CN104034275A - Total station instrument based subway tunnel deformation automatic monitoring method and device - Google Patents
Total station instrument based subway tunnel deformation automatic monitoring method and device Download PDFInfo
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Abstract
The invention relates to a total station instrument based subway tunnel deformation automatic monitoring method and device. The total station instrument based subway tunnel deformation automatic monitoring device comprises a data acquisition module, a core control module and a data communication module, wherein the core control module is connected with the data acquisition module through the data communication module. When the total station instrument is levelled, the core control module calculates space position information parameters of observation stations and a turning reference point with given point coordinates serving as a reference coordinate system due to the observation of a given point circular prism located in a stability area and a 360-degree prism of the turning reference point located in a deformation area, three-dimensional coordinates of a to-be-measured point are measured after observation station positioning parameters are updated, coordinates under a reference coordinate system are obtained after coordinate conversion is performed on the measured coordinates of the observation stations, and absolute coordinates of to-be-measured target points are obtained under the reference coordinate system. Compared with the prior art, the total station instrument based subway tunnel deformation automatic monitoring device has the advantages of greatly saving manual costs, improving the data reliability, allowing monitoring of the tunnel in real time at full day.
Description
Technical field
The present invention relates to a kind of subway tunnel technology for deformation monitoring, especially relate to a kind of subway tunnel distortion automatic monitoring method and device based on total powerstation.
Background technology
Nearly decades, the traffic pressure bringing under the pressure of urban population expansion, the construction of subway tunnel is all being greatly developed in each big city of China, and subway engineering starts to completion from construction, all needs constantly to carry out deformation monitoring during particularly building up rear whole operation.In order to ensure safety of subway operation, need the Contents for Monitorings such as sedimentation, displacement, amount of deflection and rail smooth in Real-time Obtaining tunnel, the monitoring instrument adopting and technical method are also different.Using maximum methods is at present manual measurement, mainly comprise tracerse survey, geometric leveling etc., time and effort consuming, workload is large, Monitoring Data is easily affected by human factors, and cannot reach the requirement of Real-time Obtaining deformation data, and generally all need to stop just entering measurement after operation at subway at midnight; In order to solve all drawbacks of manual measurement, there are small part enterprise and R&D institution also in the method for studying automatic monitoring, comprise static level, Fibre Optical Sensor, automatic total powerstation etc., can save a large amount of manual labor, but these different automatic monitoring means have its relative merits separately, conventionally cannot take into account, and monitoring range is limited, and monitoring criteria point often changes with the bulk deformation in tunnel, often still need in actual applications to adopt personal monitoring's method to correct.
Existing monitoring technology mainly comprises following several:
(1) method of Traditional Man monitoring adopts tracerse survey to obtain the horizontal distortion amount of point to be monitored, geometric leveling obtains the sedimentation information change amount of point to be monitored, and the accidental error of bringing in order to reduce human factor, often need to come and go observation, measurement progress is slow, and three-dimension deformation-quantity cannot obtain simultaneously, more can not accomplish Real-time Collection and show, and manual measurement can only subway at midnight stop operation after just can enter measurement, in actual monitoring, there is inconvenience and restriction.
(2) static level is to utilize connected liquid in containers to seek the principle of identical gravitional force, difference and the variable quantity of measuring and monitor reference point vertical height each other, can be divided into capacitance type sensor, inductance type transducer and electro-optical pickoff etc. according to working sensor principle.When the static level route of pipe line is long, can affect the sensitivity of monitoring system, monitoring point spacing is the longest is generally no more than 30 meters, and requires the temperature of institute monitored area to be consistent, otherwise has larger systematic error; Also need to guarantee the sealing property of hydrostatic level container, prevent that accommodating pressure-transmitting liquid from becoming gas at vaporization at high temperature, temperature is condensate on container float after declining, and causes measuring error; In addition, because law of connected vessels and tunnel elevation rise and fall while exceeding water surface measuring range, need the extra hydrostatic level that increases, with this method, carry out elevation transmission, so error is also constantly transmitted accumulation thereupon.
