CN103604411B - Automatic theodolite collimation method based on image recognition - Google Patents
Automatic theodolite collimation method based on image recognition Download PDFInfo
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- CN103604411B CN103604411B CN201310553352.5A CN201310553352A CN103604411B CN 103604411 B CN103604411 B CN 103604411B CN 201310553352 A CN201310553352 A CN 201310553352A CN 103604411 B CN103604411 B CN 103604411B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
- G01C1/04—Theodolites combined with cameras
Abstract
The invention discloses an automatic theodolite collimation measurement method based on image recognition. A measurement device of the method comprises an electronic theodolite internally provided with a drive motor, a miniature measurement camera and a fixed fixture, wherein the automatic collimation measurement of the electronic theodolite is guided by the miniature measurement camera, a transformational relation between an image plane coordinate system and a theodolite eyepiece reticule observation coordinate system and a relation between an electronic theodolite deflection angle quantity and a miniature measurement camera pixel quantity when a focal length is in a collimation observation state are calibrated, and collimation return light and an electronic theodolite eyepiece reticule and a deviation relation are automatically extracted until collimation is achieved. According to the automatic theodolite collimation measurement method adopted by the invention, an image recording and analyzing method is used for replacing a conventional human eye observation method, so that the measurement stability in the case of long-term measurement is ensured, and the measurement work efficiency is increased.
Description
Technical field
The invention belongs to field of industrial measurement, be specifically related to a kind of method measured for Automatic theodolite collimation.
Background technology
Measure of precision is the important guarantee link of satellite and satellite equipment reliability service.In order to ensure that satellite is just
Often flight and work, it is necessary to when ground general assembly to the construction profile of satellite and the instrument and equipment that has required precision
Carry out geometric accuracy measurement, such as the earth sensor on satellite, the sun and the appearance such as star sensor, inertia device
State sensitive instrumentation；The thrust assemblies such as 10N thruster, 490N electromotor；The sensed communication such as antenna, camera sets
Standby.The optics prism square being calibrated on the general equipment under test of measured equipment characterizes, tested instrument
Coordinate system coordinate axes by optics prism square reflecting surface normal represent.Current measuring method is that employing is high-precision
The electronic theodolite of degree carries out artificial alignment measurement.Theodolite is built-in with ten that same eyepiece observation crosshair overlaps
Word light source, first focuses the lens cone for telescope of theodolite to infinity state during measurement, utilizes cross light source
Irradiating tested cube of minute surface the return light by eyepiece observation minute surface, operation theodolite makes to return the same mesh of light
Mirror crosshair overlaps, and now the observation optical axis (cross light source direction of illumination) of theodolite is consistent with minute surface normal direction,
The measurement to minute surface normal direction is completed by the data record of the horizontally and vertically angle of pair warp and weft instrument.
The real-time of high-precision electronic transit survey technology, noncontact, mobility and high accuracy carry significantly
The speed of high spacecraft accurate measurement and precision, for current spacecraft accurate measurement task smoothly complete provide important
Equipment support.But current measuring method depends on artificial observation and operation, its built-in driving
The function of motor is not used effectively, in the case of long-time, remote, multitask, and measurement error
Can become big because of the observation error of human eye, measure efficiency simultaneously and also can reduce.In particular with Project R&D
, the most all can there is the task situation that the few workload of people is big in being continuously increased of task, and the observation error of human eye is also
It is increasingly becoming the important step affecting the measuring precision.Such as workman is measuring continuously more than 4
After hour, the observation error of human eye can become big, and when overtime work is measured the most at night, workman can be because of visual fatigue
And causing visual deterioration, the pointing accuracy of human eye will be lower, and this all will cause measurement efficiency and measure essence
The reduction of degree, even can delay the progress of task.
And in recent years, owing to having the advantages such as detection speed is fast, certainty of measurement is high, non-cpntact measurement, image
Sensor technology is realizing Site Detection, is improving production automation degree and realize supersize detection etc.
Aspect shows the most powerful development prospect.Vision guide measures technology can overcome the observation error of human eye,
Improve the efficiency of work to a great extent, become the focus and emphasis of research and development in domestic and international fields of measurement.
But, these existing control modes all cannot accomplish servo antrol, the most truly reflection assembling demand
And carry out real-time control.
