CN104034275B - 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 PDF

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CN104034275B
CN104034275B CN201410253949.2A CN201410253949A CN104034275B CN 104034275 B CN104034275 B CN 104034275B CN 201410253949 A CN201410253949 A CN 201410253949A CN 104034275 B CN104034275 B CN 104034275B
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point
coordinate
monitoring
survey station
parameter
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CN104034275A (en
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潘国荣
周跃寅
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Tongji University
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Tongji University
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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

Subway tunnel deformation auto-monitoring method and device based on total powerstation
Technical field
The present invention relates to a kind of subway tunnel technology for deformation monitoring, especially relate to a kind of subway tunnel based on total powerstation Deformation auto-monitoring method and device.
Background technology
Recent decades, expands the traffic pressure brought under the pressure of urban population, and China is all greatly developing subway in each big city The construction in tunnel, subway engineering starts to completion from construction, is required for constantly carrying out after particularly building up during whole operation Deformation monitoring.In order to ensure safety of subway operation, sedimentation, displacement, amount of deflection and the orbital forcing in tunnel need to be obtained in real time Deng Contents for Monitoring, the monitoring instrument and the technical method that are used are the most different.Currently used most method is manual measurement, Mainly including traverse survey, levelling etc., time and effort consuming, workload is big, and Monitoring Data is easily affected by human factors, and It is unable to reach the requirement obtaining deformation data in real time, and is typically necessary after subway stops operation at midnight and could enter survey Amount;In order to solve all drawbacks of manual measurement, there are small part enterprise and R&D institution also in the method for research automatic monitoring, Including static level, Fibre Optical Sensor, automatic total instruments etc., a large amount of manual labor can be saved, but these different automatizatioies Monitoring means has its respective pluses and minuses, generally cannot take into account, and monitoring range is limited, and monitoring criteria point tends to vary with tunnel Bulk deformation and produce change, still need to the most in actual applications use personal monitoring method correct.
Existing monitoring technology mainly includes following several:
(1) method of Traditional Man monitoring uses traverse survey to obtain the horizontal distortion amount of point to be monitored, and geometrical standard is surveyed Amount obtains the sedimentation information change amount of point to be monitored, and in order to reduce the incidental error that anthropic factor brings, generally requires past Returning observation, measure progress slow, three-dimension deformation-quantity cannot obtain simultaneously, more can not accomplish Real-time Collection and show, and manually Measurement can only could enter measurement after subway at midnight stops operation, has inconvenience and restriction in actual monitoring.
(2) static level is the principle utilizing the liquid in containers being connected to seek identical gravitional force, measures and monitors ginseng The difference of examination point vertical height each other and variable quantity, can be divided into capacitance type sensor, electricity according to sensor operating principles Sensing type sensor and electro-optical pickoff etc..The sensitivity of monitoring system can be affected, monitoring when the static level route of pipe line is long Dot spacing is the longest is usually no more than 30 meters, and requires that the temperature of institute monitored area keeps consistent, otherwise has bigger system Error;Also needing to ensure the sealing property of hydrostatic level container, prevent accommodating pressure-transmitting liquid from becoming gas at vaporization at high temperature, temperature declines After, it is condensate on container float, causes measurement error;Additionally, due to law of connected vessels and tunnel elevation rise and fall beyond the water surface Need to additionally increase a hydrostatic level during measuring range, carry out elevation transmission in this way, therefore error is the most constantly transmitted Accumulation.
(3) optical fiber is fibre-optic abbreviation, is a kind of important and conventional waveguide material, and it utilizes the total reflection of light former Light-wave energy is constrained in its interface by reason, and guides light wave to propagate along shaft axis of optic fibre direction.Main product includes optical fiber light Gate sensor (FBG), Michelson interference optical fiber sensing device (SOFO), distributed optical fiber sensing system (BOTDA/R) etc..By The main information that optical fiber sensing technology obtains is strain, applies the more prison concentrating on structural cracks in subway tunnel is monitored Surveying, the monitoring for displacement then generally calculates by combining temperature observation amount, does not also push away still in conceptual phase at present Extensively application, and the method is generally of higher requirement for the laying of optical fiber.