(3) optical fiber is fibre-optic abbreviation, is a kind of important and conventional waveguide material, and it utilizes the total reflection principle of light that light-wave energy is constrained in its interface, and guides light wave to propagate along shaft axis of optic fibre direction.Main product comprises fiber-optic grating sensor (FBG), Michelson interference optical fiber sensing device (SOFO), distributed optical fiber sensing system (BOTDA/R) etc.The main information being obtained by optical fiber sensing technology is strain, in subway tunnel monitoring, apply the more monitoring that concentrates on structural cracks, for the monitoring of displacement conventionally by calculating in conjunction with temperature observation amount, still in conceptual phase, also do not apply at present, and the method has higher requirement conventionally for the laying of optical fiber.
(4) automatic total powerstation is also referred to as robot measurement, be a kind of can carry out automatic search, identification and accurately sight target and can automatic acquisition the intelligent electronic total powerstation of the metrical information such as distance, angle, three-dimensional coordinate, be that integrated driving system, CCD image sensor system, ATR intelligence are sighted the development such as recognition system and formed on the basis of common total powerstation.Its automatic target searching, Intelligent Recognition and accurately to sight ability all very strong, can complete observation work continuous, that repeat at short notice to a plurality of measuring target point.As proven technique, be widely used in various automatic measurement projects at present, as application such as shield structure automated induction systems, push pipe automated induction systems and high precision dam, the automatic monitorings of bridge, domestic more ripe automatic Total Station Monitoring System has the InTMoS of information engineering university, the AMS of Tongji University etc.It owing to being subject to observing visual angle restriction such as narrow and small grade, cannot promote the use of on a large scale in tunnel monitoring based on the automatic total powerstation of separate unit in the situation that, can only use at present based on the automatic total powerstation monitoring of separate unit tunnel local deformation.
Summary of the invention
Object of the present invention is exactly to provide a kind of subway tunnel distortion automatic monitoring method and device based on total powerstation in order to overcome the defect of above-mentioned prior art existence.
Object of the present invention can be achieved through the following technical solutions:
A subway tunnel distortion automatic monitoring method based on total powerstation, is characterized in that, comprises the following steps:
1) judge whether to move first engineering, if yes, new construction, performs step 3 after inputting the parameter that each survey station need to monitor), otherwise execution step 2);
2) open built engineering, the database file of preserving before selecting, also can re-enter adjustment to each parameter in engineering attribute simultaneously, execution step 3);
3) configuration step 1) or step 2) in every engineering attribute parameter, execution step 4);
4) after data circuit connects and guarantees that automatic total powerstation powers on, connect successively the serial ports that each survey station is corresponding, connected configuration parameter the last time that system can retain for each survey station automatically, and perform step 5);
5) management known point three-dimensional coordinate, and perform step 6);
6) each survey station is carried out to survey station orientation, the overall adjustment positioning calculation that is each survey station provides inceptive direction, and the anchor point of observing successively each survey station measure, deposits in database, and performs step 7);
7) learn the monitoring point direction that each survey station need to be measured, and perform step 8);
8) start the automatic slotted line journey that comprises location survey and monitoring point measurement;
9), during location survey thread, all survey stations are according to step 6) in the anchor point direction of indication, obtain successively under current survey station the observation data of each anchor point and be updated in observation data vector;
10) call overall adjustment algorithm, the known point coordinate vector of the observation data vector sum input by measuring, calculates the three-dimensional coordinate of coordinate, initial zero direction position angle and the turnover reference point of each survey station under the frame of reference;
11) each survey station parameter of adjustment being resolved is updated in survey station vector;
12) according to step 7) monitoring point of learning order and direction measure, and obtains the three-dimensional coordinate data under each survey station coordinate system;
13) in step 11) and step 12) basis enterprising row-coordinate conversion, calculate each monitoring point three-dimensional coordinate under the frame of reference;
14) resolve the three-dimensional coordinate that obtains and measurement data first and last time measurement data compare, obtain this deflection and the cumulative deformation of three directions, and present with curve map.
