CN102997771B - 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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- CN102997771B CN102997771B CN201210513236.6A CN201210513236A CN102997771B CN 102997771 B CN102997771 B CN 102997771B CN 201210513236 A CN201210513236 A CN 201210513236A CN 102997771 B CN102997771 B CN 102997771B
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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 Close-range Digital Photogrammetry technology, the station meter calibrating length method of concrete digital Photogrammetric System.
Background technology
Digital Photogrammetric System uses high end digital camera system to obtain the above digital picture of two width of standard physical and same object in different positions and direction, and machine graphical analysis and relevant mathematics obtain the accurate three-dimensional coordinate of tested point after resolving as calculated.Normative reference its essence in kind of Digital Photogrammetric System is exactly measuring basis and station meter.Therefore, station meter whether accurate, whether be reliably directly connected to whole survey engineering, whether measurement result is accurate.Although the profile of station meter has a variety of, but be all the frock of pasting reflective marker or fixed band reflective marker at two ends, described reflective marker is circle (or annulus) labeling that a 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 uses, 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 microscope enlarger by trimming determination retro-reflective target circle (or annulus) center, determine indicate center distance, obtain the length of station meter with this.Its calibration process is: 1), utilize microscope to amplify retro-reflective target, by tangent for the circle of the reflective marker of zero graduation line and one end; 2), moving grating chi to the retro-reflective target of the other end, indicate before relative with this mark circle that to justify homonymy tangent; 3) numerical value, PC shown is exactly the distance of two retro-reflective target; 4), the distance of repeatedly duplicate measurements two retro-reflective target points, calculating mean value is the benchmark of this station meter.Existing station meter scaling method all adopts above-mentioned principle.
In practice, the measured point of station meter is fixed on the three-meter measuring machine (precision: ± (0.4+L/500) um(L:mm) after laser interferometer calibrating) on, after the extraneous factor eliminating other influences measurement result precision, by digital Photogrammetric System, the station meter demarcated through said method is measured, the result that the measurement result of digital Photogrammetric System and three-meter measuring machine show compared, 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 application condition of measurement result is large.After the extraneous factor eliminating 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: due to the employing of station meter timing signal is the center that trimming obtains reflective marker circle, also the geometric center of reflective marker circle is, but when Digital Photogrammetric System uses this station meter, camera chain reflective marker is under the irradiation of ad-hoc location light source, the brightness of its reflection is thousand times of diffuse reflective white mark, the data of Digital Photogrammetric System collection are institute's matching centers of circle after reflective marker reflection, this Liang Ge center inconsistent, cause 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 the length to station meter need be demarcated by a measuring motion and digital Photogrammetric System, 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 described first reflective marker and the central point of the second reflective marker is the length of station meter, described measuring motion comprises support and is arranged on the movable working platform on this support through guiding mechanism, is provided with the linear displacement measurement device for measuring movable working platform displacement between this support and movable working platform, the method comprises the steps: one, measures preparation: station meter and measuring motion are placed in respectively in the measured zone of digital Photogrammetric System, make described station meter and measuring motion become this digital Photogrammetric System measurement target simultaneously, abundant reflective marker is arranged on the surface of measuring motion, and ensureing in these reflective markers, have at least two reflective markers to be arranged in the surface of movable working platform, at least two reflective markers being arranged in movable working platform surface are called the 3rd reflective marker and the 4th reflective marker, two, filmed image: the numerous reflective markers comprising 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, control movable working platform by described linear displacement measurement device again and move a setpoint distance, after this, then to the numerous reflective markers comprising the first reflective marker, the second reflective marker the 3rd reflective marker and the 4th reflective marker re-start and take and obtain enough measurement data, three, data processing: application data process software, the central point of the first reflective marker recorded by digital Photogrammetric System and the second reflective marker is distinguished called after B1, B2, the central point of the 3rd reflective marker before movement and the 4th reflective marker is distinguished called after Q1, Q2, the central point of the 3rd reflective marker after movement and the 4th reflective marker is distinguished called after Q3, Q4, then the distance of Q1 to Q3 and the distance of Q2 to Q4 is made to be equal to described setpoint distance, to rerun for benchmark with the distance of the Distance geometry Q2 to Q4 of Q1 to Q3 again and obtain the distance L1 of B1 to B2, and the length be demarcated as station meter.Wherein, described measuring motion preferably adopts laser length measuring machine or optical grating length measuring machine.Obviously, when measuring motion is optical grating length measuring machine, in fact described linear displacement measurement device is 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 GSI company of U.S. 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 commercial industrial Digital Photography Products the most ripe in the world at present.In addition, digital Photogrammetric System also can adopt the TRITOP digital Photogrammetric System etc. that German Gom company produces.
