CN105651310A - Novel surveying instrument inclination quantity correcting method - Google Patents

Abstract

The invention relates to the field of surveying instruments, in particular to a novel surveying instrument inclination quantity correcting method. By means of the novel surveying instrument inclination quantity correcting method, a surveying instrument is inclined multiple times, corrected position coordinates obtained after all times of inclination are obtained through preprocessing of an MEMS sensor in the surveying instrument, then the inclination angles of all times of inclination, course increments obtained by a gyroscope, and the corrected position coordinates are combined, and the precise position coordinates of the whole surveying instrument where the inclination quantity is corrected are calculated internally, and therefore the influences of geomagnetic variation and magnetic field interference on the inclination correction precision of the surveying instrument are eliminated, and the inclination correction precision, use efficiency and practical precision of the surveying instrument are improved.

Description

A kind of Novel surveying instrument tilt quantity modification method

Technical field

The present invention relates to surveying instrument field, particularly relate to a kind of Novel surveying instrument tilt quantity modification method.

Background technology

It is vertical that needs adjustment measurement bar measured by traditional surveying instrument every time, measure consuming time greatly, measurement efficiency is low, and the precision of general bubble zeroing is relevant to the careful degree of staff and technology, and when the long-time high intensity of surveyor is measured, owing to repetitive operation and the fatigue of surveyor are easy to occur that leveling is forbidden so that certainty of measurement degradation, thus affecting the precision of engineering construction, cause the serious waste of manpower and material resources.

Therefore, development and application along with MEMS measurement of dip angle technology, domestic in recent years Ge great surveying instrument company is proposed the surveying instrument product compensated with inclination measurement one after another, thus mapping worker is freed from the Levelling operation repeated, its main feature allows for surveyor when using surveying instrument to measure, still need not can provide and get certainty of measurement ready after being equivalent to accurate leveling when leveling, while being effectively improved mapping efficiency and mapping precision, improve the concordance of surveying and mapping data, reduce various uncontrollable error that artificial leveling introduces.

Its main cause is: in the measurement of dip angle module of the internally installed low cost of surveying instrument, the inclination angle measured in real time by measurement of dip angle module and course angle, the longitude and latitude obtained in conjunction with surveying instrument after tilting is high, the method utilizing accurate algorithm compensation correction, correct and tilt the measurement error caused, it is thus achieved that get longitude and latitude high measurement parameter accurately ready. But this Correction of Errors arithmetic accuracy is directly related with the certainty of measurement of course angle, and due to low cost measurement of dip angle module, generally use geomagnetic sensor and obtain course information, and the measuring principle of earth magnetism sensing depends on faint geomagnetic field information, so the precision of this course angle is easy to by the coil within surveying instrument, ferromagnetic material, and mining site distribution of surveying instrument periphery. Iron and steel is built, the impact of equipment so that general service precision is less desirable.

So continuing the more accurate Novel surveying instrument tilt quantity modification method of one.

Summary of the invention

In view of the above problems, the present invention provides a kind of surveying instrument tilt quantity modification method.

A kind of surveying instrument tilt quantity modification method, it is characterised in that including:

Surveying instrument is tilted several times, records position coordinates that described surveying instrument tilts every time and angle of inclination with respect to the horizontal plane;

Gyroscope integration is utilized to obtain the course angle increment in the every inclined twice conversion process of described surveying instrument;

In conjunction with described course increment, described position coordinates and described angle of inclination described surveying instrument tilt quantity it is modified and draws revised position coordinates.

Above-mentioned surveying instrument tilt quantity modification method, it is characterised in that described method also includes:

The position coordinates that surveying instrument tilts every time is obtained by tilt measurement module.

Above-mentioned surveying instrument tilt quantity modification method, it is characterised in that described method also includes:

Utilize described tilt measurement module to obtain each angle of inclination with respect to the horizontal plane of described surveying instrument, and utilize described tilt module to obtain the course angle increment in the every inclined twice conversion process of described surveying instrument.