The parameter of described needs monitoring comprises monitoring point number, monitoring periods and alarm limit difference.
The three-dimensional coordinate that described overall adjustment algorithm calculates coordinate, initial zero direction position angle and the turnover reference point of each survey station under the frame of reference is specially:
21) according to original observation vector, obtain unduplicated location roll-call vector sum survey station name vector, for setting up the required various matrixes of error equation, carry out storage allocation space, whether the observed reading that judgement is read in simultaneously meets is resolved required minimum observation number;
22) to need to be resolved parameter initialize as the approximate value of Iterative;
23) by step 21) in definite amount initialization participate in each matrix size that adjustment is resolved;
24) judgement anchor point is the known point reference point of still transferring, if known point is set up corresponding error equation factor arrays and constant term according to (1), if turnover reference point, execution step 25);
25) according to formula formula (2), set up corresponding error equation factor arrays and constant term;
Wherein (δ X δ Y δ Z δ θ)
tfor survey station positional parameter to be resolved,
for the coordinate parameters of turnover reference point, (X
0y
0z
0θ
0)
tfor survey station positional parameter approximate value,
for turnover reference point coordinate approximate value,
(Δ X Δ Y Δ Z)
tfor translation parameters, θ is initial zero direction position angle parameter;
26) according to formula (4), obtain parameter correction vector;
δT＝(
AT×A)
-1×(A
T×L) (4)
Wherein A is error equation factor arrays, and δ T is parameter vector to be resolved, and L is constant term;
27) the parameter approximate value before iteration adds the correction resolving, the approximate value of resolving as next iteration;
28) iterations is cumulative, jumps out iteration when resolving number of times over predetermined maximum;
29) return to the parameter approximate value finally the resolved calculation result of adjustment as a whole.
A device for subway tunnel distortion automatic monitoring method based on total powerstation, is characterized in that, comprise data acquisition module, kernel control module and data communication module, described kernel control module is connected with data acquisition module by data communication module;
Described data acquisition module comprises many automatic total powerstations, automatically flatten pedestal, be positioned at 360 degree prism, the known null circle prism that is positioned at stabilized zone and little prisms of L-type of the turnover reference point of deformed region;
Described kernel control module is the portable machine that automatic monitoring software is housed, and realization is resolved survey station and turnover reference point locations parameter and shows in real time monitoring point variable quantity and change curve for the control of each automatic total powerstation, raw data, the adjustment that storage is measured;
Described the USB-RS232 Serial Port Line, RS485 communication cable, the RS232-RS485 converter that comprise connection successively, for the automatic total powerstation of far distance controlled transmission measurement data;
By after automatic total powerstation leveling, by observation, be positioned at the known null circle prism and the 360 degree prisms that are positioned at the turnover reference point of deformed region of stabilized zone, kernel control module is usingd known point coordinate as the frame of reference, the spatial positional information parameter of each survey station and turnover reference point is resolved out in the lump, after renewal survey station positional parameter, treat monitoring point and carry out three-dimensional coordinate measurement, the coordinate of further each survey station being measured carries out coordinate conversion and obtains the coordinate under the frame of reference, obtains the absolute coordinates of each impact point to be monitored under the frame of reference.
Described automatic total powerstation concrete configuration is as follows:
According to the situation of actual tunnel, the automatic total powerstation of the automatic target identification of configuration respective numbers band and function of search, before and after the position of survey station, need to guarantee observation and obtain at least 3 known points or turnover reference point, before software connects instrument, need to guarantee that instrument flattens and open slope compensation.
Described automatic leveling pedestal in tunnel automatically total powerstation place survey station likely when the larger region of deflection, coordinate the slope compensation of automatic total powerstation self to make the Z axis of automatic total powerstation self survey station coordinate system remain that plummet upwards.
