CN102997771A - Method for calibrating reference meter length of digital photogrammetry system - Google Patents
Method for calibrating reference meter length of digital photogrammetry system Download PDFInfo
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- CN102997771A CN102997771A CN2012105132366A CN201210513236A CN102997771A CN 102997771 A CN102997771 A CN 102997771A CN 2012105132366 A CN2012105132366 A CN 2012105132366A CN 201210513236 A CN201210513236 A CN 201210513236A CN 102997771 A CN102997771 A CN 102997771A
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Abstract
The invention discloses a method for calibrating reference meter length of a digital photogrammetry system. According to the method, the length of a reference meter can be calibrated by means of a length measuring device and the digital photogrammetry system. Two ends of the reference meter are respectively provide with a first reflecting mark and a second reflecting mark, and the distance between the central point of the first reflecting mark and the central point of the second reflecting mark is the length of the reference meter. A length measuring device comprises a machine base and a movable working platform installed on the machine base through a guiding mechanism, wherein a linear displacement measuring device for measuring moving distance of the movable working platform is arranged between the machine base and the movable working platform. The method for calibrating reference meter length of the digital photogrammetry system includes: 1, measuring preparation; 2, image shooting; and 3 data processing. The method for calibrating reference meter length of the digital photogrammetry system solves the problem that references are not identical when the length measuring device and the digital photogrammetry system are singly used for measuring the same reflecting mark, so that calibrating accuracy is improved.
Description
Technical field
The present invention relates to the Close-range Digital Photogrammetry technology, the station meter calibrating length method of concrete digital Photogrammetric System.
Background technology
Digital Photogrammetric System is to use high-end digital camera system to obtain the above digital picture of two width of cloth of the in kind and same object of standard in different positions and direction, obtains the accurate three-dimensional coordinate of tested point after machine graphical analysis and relevant mathematics resolve as calculated.The normative reference of Digital Photogrammetric System its essence in kind be exactly measuring basis be station meter.Therefore, station meter accurately whether, whether be directly connected to whole measurement engineering reliable, whether measurement result accurate.Although it is a variety of that the profile of station meter has, but all be the frock of pasting reflective marker or fixed band reflective marker at two ends, described reflective marker is circle (or annulus) labeling that reflective function is stronger, and the actual geometric center spacing of two ends reflective marker is the physical length of station meter.As measuring basis, before Digital Photogrammetric System is used, must demarcate accurately the length of station meter.
At present, the demarcation of station meter length utilizes high-precision laser length measuring machine, optical grating length measuring machine to implement.Timing signal utilizes the length of gauging machine as measurement standard, utilize gauging machine with the microscope enlarger by cut edge determining the center of light echo reflective marker circle (or annulus), determine the sign center distance, obtain the length of station meter with this.Its calibration process is: 1), utilize microscope to amplify the light echo reflective marker, that the circle of the reflective marker of zero graduation line and an end is tangent; 2), the moving grating chi is to the light echo reflective marker of the other end, relative with this sign circle before sign circle homonymy tangent; 3) numerical value that, shows on the PC is exactly the distance of two light echo reflective markers; 4), the distance of two light echo reflective marker points of duplicate measurements repeatedly, calculating mean value is the benchmark of this station meter.Existing station meter scaling method all adopts above-mentioned principle.
In the practice, the measured point of station meter is fixed on through the three-meter measuring machine after the laser interferometer calibrating (precision: ± (0.4+L/500) um(L:mm)) on, after the extraneous factor of having got rid of other influences measurement result precision, with digital Photogrammetric System the station meter of demarcating through said method is measured, the measurement result of digital Photogrammetric System and the result of three-meter measuring machine demonstration are compared, and its result is as shown in table 1:
Table 1 camera chain and three-meter measuring machine comparison result
Above-mentioned data show that the error ratio of measurement result is larger.After the extraneous factor of having got rid of other influences measurement result precision, determine that measuring result error is greatly because the calibrated error of station meter causes more greatly.Find by analyzing: because the employing of station meter timing signal is to cut edge to obtain the center of reflective marker circle, also be the geometric center of reflective marker circle, but when Digital Photogrammetric System is used this station meter, the camera chain reflective marker is under the irradiation of ad-hoc location light source, the brightness of its reflection is thousand times of diffuse reflection white marker, the data of Digital Photogrammetric System collection are the institute match centers of circle after the reflective marker reflection, and this two centers inconsistent caused above-mentioned measuring error.