Above-mentioned surveying instrument tilt quantity modification method, it is characterised in that described method also includes:

Position coordinates after every time being tilted by described surveying instrument, described course angle increment and the transmission of horizontal tilt angle calculate revised position coordinates to central processing unit;

By revised position coordinates transmission to described surveying instrument.

Above-mentioned surveying instrument tilt quantity modification method, it is characterised in that described surveying instrument at least tilts twice.

Above-mentioned surveying instrument tilt quantity modification method, it is characterised in that described angle of inclination includes roll angle and luffing angle.

In sum, a kind of surveying instrument tilt quantity modification method of disclosure design, first surveying instrument self is tilted several times, the position coordinates after surveying instrument tilts every time is obtained by its internal tilt measurement module, then by angle of inclination when tilting every time, course increment and correction position coordinate that gyroscope draws combine, internal calculation draws the whole revised accurate position coordinates of surveying instrument tilt quantity, so can solve the impact on surveying instrument slope correction precision of GEOMAGNETIC CHANGE and magnetic interference, improve the slope correction precision of surveying instrument, service efficiency and practical precision.

Accompanying drawing explanation

With reference to appended accompanying drawing, to describe embodiments of the invention more fully. But, appended accompanying drawing is merely to illustrate and sets forth, is not intended that limitation of the scope of the invention.

Fig. 1 is the flow chart of the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing and specific embodiment, the present invention is further illustrated, but not as limiting to the invention.

At present, one measurement of dip angle module can be installed inside surveying instrument, in order to the inclination angle of surveying instrument is compensated calculating, these measurement of dip angle modules all can be calibrated or Study on Error Compensation for the error of geomagnetic noise and Magnetic Sensor, but due to earth magnetism relative weak, and magnetic disturbance form is complicated, interference source is numerous, to features such as environmental factor dependence are strong, even causing that the calibration algorithm of advanced person is plus strict calibration flow process, it also is difficult to ensure that the certainty of measurement of magnetic heading can both meet the application demand that slope correction is measured under all service conditions, when being typically in fully demarcating, magnetic heading angular accuracy also is difficult to reach once precision once.

Additionally, course owing to using in backoff algorithm is true course but not magnetic heading, therefore, the magnetic heading to measuring is needed to be modified, wherein the acquisition of magnetic declination is typically via local longitude and latitude usury geomagnetic declination pattern query, or is obtained by traditional four positions or 8 positions compass diviation compensation method.

But accurate magnetic data storehouse is huge at present, update difficulty, therefore the geomagnetic declination model that general solidification uses is all comparatively rough, the slight change that discreet region changes cannot be reflected, its precision can only reach once left and right reluctantly, and As time goes on, magnetic field of the earth is also changing, such as the magnetic field data storehouse that cannot upgrade in time, error also can become big, therefore the course precision obtained by the method compensation ground magnetic heading of local longitude and latitude usury geomagnetic declination pattern query is typically within the scope of full heading measure to can only achieve about 2 degree, and is difficult to raising further.

But utilize RTK (real time dynamic differential method, Real-timeKinematic) the exact position measurement characteristics received carries out multiposition difference, obtain the reference of accurate course, calculate the course deviation of multiple angle, higher true course reference can be obtained, the precision of general RTK is at 2cm, horizontal base line is at about 1m, the exact references in 0.5 degree of course can be obtained, calibrated distortion of field residual error can be revised simultaneously, improve course angle in FR precision and error uniformity, but adopt RTK calibration process complicated, it is generally required to those skilled in the art utilize half an hour about could operate.

So designing a kind of more advanced surveying instrument tilt quantity compensation method based on RTK, the core concept of the present invention is after in advance surveying instrument is tilted several times, obtained the position coordinates before each horizontal tilt angle and correction and the course angle increment of every inclined twice change by tilt measurement module, then these data are combined and calculate more accurate surveying instrument correction position coordinate.