360 described degree prisms, as the tie of survey station coordinate system before and after contact, guarantee that the automatic total powerstation of two survey stations all at least can observe 3 360 degree prisms.
The little prism of described L-type need be fixed to feature locations to be monitored in tunnel wall.
At known point, place circle prism, should guarantee that this region is the stabilized zone under the frame of reference as far as possible, simultaneously in order to guarantee enough redundant observation numbers, near reconnaissance respectively arrange 3 known null circle prisms at the known point of tunnel head and the tail subway platform, position will be dispersed in the observation visual field of closing on total powerstation as far as possible.
Described portable machine is provided with automatic control total powerstation and positions, monitors and can carry out the software that overall adjustment is resolved function, and measurement and resolved data are saved in local data base, also can show and measure result the curve plotting figure resolving simultaneously.
Compared with prior art, the present invention has the following advantages:
The present invention has inherited high reliability, the high precision of automatic total powerstation in monitoring and measuring application and has obtained the advantages such as three-dimensional spatial information data simultaneously, and avoided the range of application of separate unit total powerstation in tunnel to limit, by 360 degree prisms as turnover reference point, adopt the algorithm of many automatic total powerstation overall adjustments, real-time resolving source is in each survey station of tunnel internal and the space position parameter of the reference point of respectively transferring, then upgrade survey station parameter and measure calculate to be monitored under the frame of reference three-dimensional coordinate.
This invention has solved tunnel internal monitoring criteria point in tunnel traditional monitoring process cannot detect the problem of absolute deformation amount with tunnel bulk deformation, can reflect that tunnel integral body is the deflection of lower three directions with respect to external reference; Owing to adopting the overall adjustment algorithm of independent research, the calculation accuracy of each survey station attitude and turnover reference point is even, does not exist measuring error by the problem of station accumulation.With respect to the method for Traditional Man monitoring, the present invention has greatly saved cost of labor, has improved data reliability, and can round-the-clockly in real time tunnel be monitored.
In addition, separate unit automatic Total Station Monitoring System was conventionally by observing single backsight point carry out survey station orientation in the past, measuring accuracy is subject to backsight point Accuracy larger, and the three-dimensional space position that cannot guarantee survey station in long term monitoring process is changeless always, when in observation process, if survey station is with set up region global existence moderate finite deformation especially, there is larger systematic error in measurement result, is difficult to get rid of.
Accompanying drawing explanation
Fig. 1 is hardware configuration schematic diagram of the present invention;
Fig. 2 is software flow pattern of the present invention;
Fig. 3 is that overall adjustment algorithm of the present invention resolves process flow diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
As shown in Figure 1, apparatus of the present invention are comprised of following three large modules:
(1) data acquisition module.Comprise many automatic total powerstations (Suo Jia or Lycra), automatically flatten pedestal, 360 degree prisms, justify prism, the little prism of L-type.
(2) kernel control module.The portable machine of the automatic monitoring software systems of independent development is housed, and realization is resolved survey station and turnover reference point locations parameter and shows in real time the functions such as monitoring point variable quantity and change curve for the control of each robot measurement, raw data, the adjustment that storage is measured.
(3) data communication module.Comprise USB-RS232 Serial Port Line, RS485 communication cable, RS232-RS485 converter, for the automatic total powerstation of far distance controlled transmission measurement data.
Fig. 1 has shown composition and the annexation that the present invention relates to module, is described in detail as follows:
(1) automatic total powerstation.According to the situation of actual tunnel, the automatic total powerstation of the automatic target identification of configuration respective numbers band and function of search, before and after the position of survey station, need to guarantee observation and obtain at least 3 known points or turnover reference point, before system software connects instrument, need to guarantee that instrument flattens and open slope compensation.
(2) automatically flatten pedestal.In tunnel, automatic total powerstation place survey station is likely in the larger region of deflection, automatically leveling pedestal coordinates the slope compensation of automatic total powerstation self so that the Z axis of total powerstation self survey station coordinate system remains plummet to make progress, to guarantee the correctness that algorithm resolves.