Summary of the invention
Based on image recognition the automatic theodolite alignment measurement method of the present invention, is in order to by visual figure
As pair warp and weft instrument alignment measurement state monitors, utilize image quantitative analysis characteristic can instruct theodolite to enter
Row autocollimation, the autocollimation finally realizing theodolite is measured, and while improving measurement efficiency, eliminates
The observation error of human eye, it is ensured that even improve the certainty of measurement of theodolite.
Technical scheme is as follows:
Automatic theodolite alignment measurement method based on image recognition, it measures equipment by the electricity of built-in driving motor
Sub-theodolite, miniature measurement camera and fixing tool composition, entered electronic theodolite by miniature measurement camera
The guiding that row autocollimation is measured, comprises the steps:
(1) miniature measurement camera is attached fixing by fixing tool with electronic theodolite, and miniature measurement camera can
By electronic theodolite lens barrel, the measurement visual field of electronic theodolite is carried out unobstructed observation；
(2) calibrating miniature measures the spatial relationship working internal parameter as system of camera and theodolite, successively
Including turning between the plane of delineation coordinate system of image captured by camera and theodolite eyepiece crosshair observation coordinate system
Change relation (deflection factor and translational movement) and focal length is in infinity and surveys state (when theodolite collimates
Focal length state) under the ratio of pixel deviator in electronic theodolite angle deviator and miniature measurement image shot by camera
Coefficient (planche cross silk aspect ratio coefficient and vertical direction proportionality coefficient)；
A. between the plane of delineation coordinate system of image captured by camera and theodolite eyepiece crosshair observation coordinate system
Transformational relation (deflection factor and translational movement) scaling method is:
If coordinate system XOY is the frame of reference that theodolite eyepiece crosshair characterizes, xoy is to guide camera
Photo coordinate system, two coordinate systems are isoplanar rotation in proportion and translation linear transformation, if this turn
The relation of changing is
X=p × x+q, Y=p × y+q (1)
In formula, (X, Y) is impact point coordinate figure in the frame of reference, and the frame of reference is by image
Theodolite crosshair extract, calculate impact point to two coordinate axess distance (pixel count metering) i.e.
For this coordinate figure；(x y) is same impact point coordinate figure in photo coordinate system, image plane coordinate
System is with picture centre as zero, and parallel pixel orientation and vertical pixel orientation constitute coordinate axes,
Calculating impact point is this coordinate figure to the distance (pixel count metering) of two coordinate axess；P, q are conversion
Coefficient of relationship；
The most arbitrarily take two known points A, B, if the coordinate figure that A is in the frame of reference be (A1,
A2), the coordinate figure in photo coordinate system is (a1, a2), B coordinate figure in reference index system
For (B1, B2), the coordinate figure in photo coordinate system is (b1, b2), by these four groups of coordinate figures
The transformational relation of the frame of reference and photo coordinate system can be solved；
B. electronic theodolite deflection angle tolerance and miniature measurement camera pixel number under focal length is in collimation observer state
The scaling method of the relation of amount is:
The fixing electronic theodolite connecting miniature measurement camera is stable at state 1, under the conditions of recording status 1
The level angle and vertical angle of theodolite, the image of the miniature measurement camera under the conditions of recording status 1, will
Electronic theodolite carries out level angle and vertical angle deflection, is stable at state 2, warp under the conditions of recording status 2
The level angle and vertical angle of latitude instrument, the image of the miniature measurement camera under the conditions of recording status 2；
The amount of pixels of image shift in calculating state 1 and state 2, by the demarcation relation in (1) by this
Side-play amount dress changes to two offset components under electronic theodolite observation coordinate system, corresponding to electronic theodolite
The deviator of the level angle and vertical angle of state 1 and state 2, calculates respectively and sits in electronic theodolite observation
The deflection angle of the electronic theodolite on lower two change in coordinate axis direction of mark system is measured with miniature measurement camera pixel deviation
The Relation Parameters of amount；In the position of distance theodolite collimation axis difference deflection angle, the deflection angle of electronic theodolite
Measuring with the relation of miniature measurement camera pixel departure is not linear relationship completely, based on image lattice
The parameter calibration method of distribution, will be divided into some regions of N × M, to each region according to step by image
Suddenly the method in (2) is once demarcated, and is positioned at the district of image according to target when needing to use this parameter
Territory selects the parameter of corresponding region according to principle nearby；
(3) automatically extract collimation and return light and electronic theodolite eyepiece crosshair and offset relation
Collimation is utilized to return light and electronic theodolite eyepiece crosshair shape facility in the picture, by based on ash
The method that degree is analyzed extracts cross in the picture and returns centre coordinate and the electronic theodolite eyepiece cross of light
The coordinate of silk, calculates the two pixel deviations amount in the picture；By the Relation Parameters demarcated in step (2)
Pixel deviations amount is converted into trunnion axis and the angular deviation of vertical axes under electronic theodolite observation coordinate system
Amount；
(4) amount of angular deviation calculated in (3) is sent to electronic theodolite with instruction type, drives warp
Latitude instrument deflects according to set angle, until completing collimation.