(4) automatic total instruments is also referred to as robot measurement, is that one can automatically search for, identifies and accurately sight target And can automatically obtain the intelligent electronic total powerstation of the metrical informations such as distance, angle, three-dimensional coordinate, it is the base at common total powerstation On plinth, integrated driving system, CCD image sensor system, ATR intelligence are sighted the development such as identification system and are formed.Its automatic target is sought Look for, Intelligent Recognition and accurately to sight ability the strongest, multiple measuring target point can be completed continuous print, repetition at short notice Observation work.The most it is widely used in various automatic measurement project, as shield guides automatically as ripe technology The application such as system, push pipe automated induction systems and high accuracy dam, bridge monitoring automatically, domestic more ripe automatic total instruments Monitoring system has the InTMoS of information engineering university, the AMS etc. of Tongji University.Its tunnel monitor in due to by observation visual angle Narrow and small grade limits, it is impossible to promotes the use of on a large scale in the case of based on separate unit automatic total instruments, can only use based on list at present Platform automatic total instruments monitoring tunnel local deformation.
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and provide a kind of based on total powerstation Subway tunnel deformation auto-monitoring method and device.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of subway tunnel deformation auto-monitoring method based on total powerstation, it is characterised in that comprise the following steps:
1) judge whether to run engineering first, if it has, then new construction, input after each survey station needs the parameter monitored and hold Row step 3), otherwise perform step 2);
2) built engineering is opened, the database file preserved before selection, simultaneously also can be to each parameter in engineering attribute Re-enter adjustment, perform step 3);
3) configuration step 1) or step 2) in every engineering attribute parameter, perform step 4);
4) after data circuit connects and ensures that automatic total instruments powers on, it is sequentially connected with the serial ports that each survey station is corresponding, System can automatically retain and connect configuration parameter the last time for each survey station, and performs step 5);
5) management known point three-dimensional coordinate, and perform step 6);
6) each survey station being carried out survey station orientation, the overall adjustment positioning calculation being each survey station provides inceptive direction, successively Observe each survey station and can measure the anchor point arrived, be stored in data base, and perform step 7);
7) learn the direction, monitoring point that each survey station needs to measure, and perform step 8);
8) the automatic slotted line journey comprising location measurement with monitoring point measurement is started;
9), when thread is measured in location, all survey stations are according to step 6) the middle anchor point direction indicated, obtain current survey successively The observation data of each anchor point of standing down also update in observation data vector;
10) overall adjustment algorithm is called, the observation data vector obtained by measurement and the known point coordinate vector of input, Calculate each survey station coordinate under the frame of reference, initial zero direction azimuth and the three-dimensional coordinate of turnover reference point;
11) each survey station parameter that adjustment resolves is updated in survey station vector;
12) according to step 7) monitoring point of learning order and direction measure, obtain under each survey station coordinate system Three-dimensional coordinate data;
13) in step 11) and step 12) on the basis of carry out Coordinate Conversion, calculate each monitoring under the frame of reference Point three-dimensional coordinate;
14) resolve the three-dimensional coordinate obtained to compare with measurement data first and measurement data last time, it is thus achieved that three sides To this deflection and cumulative deformation, and present with curve chart.
The described parameter needing monitoring includes monitoring point number, monitoring cycle and alarm limit difference.