(3) known null circle prism.Known point is placed circle prism, should guarantee that this region is the stabilized zone under the frame of reference as far as possible, simultaneously in order to guarantee enough redundant observation numbers, generally can be near subway platform reconnaissance respectively arrange 3 round prisms at the known point of tunnel head and the tail, position will be dispersed in the observation visual field of closing on total powerstation as far as possible.As known point position changes, also can introduce frame of reference coordinate and upgrade known point coordinate by outside.
(4) the little prism of L to be monitored.Need be fixed to feature locations to be monitored in tunnel wall.
(5) 360 degree prisms.As the tie of survey station coordinate system before and after contact, guarantee that the automatic total powerstation at two stations all at least can observe 3 360 degree prisms.
(6) communication module.Comprise and connect the RS232 data line of instrument or turn Serial Port Line with the Y line, RS485 telecommunication cable, RS232-RS485 converter and the USB that access external power supply, wherein converter is configured in pairs, an automatic total powerstation connects a communication line, RS485 telecommunication cable, for long-distance transmissions steering order and return measurement data, finally turns Serial Port Line by USB and is connected into portable machine.
(7) portable machine.Automatic control total powerstation is installed and positions, monitor and can carry out the system software that overall adjustment is resolved function, measurement and resolved data are saved in local data base, also can show and measure result the curve plotting figure resolving simultaneously.
In addition it should be noted that, 360 degree prisms in round prism on known point and turnover reference point must guarantee the accurate of prism constant, otherwise may cause overall adjustment calculation accuracy poor or resolve mistake, and installation position will disperse as far as possible, avoid occurring in total powerstation direction the phenomenon of a plurality of prisms, known point and turnover reference point are referred to as anchor point as far as possible.
Fig. 1 has shown composition and the annexation of the main modular relating in the present invention, and system software engineering configuration parameter comprises that monitoring time interval (how long monitoring first phase data), monitoring point number, alarm limit are poor etc.Each survey station has set up and has learnt to indicate after reference point under each survey station, monitoring point direction once leveling, can round-the-clock unmanned the intervention carry out automatic survey station location and monitor tested point three-dimensional information.The three-dimensional Monitoring Data of each phase and adjustment parameter calculation result are all kept on local portable machine hard disk, and store with Access database file form, and this document can directly export to the data layouts such as Excel to further data analysis is contrasted.
Figure 2 shows that the part operational scheme of system software in the present invention, now to each step in figure, be elaborated as follows:
In step 401, if set up for the first time engineering project, need new construction, input some number that each survey station need to monitor, monitoring periods, alarm limit difference etc.;
In step 402, if the project of preserving before need to opening needs to open engineering, the database file of preserving before selecting, also can re-enter adjustment to each parameter in engineering attribute;
In step 403, the every engineering attribute parameter in configuration step 401 or step 402;
In step 404, after data circuit connects and guarantees that automatic total powerstation powers on, connect successively the serial ports that each survey station is corresponding, system can automatically retain and connect last time for each survey station configuration parameter;
In step 405, manage known point three-dimensional coordinate, can add, delete, revise the coordinate parameters of known point;
In step 406, the survey station orientation is here different from the content of traditional separate unit total powerstation survey station orientation, and the actual overall adjustment positioning calculation for each survey station provides inceptive direction, the anchor point of observing successively each survey station measure, and deposit in database;
In step 407, learn the monitoring point direction that each survey station need to be measured, for automatically measuring inceptive direction is provided, and deposit in database;
In step 408, start automatic slotted line journey, mainly comprise two parts content: location survey and monitoring point are measured;
In step 409, location survey thread, all survey stations, according to the anchor point direction of indication in step 406, obtain successively under current survey station the observation data of each anchor point and are updated in observation data vector;
In step 410, call overall adjustment algorithm, the known point coordinate vector of inputting by the observation data vector sum measuring, calculate the three-dimensional coordinate of coordinate, initial zero direction position angle and the turnover reference point of each survey station under the frame of reference, general solution is calculated tests error in rear weight unit and can not surpass 1mm, much needs to check that whether the known points of input are correct and whether prism constant is accurate as exceeded;
In step 411, each survey station parameter that adjustment is resolved is updated in survey station vector, for subsequent coordinates conversion provides basis;
In step 412, according to monitoring point order and the direction of step 407 learning, measure, obtain the three-dimensional coordinate data under each survey station coordinate system;
In step 413, in the enterprising row-coordinate conversion in the basis of step 411 and step 412, calculate each monitoring point three-dimensional coordinate under the frame of reference;
In step 414, resolve the three-dimensional coordinate that obtains and measurement data first and last time measurement data compare, obtain this deflection and the cumulative deformation of three directions, and present with curve map.