Summary of the invention
The present invention aims to provide the station meter calibrating length method of the higher digital Photogrammetric System of a kind of precision.
Station meter calibrating length method of the present invention needs by a measuring motion and digital Photogrammetric System the length of station meter to be demarcated, wherein, the two ends of described station meter are respectively equipped with the first reflective marker and the second reflective marker, and the distance of the central point of the central point of described the first reflective marker and the second reflective marker is the length of station meter; Described measuring motion comprises support and is installed in movable working platform on this support through guiding mechanism, is provided with between this support and the movable working platform for the linear displacement measurement device of measuring movable working platform displacement; The method comprises the steps: one, measures and prepare: station meter and measuring motion are placed respectively in the measured zone of digital Photogrammetric System, make described station meter and measuring motion become simultaneously this digital Photogrammetric System measurement target; Abundant reflective marker is arranged on surface at measuring motion, and guaranteeing to have in these reflective markers at least two reflective markers to be arranged in the surface of movable working platform, at least two reflective markers that are arranged in the movable working platform surface are called the 3rd reflective marker and the 4th reflective marker; Two, filmed image: the numerous reflective markers that comprise the first reflective marker, the second reflective marker, the 3rd reflective marker and the 4th reflective marker are taken by digital Photogrammetric System, after obtaining enough measurement data, move a setpoint distance by described linear displacement measurement device control movable working platform again, after this, the more numerous reflective markers that comprise the first reflective marker, the second reflective marker the 3rd reflective marker and the 4th reflective marker are re-started shooting and obtain enough measurement data; Three, data are processed: the application data process software, first reflective marker that will be recorded by digital Photogrammetric System and the central point of the second reflective marker be called after B1 respectively, B2, central point difference called after Q1 with the 3rd reflective marker before mobile and the 4th reflective marker, Q2, central point difference called after Q3 with the 3rd reflective marker after the movement and the 4th reflective marker, Q4, then make the distance of Q1 to Q3 and the distance of Q2 to Q4 be equal to described setpoint distance, the distance L 1 of rerunning and obtaining B1 to B2 as benchmark take the distance of the distance of Q1 to Q3 and Q2 to Q4 again, and demarcate as being the length of station meter.Wherein, described measuring motion preferably adopts laser length measuring machine or optical grating length measuring machine.Obviously, when measuring motion was optical grating length measuring machine, in fact described linear displacement measurement device was exactly grating scale.
Described digital Photogrammetric System preferably adopts existing V-STARS digital Photogrammetric System.V-STARS(Video-Simultaneous Triangulation and Resection System digital Photogrammetric System is the industrial digital up short coordinate measuring machine of U.S. GSI company development.The advantages such as this system mainly has three-dimensional measurement precision high (relative accuracy can reach 1,/20 ten thousand), measuring speed is fast, automaticity is high and can work in rugged surroundings are present the most ripe commercialization industrial digital photographic measuring products in the world.In addition, digital Photogrammetric System also can adopt TRITOP digital Photogrammetric System that German Gom company produces etc.
In order further to improve precision, can carry out N(N 〉=3 to described movable working platform) inferior movement, all use described linear displacement measurement device control movable working platform to move on the different desired locations when guaranteeing each the movement, after each mobile all to comprising the first reflective marker, the second reflective marker, the 3rd reflective marker and the 4th reflective marker re-start at interior numerous reflective markers and take and obtain enough measurement data, equal execution in step three after each the shooting, obtain respectively N the measuring distance L1 of B1 to B2, L2 ... LN, calculate at last and obtain distance L 1, L2 ... the mean value Lav of LN is the length of station meter with this mean value Lav demarcation again.The mean value Lav that repeatedly measures is demarcated as after the length of station meter, can further reduce calibrated error.