Described overall adjustment algorithm calculate each survey station coordinate under the frame of reference, initial zero direction azimuth with And turnover reference point three-dimensional coordinate particularly as follows:
21) obtain unduplicated location roll-call vector sum survey station name vector according to original observation vector, be used for setting up error Various matrixes required in equation are allocated memory headroom, judge simultaneously the observation read in whether meet resolve needed for Little observation number;
22) to being needed the resolving parameter tax initial value approximation as Iterative;
23) by step 21) in the amount that determines initialize and participate in each matrix size that adjustment resolves;
24) judge that anchor point is that known point is still transferred reference point, if known point, set up corresponding error according to (1) Equation coefficient battle array and constant term, if turnover reference point, perform step 25);
25) corresponding error equation factor arrays and constant term are set up according to formula formula (2);
Wherein (δ X δ Y δ Z δ θ)TFor survey station positional parameter to be resolved,For turnover reference point Coordinate parameters, (X0 Y0 Z0 θ0)TFor survey station positional parameter approximation,For turnover reference point coordinate approximation Value,
(ΔX ΔY ΔZ)TFor translation parameters, θ is initial zero direction azimuth parameter;
26) parameter correction vector is obtained according to formula (4);
δ T=(AT×A)-1×(AT×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 approximation before iteration is plus the correction resolved, the approximation resolved as next iteration;
28) iterations adds up, and jumps out iteration when exceeding predetermined maximum resolving number of times;
29) the final parameter approximation the resolved calculation result as overall adjustment is returned.
The device of a kind of subway tunnel deformation auto-monitoring method based on total powerstation, it is characterised in that include data acquisition Collection module, kernel control module and data communication module, described kernel control module passes through data communication module and data acquisition Collection module connects;
Described data acquisition module includes multiple stage automatic total instruments, automatically flattens pedestal, is positioned at the turnover of deformed region 360 degree of prisms of reference point, the known null circle prism being positioned at stability region and the little prism of L-type;
Described kernel control module is the portable machine equipped with automatic monitoring software, it is achieved for each automatic total instruments Control, the initial data of storage measurement, adjustment resolve survey station and turnover reference point locations parameter and display monitoring point change in real time Change amount and change curve;
The described USB-RS232 Serial Port Line including being sequentially connected with, RS485 communication cable, RS232-RS485 transducer, For distant control automatic total instruments transmission measurement data;
After automatic total instruments is flattened, it is positioned at the known null circle prism of stability region by observation and is positioned at deformed region 360 degree of prisms of turnover reference point, kernel control module is using known point coordinate as the frame of reference, by each survey station and turnover The spatial positional information parameter of reference point resolves in the lump, treats monitoring point and carry out three-dimensional coordinate after updating survey station positional parameter Measure, further the coordinate that each survey station is measured is carried out Coordinate Conversion and obtains the coordinate under the frame of reference, obtain at benchmark The absolute coordinate of the impact point each to be monitored under coordinate system.
Described automatic total instruments concrete configuration is as follows:
According to the situation of actual tunnel, configuration respective numbers band automatic target detection and the automatic total instruments of function of search, Before and after the position of survey station, need to guarantee observation obtain at least 3 known points or turnover reference point, connect instrument at software Before need to ensure that instrument flattens and opens slope compensation.
It is bigger that the described pedestal of leveling automatically is likely to be in deflection for automatic total instruments place survey station in tunnel Region time, coordinate automatic total instruments self slope compensation the Z axis of automatic total instruments self survey station coordinate system is protected all the time Hold plummet upwards.
360 degree of described prisms are as the tie of survey station coordinate system before and after contact, it is ensured that the automatic total instruments of two survey stations is all At least can observe 3 360 degree of prisms.
The little prism of described L-type need to be fixed to feature locations to be monitored in tunnel wall.
Place circle prism at known point, should ensure the stability region under coordinate system on the basis of this region as far as possible, simultaneously in order to Ensureing enough redundant observation numbers, near subway platform, reconnaissance the known point at tunnel head and the tail respectively arrange 3 known null circle ribs Mirror, position to be dispersed in the observation visual field closing on total powerstation as far as possible.