In such scheme, the electronic theodolite of employing is to have auto-collimation function and be built-in with the electronics driving motor
Theodolite, can directly use the electronic theodolite product of maturation；
In such scheme, the miniature measurement camera of employing is miniature to focus measurement camera, can directly use maturation
Measure camera product；
In such scheme, the fixing tool of employing is to coordinate eyepiece and the frock of miniature measurement camera size, it is possible to
While miniature measurement camera is fixed on theodolite eyepiece position, by parallel fixing by the way of ensure miniature
The optical axis measuring camera is basically identical with the collimation axis of theodolite.
The Automatic theodolite collimation method based on image recognition that the present invention uses, by image record and analysis
Method substitutes the method for traditional human eye observation, it is ensured that the measurement stability in the case of long-time measurement,
Improve the work efficiency of measurement.
Accompanying drawing explanation
Fig. 1 is the plane of delineation coordinate of image captured by camera in the autocollimation procedure implementing the present invention
Between system and theodolite eyepiece crosshair observation coordinate system, transformational relation demarcates schematic diagram.Wherein solid line is illustrated
XOY is the frame of reference that theodolite eyepiece crosshair characterizes, and the xoy of dotted line signal is true by the plane of delineation
Fixed photo coordinate system.
Fig. 2 is parameter calibration side based on image lattice distribution in the autocollimation procedure implementing the present invention
Method will be divided into some regions of N × M by image, and according to focal length, each grid points is in collimation observation shape
The schematic diagram demarcated under state.Wherein white point is image center, and black color dots is the grid points of image.
Fig. 3 is the overall schematic that Automatic theodolite collimation based on image recognition measures system.
Wherein, 1 is theodolite eyepiece；2 is fixing tool；3 is miniature measurement camera.
Detailed description of the invention
Introduced below is the detailed description of the invention as content of the present invention, below by specific embodiment party
The described content of the present invention is further illustrated by formula.Certainly, following detailed description is described only for showing
The content of the different aspect of the example present invention, and should not be construed as limiting the invention scope.
As it is shown on figure 3, the present invention based on image recognition automatic theodolite alignment measurement method use set
For including miniature measurement camera, this miniature measurement camera is fixed at the eyepiece of theodolite by fixing tool,
The mode between miniature measurement camera and fixing tool and using screw clamping between fixing tool and eyepiece is solid
Fixed.By the lens barrel of measuring of electronic theodolite, the visual field of electronic theodolite is observed, depends on when measuring
Secondary carrying out two kinds of demarcation, detailed description of the invention is as follows:
(1) between the plane of delineation coordinate system of image captured by camera and theodolite eyepiece crosshair observation coordinate system
Transformational relation (deflection factor and translational movement) scaling method is:
If p, q are transformational relation coefficient.It is illustrated in figure 1 the image of camera shooting, uses artificial drafting
Method mouse is chosen 2 on crosshair and is obtained planche cross silk thread and vertical cross silk thread, records ten
Point on Zi Si center and planche cross silk and the point on vertical crosshair location of pixels in the picture.Figure
The central point of picture is o, and the line direction of pixel arrangement is ox, and the column direction of pixel arrangement is oy, theodolite mesh
Mirror center of reticule is shown as O in the picture, and planche cross silk direction is OX, and vertical crosshair direction is
OY.If coordinate system XOY is the frame of reference that crosshair characterizes, xoy is that the plane of delineation guiding camera is sat
Mark system.Two coordinate systems are the rotation in isoplanar and translation, and mathematical relationship is linear relationship, if this turn
The relation of changing is
X=p × x+q, Y=p × y+q (1)
In formula, (X, Y) is impact point pixel coordinate value in the frame of reference, and the frame of reference is by figure
Theodolite crosshair in Xiang extracts, and calculates the impact point distance (pixel count metering) to two coordinate axess
It is this coordinate figure；(x, y) is same impact point pixel coordinate value in plane of delineation coordinate system, as
Plane coordinate system with picture centre as zero, parallel pixel orientation and vertical pixel orientation structure
Coordinate axes, the distance (pixel count metering) of calculating impact point to two coordinate axess is become to be this coordinate figure.