In order to improve precision further, N(N >=3 can be carried out to described movable working platform) secondary movement, all using described linear displacement measurement device to control movable working platform when ensureing each movement moves on different desired locations, all to comprising the first reflective marker after each movement, second reflective marker, 3rd reflective marker and the 4th reflective marker re-start at interior numerous reflective markers and take and obtain enough measurement data, all step 3 is performed after each shooting, obtain N the measuring distance L1 of B1 to B2 respectively, L2 ... LN, finally calculate and obtain distance L1, L2 ... the mean value Lav of LN, again this mean value Lav is demarcated as the length of station meter.After the mean value Lav of repetitive measurement is demarcated as the length of station meter, calibrated error can be reduced further.
According to foregoing invention content, the present invention is in fact the distance utilizing measuring motion to measure the 3rd reflective marker and the 4th reflective marker movement, and to be as the criterion establishment size datum with this distance, 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, finally utilize data processing software reactionary slogan, anti-communist poster to determine station meter.Owing to instant invention overcomes benchmark inconsistence problems when independent measuring motion and digital Photogrammetric System measurement same reflection mark, therefore stated accuracy can be improved.
Accompanying drawing explanation
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 (being parallel to the working face of measuring motion) of reflective marker in the present invention.
Embodiment
As shown in Figure 1, first station meter 3 and measuring motion 2 are placed in the measured zone of digital Photogrammetric System 1 respectively, make described station meter 3 and measuring motion 2 become this digital Photogrammetric System 1 measurement target simultaneously.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 described first reflective marker 4 and the central point of 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 V-STARS digital Photogrammetric System, and it specifically comprises multiple stage and takes the photograph station 1a and connect the data processing 1b that these take the photograph station 1a.After this, abundant reflective marker 8 is arranged on the surface of measuring motion 2, and ensure to have in these reflective markers two reflective markers to be arranged in can 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 completing above-mentioned preliminary work, start to take, at this moment, by digital Photogrammetric System 1, the numerous reflective markers comprising the first reflective marker 4, 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 and move a setpoint distance Ls, and then the numerous reflective markers comprising the first reflective marker 4, second reflective marker 5 the 3rd reflective marker 6 and the 4th reflective marker 7 are re-started take and obtain enough measurement data.Data processing is carried out again afterwards by the V-STARS data processing software in described data processing 1b, as shown in Figure 3, the central point of the first reflective marker 4 recorded by digital Photogrammetric System 1 and the second reflective marker 5 is distinguished called after B1, B2, the central point of the 3rd reflective marker 6 before movement and the 4th reflective marker 7 is distinguished called after Q1, Q2, the central point of the 3rd reflective marker 6 after movement and the 4th reflective marker 7 is distinguished called after Q3, Q4, then the distance of Q1 to Q3 and the distance of Q2 to Q4 is made to be equal to described setpoint distance Ls, and then with the distance of the Distance geometry Q2 to Q4 of Q1 to Q3 for benchmark calculates the distance L1 of B1 to B2 again.After this, again movable working platform 2a is moved, again the numerous reflective markers comprising the first reflective marker 4, second reflective marker 5 the 3rd reflective marker 6 and the 4th reflective marker 7 taken and obtained enough measurement data after movement, then being obtained the distance L2 of B1 to B2 by the V-STARS data processing software computing in data processing 1b.Repetitive operation can obtain N measuring distance L1, L2 of B1 to B2 ... LN(N >=3), finally calculate and obtain distance L1, L2 ... the mean value Lav of LN, is finally demarcated as the length of station meter 3 by this mean value Lav.
Embodiment: demarcate the length of the special-purpose assorted station meter of V-STARS digital Photogrammetric System, concrete grammar is as follows:
Step one, the comparatively ideal measurement environment of Selection radio, carry out photogrammetric preliminary preparation:
Select GC3 optical grating length measuring machine surveying laboratory as station meter calibration measurements environment.Its technical parameter is as following table 2:
Table 2
Control survey environmental baseline is as following table 3:
Table 3
V-STARS digital photogrammetry ambient As is as following table 4:
Table 4
V-STARS digital Photogrammetric System, station meter are placed on laboratory 24 hours, make its abundant isothermal.
Step 2, takes pictures, image data.
1) movable working platform is made zero, carry out first time shooting.
2) by movable workbench to 1m place, carry out secondary shooting, now the movable distance of movable Distance geometry the 4th reflective marker of the 3rd reflective marker is also 1m, records 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 taken need see the first reflective marker, the second reflective marker, the 3rd reflective marker and the 4th reflective marker.
D) every width picture at least will see 12 reflective markers.
E) often taking 4 ~ 6 photos needs rotary camera 90 ° to take once, examines for self-correcting.
F) adjacent part at least needs 3 CODE common points.
Step 3, carries out process data by V-STARS data processing software.
1) Project → AutoMeasure is run
2), after optimization process, last Bundle adjustment result is obtained.
Step 4, carries out rename to the central point of the first reflective marker, the second reflective marker, the 3rd reflective marker and the 4th reflective marker.
1) the 3rd reflective marker before movable working platform being moved 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) by the central point called after B1 of the first reflective marker and the second reflective marker, B2.
Step 5, definition datum yardstick.