Described portable machine is provided with and automatically controls total powerstation and carry out positioning, monitoring and can carry out overall adjustment resolving The software of function, measures and resolved data is saved in local data base, can also show simultaneously and measures the result resolved and paint Yeast production line chart.
Compared with prior art, the invention have the advantages that
The present invention inherits automatic total instruments high reliability in monitoring application, high accuracy and obtains three-dimensional space simultaneously Between the advantage such as information data, and avoid separate unit total powerstation range of application in tunnel and limit, by 360 degree of prism conducts Turnover reference point, use multiple stage automatic total instruments overall adjustment algorithm, real-time resolving source in tunnel internal each survey station with And the space position parameter of reference point of respectively transferring, then update survey station parameter and measurement calculates point to be monitored in the frame of reference Lower three-dimensional coordinate.
During this invention addresses tunnel traditional monitoring, tunnel internal monitoring criteria point is with tunnel bulk deformation The problem that cannot detect absolute deformation amount, can reflect the deformation in overall three directions lower relative to external reference system, tunnel Amount;Owing to using the overall adjustment algorithm of independent research, the calculation accuracy of each survey station attitude and turnover reference point is uniform, does not deposits Problem in the accumulation of measurement error done site by site.Relative to the method for Traditional Man monitoring, the present invention has greatly saved cost of labor, Improve data reliability, and can round-the-clock in real time tunnel be monitored.
Additionally, separate unit automatic Total Station Monitoring System generally carries out survey station orientation by the single backsight point of observation in the past, survey Accuracy of measurement is affected relatively big by backsight point precision, and cannot ensure the three-dimensional space position of survey station during long term monitoring always Changeless, if there is moderate finite deformation with set up region entirety in survey station during monitoring especially, then measurement result There is bigger systematic error, it is difficult to get rid of.
Accompanying drawing explanation
Fig. 1 is the hardware architecture diagram of the present invention;
Fig. 2 is the software flow pattern of the present invention;
Fig. 3 is that overall adjustment algorithm of the present invention resolves flow chart.
Detailed description of the invention
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As it is shown in figure 1, apparatus of the present invention are made up of following three big modules:
(1) data acquisition module.Including multiple stage automatic total instruments (Suo Jia or Lycra), automatically flatten pedestal, 360 degree of ribs Mirror, circle prism, the little prism of L-type.
(2) kernel control module.Portable machine equipped with the automatic monitoring software system of independent development, it is achieved for each survey Initial data, adjustment that the control of amount robot, storage are measured resolve survey station and turnover reference point locations parameter and show in real time Show the functions such as monitoring point variable quantity and change curve.
(3) data communication module.Including USB-RS232 Serial Port Line, RS485 communication cable, RS232-RS485 transducer, For distant control automatic total instruments transmission measurement data.
Fig. 1 shows composition and the annexation that the present invention relates to module, describes in detail as follows:
(1) automatic total instruments.According to the situation of actual tunnel, configuration respective numbers band automatic target detection and function of search Automatic total instruments, before and after the position of survey station, need to guarantee observation obtain at least 3 known points or turnover reference point, Systems soft ware needs before connecting instrument to ensure that instrument flattens and opens slope compensation.
(2) pedestal is automatically flattened.In tunnel, automatic total instruments place survey station is likely to be in the district that deflection is bigger Territory, automatically leveling pedestal coordinates the slope compensation of automatic total instruments self so that the Z axis of total powerstation self survey station coordinate system Remain that plummet is upwards, it is ensured that the correctness that algorithm resolves.
(3) known null circle prism.Known point places circle prism, should ensure stablizing under coordinate system on the basis of this region as far as possible Region, simultaneously in order to ensure enough redundant observation numbers, typically can near subway platform reconnaissance the known point at tunnel head and the tail 3 round prisms of each layout, position to be dispersed in the observation visual field closing on total powerstation as far as possible.As known point position is sent out Changing also can be introduced frame of reference coordinate by outside and update known point coordinate.
