CN104330078B - Combined measuring method based on three-point resection model - Google Patents

Combined measuring method based on three-point resection model Download PDF

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Publication number
CN104330078B
CN104330078B CN201410357073.6A CN201410357073A CN104330078B CN 104330078 B CN104330078 B CN 104330078B CN 201410357073 A CN201410357073 A CN 201410357073A CN 104330078 B CN104330078 B CN 104330078B
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coordinate
orientation
point
laser tracker
error
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CN104330078A (en
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范百兴
杨凡
李广云
杨振
李丛
邓勇
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PLA Information Engineering University
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PLA Information Engineering University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes

Abstract

The invention relates to a combined measuring method based on a three-point resection model and belongs to the technical field of engineering measurement. In the method, firstly a laser tracker is employed for respectively measuring true north orientations of three orientation points, and then a gyro theodolite is employed for measuring a horizontal angle and a vertical angle of the three orientation points. Coordinate of an original point of a coordinate system of the gyro theodolite in the coordinate system of the laser tracker, and then a conversion parameter of the coordinate system of the laser tracker relative to a true north coordinate system can be calculated according to the calculated original point and the coordinate of any orientation point, and finally the laser tracker is employed for measuring the coordinate value of a target point of an launching vehicle so that the orientation of a connecting line of the target point in the coordinate system of an instrument is back-calculated and the true north orientation of the connecting line of the target point is calculated according to the conversion parameter. By means of the three-point resection model, coordinate systems of the laser tracker and the gyro theodolite are integrated so that the true north orientation of the model launching vehicle is directly measured and obtained under the coordinate system of the laser tracker. The method is simple and easy to carry out.

