of object position or attitude inevitably.

In field of forestry, for the test of unreachable point, like confirming etc. of the measurement of the height of tree, fire location, adopt usually: height finder is surveyed high; Transit cooperates employing triangulated height method to carry out height of tree measurement with tape measure and scale; Adopt total powerstation not have prism and survey method; Experience estimation method etc.Its defective is:

Adopt height finder, must at first know the horizontal range of height finder, or press close to the winning post etc. of the perpendicular fixed length (general 2 or 3 meters) in trunk place, be difficult in the forest zone of circumstance complication even can't implement at all, be unfavorable for the raising of work efficiency to measured object;

1. cooperate by transit, tape measure and scale, when application triangulated height method was measured, because field environment is complicated, the relative position between the transit was difficult to accurately confirm, has limited the use of this method;

2. adopt total powerstation not have prism and survey method; The factor that influences its measuring accuracy has that the contrast between the surface nature of measured object, target and the background is little, near the band coloured light other body surface of target proximity, collimation line or the angle of reverberation, measuring beam and reflecting surface etc.; Especially unopen location and dense vegetation are regional in the visual field, and the application of this kind method receives very big restriction;

3. experience estimation method, error is big and do not have a corresponding bearing calibration.

Publication number is that the patent of CN 101021416A patent by name " method for measuring tree height by total station instrument " discloses a kind of method that measures the height of tree, and this method system is employed in the real-time measurement that same vertical guide is settled the method realization height of tree that total powerstation and total powerstation cross for twice.The prerequisite of implementing this method is that the total powerstation of twice arrangement must be remained in the same vertical guide, and practical implementation is difficulty comparatively, needs the leveling total powerstation simultaneously twice, can't increase work efficiency in the field environment of complicacy.

Publication number discloses a kind of method of measuring unreachable some three-dimensional coordinate for the patent of CN101776446A patent " a kind of omnidirectional conductor rod cooperates total powerstation to measure unreachable some three-dimensional coordinate method " by name; This method ties up to any three points and settles omnidirectional conductor rod respectively and point to unreachable point; Article three, the intersection point of space line is unreachable point, confirms this point coordinate with this.The problem that this method exists is that omnidirectional conductor rod is difficult to accurately aim at unreachable point; The position and attitude error of three bars is the measurement accuracy of the unreachable point coordinate value of influence directly; Finally cause accurately to confirm the position that to put; Simultaneously confirm the determined straight line of omnidirectional bar because of the need triplicate, work efficiency has much room for improvement.

In the kinematic accuracy test or similar measurement of the end effector of robot; Mainly still adopt the transit system that crosses; The total powerstation polar coordinate system; The problem that the transit system that crosses exists is relative position relation between a plurality of transits through taking aim at mutually or bundle adjustment is accomplished, and the total powerstation distance accuracy is lower, influences the precision of system.Similarly sextuple laser tracker is also adopted in measurement now; Three-dimensional laser scanning system, gage beam systems etc. are although these several kinds of measuring systems can provide very accurate dynamic and static coordinate and measurement of angle; But price is very expensive, is difficult to be applied to field of forestry simultaneously.

Therefore, how to improve measurement accuracy, reduction equipment and measurement cost better adapt to complex environment, improve the automatization level that measures, and reduce workload, become a problem demanding prompt solution.

Three, summary of the invention

The present invention aims to provide a kind of pair warp and weft appearance that need not and flattens measurement system and the method for application thereof that can confirm the position and the attitude of measured target thing with centering.

One of target of the present invention is that a kind of auxiliary coordinate device is provided; This apparatus features is that it can form a three-dimensional system of coordinate; This coordinate system makes so because of the structure of this system; No matter where this device is placed, two coordinate axis wherein form a surface level all the time, and another coordinate axis then is in the vertical state all the time.This auxiliary coordinates is used as the reference frame of transit in the measurement process.Should mainly comprise by auxiliary coordinate device: a support frame; Three axles; Two each and every one web members; Five top.

