CN105651310B - A kind of novel surveying instrument tilts amount correction method - Google Patents
A kind of novel surveying instrument tilts amount correction method Download PDFInfo
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- CN105651310B CN105651310B CN201610027115.9A CN201610027115A CN105651310B CN 105651310 B CN105651310 B CN 105651310B CN 201610027115 A CN201610027115 A CN 201610027115A CN 105651310 B CN105651310 B CN 105651310B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The present invention relates to surveying instrument fields more particularly to a kind of novel surveying instrument to tilt amount correction method.A kind of surveying instrument that the present invention discloses design tilts amount correction method, first surveying instrument itself is tilted several times, the correction position coordinate drawn after tilting every time is anticipated by its internal MEMS sensor, angle of inclination when then by each tilt, the course increment and correction position coordinate that gyroscope is drawn combine, internal calculation draws the entire revised accurate position coordinates of surveying instrument tilt quantity, the influence of GEOMAGNETIC CHANGE and magnetic interference to surveying instrument slope correction precision can so be solved, improve the slope correction precision of surveying instrument, service efficiency and practical precision.
Description
Technical field
The present invention relates to surveying instrument fields more particularly to a kind of novel surveying instrument to tilt amount correction method.
Background technology
Measurement needs adjusting measuring rod vertical to traditional surveying instrument every time, and measurement is time-consuming big, and measurement efficiency is low, and general gas
It is related to the careful degree and technology of staff to steep the precision of zeroing, and when surveyor's long-time high intensity measures, due to
It is easy to appear leveling to be not allowed with fatigue for the repetitive operation of surveyor so that measurement accuracy degradation is applied so as to influence engineering
The precision of work causes the serious waste of manpower and material resources.
Therefore, with the development and application of MEMS inclination angles measurement technology, domestic major surveying instrument company was numerous and confused in recent years
The surveying instrument product with inclination measurement compensation is proposed, so as to which mapping worker be freed from the Levelling operation repeated,
It is mainly characterized by still being capable of providing in the case that leveling is not required when surveying instrument is used to measure by permission surveyor and be equivalent to
Measurement accuracy is got ready after accurate leveling, while mapping efficiency and mapping precision is effectively improved, improves surveying and mapping data
Uniformity reduces various uncontrollable errors that artificial leveling introduces.
The main reason is that：One inexpensive inclination angle measurement module inside surveying instrument is installed, mould is measured by inclination angle
The inclination angle and course angle that block measures in real time, the longitude and latitude obtained with reference to surveying instrument after inclination is high, is repaiied using accurate algorithm compensation
Positive method, measurement error caused by correction tilts, acquisition accurately get longitude and latitude high measurement parameter ready.But the Correction of Errors algorithm
Precision is directly related with the measurement accuracy of course angle, and due to inexpensive inclination angle measurement module, generally obtained using geomagnetic sensor
Course information is taken, and the measuring principle of earth magnetism sensing depends on faint geomagnetic field information, so the precision of the course angle
Coil, ferromagnetic material and the distribution of the mining site on surveying instrument periphery being easy to inside by surveying instrument.Steel building, the shadow of equipment
It rings so that general service precision is less desirable.
So continuing a kind of more accurate novel surveying instrument tilts amount correction method.
The content of the invention
In view of the above problems, the present invention provides a kind of surveying instrument and tilts amount correction method.
A kind of surveying instrument tilts amount correction method, which is characterized in that including：
Surveying instrument is tilted several times, records the surveying instrument inclined position coordinates and inclining with respect to the horizontal plane every time
Rake angle；
The surveying instrument is obtained per the course angle increment in inclined twice conversion process using gyroscope integration；
The surveying instrument tilt quantity is modified with reference to the course increment, the position coordinates and the angle of inclination
And draw revised position coordinates.
Above-mentioned surveying instrument tilts amount correction method, which is characterized in that the method further includes：
Surveying instrument inclined position coordinates every time is obtained by tilt measurement module.
Above-mentioned surveying instrument tilts amount correction method, which is characterized in that the method further includes：
The angle of inclination of the surveying instrument every time with respect to the horizontal plane is obtained using the tilt measurement module, and utilizes institute
It states tilt module and obtains the surveying instrument per the course angle increment in inclined twice conversion process.