Description

A kind of union measuring method based on 3 points of resection models
Technical field
The present invention relates to a kind of union measuring method based on 3 points of resection models, belong to engineering measuring technology neck Domain.
Background technology
Current geographical north bearing measuring method mainly has gyrostatic orientation survey and astronomical surveing, these method characteristics be through High-precision orientation side can be calibrated after substantial amounts of duplicate measurements for a long time, shortcoming is:First, measurement needs are many each time A large amount of repeated measures of survey time, the time is long, is difficult to for needing Fast Calibration a plurality of orientation side;2nd, can only enter each time The demarcation on one orientation of row side, this orientation side is the line of instrument alignment and impact point, and this means that on car launcher Cannot be carried out the impact point of instrument centering, such method can not directly carry out geographical north azimuthal measurement.
Content of the invention
It is an object of the invention to provide a kind of union measuring method based on 3 points of resection models, to solve on existing State geographical north orientation measurement process produced problem.
The present invention provides a kind of union measuring method based on 3 points of resection models for solving above-mentioned technical problem, This union measuring method comprises the following steps:
1) in spatial arrangement at least three orientation point, measure the coordinate of laid common point respectively using laser tracker Value, measures horizontal angle and the vertical angle (H of above-mentioned orientation point respectively simultaneously using gyrotheodolitei,Vi), i=1,2,3;
2) basis obtains the orientation point coordinate value and each point observation (H under gyrotheodolite coordinate systemi,Vi), by sky Between resection principle calculate gyrotheodolite coordinate origin coordinate (X0,Y0,Z0);
3) coordinate (X according to the gyrotheodolite coordinate origin obtaining0,Y0,Z0) and orientation point P3Point line is in laser Tracker flattens azimuth angle value β of coordinate system1Calculate the conversion parameter that laser tracker coordinate system is with respect to geographical north coordinate system Flatten the coordinate system+X-axis and real north angle in XOY plane for laser tracker;
4) laser tracker is utilized to measure the coordinate value of car launcher impact point, inverse impact point line is under instrument coordinates system Orientation, according to conversion parameter calculate impact point line geographical north orientation.
Described one of orientation point is laser tracker cardinal distance point, and remaining orientation point is laid on the ground, will with target stand It is fixed.
Described step 2) in be calculated the coordinate (X of gyrotheodolite coordinate origin0,Y0,Z0) be:
Wherein
Wherein (X1,Y1,Z1)、(X2,Y2,Z2) and (X3,Y3,Z3) it is respectively laser tracker three orientation points P of measurement1、P2 And P3Coordinate value, (H1,V1)、(H2,V2)、(H3,V3) for the horizontal angles of corresponding three fixed points of gyrotheodolite measurement and vertical Angle, α and β is above three orientation point P1、P2And P3Angle and measurement point between.
Described union measuring method is also included to the azimuth measurement error producing in measurement process and vertical angular measurement Error carries out estimating the process of correction.
Described azimuth measurement error m is:
Wherein m1 is directed edge orientation calculation error, and m2 is directed edge azimuthal measurement error;M3 measures for laser tracker The orientation error that car launcher causes.
Point coordinates error and the coordinate of resection theodolite that described directed edge calculation error is measured by laser tracker Error is constituted.
Described directed edge azimuthal measurement error is made up of gyrotheodolite itself orientation error and collimating fault.
The invention has the beneficial effects as follows:The present invention measures the seat of at least three orientation points respectively initially with laser tracker Scale value, measures horizontal angle and the vertical angle of above-mentioned orientation point respectively using gyrotheodolite;Then by space resection's principle Calculate the coordinate (X of gyrotheodolite coordinate origino,Yo,Zo);Seat further according to the gyrotheodolite coordinate origin obtaining Mark calculates the conversion parameter that laser tracker coordinate system is with respect to geographical north coordinate system Whole for laser tracker Flat coordinate system+X-axis and real north are in the angle of XOY plane;Laser tracker is finally utilized to measure car launcher impact point Coordinate value, orientation under instrument coordinates system for the inverse impact point line, the true north of impact point line is calculated according to conversion parameter Position.The present invention passes through 3 points of resection models, and laser tracker coordinate system and gyrotheodolite theodolite coordinate system are realized Unified, under laser tracker measurement coordinate system, direct measurement obtains the geographical north orientation of model car launcher, and the method is simply easy OK.
Brief description
Fig. 1 is the flow chart of measuring method of the present invention;
Fig. 2 is the measuring principle figure of the present invention;
Fig. 3 is survey station coordinate system parameters budgetary estimate schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is further described.
Taking calculate the main process of car launcher impact point geographical north position as a example specific implementation process of the present invention to be described below, such as Shown in Fig. 1, initially with gyrotheodolite accurate measurement spatial orientation point P1、P3Geographical north orientation α of linei;Then laser is followed the tracks of Instrument accurately flattens, and measures orientation point P1、P2And P3Coordinate value (X under instrument coordinates systemi,Yi,Zi), and calculate orientation point P1、P2 With azimuth angle value β in laser tracker coordinate system for the measurement point line;According to orientation point corresponding different azimuth value (α, β), resolve the conversion parameter obtaining gyrotheodolite coordinate system and laser tracker coordinate systemDue to herein only The parameter being concerned about is needed to be the anglec of rotation in two dimensional surface XOY for the Two coordinate systemOther conversion parameters are all processed with 0 value. Afterwards, the coordinate value of laser tracker measurement car launcher impact point, orientation under instrument coordinates system for the inverse impact point line, Can get the geographical north orientation of impact point line afterwards according to coordinate system conversion parameter.