As shown in Figure 1, first it is that surveying instrument is tilted several times, in the present invention, concrete inclination twice, then utilize tilt measurement module to obtain the level inclination of surveying instrument location coordinate and inclination every time when every time tilting, so obtain an initial data. Then the gyroscope integration within tilt measurement module is utilized to obtain the course increment in the every inclined twice change procedure of surveying instrument, finally it is modified calculating in conjunction with these data obtained, drawing the revised position coordinates of surveying instrument, this revised coordinate is exactly accurate surveying instrument position coordinates.

Concrete, it is that a high accuracy surveying instrument is tilted several times, in the present invention, this high accuracy surveying instrument is tilted twice, high accuracy surveying instrument can record high-precision positional information, so can as the high accuracy data information before subsequent correction. Obtain the high precision position coordinate of inclination and angle of inclination with respect to the horizontal plane by tilt measurement module simultaneously and utilize the gyroscope integration within tilt measurement module to obtain the course angle increment in the every inclined twice change procedure of this surveying instrument, when course angle increment, the position coordinates that every time tilts of surveying instrument and the surveying instrument obtained in conjunction with gyroscope integration tilts every time, these data of angle of inclination with respect to the horizontal plane carry out accurate corrected Calculation, draw revised position coordinates.

Concrete, tilt measurement module obtains the angle of the exact position after surveying instrument inclined twice and inclination, the angle tilted includes roll angle and the angle of pitch, then utilizes gyroscope integration to obtain the course angle increment in inclined twice process, combines the longitude and latitude after calculating tilt correction high.

Surveying instrument position correction compensation method general at present is based on what the position coordinates of attitude angle that tilt measurement module single measurement obtains and acquisition compensated and corrected. First, if the position after surveying instrument inclination is [L, ��, H], after correction, position is [L ', �� ', H ']. Wherein L represents that latitude, �� represent that longitude, H represent height. Assume that bar length is l_O, then shown in the computing formula of correction position such as formula (1).

$\begin{array}{c}{H}^{\′}=H+(l_O-l_{Oz}^n)\\ L^{\′}=L+\frac{l_{Ox}^n}{R+H^{\′}}\\ {\mathrm{\λ}}^{\′}=\mathrm{\λ}+\frac{I_{Oy}^n}{(R+H^{\′}){\mathrm{cosL}}^{\′}}\end{array}---\left(1\right)$

Wherein R is earth radius,L long with bar_OBetween relation such as formula (2) shown in.

In formula, �� is the roll angle that obliquity sensor measurement obtains, and �� is the angle of pitch that obliquity sensor side measures,For the course angle that obliquity sensor measurement obtains.

According to above-mentioned rudimentary algorithm, tilt measurement module is at moment t₁Positional information [the L obtained₁,��₁,H₁] and moment t₂Positional information [the L obtained₂,��₂,H₂], and formula (1) can obtain formula (3) and formula (4)

$\begin{array}{c}{H}^{\′}=H_1+(l_O-l_O{\mathrm{cos\θ}}_1{\mathrm{cos\γ}}_1)\\ L^{\′}=L_1+\frac{l_{Ox\_1}^n}{R+H^{\′}}\\ {\mathrm{\λ}}^{\′}={\mathrm{\λ}}_1+\frac{l_{Oy\_1}^n}{(R+H^{\′}){\mathrm{cosL}}^{\′}}\end{array}---\left(3\right)$

$\begin{array}{c}{L}^{\′}=L_2+\frac{l_{Ox\_2}^n}{R+H^{\′}}\\ {\mathrm{\λ}}^{\′}={\mathrm{\λ}}_2+\frac{l_{Oy\_2}^n}{(R+H^{\′}){\mathrm{cosL}}^{\′}}\end{array}---\left(4\right)$

(3)-(4) are made to obtain (5):

$\begin{array}{c}{l}_{Ox\_1}^n-l_{Ox\_2}^n=C_3\\ l_{Oy\_1}^n-l_{Oy\_2}^n=D_3\end{array}---\left(5\right)$

Wherein C₃=(L₂-L₁) (R+H '), D₃=(��₂-��₁)(R+H��)cosL��

Formula (6) and formula (7) can be write out further according to formula (2)

Wherein m=sin �� cos ��, n=sin ��.