The most arbitrarily take an A, if the coordinate figure that A is in the frame of reference is (A1, A2), at picture
Coordinate figure in plane coordinate system is (a1, a2).Then there is equation;
A1=p × a1+q and A2=p × a2+q;
Solving equation can obtain: p=(A1-A2)/(a1-a2), q=A1-(A1-A2) ×/(a1-a2).
(2) focal length is in infinity and surveys electronics longitude and latitude under state (focal length state when theodolite collimates)
Instrument angle deviator with the proportionality coefficient scaling method of pixel deviator in miniature measurement image shot by camera is:
If K is the proportionality coefficient in horizontal direction, K ' is the proportionality coefficient on vertical direction.Set in the picture
Having C, D at 2, C point pixel coordinate value under xoy coordinate system is (C, D), and D point is at xoy coordinate
Pixel coordinate value under Xi is that (c, d), the transformational relation through coordinate system XOY Yu xoy can obtain C
Point pixel coordinate value under XOY coordinate system is (C ', D '), D point picture under XOY coordinate system
Element coordinate figure is (c ', d ').When theodolite aims at C point, the angle of theodolite is shown as (α (water
The straight angle), β (vertical angle)), when theodolite aims at D point, the angle of theodolite is shown as (α ' (water
The straight angle), β ' (vertical angle)).
Then the Proportional coefficient K in horizontal direction is: K=| α '-α |/| C '-C |;(when aiming at D point such as theodolite
Theodolite has turned over level angle zero point, then K=| α '+360-α |/| C '-C |;)
Proportional coefficient K ' on vertical direction is: K '=| β '-β |/| D '-D |.
Owing to measuring with miniature in the deflection angle of the position electronic theodolite of distance theodolite collimation axis difference deflection angle
The relation measuring camera pixel departure is not linear relationship completely, therefore uses and divides based on image lattice
The parameter calibration method of cloth, such as Fig. 2, is divided into some districts of N × M by image according to the ranks direction of image
Territory, wherein white initial point is picture centre, defines other ranks intersection points (black color dots) for (D1, D2 ...)
Being selected in and carry out the 2. timing signal of (2) and choose image center position C, choosing (D1, D2 ...) successively is D
Click on rower fixed, draw at each D1, D2 ... the Proportional coefficient K in the horizontal direction of point and vertical direction
On Proportional coefficient K '.
(3) under measuring state, image note is carried out by the alignment measurement visual field of miniature measurement camera pair warp and weft instrument
Record, uses steger method to split the collimation cross light in image in record image, extracts electronics warp
The collimation of latitude instrument returns the horizontal center line point of light and vertical centerline points, then by based on Hough transform
Lines detection method collimation returns light center line, obtains center of reticule at image coordinate system by intersection calculation
Pixel coordinate value under xoy (m, n), calculate with (m, n) some distance closest to ranks intersection point (D1,
D2 ...), if the proportionality coefficient in this point of intersection horizontal direction is K, the proportionality coefficient on vertical direction is
K′.The angle drive volume (γ, δ) of electronic theodolite it is converted into by the inner parameter demarcated in (2),
Circular is:
γ=(m×p+q)×K；
δ=(n×p+q)×K′。
(4) sent control instruction according to the electronic theodolite angle drive volume in (3) by computer and drive electronics longitude and latitude
Instrument carries out angular deflection according to (γ, δ), reaches collimating status.
Although above the detailed description of the invention of the present invention being described in detail and illustrates, but it should be noted that
, above-mentioned embodiment can be made various changes and modifications by we, but these are without departure from the present invention
Spirit and appended claim described in scope.
Claims (5)
1. automatic theodolite alignment measurement method based on image recognition, it measures equipment by the electricity of built-in driving motor
Sub-theodolite, miniature measurement camera and fixing tool composition, carried out electronic theodolite by miniature measurement camera
The guiding that autocollimation is measured, comprises the steps:
(1) miniature measurement camera is attached fixing by fixing tool with electronic theodolite, and miniature measurement camera can pass through
Electronic theodolite lens barrel carries out unobstructed observation to the measurement visual field of electronic theodolite；
(2) calibrating miniature measures the spatial relationship working internal parameter as system of camera and theodolite, including camera
Transformational relation between the plane of delineation coordinate system of captured image and theodolite eyepiece crosshair observation coordinate system is i.e.