The present invention controls many automatic total powerstations, utilizing the observation data of different survey stations to carry out overall adjustment merges and resolves survey station parameter and turnover reference point coordinate, can objectively reflect the deflection of each three directions under the frame of reference to be monitored of tunnel internal, can reach round-the-clock unattended duty, high precision, high reliability for subway tunnel and carry out the object of deformation monitoring.If set up m survey station, a t turnover reference point in practical application, the number of parameters that overall adjustment need to solve is so altogether 4 * m+3 * t, and in certain survey station, the mathematical model that realizes survey station location by observation anchor point is as follows:
Each survey station need resolve 4 positional parameters, is respectively translation parameters (Δ X Δ Y Δ Z)
twith initial zero direction position angle parameter θ.In order to reach the object of redundant observation, need to observe 3 above anchor points resolve.In formula (1), the frame of reference coordinate on the equal sign left side, when the anchor point of observation is known point, is brought the known point coordinate of preservation into; If turnover reference point needs linearization together with the unknown parameter comprising on the right of equal sign to found side by side error equation.Formula is as follows:
When anchor point is known point:
When anchor point is turnover reference point:
Wherein (δ X δ Y δ Z δ θ)
tfor survey station positional parameter to be resolved,
for the coordinate parameters of turnover reference point, (X
0y
0z
0θ
0)
tfor survey station positional parameter approximate value,
for turnover reference point coordinate approximate value, by formula (2) or formula (3), form indirect adjustment normal equation:
V＝A×δT-L (4)
In above formula, v is residual vector, and A is error equation factor arrays, and δ T is parameter vector to be resolved, and L is constant term, can solve parameter vector to be according to indirect adjustment principle:
δT＝(A
T×A)
-1×(A
T×L) (5)
If each survey station has been observed altogether n anchor point, calculation accuracy estimate to adopt Hull not the poor method of estimation of special formula obtain testing error in rear weight unit and be:
Assist factor battle array and resolve parameters precision and be:
By the monitoring point coordinate of observing under each survey station parameter of calculating and corresponding survey station coordinate system, utilize the formula (1.) can be by the monitoring coordinate unification of all survey stations under the frame of reference.
Overall adjustment parameter calculation process flow diagram as shown in Figure 3.
In step 601, according to original observation vector, obtain unduplicated location roll-call vector sum survey station name vector, for setting up the required various matrixes of error equation, carry out storage allocation space, whether the observed reading that judgement is read in simultaneously meets is resolved required minimum observation number;
In step 602, to need to be resolved parameter initialize as the approximate value of Iterative;
In step 603, by amount initialization definite in step 601, participate in each matrix size that adjustment is resolved;
In step 604 and step 605, according to the original observation vector reading in and known point vector, determine whether the reference point of transferring, according to formula (2) and formula (3), set up corresponding error equation factor arrays and constant term respectively;
In step 606, according to formula (5), obtain parameter correction vector;
In step 607, the parameter approximate value before iteration adds the correction resolving, the approximate value of resolving as next iteration;
In step 608, iterations is cumulative, jumps out iteration, in case because error in data causes iteration not restrain and cannot jump out circulation when surpassing when predetermined maximum is resolved number of times;
In step 609, return to the parameter approximate value finally the resolved calculation result of adjustment as a whole.