Another target system of the present invention provides a kind of method of utilizing single transit to confirm to reach object position or attitude.This method for measurement can be divided into two kinds of patterns, and promptly transit is in the leveling state and is in two kinds of patterns of non-leveling state.

Another target system of the present invention provides a kind of method of utilizing single transit to confirm unreachable object position or attitude.This method for measurement is suitable for transit and is in the leveling state and is in two kinds of patterns of non-leveling state.

Another target of the present invention system provides a kind of and utilizes two transits to confirm to reach the method with unreachable object position or attitude.This method for measurement is suitable for transit and is in the leveling state and is in two kinds of patterns of non-leveling state.

Transit in this measurement system links to each other with computing machine through data line; The data of surveying pass to computing machine through data line; And be stored in wherein, correlation computations is all implemented to resolve through the existing algorithm routine of computing machine, thereby confirms the position or the attitude of measured target thing.

Four, description of drawings

Fig. 1 is a kind of structural representation of auxiliary coordinate device;

Fig. 2 is a transit survey pose schematic diagram, and it is intended to confirm the transformational relation between transit coordinate system and the servicing unit coordinate system;

Fig. 3 confirms to put on the measured target thing position for transit aim at the mark thing and servicing unit figure for utilizing single transit or two transit, thereby confirms the test synoptic diagram of object position and attitude.

Five, embodiment

Describe embodiments of the invention below with reference to accompanying drawings in detail.Before specifying, this area the stakeholder should be appreciated that, used term can not be confined to general sense or dictionary meanings in this explanation and claims, and should make an explanation according to technological corresponding implication of invention and content.Therefore, the purpose of auxiliary coordinate apparatus structure shown in illustration and the accompanying drawing only is to describe embodiments of the invention in this instructions, and structure shown in being not limited to can change or equivalence replacement and can not depart from spirit of the present invention and scope it.

Fig. 1 is a kind of auxiliary coordinate device, and this auxiliary coordinate device comprises: a support frame 1, and this framework can directly be positioned on the ground, also can link to each other like tripod with other device; Transverse axis 2, this rotating shaft terminal are fixed on the framework 1; One first web member 10 is equipped with bearing between this web member 10 and the axle 2, and web member 10 can freely rotate around transverse axis 2 under action of gravity; One transverse axis 11, it passes web member 10) on two coaxial apertures, and connect firmly with web member 10; One second web member 3, these web member 3 sides have a hole that supplies transverse axis 11 to pass, and its underpart has a screw, between web member 3 and the transverse axis 11 bearing is installed, and web member 3 can freely rotate around transverse axis 11; Vertical axes 4, external thread has been attacked at the two ends of this vertical axes 4, and the threaded portion on these vertical axes 4 tops is threaded with screw in web member 3 bottoms; One three shaft coupling piece 12; This three shaft coupling piece 12 has six smooth flat, and wherein two surfaces are surface level up and down, and all the other four sides are the vertical plane; Each surperficial central authorities is processed with screw, and its upper surface screw supplies the threaded portion of vertical axes 4 bottoms to screw in; Top 5-9; External thread has been attacked in 5 top ends; With three shaft coupling pieces, 12 thread connection, these are top to can be used for finely tuning and makes the upper and lower surface of three shaft coupling pieces be in horizontality all the time, and the axes intersect of these top 5-9 is in a bit simultaneously; Cusp B-E on the top 5-8 forms a plane, and upward the formed plane of cusp B-E is vertical with top 5-8 for top 9 axis.

Can know with reference to Fig. 1; The framework of this backup system is positioned over the formed plane of cusp B-E, any position is always a surface level; Top 9 axis then is always a vertical axes; Simultaneously the upper surface of three shaft coupling pieces is always a surface level, so forms an auxiliary coordinate device that has surface level and vertical axes all the time with regard to the cusp on top capable of using, and the position relation between these cusps is known.Or as shown in Figure 3, confirm that at the upper surface of three connections the position concerns known 3 and forms an auxiliary coordinate device.