Minimum hardware configuration needed for the present invention:More than 300MHz speed, 32M internal memory, carry more than 2 RS232 serial ports The microcomputer (desktop computer portable machine, The faster the better for speed) of configuration is it is desirable to mainboard, bus and port are intact, working properly, no Problem on hardware, hard disk should have the space of more than 50M.AT901 laser tracker 1, Gyromat3000 gyrotheodolite 1 Platform, 1, CCR1.5 target ball, CCR target stand 2.Software environment is Window XP operating system, VS2008 software development system And laser tracker on-line measurement software.
The specific implementation process of the union measuring method based on 3 points of resection models for the present invention is as follows:
1. laser tracker sets up leveling coordinate system, measures the three-dimensional coordinate of at least three orientation points, the present embodiment respectively Taking three orientation points as a example illustrate, as shown in Fig. 2 these three orientation points are respectively P1、P2And P3, measure the coordinate obtaining It is worth for (Xi,Yi,Zi), i=1,2,3;Then above three orientation point P is measured respectively using gyrotheodolite1、P2And P3Level Angle and vertical angle (Hi,Vi), P in i=1,2,3, three orientation points1For cardinal distance point, it refers to that laser tracker interferometric method is found range (IFM) reference range point, English entitled Birdbathpoint, two other orientation point P2, and P3Lay on the ground, use target Seat is fixed.
2. the three orientation point coordinate value (X being obtained according to measurementi,Yi,Zi) and each point under gyrotheodolite coordinate system Observation (Hi,Vi), the coordinate (X of gyrotheodolite coordinate origin is calculated by space resection's principle0,Y0,Z0).
As shown in figure 3, gyrotheodolite center ST1The resection computing formula of point coordinates be:
Wherein
Wherein (X1,Y1,Z1)、(X2,Y2,Z2) and (X3,Y3,Z3) it is respectively laser tracker three orientation points P of measurement1、P2 And P3Coordinate value, (H1,V1)、(H2,V2) and (H3,V3) for the horizontal angles of corresponding three fixed points of gyrotheodolite measurement and vertical Angle, α and β is above three orientation point P1、P2And P3Angle and measurement point i between, as shown in figure 3, three orientation points P1、P2With P3Line is respectively L1, L2 and L3 and measurement point i between, and α is the angle between L3 and L2, and β is the angle between L2 and L1.
By ST1Point coordinates (X0,Y0,Z0) and P3Point coordinates (X3,Y3,Z3) can to calculate 2 points of lines whole in laser tracker Azimuth angle value β of flat coordinate system1, with+X-axis for initial null direction.
3. coordinate (the X according to the gyrotheodolite coordinate origin obtaining0,Y0,Z0) and β1Calculate laser tracker coordinate System is with respect to the conversion parameter of geographical north coordinate system Flatten coordinate system+X-axis and true north for laser tracker To the angle in XOY plane.
4. utilize laser tracker to measure any one group of impact point on car launcher, obtain its coordinate value and be respectively FP1(x3, y3,z3) and FP2(x4,y4,z4).Azimuth angle value β under leveling coordinate system for the 2 points of lines of inverse2, thus according to Two coordinate system Conversion parameterFP can be calculated1、FP2Azimuth under the coordinate system of geographical north for the line, i.e. geographical north orientation.
5., in carrying out above-mentioned measurement, generation azimuth measurement error and vertical measurement error in measurement process be entered Row estimation correction.
The estimation of azimuth measurement error
What three point models were taken is to resolve directed edge by the principle of space common point Coordinate Conversion and resection, and it is excellent Gesture is not exist the impact to orientation accuracy for the orientation impact and the counter point device degree of eccentricity that the gyrotheodolite error of centralization brings, The mainly theodolite considering is needed to sight target centering error and laser tracker measuring point error.
(1) resection calculates the error of coordinate at theodolite center
The error component of the calculation accuracy of impact theodolite centre coordinate mainly includes following two aspects:
(a) laser tracker point coordinate measurement precision:Error in point measurement in 10m for the laser tracker is 0.075mm;
(b) theodolite angle measurement error:The angle error that theodolite aims at three orientation points is 0.5;
The center point coordinate error that principle according to plane resection can be calculated theodolite intersection measurement is 0.2mm.
(2) directed edge orientation calculation error
Directed edge computer azimuth error is mainly made up of two parts error component, and one is that the point that laser tracker measures is sat Mark error, another is the error of coordinate (10m is about 0.2mm) of resection theodolite, then the azimuthal error collectively constituting is:
(3) directed edge azimuthal measurement error
This error be due to gyrotheodolite itself orientation error and collimating fault composition, its error analysis and 3.1.4 (2) the item error analysis in is identical, and that is, gyroscopic orientation survey measure error is:
(4) laser tracker measures the orientation error that XX car causes
Laser tracker, when measuring XX car, due to the presence of error in point measurement, also results in car launcher and there is azimuthal measurement Error, then according to the length computation of XX car 5m, then this error is:
m3=± 4.0 "
It is pointed out that 5m herein refers to the length of 2 points of projections in the horizontal plane of XX car, vertical when XX car When angle increases, azimuthal measurement error can increase further.
The above analysis, the overall error of the XX car azimuthal measurement in three point models is:
The estimation of vertical measurement error
In the present embodiment, the vertical angle error model of the target carriage of three point models is as illustrated, its vertical angle error is about:
mVertically=± 1.8 "
The present invention passes through 3 points of resection models, by laser tracker coordinate system and gyrotheodolite theodolite coordinate system Realize unification, under laser tracker measurement coordinate system, direct measurement obtains the geographical north orientation of car launcher, and in measurement process The azimuth measurement error producing and vertical measurement error compensate calculating, improve under laser tracker measurement coordinate system The precision in direct measurement car launcher geographical north orientation, the method is simple.