(4) the little prism of L to be monitored.Feature locations to be monitored in tunnel wall need to be fixed to.
(5) 360 degree of prisms.As the tie of survey station coordinate system before and after contact, it is ensured that the automatic total instruments at two stations is the most at least 3 360 degree of prisms can be observed.
(6) communication module.Including connecting the RS232 data wire of instrument or leading to the access Y line of external power supply, RS485 Communication cable, RS232-RS485 transducer and USB turn Serial Port Line, and wherein transducer configures in pairs, an automatic total instruments Connecting a communication line, RS485 communication cable is used for long-distance transmissions control instruction and return measurement data, eventually through USB turns Serial Port Line and is connected into portable machine.
(7) portable machine.It is provided with and automatically controls total powerstation and carry out positioning, monitor and can carry out overall adjustment and resolve merit The systems soft ware of energy, measures and resolved data is saved in local data base, can also show simultaneously and measure the result of resolving also Draw curve chart.
In addition, it is also noted that the round prism on known point and 360 degree of prisms in turnover reference point must assure that rib Mirror constant accurate, otherwise may cause overall adjustment calculation accuracy poor or resolve mistake, and installation position to be tried one's best Dispersion, avoids the phenomenon occurring multiple prism on total powerstation direction, it is known that put and reference point of transferring is referred to as anchor point as far as possible.
Fig. 1 shows composition and the annexation of the main modular related in the present invention, systems soft ware engineering configuration parameter Including monitoring time interval (the most how long monitoring an issue evidence), monitoring point number, alarm limit difference etc..Each survey station is once leveling After having set up and having learnt to indicate the reference point under each survey station, direction, monitoring point, can automatically survey round-the-clock unmanned the intervention Stand firm position monitor tested point three-dimensional information.Three-dimension monitor data and the adjustment parameter calculation result of each phase are all saved in this locality just Taking on machine hard disk, and store with Access database file form, this document can directly export to the data forms such as Excel Further data to be analyzed contrast.
Fig. 2 show the part operational process of systems soft ware in the present invention, existing step each in figure is described in detail as Under:
In step 401, if setting up engineering project for the first time, then needing new construction, inputting each survey station needs monitoring Some number, monitoring cycle, alarm limit difference etc.;
In step 402, if needing to open previously saved project, then need to open engineering, the number preserved before selection According to library file, also each parameter in engineering attribute can be re-entered adjustment;
Every engineering attribute parameter in step 403, in configuration step 401 or step 402;
In step 404, after data circuit connects and ensures that automatic total instruments powers on, it is sequentially connected with each survey station corresponding Serial ports, system can automatically retain and connect configuration parameter the last time for each survey station;
In step 405, manage known point three-dimensional coordinate, can add, delete, revise the coordinate parameters of known point;
In step 406, survey station orientation here is different from the content of tradition separate unit total powerstation survey station orientation, and reality is each survey The overall adjustment positioning calculation stood provides inceptive direction, observes each survey station successively and can measure the anchor point arrived, and is stored to data In storehouse;
In step 407, learn the direction, monitoring point that each survey station needs to measure, provide inceptive direction for automatically measuring, and deposit In data base;
In step 408, start automatic slotted line journey, mainly comprise two parts content: location is measured and monitoring point is measured;
In step 409, thread is measured in location, and all survey stations, according to the anchor point direction of instruction in step 406, obtain successively To the observation data of each anchor point and update in observation data vector under current survey station;
In step 410, calling overall adjustment algorithm, the observation data vector obtained by measurement and the known point of input are sat Mark vector, calculates each survey station coordinate under the frame of reference, initial zero direction azimuth and the three-dimensional of turnover reference point Coordinate, what general solution calculated tests error in rear weight unit, not over 1mm, the most then needs to check the known points of input as exceeded Whether correct and prism constant is the most accurate;
In step 411, each survey station parameter that adjustment resolves is updated in survey station vector, provide base for subsequent coordinates conversion Plinth;
In step 412, monitoring point order and direction according to step 407 learning measure, and obtain each survey station and sit Three-dimensional coordinate data under mark system;
In step 413, on the basis of step 411 and step 412, carry out Coordinate Conversion, calculate under the frame of reference Each monitoring point three-dimensional coordinate;
In step 414, resolve the three-dimensional coordinate obtained and compare with measurement data first and measurement data last time, it is thus achieved that This deflection in three directions and cumulative deformation, and present with curve chart.