(1) first kind of embodiment: single transit is confirmed to reach object position or attitude

Transit is in the leveling state when 1. measuring

As shown in Figure 2, place at the object place one define 3 of 3 O ', A, B on it " ⊥ " shape scale, O ' A ⊥ O ' B wherein, the length of O ' A and O ' B is known.O ' is overlapped with i measured point (object).As shown in Figure 2, make A _iWith o ' _i, B _iWith o ' _i, A _iWith B _iBetween distance be respectively l, m, n, and known.In Fig. 2, h _Ai, h _Oi, h _BiBe respectively A _i, o ' _iWith B _iThe vertical range of surface level xoy is unknown quantity in the transit coordinate system.Transit is aimed at o ' _i, A _iWith B _iHorizontal angle and vertical angle when 3 points, θ, α represent that transit is aimed at wherein, then these 3 coordinates in the transit coordinate system are following:

$\left\{\begin{array}{c}{x}_{\mathrm{Ai}}=h_{\mathrm{Ai}}\·\mathrm{ctg}{\mathrm{\α}}_{\mathrm{Ai}}\·\sin {\mathrm{\θ}}_{\mathrm{Ai}}\\ y_{\mathrm{Ai}}=h_{\mathrm{Ai}}\·\mathrm{ctg}{\mathrm{\α}}_{\mathrm{Ai}}\·\cos {\mathrm{\θ}}_{\mathrm{Ai}}\\ z_{\mathrm{Ai}}=-h_{\mathrm{Ai}}\end{array}\right.,$ $\left\{\begin{array}{c}{x}_{\mathrm{Bi}}=h_{\mathrm{Bi}}\·\mathrm{ctg}{\mathrm{\α}}_{\mathrm{Bi}}\·\sin {\mathrm{\θ}}_{\mathrm{Bi}}\\ y_{\mathrm{Bi}}=h_{\mathrm{Bi}}\·\mathrm{ctg}{\mathrm{\α}}_{\mathrm{Bi}}\·\cos {\mathrm{\θ}}_{\mathrm{Bi}}\\ z_{\mathrm{Bi}}=-h_{\mathrm{Bi}}\end{array}\right.,$ $\left\{\begin{array}{c}{x}_{\mathrm{oi}}=h_{\mathrm{oi}}\·\mathrm{ctg}{\mathrm{\α}}_{\mathrm{oi}}\·\sin {\mathrm{\θ}}_{\mathrm{oi}}\\ y_{\mathrm{oi}}=h_{\mathrm{oi}}\·\mathrm{ctg}{\mathrm{\α}}_{\mathrm{oi}}\·\cos {\mathrm{\θ}}_{\mathrm{oi}}\\ z_{\mathrm{oi}}=-h_{\mathrm{oi}}\end{array}\right.$

And h _Ai, h _Oi, h _BiThen by

$\left\{\begin{array}{c}{l}^2={(x_{\mathrm{Ai}}-x_{\mathrm{oi}})}^2+{(y_{\mathrm{Ai}}-y_{\mathrm{oi}})}^2+{(z_{\mathrm{Ai}}-z_{\mathrm{oi}})}^2\\ m^2={(x_{\mathrm{Bi}}-x_{\mathrm{oi}})}^2+{(y_{\mathrm{Bi}}-y_{\mathrm{oi}})}^2+{(z_{\mathrm{Bi}}-z_{\mathrm{oi}})}^2\\ n^2={(x_{\mathrm{Bi}}-x_{\mathrm{Ai}})}^2+{(y_{\mathrm{Bi}}-y_{\mathrm{Ai}})}^2+{(z_{\mathrm{Bi}}-z_{\mathrm{Ai}})}^2\end{array}\right.$