According to the foregoing invention content as can be known, the present invention utilizes measuring motion to measure the distance that the 3rd reflective marker and the 4th reflective marker move, and with this distance establishment size datum that is as the criterion, then utilize digital Photogrammetric System to take reflective marker group (comprising the first reflective marker, the second reflective marker, the 3rd reflective marker and the 4th reflective marker) and obtain image digitization information, utilize at last the data processing software reactionary slogan, anti-communist poster to decide station meter.Because therefore the benchmark inconsistence problems when the present invention has overcome independent usefulness measuring motion and digital Photogrammetric System measurement same reflection sign can improve stated accuracy.
Description of drawings
Fig. 1 is the working state figure that movable working platform moves front scaling method of the present invention.
Fig. 2 is the working state figure that movable working platform moves rear scaling method of the present invention.
Fig. 3 is the floor plan (working face that is parallel to measuring motion) of reflective marker among the present invention.
Embodiment
As shown in Figure 1, at first station meter 3 and measuring motion 2 are placed respectively in the measured zone of digital Photogrammetric System 1, make described station meter 3 and measuring motion 2 become simultaneously this digital Photogrammetric System 1 measurement target.Wherein, the two ends of described station meter 3 are respectively equipped with the first reflective marker 4 and the second reflective marker 5, and the distance of the central point of the central point of described the first reflective marker 4 and the second reflective marker 5 is the length of station meter 3; Described measuring motion 2 adopts GC3 type optical grating length measuring machine; Described digital Photogrammetric System 1 adopts the V-STARS digital Photogrammetric System, and it specifically comprises taking the photograph station 1a and connecting these data of taking the photograph station 1a for many processes 1b.After this, abundant reflective marker 8 is arranged on surface at measuring motion 2, but and guarantee to have in these reflective markers two reflective markers to be arranged in the surface of movable working platform 2a, these two reflective markers are called the 3rd reflective marker 6 and the 4th reflective marker 7, and remaining reflective marker is arranged in the support surface of optical grating length measuring machine.After finishing above-mentioned preliminary work, begin to take, at this moment, comprise that by 1 pair of digital Photogrammetric System numerous reflective markers of the first reflective marker 4, the second reflective marker 5 the 3rd reflective marker 6 and the 4th reflective marker 7 are taken, obtain enough measurement data.After this, as shown in Figure 2, control movable working platform 2a moves a setpoint distance Ls, and then the numerous reflective markers that comprise the first reflective marker 4, the second reflective marker 5 the 3rd reflective marker 6 and the 4th reflective marker 7 are re-started shooting and obtain enough measurement data.The V-STARS data processing software of processing among the 1b by described data more afterwards carries out the data processing, as shown in Figure 3, first reflective marker 4 that will be recorded by digital Photogrammetric System 1 and the central point of the second reflective marker 5 be called after B1 respectively, B2, central point difference called after Q1 with the 3rd reflective marker 6 before mobile and the 4th reflective marker 7, Q2, central point difference called after Q3 with the 3rd reflective marker 6 after the movement and the 4th reflective marker 7, Q4, then make the distance of Q1 to Q3 and the distance of Q2 to Q4 be equal to described setpoint distance Ls, and then again calculate the distance L 1 of B1 to B2 take the distance of the distance of Q1 to Q3 and Q2 to Q4 as benchmark.After this, again movable working platform 2a is moved, again enough measurement data are taken and obtained to the numerous reflective markers that comprise the first reflective marker 4, the second reflective marker 5 the 3rd reflective marker 6 and the 4th reflective marker 7 after the movement, then obtain the distance L 2 of B1 to B2 by the V-STARS data processing software computing among the data processing 1b.Repetitive operation can obtain N measuring distance L1, the L2 of B1 to B2 ... LN(N 〉=3), calculate at last and obtain distance L 1, L2 ... the mean value Lav of LN is the length of station meter 3 with this mean value Lav demarcation at last.