The present invention controls multiple stage automatic total instruments, utilizes the observation data of different survey station to carry out overall adjustment and merges resolving survey Parameter of standing and turnover reference point coordinate, it is possible to objective reflect each point to be monitored of tunnel internal three sides under the frame of reference To deflection, can reach round-the-clock unattended duty, carry out deformation monitoring in high precision, with high reliability for subway tunnel Purpose.If actual application having set up m survey station, t turnover reference point, then overall adjustment needs the number of parameters solved Being altogether 4 × m+3 × t, in certain survey station, the mathematical model being realized survey station location by observation anchor point is as follows:
Each survey station need to resolve 4 positional parameters, respectively translation parameters (Δ X Δ Y Δ Z)TWith initial zero direction side Parallactic angle parameter θ.In order to reach the purpose of redundant observation, the anchor point observing more than 3 is needed to resolve.Equal sign in formula (1) The frame of reference coordinate on the left side, when the anchor point of observation is known point, brings the known point coordinate of preservation into;If turnover Reference point, then need linearisation together with the unknown parameter comprised on the right of equal sign to found error equation side by side.Formula is as follows:
When anchor point is known point:
When anchor point is for turnover reference point:
Wherein (δ X δ Y δ Z δ θ)TFor survey station positional parameter to be resolved,For turnover reference point Coordinate parameters, (X0 Y0 Z0 θ0)TFor survey station positional parameter approximation,For turnover reference point coordinate approximation, Indirect adjustment normal equation it is made up of formula (2) or formula (3):
V=A × δ T-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, root Can solve parameter vector according to indirect adjustment principle is:
δ T=(AT×A)-1×(AT×L) (5)
If n anchor point observed altogether by each survey station, calculation accuracy is estimated to use Hull not special formula difference method of estimation to obtain Testing error in rear weight unit is:
σ ^ = ( A T × A ) / ( 3 × n - 4 m - 3 × t ) - - - ( 6 )
Association factor battle array and resolve parameters precision be:
σ ^ = ( A T × A ) - 1 , D ^ = σ ^ 2 × Q ^ - - - ( 7 )
By the monitoring point coordinate of observation under each survey station parameter calculated and corresponding survey station coordinate system, utilize formula (1.) i.e. Can be by under the monitoring coordinate unification of all survey stations to the frame of reference.
Overall adjustment parameter calculation flow chart is as shown in Figure 3.
In step 601, obtain unduplicated location roll-call vector sum survey station name vector according to original observation vector, be used for building In vertical error equation, required various matrixes are allocated memory headroom, judge whether the observation read in meets simultaneously and resolve institute The minimum observation number needed;
In step 602, to being needed the resolving parameter tax initial value approximation as Iterative;
In step 603, the amount determined in step 601 initialize and participate in each matrix size that adjustment resolves;
In step 604 and step 605, whether it is turnover ginseng according to the original observation vector read in and known point vector determination Examination point, sets up corresponding error equation factor arrays and constant term according to formula (2) with formula (3) respectively;
In step 606, obtain parameter correction vector according to formula (5);
In step 607, the parameter approximation before iteration is plus the correction resolved, the approximation resolved as next iteration Value;
In step 608, iterations adds up, and jumps out iteration when exceeding predetermined maximum resolving number of times, in case because number Cause iteration not restrain according to mistake and circulation cannot be jumped out;
In step 609, return the final parameter approximation the resolved calculation result as overall adjustment.