Calculate and get.At last according to mathematical model

$\stackrel{D}{o_i}T=\left[\begin{array}{cccc}\frac{a_1}{\sqrt{a_1^2+a_2^2+a_3^2}}& \frac{b_1}{\sqrt{b_1^2+b_2^2+{\mathrm{<figure-callout\; id="3"\; label="b"\; filenames="HSA00000379997900011.png"\; state="\{\{state\}\}">b</figure-callout>}}_3^2}}& \frac{c_1}{\sqrt{c_1^2+c_2^2+{\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="HSA00000379997900011.png"\; state="\{\{state\}\}">c</figure-callout>}}_3^2}}& x_{\mathrm{oi}}^{\&prime;}\\ \frac{a_2}{\sqrt{a_1^2+a_2^2+a_3^2}}& \frac{b_2}{\sqrt{b_1^2+b_2^2+{\mathrm{<figure-callout\; id="3"\; label="b"\; filenames="HSA00000379997900011.png"\; state="\{\{state\}\}">b</figure-callout>}}_3^2}}& \frac{c_2}{\sqrt{c_1^2+c_2^2+{\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="HSA00000379997900011.png"\; state="\{\{state\}\}">c</figure-callout>}}_3^2}}& y_{\mathrm{oi}}^{\&prime;}\\ \frac{a_3}{\sqrt{a_1^2+a_2^2+a_3^2}}& \frac{b_3}{\sqrt{b_1^2+b_2^2+{\mathrm{<figure-callout\; id="3"\; label="b"\; filenames="HSA00000379997900011.png"\; state="\{\{state\}\}">b</figure-callout>}}_3^2}}& \frac{c_3}{\sqrt{c_1^2+c_2^2+{\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="HSA00000379997900011.png"\; state="\{\{state\}\}">c</figure-callout>}}_3^2}}& z_{\mathrm{oi}}^{\&prime;}\\ 0& 0& 0& 1\end{array}\right]$

Wherein,

Can obtain measured target thing place coordinate system according to this 4 * 4 matrix and concern with attitude with position between the transit coordinate system, can obtain the coordinate of measured point O ' in the transit coordinate system thus and be (x ' _Oi, y ' _Oi, z ' _Oi), thereby realize utilizing single transit to confirm the position of measured point.

Transit is in the state of leveling when 2. measuring

As shown in Figure 3, confirmed three known reference point O of good mutual alignment relation on the surface level of auxiliary coordinate device _r, A _r, B _r, and O _rA _r⊥ O _rB _r, O _rA _r, O _rB _r, A _rB _rLength known, be respectively l _r, m _r, n _rO _r, A _r, B _rForm a coordinate system.Make O _rA _rBe x axle, O _rB _rBe y axle, O _rPoint helps coordinate origin for the shop, through O _rAnd it is, as shown in Figure 3 perpendicular to the axle location z axle of surface level.

Step 1: will assist the coordinate device to be positioned over and make things convenient for transit to observe part, and aim at three reference point O respectively with transit _r, A _r, B _r, recording three groups of horizontal angles and vertical angle, identical process and mathematical model in the employing 1. can obtain O in the auxiliary coordinate device _r, A _r, B _rPosition and the attitude matrix of the coordinate system of setting up in the transit coordinate system do

Because the test to object will be benchmark with the auxiliary coordinates all subsequently, therefore need know position and the attitude matrix of transit coordinate system in auxiliary coordinates

Obviously,

Step 2: in case after having confirmed the position and attitude relation of transit coordinate system and auxiliary coordinates; Need only transit in the test and do not change the station; Then should concern constant; According to step and method in 1. i measured target point (object) measured subsequently, confirm the position between measured target thing place coordinate system and the transit coordinate system and attitude concerns

Step 3: confirm position and the attitude

of measured target point (object) in auxiliary coordinates

The position and the attitude that realize thus not flattening transit and confirm accessible point (object).

(2) second kinds of embodiments: single transit is confirmed unreachable object position or attitude

Whether the method that the present invention proposes does not here do requirement for transit leveling, centering.