1) due to the displacement that the relative movement distance of Q1 → Q3, Q2 → Q4 is exactly movable working platform, so:
L
1（Q1→Q3）=1000mm；L
1（Q2→Q4）=1000mm。
2) ScaleBar → new, add → newlength is clicked, with the newly-built benchmark of Q1 → Q3, Q2 → Q4 at the tree-like action bar of V-STARS.
Step 6, re-starts adjustment computing and measuring basis chi B1 → B2 distance, and this distance is the benchmark demarcated.
1) click project → Bundle → run, re-start adjustment computing.
2) selected B1, B2 two points, click Solids → measure by right key, can obtain B1 → B2 2 distances.
3) distance of B1 → B2 is demarcated benchmark, record data L1 (B1 → B2).
Step 7, repeats the displacement changing worktable, i.e. L
2(Q1 → Q3)=2000mm; L
2(Q2 → Q4)=2000mm ... Deng multi-group data, finally obtain L1 (B1 → B2), L2 (B1 → B2), L3 (B1 → B2), L4 (B1 → B2) ..., finally obtain Lav(B1 → B2) value.
1) Lav(B1 → B2) be exactly the calibration value of this station meter.
Step 8, by Lav(B1 → B2) value be added to V-STARS software, as benchmark, then again take.
1) in last bundle computing, using Lav(B1 → B2) value measure reflective marker on movable working platform as the benchmark of station meter.
2) relative displacement of reflective marker and the measured value of camera chain are made comparisons, carry out the demarcation quality of metewand chi.
Control experiment method in same use background technology, experimental result is as follows:
Above-mentioned comparison result is visible, and use new method to demarcate scale, precision is far away higher than present method.
Claims (4)
1. the station meter calibrating length method of digital Photogrammetric System, its by a measuring motion (2) and digital Photogrammetric System (1) length to station meter (3) demarcate, 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 described first reflective marker (4) and the central point of the second reflective marker (5) is the length of station meter (3);
Described measuring motion (2) comprises support and is arranged on the movable working platform (2a) on this support through guiding mechanism, is provided with the linear displacement measurement device for measuring movable working platform (2a) displacement between this support and movable working platform (2a);
The method comprises the steps:
One, preparation is measured: station meter (3) and measuring motion (2) are placed in respectively in the measured zone of digital Photogrammetric System (1), make described station meter (3) and measuring motion (2) become this digital Photogrammetric System (1) measurement target simultaneously; Abundant reflective marker (8) is arranged on the surface of measuring motion (2), and ensureing in these reflective markers, have at least two reflective markers to be arranged in the surface of movable working platform (2a), at least two reflective markers being 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), 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, the mobile setpoint distance (Ls) of movable working platform (2a) is controlled again by described linear displacement measurement device, after this, again to comprising the first reflective marker (4), second reflective marker (5), 3rd reflective marker (6) and the 4th reflective marker (7) re-start at interior numerous reflective markers to be taken and obtains enough measurement data,
Three, data processing: application data process software, the central point called after B1 respectively of first reflective marker (4) that will be recorded by digital Photogrammetric System (1) and the second reflective marker (5), B2, the central point of the 3rd reflective marker (6) before movement and the 4th reflective marker (7) is distinguished called after Q1, Q2, the central point of the 3rd reflective marker (6) after movement and the 4th reflective marker (7) is distinguished called after Q3, Q4, then the distance of Q1 to Q3 and the distance of Q2 to Q4 is made to be equal to described setpoint distance (Ls), last rerunning for benchmark with the distance of the Distance geometry Q2 to Q4 of Q1 to Q3 again obtains the distance L1 of B1 to B2, and be demarcated as 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) adopts 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) adopts laser length measuring machine or optical grating length measuring machine.
4. as the station meter calibrating length method of the digital Photogrammetric System in claims 1 to 3 as described in any one claim, it is characterized in that: N(N >=3 are carried out to described travelling table (2a)) secondary movement, all controlling travelling table (2a) by described linear displacement measurement device when ensureing each movement moves on different desired locations, all to comprising the first reflective marker (4) after each movement, second reflective marker (5), 3rd reflective marker (6) and the 4th reflective marker (7) re-start at interior numerous reflective markers to be taken and obtains enough measurement data, all step 3 is performed after each shooting, obtain N the measuring distance L1 of B1 to B2 respectively, L2 ... LN, finally calculate described distance L1, L2 ... the mean value Lav of LN, again this mean value Lav is demarcated as the length of station meter (3).
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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 |
| CN205333004U (en) * | 2015-08-06 | 2016-06-22 | 大理大学 | Multi -functional object measuring apparatu |
| US10799998B2 (en) * | 2016-10-17 | 2020-10-13 | Virtek Vision International Ulc | Laser projector with flash 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 |
| CN108827156B (en) * | 2018-08-24 | 2021-08-10 | 合肥工业大学 | Industrial photogrammetry reference scale |
| 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 |
| KR102377073B1 (en) * | 2019-12-10 | 2022-03-22 | 비엔엘바이오테크 주식회사 | Dental digital measuring apparatus and measuring method thereof |
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