The raw observation relating to during programmed algorithm resolves and calculation result data structure are as follows:
(1) known point data structure
(2) raw observation data structure
(3) the survey station information data structure calculating
(4) the turnover reference point coordinate data structure calculating
。
Claims (10)
1. the distortion of the subway tunnel based on a total powerstation automatic monitoring method, is characterized in that, comprises the following steps:
1) judge whether to move first engineering, if yes, new construction, performs step 3 after inputting the parameter that each survey station need to monitor), otherwise execution step 2);
2) open built engineering, the database file of preserving before selecting, also can re-enter adjustment to each parameter in engineering attribute simultaneously, execution step 3);
3) configuration step 1) or step 2) in every engineering attribute parameter, execution step 4);
4) after data circuit connects and guarantees that automatic total powerstation powers on, connect successively the serial ports that each survey station is corresponding, connected configuration parameter the last time that system can retain for each survey station automatically, and perform step 5);
5) management known point three-dimensional coordinate, and perform step 6);
6) each survey station is carried out to survey station orientation, the overall adjustment positioning calculation that is each survey station provides inceptive direction, and the anchor point of observing successively each survey station measure, deposits in database, and performs step 7);
7) learn the monitoring point direction that each survey station need to be measured, and perform step 8);
8) start the automatic slotted line journey that comprises location survey and monitoring point measurement;
9), during location survey thread, all survey stations are according to step 6) in the anchor point direction of indication, obtain successively under current survey station the observation data of each anchor point and be updated in observation data vector;
10) call overall adjustment algorithm, the known point coordinate vector of the observation data vector sum input by measuring, calculates the three-dimensional coordinate of coordinate, initial zero direction position angle and the turnover reference point of each survey station under the frame of reference;
11) each survey station parameter of adjustment being resolved is updated in survey station vector;
12) according to step 7) monitoring point of learning order and direction measure, and obtains the three-dimensional coordinate data under each survey station coordinate system;
13) in step 11) and step 12) basis enterprising row-coordinate conversion, calculate each monitoring point three-dimensional coordinate under the frame of reference;
14) resolve the three-dimensional coordinate that obtains and measurement data first and last time measurement data compare, obtain this deflection and the cumulative deformation of three directions, and present with curve map.
2. a kind of subway tunnel distortion automatic monitoring method based on total powerstation according to claim 1, is characterized in that, the parameter of described needs monitoring comprises monitoring point number, monitoring periods and alarm limit difference.
3. a kind of subway tunnel based on total powerstation according to claim 1 is out of shape automatic monitoring method, it is characterized in that, the three-dimensional coordinate that described overall adjustment algorithm calculates coordinate, initial zero direction position angle and the turnover reference point of each survey station under the frame of reference is specially:
21) according to original observation vector, obtain unduplicated location roll-call vector sum survey station name vector, for setting up the required various matrixes of error equation, carry out storage allocation space, whether the observed reading that judgement is read in simultaneously meets is resolved required minimum observation number;
22) to need to be resolved parameter initialize as the approximate value of Iterative;
23) by step 21) in definite amount initialization participate in each matrix size that adjustment is resolved;
24) judgement anchor point is the known point reference point of still transferring, if known point is set up corresponding error equation factor arrays and constant term according to (1), if turnover reference point, execution step 25);
25) according to formula (2), set up corresponding error equation factor arrays and constant term;
Wherein (δ X δ Y δ Z δ θ)
tfor survey station positional parameter to be resolved,
for the coordinate parameters of turnover reference point, (X
0y
0z
0θ
0)
tfor survey station positional parameter approximate value,
for turnover reference point coordinate approximate value,
(Δ X Δ Y Δ Z)
tfor translation parameters, θ is initial zero direction position angle parameter;
26) according to formula (4), obtain parameter correction vector;
δT＝(A
T×A)
-1×(A
T×L) (4)
Wherein A is error equation factor arrays, and δ T is parameter vector to be resolved, and L is constant term;
27) the parameter approximate value before iteration adds the correction resolving, the approximate value of resolving as next iteration;
28) iterations is cumulative, jumps out iteration when resolving number of times over predetermined maximum;
29) return to the parameter approximate value finally the resolved calculation result of adjustment as a whole.