Step 1: will assist the coordinate device to be positioned over and make things convenient for transit to observe part, the structure of this auxiliary coordinate device, its coordinate system and symbol wherein are with identical described in (one).As shown in Figure 3, a transit is positioned over A, B two places respectively, the coordinate system of each survey station place transit is respectively O _AX _AY _A, O _BX _BY _B, suppose i measured point C simultaneously _iCoordinate in auxiliary coordinates is (x _Ci, y _Ci, z _Ci).The transit that will be in survey station A place is aimed at three reference point O in the auxiliary coordinate device _r, A _r, B _r, utilize the mathematical model in () can obtain the pose matrix of survey station A place transit coordinate system in auxiliary coordinates

Can obtain the transit coordinate origin O of survey station A place thus _ACoordinate (x in auxiliary coordinates _A, y _A, z _A).In like manner can obtain the pose matrix of survey station B place transit coordinate system in auxiliary coordinates

Can obtain the coordinate origin O of survey station B place transit thus _BCoordinate (x in auxiliary coordinates _B, y _B, z _B).

Step 2: respectively transit A, B are aimed at i measured point C _i, record two groups of angle value (θ respectively _Ai, α _Ai) and (θ _Bi, α _Bi).The true origin O of transit A _AWith C _iForm a straight line O _AC _i, and the true origin O of transit B _BWith C _iForm a straight line O _BC _i, at auxiliary coordinates cathetus O _AC _iAnd O _BC _iThe straight-line equation expression formula be respectively:

$O_A{C}_i:\frac{x_{\mathrm{Ci}}-x_A}{\cos {\mathrm{\&theta;}}_{\mathrm{Ai}}}=\frac{y_{\mathrm{Ci}}-y_A}{\sin {\mathrm{\&theta;}}_{\mathrm{Ai}}}=\frac{z_{\mathrm{Ci}}-z_A}{\cos {\mathrm{\&alpha;}}_{\mathrm{Ai}}};$ $O_B{C}_i:\frac{x_{\mathrm{Ci}}-x_B}{\cos {\mathrm{\&theta;}}_{\mathrm{Bi}}}=\frac{y_{\mathrm{Ci}}-y_B}{\sin {\mathrm{\&theta;}}_{\mathrm{Bi}}}=\frac{z_{\mathrm{Ci}}-z_B}{\cos {\mathrm{\&alpha;}}_{\mathrm{Bi}}}$

Make m ₁=cos θ _Ai, n ₁=sin θ _Ai, p ₁=cos α _Aim ₂=cos θ _Bi, n ₂=sin θ _Bi, p ₂=cos α _BiBecause two straight lines intersect at a same point C in the space _i, therefore can get C _iCoordinate in auxiliary coordinates does;

$x_{\mathrm{Ci}}=\frac{m_1{m}_2(y_B-y_A)+m_2{n}_1{x}_A-m_1{n}_2{x}_B}{m_2{n}_1-m_1{n}_2},$ $y_{\mathrm{ci}}=\frac{n_1{n}_2(x_A-x_B)-m_2{n}_1{y}_B+m_1{n}_2{y}_A}{m_2{n}_1-m_1{n}_2}$

$z_{\mathrm{Ci}}=z_A+\frac{p_1{n}_2(x_A-x_B)-p_1{m}_2(y_B-y_A)}{m_2{n}_1-m_1{n}_2}$

Step 3:, then aim at another D on this object again with transit if will measure the height and the attitude of an object (like tree, electric pole etc.) _i, repeating step one and step 2 obtain D _iCoordinate (x _Di, y _Di, z _Di), thereby can obtain C _iD _iBetween distance (being the tree or the height of electric pole):

$L=\sqrt{{(x_{\mathrm{Di}}-x_{\mathrm{Ci}})}^2+{(y_{\mathrm{Di}}-y_{\mathrm{Ci}})}^2+{(z_{\mathrm{Di}}-z_{\mathrm{Ci}})}^2}$

Simultaneously can confirm line segment C _iD _iAttitude in auxiliary coordinates, as setting or electric pole inclination angle with respect to the horizontal plane:

(3) the third embodiment: two transits are confirmed object position or attitude

Whether the method that the present invention proposes does not do requirement for transit leveling, centering.When adopting two transits to measure; If only measure the position of object; In the measurement two transits are aimed at the mark respectively and a little get final product; If also require to measure the attitude of testee, then need utilize transit to obtain on the measured target thing 2 angle information, confirm that the mathematical model that every bit adopts is just the same.Except that adopting two transits, identical described in implementation step and mathematical model and (two), repeat no more at this.