Raw observation and calculation result data structure that programmed algorithm relates in resolving are as follows:
(1) known point data structure
(2) raw observation data structure
(3) the survey station information data structure calculated
(4) the turnover reference point coordinate data structure calculated

Claims (9)

1. a subway tunnel deformation auto-monitoring method based on total powerstation, it is characterised in that comprise the following steps:
1) judge whether to run engineering first, if it has, then new construction, input after each survey station needs the parameter monitored and perform step Rapid 3), step 2 is otherwise performed);
2) built engineering is opened, the database file preserved before selection, simultaneously also can to each parameter in engineering attribute again Input adjusts, and performs step 3);
3) configuration step 1) or step 2) in every engineering attribute parameter, perform step 4);
4) after data circuit connects and ensures that automatic total instruments powers on, it is sequentially connected with the serial ports that each survey station is corresponding, system Can automatically retain and connect configuration parameter the last time for each survey station, and perform step 5);
5) management known point three-dimensional coordinate, and perform step 6);
6) each survey station being carried out survey station orientation, the overall adjustment positioning calculation being each survey station provides inceptive direction, observes successively Each survey station can measure the anchor point arrived, and is stored in data base, and performs step 7);
7) learn the direction, monitoring point that each survey station needs to measure, and perform step 8);
8) the automatic slotted line journey comprising location measurement with monitoring point measurement is started;
9), when thread is measured in location, all survey stations are according to step 6) the middle anchor point direction indicated, obtain successively under current survey station To the observation data of each anchor point and update in observation data vector;
10) overall adjustment algorithm is called, the observation data vector obtained by measurement and the known point coordinate vector of input, resolve Go out each survey station coordinate under the frame of reference, initial zero direction azimuth and the three-dimensional coordinate of turnover reference point;
11) each survey station parameter that adjustment resolves is updated in survey station vector;
12) according to step 7) monitoring point of learning order and direction measure, and obtains the three-dimensional under each survey station coordinate system Coordinate data;
13) in step 11) and step 12) on the basis of carry out Coordinate Conversion, calculate each monitoring point three under the frame of reference Dimension coordinate;
14) resolve the three-dimensional coordinate obtained to compare with measurement data first and measurement data last time, it is thus achieved that three directions This deflection and cumulative deformation, and present with curve chart;
Described overall adjustment algorithm calculates each survey station coordinate under the frame of reference, initial zero direction azimuth and turns Folding reference point three-dimensional coordinate particularly as follows:
21) obtain unduplicated location roll-call vector sum survey station name vector according to original observation vector, be used for setting up error equation Various matrixes needed in are allocated memory headroom, judge that the minimum whether observation read in meets needed for resolving is seen simultaneously Survey number;
22) to being needed the resolving parameter tax initial value approximation as Iterative;
23) by step 21) in each matrix size of resolving of the vector initialising participation adjustment that determines;
24) judge that anchor point is that known point is still transferred reference point, if known point, set up corresponding error according to formula (1) Equation coefficient battle array and constant term, if turnover reference point, perform step 25);
25) corresponding error equation factor arrays and constant term are set up according to formula (2);
Wherein (δ X δ Y δ Z δ θ)TFor survey station positional parameter to be resolved,Coordinate for reference point of transferring Parameter, (X0 Y0 Z0 θ0)TFor survey station positional parameter approximation,For turnover reference point coordinate approximation,
(ΔX ΔY ΔZ)TFor translation parameters, θ is initial zero direction azimuth parameter;
26) parameter correction vector is obtained according to formula (4);
δ T=(AT×A)-1×(AT×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 approximation before iteration is plus the correction resolved, the approximation resolved as next iteration;
28) iterations adds up, and jumps out iteration when exceeding predetermined maximum resolving number of times;
29) the final parameter approximation the resolved calculation result as overall adjustment is returned.