(6) and (7) are substituted in (5) and obtains (8) and (9)

Wherein

(10) are obtained after (8) being rearranged

Wherein

(11) are obtained after (9) being rearranged

(10) and (11) simultaneous solution are obtained (12)

And if only if a₁ ²+a₂ ²��0(12)

From formula (12) if can be seen that a₁ ²+a₂ ²=0, it is necessary to meet a₁=0 and a₂=0. But work as a₁=0 and a₂C when=0, in formula (10) and (11)₃=0 and D₃=0, and when surveying instrument is not when tilt variation position, original place, C₃And D₃It is that perseverance is not equal to 0. So when surveying instrument tilt variation position, formula (12) is permanent establishment.

Formula (12) is substituted in (7) and obtains (13):

(13) are substituted into formula (4) and namely can obtain current time t₂Revised positional information.

Based on above-mentioned modified computing method, finally make that this obliquity correcting method is practical, explicit physical meaning, simple to operate, consuming time little and do not increase extra hardware cost, certainty of measurement is unrelated with the operation level of user and operating habit, can ensure to revise precision accurately in various situations.

In sum, a kind of Novel surveying instrument tilt quantity modification method of disclosure design, first surveying instrument self is tilted several times, the position coordinates after every time tilting is obtained by tilt measurement module, then by angle of inclination when tilting every time, course increment and position coordinates that gyroscope integration draws combine, internal calculation draws the whole revised accurate position coordinates of surveying instrument tilt quantity, so can solve the impact on surveying instrument tilt quantity correction precision of GEOMAGNETIC CHANGE and magnetic interference, improve the tilt correction precision of surveying instrument, service efficiency and practical precision.

By illustrating and accompanying drawing, give the exemplary embodiments of the ad hoc structure of detailed description of the invention, based on present invention spirit, also can do other conversion. Although foregoing invention proposes existing preferred embodiment, but, these contents are not intended as limitation.

For a person skilled in the art, after reading described above, various changes and modifications will be apparent to undoubtedly. Therefore, appending claims should regard whole variations and modifications of the true intention containing the present invention and scope as. In Claims scope, the scope of any and all equivalence and content, be all considered as still belonging to the intent and scope of the invention.

Claims (6)

1. a surveying instrument tilt quantity modification method, it is characterised in that including:

Surveying instrument is tilted several times, records position coordinates that described surveying instrument tilts every time and angle of inclination with respect to the horizontal plane;

Gyroscope integration is utilized to obtain the course angle increment in the every inclined twice conversion process of described surveying instrument;

In conjunction with described course increment, described position coordinates and described angle of inclination described surveying instrument tilt quantity it is modified and draws revised position coordinates.

2. surveying instrument tilt quantity modification method according to claim 1, it is characterised in that described method also includes:

The position coordinates of the surveying instrument every time tilted is obtained by tilt measurement module.

3. surveying instrument tilt quantity modification method according to claim 2, it is characterised in that described method also includes:

Described tilt measurement module is utilized to obtain each angle of inclination with respect to the horizontal plane of described surveying instrument.

4. surveying instrument tilt quantity modification method according to claim 3, it is characterised in that described method also includes:

Position coordinates after every time being tilted by described surveying instrument, described course angle increment and the transmission of horizontal tilt angle calculate revised position coordinates to central processing unit;

By revised position coordinates transmission to described surveying instrument.

5. surveying instrument tilt quantity modification method according to claim 1, it is characterised in that described surveying instrument at least tilts twice.

6. surveying instrument tilt quantity modification method according to claim 1, it is characterised in that described angle of inclination includes roll angle and luffing angle.