Claims (8)

1. an electronic theodolite is confirmed the test macro and the method for application thereof of object position and attitude.This system comprises: electronic theodolite, auxiliary coordinate device and data processing algorithm; Wherein electronic theodolite is used for confirming test target object angle degree; Auxiliary coordinate device is as the reference frame of transit; Institute's angle measurement degree information is passed to computing machine through data line, is resolved automatically by the data processing algorithm in the computing machine.It is characterized in that; Electronic theodolite need not leveling in the test process; Auxiliary coordinate device forms x axle and the y axle level and the z axle is vertical all the time all the time in the coordinate system, can realize utilizing single transit to carry out definite fast to position, the pose that can reach with unreachable object.

2. electronic theodolite according to claim 1 is confirmed the test macro of object position and attitude; It is characterized in that utilizing an auxiliary coordinate device that is independent of transit to confirm position and the attitude relation of transit coordinate system in auxiliary coordinates; Measure horizontal angle and the vertical angle of object/impact point in the transit coordinate system through transit, thereby realize the position of object and confirming of attitude.

3. the test macro that utilizes electronic theodolite to confirm object position and attitude according to claim 2; It is characterized in that not flatten transit in the measurement process; Need not to measure the distance of transit between putting to object/impact point and auxiliary coordinates bulk cargo, need not to measure in the same transit of different survey stations or the distance between the different transit.

4. electronic theodolite according to claim 1 is confirmed the test macro of object position and attitude, structure that wherein should auxiliary coordinate device including, but not limited to:

A support frame 1, this framework can directly be positioned on the ground, also can link to each other like tripod with other device;

A transverse axis 2, this rotating shaft terminal are fixed on the framework 1;

One first web member 10 is equipped with bearing between this web member 10 and the axle 2, and web member 10 can freely rotate around transverse axis 2 under action of gravity;

A transverse axis 11, it passes two coaxial apertures on the web member 10, and connects firmly with web member 10; One second web member 3, these web member 3 sides have a hole that supplies transverse axis 11 to pass, and its underpart has a screw, between web member 3 and the transverse axis 11 bearing is installed, and web member 3 can freely rotate around transverse axis 11;

A vertical axes 4, external thread has been attacked at the two ends of this vertical axes 4, and the threaded portion on these vertical axes 4 tops is threaded with screw in web member 3 bottoms;

One three shaft coupling piece 12; This three shaft coupling piece 12 has six smooth flat, and wherein two surfaces are surface level up and down, and all the other four sides are the vertical plane; Each surperficial central authorities is processed with screw, and its upper surface screw supplies the threaded portion of vertical axes 4 bottoms to screw in;

Top 5-9, external thread has been attacked in 5 top ends, with three shaft coupling pieces, 12 thread connection; These are top to can be used for finely tuning and makes the upper and lower surface of three shaft coupling pieces be in horizontality all the time; The axes intersect of these top 5-9 is in a bit simultaneously, and the cusp B-E on the top 5-8 forms a plane, and upward the formed plane of cusp B-E is vertical with top 5-8 for top 9 axis; These top effects are and can make the upper and lower surfaces of three shaft coupling pieces 12 be in horizontality for finely tuning.

5. electronic theodolite according to claim 1 is confirmed the test macro and the method for application thereof of object position and attitude, and the single transit that it is characterized by after the leveling capable of using is confirmed to reach object position or attitude, and its concrete measurement step is:

At first, place one at the object place and have known " ⊥ " shape scale of mutual alignment relation between 3 and 3 on it;

Secondly, the leveling transit then with 3 points on the transit difference alignment scale, is put pairing level with each and is measured with vertical angle, and these angle informations are passed in the computer with data line;

At last, utilize mathematical model

to calculate the coordinate of measured target point in the transit coordinate system.