A kind of subway tunnel deformation auto-monitoring method based on total powerstation the most according to claim 1, it is characterised in that The described parameter needing monitoring includes monitoring point number, monitoring cycle and alarm limit difference.
3. implement a device for subway tunnel deformation auto-monitoring method based on total powerstation arbitrary in claim 1-2, It is characterized in that, including data acquisition module, kernel control module and data communication module, described kernel control module passes through Data communication module is connected with data acquisition module;
Described data acquisition module includes multiple stage automatic total instruments, automatically flattens pedestal, is positioned at the turnover reference of deformed region 360 degree of prisms, the known null circle prism being positioned at stability region and the little prism of L-type of point;
Described kernel control module is the portable machine equipped with automatic monitoring software, it is achieved for the control of each automatic total instruments Initial data, adjustment that system, storage are measured resolve survey station and turnover reference point locations parameter and display monitoring point change in real time Amount and change curve;
USB-RS232 Serial Port Line that described data communication module includes being sequentially connected with, RS485 communication cable, RS232-RS485 Transducer, for distant control automatic total instruments transmission measurement data;
After automatic total instruments is flattened, it is positioned at the known null circle prism of stability region by observation and is positioned at the turnover of deformed region 360 degree of prisms of reference point, kernel control module is using known point coordinate as the frame of reference, by each survey station and turnover reference The spatial positional information parameter of point resolves in the lump, treats monitoring point and carry out three-dimensional coordinate survey after updating survey station positional parameter Amount, carries out the coordinate that each survey station is measured Coordinate Conversion further and obtains the coordinate under the frame of reference, obtain and sit at benchmark The absolute coordinate of the impact point each to be monitored under mark system.
The device of a kind of subway tunnel deformation auto-monitoring method based on total powerstation the most according to claim 3, it is special Levying and be, described automatic total instruments concrete configuration is as follows:
According to the situation of actual tunnel, configuration respective numbers band automatic target detection and the automatic total instruments of function of search, surveying Need to guarantee observation before and after the position stood and obtain at least 3 known points or turnover reference point, need before software connects instrument Ensure that instrument flattens and opens slope compensation.
The device of a kind of subway tunnel deformation auto-monitoring method based on total powerstation the most according to claim 3, it is special Levying and be, it is bigger that the described pedestal of leveling automatically is likely to be in deflection for automatic total instruments place survey station in tunnel During region, coordinate the slope compensation of automatic total instruments self that the Z axis of automatic total instruments self survey station coordinate system is remained Plummet is upwards.
The device of a kind of subway tunnel deformation auto-monitoring method based on total powerstation the most according to claim 3, it is special Levying and be, 360 degree of described prisms are as the tie of survey station coordinate system before and after contact, it is ensured that the automatic total instruments of two survey stations is the most extremely 3 360 degree of prisms can be observed less.
The device of a kind of subway tunnel deformation auto-monitoring method based on total powerstation the most according to claim 3, it is special Levying and be, the little prism of described L-type need to be fixed to feature locations to be monitored in tunnel wall.
The device of a kind of subway tunnel deformation auto-monitoring method based on total powerstation the most according to claim 3, it is special Levy and be, place circle prism at known point, the stability region under coordinate system on the basis of this region should be ensured, simultaneously in order to protect as far as possible Demonstrate,proving enough redundant observation numbers, near subway platform, reconnaissance the known point at tunnel head and the tail respectively arrange 3 known null circle prisms, Position to be dispersed in the observation visual field closing on total powerstation as far as possible.
The device of a kind of subway tunnel deformation auto-monitoring method based on total powerstation the most according to claim 3, it is special Levying and be, described portable machine is provided with and automatically controls total powerstation and carry out positioning, monitoring and can carry out overall adjustment resolving The software of function, measures and resolved data is saved in local data base, can also show simultaneously and measures the result resolved and paint Yeast production line chart.
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