4. one kind implements the claims the device that the subway tunnel based on total powerstation arbitrary in 1-3 is out of shape automatic monitoring method, it is characterized in that, comprise data acquisition module, kernel control module and data communication module, described kernel control module is connected with data acquisition module by data communication module;
Described data acquisition module comprises many automatic total powerstations, automatically flatten pedestal, be positioned at 360 degree prism, the known null circle prism that is positioned at stabilized zone and little prisms of L-type of the turnover reference point of deformed region;
Described kernel control module is the portable machine that automatic monitoring software is housed, and realization is resolved survey station and turnover reference point locations parameter and shows in real time monitoring point variable quantity and change curve for the control of each automatic total powerstation, raw data, the adjustment that storage is measured;
Described the USB-RS232 Serial Port Line, RS485 communication cable, the RS232-RS485 converter that comprise connection successively, for the automatic total powerstation of far distance controlled transmission measurement data;
By after automatic total powerstation leveling, by observation, be positioned at the known null circle prism and the 360 degree prisms that are positioned at the turnover reference point of deformed region of stabilized zone, kernel control module is usingd known point coordinate as the frame of reference, the spatial positional information parameter of each survey station and turnover reference point is resolved out in the lump, after renewal survey station positional parameter, treat monitoring point and carry out three-dimensional coordinate measurement, the coordinate of further each survey station being measured carries out coordinate conversion and obtains the coordinate under the frame of reference, obtains the absolute coordinates of each impact point to be monitored under the frame of reference.
5. the device of a kind of subway tunnel distortion automatic monitoring method based on total powerstation according to claim 4, is characterized in that, described automatic total powerstation concrete configuration is as follows:
According to the situation of actual tunnel, the automatic total powerstation of the automatic target identification of configuration respective numbers band and function of search, before and after the position of survey station, need to guarantee observation and obtain at least 3 known points or turnover reference point, before software connects instrument, need to guarantee that instrument flattens and open slope compensation.
6. a kind of subway tunnel based on total powerstation according to claim 4 is out of shape the device of automatic monitoring method, it is characterized in that, described automatic leveling pedestal in tunnel automatically total powerstation place survey station likely when the larger region of deflection, coordinate the slope compensation of automatic total powerstation self to make the Z axis of automatic total powerstation self survey station coordinate system remain that plummet upwards.
7. a kind of subway tunnel based on total powerstation according to claim 4 is out of shape the device of automatic monitoring method, it is characterized in that, 360 described degree prisms, as the tie of survey station coordinate system before and after contact, guarantee that the automatic total powerstation of two survey stations all at least can observe 3 360 degree prisms.
8. the device of a kind of subway tunnel distortion automatic monitoring method based on total powerstation according to claim 4, is characterized in that, the little prism of described L-type need be fixed to feature locations to be monitored in tunnel wall.
9. a kind of subway tunnel based on total powerstation according to claim 4 is out of shape the device of automatic monitoring method, it is characterized in that, at known point, place circle prism, should guarantee that this region is the stabilized zone under the frame of reference as far as possible, simultaneously in order to guarantee enough redundant observation numbers, near reconnaissance respectively arrange 3 known null circle prisms at the known point of tunnel head and the tail subway platform, position will be dispersed in the observation visual field of closing on total powerstation as far as possible.
10. a kind of subway tunnel based on total powerstation according to claim 4 is out of shape the device of automatic monitoring method, it is characterized in that, described portable machine is provided with automatic control total powerstation and positions, monitors and can carry out the software that overall adjustment is resolved function, measurement and resolved data are saved in local data base, also can show and measure result the curve plotting figure resolving simultaneously.
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