6. electronic theodolite according to claim 1 is confirmed the test macro and the method for application thereof of object position and attitude, it is characterized by the single transit without leveling capable of using and confirms to reach object position or attitude,, its concrete measurement step is:

At first, auxiliary coordinates system is positioned over makes things convenient for transit to observe part, aim at three reference point O on it respectively with transit _r, A _r, B _r, record three groups of horizontal angles and vertical angle, each is put pairing level be passed in the computer with data line with vertical angle information.Adopt claim 5, wherein the step of determining the mathematical model with auxiliary coordinate system theodolite coordinate system position and attitude matrix

to obtain theodolite coordinate system in the auxiliary coordinate system position and attitude matrix

Secondly; By said identical step of claim 5 and method i measured target thing measured, confirm position and attitude relation

between measured target thing place coordinate system and the transit coordinate system

At last, confirm position and the attitude that position and the attitude

of measured target thing in auxiliary coordinates confirmed object.

7. electronic theodolite according to claim 1 is confirmed the test macro and the method for application thereof of object position and attitude; It is characterized by no matter whether transit flattens; Single transit all capable of using is confirmed the position or the attitude of unreachable object, and its concrete measurement step is:

At first, the auxiliary coordinates bulk cargo placed make things convenient for transit to observe part, then transit is positioned over survey station A place, transit is aimed at three the reference point Os of auxiliary coordinates bulk cargo in putting _r, A _r, B _r, utilize the mathematical model described in the claim 5 to obtain the pose matrix of survey station A place transit coordinate system in auxiliary coordinates

Can obtain the transit coordinate origin O of survey station A place thus _ACoordinate (x in auxiliary coordinates _A, y _A, z _A), transit is aimed at i measured point C _i, C _iPosition (the x of point in auxiliary coordinates _Ci, y _Ci, z _Ci) the unknown, obtain angle value (θ _Ai, α _Ai), obtain straight line O _AC _iStraight-line equation expression formula in auxiliary coordinates:

Secondly, then transit is positioned over survey station B place, transit is aimed at three reference point O of auxiliary coordinates bulk cargo in putting _r, A _r, B _r, utilize the mathematical model described in the claim to obtain the pose matrix of survey station B place transit coordinate system in auxiliary coordinates

Can obtain the transit coordinate origin O of survey station B place thus _BCoordinate (x in auxiliary coordinates _B, y _B, z _B), transit is aimed at i measured point C _i, obtain angle value (θ _Bi, α _Bi), obtain straight line O _BC _iStraight-line equation expression formula in auxiliary coordinates:

At last, utilize two straight line O _AC _iWith O _BC _iIn the space, intersect at same point C _i, its coordinate in auxiliary coordinates does;

$(x_{\mathrm{Ci}}=\frac{m_2(y_B-y_A)+m_2{n}_1{x}_A-m_1{n}_2{x}_B}{m_2{n}_1-m_1{n}_2},y_{\mathrm{Ci}}=\frac{n_1{n}_2(x_A-x_B)-m_2{n}_1{y}_B+m_1{n}_2{y}_A}{m_2{n}_1-m_1{n}_2},z_{\mathrm{Ci}}=z_A+\frac{p_1{n}_2(x_A-x_B)-p_1{m}_2(y_B-y_A)}{m_2{n}_1-m_1{n}_2})$

8. test macro and the method for application thereof of utilizing electronic theodolite to confirm object position and attitude according to claim 1; It is characterized by no matter whether transit flattens; Pair transit all capable of using is confirmed to reach or the position or the attitude of unreachable object; Wherein except that the same transit with A described in the claim 7, B two survey station places became two these points of transit instead, its concrete measurement step was identical with measurement step and the mathematical model described in the claim 7 fully with mathematical model.

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