Focal length state when deflection factor and translational movement and focal length are in infinite observation state i.e. theodolite collimates
Lower electronic theodolite angle deviator and the proportionality coefficient of pixel deviator in miniature measurement image shot by camera；Wherein,
A. the conversion between the plane of delineation coordinate system of image captured by camera and theodolite eyepiece crosshair observation coordinate system
Relation i.e. deflection factor and translational movement scaling method be:
If coordinate system XOY is the frame of reference that theodolite eyepiece crosshair characterizes, xoy is that the picture guiding camera is put down
Areal coordinate system, two coordinate systems are isoplanar rotation in proportion and translation linear transformation, if this transformational relation
For
X=p × x+q, Y=p × y+q (1)
In formula, (X, Y) is impact point coordinate figure in the frame of reference, and the frame of reference is by the warp in image
Latitude instrument crosshair extracts, and the distance of calculating impact point to two coordinate axess is this coordinate figure；(x,y)
For same impact point coordinate figure in photo coordinate system, photo coordinate system is former with picture centre for coordinate
Point, parallel pixel orientation and vertical pixel orientation constitute coordinate axes, calculate impact point to two coordinate
The distance of axle is this coordinate figure；P, q are transformational relation coefficient；
The most arbitrarily take two known points A, B, if the coordinate figure that A is in the frame of reference is (A1, A2),
Coordinate figure in photo coordinate system is (a1, a2), B coordinate figure in reference value coordinate system be (B1,
B2), the coordinate figure in photo coordinate system is (b1, b2), can be solved by these four groups of coordinate figures
The frame of reference and the transformational relation of photo coordinate system；
B. electronic theodolite angle deviator and the pass of miniature measurement camera pixel quantity under focal length is in collimation observer state
The scaling method of system is:
The fixing electronic theodolite connecting miniature measurement camera is stable at state 1, longitude and latitude under the conditions of recording status 1
The level angle and vertical angle of instrument, the image of the miniature measurement camera under the conditions of recording status 1, by electronics warp
Latitude instrument carries out level angle and vertical angle deflection, is stable at state 2, theodolite under the conditions of recording status 2
Level angle and vertical angle, the image of the miniature measurement camera under the conditions of recording status 2；
The amount of pixels of image shift in calculating state 1 and state 2, by the demarcation relation in (1) by this skew
Amount is transformed into two offset components under electronic theodolite observation coordinate system, corresponding to electronic theodolite state 1
With the deviator of the level angle and vertical angle of state 2, calculate under electronic theodolite observation coordinate system two respectively
Electronic theodolite angle deviator on individual change in coordinate axis direction is with the Relation Parameters of miniature measurement camera pixel departure；
In the position of distance theodolite collimation axis difference deflection angle, electronic theodolite angle deviator is with miniature measurement camera picture
The relation of element departure is not linear relationship completely, parameter calibration method based on image lattice distribution, i.e.
Divide the image into the some regions for N × M, each grid intersection point is carried out one according to the method in (b)
Secondary demarcation, when needing to use this parameter according to the distance of possessive case site in target and image according to nearby
Principle selects the parameter of corresponding grid points position；
(3) automatically extract collimation and return light and electronic theodolite eyepiece crosshair and offset relation
Collimation is utilized to return light and electronic theodolite eyepiece crosshair shape facility in the picture, by based on gray analysis
Method extract collimation in the picture and return the centre coordinate of light and the seat of electronic theodolite eyepiece crosshair
Mark, calculates the two pixel deviations amount in the picture；By the Relation Parameters demarcated in (2), pixel is inclined
Residual quantity is converted into trunnion axis and the amount of angular deviation of vertical axes under electronic theodolite observation coordinate system；
(4) amount of angular deviation calculated in (3) is sent to electronic theodolite with instruction type, drives theodolite to press
Deflect according to set angle, until completing collimation.
The most the method for claim 1, wherein electronic theodolite angle deviator shoots with miniature measurement camera
In image, the proportionality coefficient of pixel deviator includes planche cross silk aspect ratio coefficient and vertical crosshair direction ratio
Example coefficient.