Embodiment: the length to the special-purpose assorted station meter of V-STARS digital Photogrammetric System is demarcated, and concrete grammar is as follows:
Select GC3 optical grating length measuring machine surveying laboratory as station meter calibration measurements environment.Its technical parameter such as following table 2:
Table 2
Control survey environmental baseline such as following table 3:
Table 3
V-STARS digital photogrammetry environment arranges such as following table 4:
Table 4
V-STARS digital Photogrammetric System, station meter were placed on the laboratory 24 hours, make its abundant isothermal.
Step 2 is taken pictures, image data.
1) movable working platform is made zero, carry out the first time and take.
2) movable workbench is arrived the 1m place, carry out secondary and take, this moment, the distance that moves forward and backward that moves forward and backward distance and the 4th reflective marker of the 3rd reflective marker was 1m also, recorded this data.
Points for attention:
A) the first reflective marker, the second reflective marker, the 3rd reflective marker and the 4th reflective marker preferably have 4 visible angles.
B) intersection angle is preferably between 60 °～120 °.
C) picture of taking need be seen the first reflective marker, the second reflective marker, the 3rd reflective marker and the 4th reflective marker.
D) every width of cloth picture will be seen 12 reflective markers at least.
E) 4～6 photos of every shooting need 90 ° of shootings of rotary camera once, are used for the self-correcting inspection.
F) adjacent part needs 3 CODE common points at least.
1) operation Project → AutoMeasure
2) after the optimization process, obtain last Bundle adjustment result.
1) movable working platform is moved the 3rd front reflective marker and the central point called after Q1 of the 4th reflective marker, Q2; The 3rd reflective marker after again movable working platform being moved and the central point called after Q3 of the 4th reflective marker, Q4.
2) with the central point called after B1 of the first reflective marker and the second reflective marker, B2.
1) owing to Q1 → Q3, the relative movement distance of Q2 → Q4 is exactly the displacement of movable working platform, so:
L
1（Q1→Q3）=1000mm；L
1（Q2→Q4）=1000mm。
2) click ScaleBar → new at the tree-like action bar of V-STARS, add → newlength is with the newly-built benchmark of Q1 → Q3, Q2 → Q4.
1) clicks project → Bundle → run, re-start the adjustment computing.
2) selected two points of B1, B2 are clicked Solids → measure by right key, can obtain 2 distances of B1 → B2.
3) distance of B1 → B2 is the benchmark of demarcating, and record data L1 (B1 → B2).
1) Lav(B1 → B2) is exactly the calibration value of this station meter.
1) in last bundle computing, measures reflective marker on the movable working platform with the value of Lav(B1 → B2) as the benchmark of station meter.
2) the relative displacement value of reflective marker and the measured value of camera chain are made comparisons, come the demarcation quality of metewand chi.
The same control experiment method of using in the background technology, experimental result is as follows:
As seen above-mentioned comparison result uses new method to demarcate scale, and precision is higher than present method far away.