Claims (5)

1. a kind of union measuring method based on 3 points of resection models it is characterised in that this union measuring method include with Lower step:
1) in spatial arrangement at least three orientation point, one of orientation point is laser tracker cardinal distance point, remaining orientation point cloth If on the ground, being fixed with target stand, measuring the coordinate value of laid orientation point using laser tracker respectively, adopting simultaneously Gyrotheodolite measures horizontal angle and the vertical angle (H of above-mentioned orientation point respectivelyi,Vi), i=1,2,3;
2) basis obtains the orientation point coordinate value and each point observation (H under gyrotheodolite coordinate systemi,Vi), behind space Square intersection principle calculates the coordinate (X of gyrotheodolite coordinate origin0,Y0,Z0);
3) coordinate (X according to the gyrotheodolite coordinate origin obtaining0,Y0,Z0) and orientation point P3Point line is followed the tracks of in laser Instrument flattens azimuth angle value β of coordinate system1Calculate the conversion parameter that laser tracker coordinate system is with respect to geographical north coordinate system Flatten the coordinate system+X-axis and real north angle in XOY plane for laser tracker;
4) laser tracker is utilized to measure the coordinate value of car launcher impact point, between inverse impact point, line is sat in laser tracker Orientation under mark system, calculates the geographical north orientation of line between impact point according to conversion parameter;
Described step 2) in be calculated the coordinate (X of gyrotheodolite coordinate origin0,Y0,Z0) be:
X o = X 2 + ( Y 2 - Y 1 ) ( cot α - t a n γ ) - ( X 2 - X 1 ) ( 1 + cot α · t a n γ ) 1 + tan 2 γ Y = Y 2 + ( X o - X 1 ) tan γ Z o = Z 1 - D 1 cot V 1
Wherein
Wherein (X1,Y1,Z1)、(X2,Y2,Z2) and (X3,Y3,Z3) it is respectively laser tracker three orientation points P of measurement1、P2And P3 Coordinate value, (H1,V1)、(H2,V2)、(H3,V3) measure, for gyrotheodolite, horizontal angle and the vertical angle corresponding to three orientation points, Three orientation points P1、P2And P3Line is respectively L1, L2 and L3 and measurement point between, and α is the angle between L3 and L2, β be L2 with Angle between L1.
2. the union measuring method based on 3 points of resection models according to claim 1 is it is characterised in that described Union measuring method also includes the azimuth measurement error producing in measurement process and vertical measurement error are carried out estimating school Positive process.
3. the union measuring method based on 3 points of resection models according to claim 2 is it is characterised in that described Azimuth measurement error m is:
m = ± m 1 2 + m 2 2 + m 3 2
Wherein m1 is directed edge orientation calculation error, and m2 is directed edge azimuthal measurement error;M3 measures transmitting for laser tracker The orientation error that car causes.
4. the union measuring method based on 3 points of resection models according to claim 3 is it is characterised in that described fixed The point coordinates error being measured by laser tracker to side calculation error and the error of coordinate of resection theodolite are constituted.
5. the union measuring method based on 3 points of resection models according to claim 3 is it is characterised in that described fixed It is made up of to side azimuthal measurement error gyrotheodolite itself orientation error and collimating fault.
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