The most the method for claim 1, wherein electronic theodolite drives with being built-in with for having auto-collimation function
The electronic theodolite of dynamic motor.
The most the method for claim 1, wherein the miniature measurement camera used is miniature to focus measurement camera.
5. the method as described in any one of claim 1-4, wherein, the fixing tool of employing is for coordinating eyepiece and miniature
Measure the frock of camera size, it is possible to while miniature measurement camera is fixed on theodolite eyepiece position, pass through
Parallel fixing mode ensures that the optical axis of miniature measurement camera is basically identical with the collimation axis of theodolite.
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| CN105806305A (en) * | 2014-12-31 | 2016-07-27 | 杨琳 | Theodolite capable of forming electronic image on ocular lens |
| CN104613929A (en) * | 2015-01-07 | 2015-05-13 | 北京卫星环境工程研究所 | Method for automatic collimation of cubic mirror based on machine vision |
| CN108109173B (en) * | 2016-11-25 | 2022-06-28 | 宁波舜宇光电信息有限公司 | Visual positioning method, camera system and automation equipment |
| CN107543495B (en) * | 2017-02-17 | 2019-02-22 | 北京卫星环境工程研究所 | Spacecraft equipment autocollimation measuring system, alignment method and measurement method |
| CN107449394B (en) * | 2017-06-30 | 2020-02-28 | 沈阳建筑大学 | Electronic centering system of total station and centering automatic compensation method thereof |
| CN108398123B (en) * | 2018-02-06 | 2020-10-20 | 中国人民解放军战略支援部队信息工程大学 | Total station and dial calibration method thereof |
| CN108445779A (en) * | 2018-03-15 | 2018-08-24 | 西安电子科技大学 | Simulator and analog simulation method are monitored on space flight optical camera intrinsic parameter star |
| CN109489588A (en) * | 2018-10-25 | 2019-03-19 | 北京航天计量测试技术研究所 | A kind of dynamic auto-collimation tracking measurement control method |
| CN109520525A (en) * | 2018-11-29 | 2019-03-26 | 中国科学院长春光学精密机械与物理研究所 | The theodolite light axis consistency method of inspection, device, equipment and readable storage medium storing program for executing |
| CN109612430A (en) * | 2018-11-29 | 2019-04-12 | 昆山睿力得软件技术有限公司 | A kind of transit survey method of view-based access control model guidance |
| CN110285816B (en) * | 2019-06-28 | 2023-12-12 | 航天东方红卫星有限公司 | High-precision attitude measurement system and method for small satellite on-satellite equipment |
| CN111083470B (en) * | 2019-12-30 | 2024-04-05 | 中国科学院西安光学精密机械研究所 | Array camera visual axis adjusting device and adjusting method |
| WO2021258251A1 (en) * | 2020-06-22 | 2021-12-30 | 深圳市大疆创新科技有限公司 | Surveying and mapping method for movable platform, and movable platform and storage medium |
| CN113237633B (en) * | 2021-04-02 | 2024-03-12 | 长春通视光电技术有限公司 | Photoelectric platform stability and precision detection method based on image processing |
| CN113624257B (en) * | 2021-08-09 | 2024-04-05 | 苏州一光仪器有限公司 | Method for testing horizontal one-measurement-back precision of theodolite |
| CN114136341B (en) * | 2021-11-30 | 2024-03-15 | 中国科学院长春光学精密机械与物理研究所 | Theodolite calibration error detection method |
| CN116823937B (en) * | 2023-08-28 | 2024-02-23 | 成都飞机工业（集团）有限责任公司 | High-precision quick aiming method for plane horizontal point based on visual guidance |
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| EP2040030A1 (en) * | 2007-09-24 | 2009-03-25 | Leica Geosystems AG | Positioning method |
| CN101655344B (en) * | 2008-08-18 | 2011-11-09 | 北京航天计量测试技术研究所 | Method for calibrating spatial coordinate measuring system of electronic theodolite |
| EP2194399A1 (en) * | 2008-12-03 | 2010-06-09 | Leica Geosystems AG | Position determination procedure and geodata measuring system |
| JP6055179B2 (en) * | 2011-12-19 | 2016-12-27 | 株式会社トプコン | Rotation angle detection device and surveying device |
| CN203069175U (en) * | 2013-01-07 | 2013-07-17 | 北京博飞仪器股份有限公司 | Self-collimation electronic theodolite |
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