Claims (4)
1. the station meter calibrating length method of digital Photogrammetric System, it is demarcated the length of station meter (3) by a measuring motion (2) and digital Photogrammetric System (1), wherein
The two ends of described station meter (3) are respectively equipped with the first reflective marker (4) and the second reflective marker (5), and the distance of the central point of the central point of described the first reflective marker (4) and the second reflective marker (5) is the length of station meter (3);
Described measuring motion (2) comprises support and is installed in movable working platform (2a) on this support through guiding mechanism, is provided with between this support and the movable working platform (2a) for the linear displacement measurement device of measuring movable working platform (2a) displacement;
The method comprises the steps:
One, measures preparation: station meter (3) and measuring motion (2) are placed respectively in the measured zone of digital Photogrammetric System (1), make described station meter (3) and measuring motion (2) become simultaneously this digital Photogrammetric System (1) measurement target; Abundant reflective marker (8) is arranged on surface at measuring motion (2), and guaranteeing to have in these reflective markers at least two reflective markers to be arranged in the surface of movable working platform (2a), at least two reflective markers that are arranged in movable working platform (2a) surface are called the 3rd reflective marker (6) and the 4th reflective marker (7);
Two, filmed image: by digital Photogrammetric System (1) to comprising the first reflective marker (4), the second reflective marker (5) the 3rd reflective marker (6) and the 4th reflective marker (7) are taken at interior numerous reflective markers, after obtaining enough measurement data, again by the mobile setpoint distance (Ls) of described linear displacement measurement device control movable working platform (2a), after this, again to comprising the first reflective marker (4), the second reflective marker (5), the 3rd reflective marker (6) and the 4th reflective marker (7) re-start at interior numerous reflective markers and take and obtain enough measurement data;
Three, data are processed: the application data process software, first reflective marker (4) that will be recorded by digital Photogrammetric System (1) and the central point of the second reflective marker (5) be called after B1 respectively, B2, central point difference called after Q1 with the 3rd reflective marker (6) before mobile and the 4th reflective marker (7), Q2, central point difference called after Q3 with the 3rd reflective marker (6) after the movement and the 4th reflective marker (7), Q4, then make the distance of Q1 to Q3 and the distance of Q2 to Q4 be equal to described setpoint distance (Ls), the last distance L 1 of rerunning and obtaining B1 to B2 as benchmark take the distance of the distance of Q1 to Q3 and Q2 to Q4 again, and it is demarcated be the length of station meter (3).
2. the station meter calibrating length method of digital Photogrammetric System as claimed in claim 1 is characterized in that: described digital Photogrammetric System (1) employing V-STARS digital Photogrammetric System.
3. the station meter calibrating length method of digital Photogrammetric System as claimed in claim 1 is characterized in that: described measuring motion (2) employing laser length measuring machine or optical grating length measuring machine.
4. such as the station meter calibrating length method of the described digital Photogrammetric System of any one claim in the claims 1 to 3, it is characterized in that: (2a) carries out N(N 〉=3 to described travelling table) inferior movement, all move on the different desired locations by described linear displacement measurement device control travelling table (2a) when guaranteeing each the movement, after each mobile all to comprising the first reflective marker (4), the second reflective marker (5), the 3rd reflective marker (6) and the 4th reflective marker (7) re-start at interior numerous reflective markers and take and obtain enough measurement data, equal execution in step three after each the shooting, obtain respectively N the measuring distance L1 of B1 to B2, L2 ... LN, calculate at last described distance L 1, L2 ... the mean value Lav of LN is the length of station meter (3) with this mean value Lav demarcation again.
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| CN103604368A (en) * | 2013-11-18 | 2014-02-26 | 郑州辰维科技股份有限公司 | Dynamic and real-time measuring method in airspace engine assembling process |
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| CN104061859B (en) * | 2014-07-02 | 2016-09-14 | 华北水利水电大学 | A kind of hydraulic engineering gate high accuracy installs the digital close shot industrial photogrammetry method of detection |
| CN105258640A (en) * | 2015-08-06 | 2016-01-20 | 大理大学 | Multifunctional object measuring instrument and using method thereof |
| CN107957237A (en) * | 2016-10-17 | 2018-04-24 | 维蒂克影像国际无限责任公司 | Laser-projector with flash of light alignment |
| CN108731592A (en) * | 2018-05-24 | 2018-11-02 | 郑州辰维科技股份有限公司 | A kind of calibration method based on photogrammetric aircraft manufacturing tooling |
| CN108827156A (en) * | 2018-08-24 | 2018-11-16 | 合肥工业大学 | A kind of industrial photogrammetry station meter |
| CN108871207A (en) * | 2018-09-14 | 2018-11-23 | 佛山市天目工业测量科技有限公司 | A kind of photogrammetric station meter calibrating length device and application method |
| CN108871207B (en) * | 2018-09-14 | 2020-05-19 | 佛山市天目工业测量科技有限公司 | Photogrammetry reference ruler length calibration device and use method |
| CN112932693A (en) * | 2019-12-10 | 2021-06-11 | 白李生物科技有限公司 | Digital measuring device and measuring method thereof |
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