Above-mentioned surveying instrument tilts amount correction method, which is characterized in that the method further includes：
During position coordinates, the course angle increment and horizontal tilt angle after the surveying instrument is tilted every time are transmitted to
Revised position coordinates is calculated in central processor；
Revised position coordinates is transmitted to the surveying instrument.
Above-mentioned surveying instrument tilts amount correction method, which is characterized in that the surveying instrument at least tilts twice.
Above-mentioned surveying instrument tilts amount correction method, which is characterized in that the angle of inclination includes roll angle and pitching
Angle.
In conclusion a kind of surveying instrument that the present invention discloses design tilts amount correction method, first surveying instrument itself is tilted
Several times, the position coordinates after surveying instrument tilts every time is obtained by its internal tilt measurement module, then will tilted every time
When angle of inclination, the course increment that draws of gyroscope and correction position coordinate combine, internal calculation draws entire mapping
The revised accurate position coordinates of instrument tilt quantity can so solve GEOMAGNETIC CHANGE and magnetic interference to surveying instrument slope correction essence
The influence of degree improves slope correction precision, service efficiency and the practical precision of surveying instrument.
Description of the drawings
With reference to appended attached drawing, more fully to describe the embodiment of the present invention.However, appended attached drawing be merely to illustrate and
It illustrates, and is not meant to limit the scope of the invention.
Fig. 1 is the flow chart of the present invention.
Specific embodiment
The present invention is further illustrated with specific embodiment below in conjunction with the accompanying drawings, but not as the limit of the present invention
It is fixed.
At present, an inclination angle measurement module can be installed inside surveying instrument, calculating is compensated to the inclination angle to surveying instrument,
These inclination angle measurement modules can all be calibrated for the error of geomagnetic noise and Magnetic Sensor or Study on Error Compensation, but by
In earth magnetism relative weak, and the features such as magnetic disturbance form is complicated, interference source is numerous, strong to environmental factor dependence, even causing first
Into calibration algorithm add stringent calibration flow, it is also difficult to ensure that the measurement accuracy of magnetic heading can under all service conditions
Enough meet the application demand of slope correction measurement, generally in the case of abundant calibration, magnetic heading angle precision also is difficult to reach one
Spend precision.
Further, since the course used in backoff algorithm is true course rather than magnetic heading, therefore, it is necessary to the magnetic to measuring
Course is modified, and the wherein acquisition of magnetic declination generally with geomagnetic declination pattern query or is passed through by local longitude and latitude usury
Traditional four positions or 8 positions compass diviation compensation method obtain.
But accurate magnetic data storehouse is huge at present, update is difficult, therefore generally cures the geomagnetic declination model used all
It is more rough, it can not reflect the slight change of discreet region variation, precision can only reach once left and right reluctantly, and with the time
Passage, earth magnetic field also changing, and can not such as upgrade in time magnetic field data storehouse, and error can also become larger, therefore by working as
The course precision that ground longitude and latitude usury is obtained with the method compensation ground magnetic heading of geomagnetic declination pattern query is generally in full heading measure
In the range of can only achieve 2 degree or so, and be difficult to further improve.
But the exact position measurement characteristics that RTK (real time dynamic differential method, Real-time Kinematic) is utilized to receive
Multiposition difference is carried out, accurate course reference is obtained, calculates the course deviation of multiple angles, higher true course can be obtained
With reference to, general RTK precision in 2cm, horizontal base line can obtain the exact references in 0.5 degree of course in 1m or so, while can be with
Calibrated distortion of field residual error is corrected, improves course angle in the precision of gamut and error uniformity, but it is calibrated using RTK
Journey is complicated, and completion could be operated using or so half an hour by generally requiring those skilled in the art.
So designing a kind of more advanced surveying instrument based on RTK tilts amount compensation process, core concept of the invention is
After surveying instrument is tilted several times in advance, the position before obtaining each horizontal tilt angle by tilt measurement module and correct is sat
Mark and the course angle increment changed per inclined twice, then these data being combined, more accurate survey is calculated
Paint instrument correction position coordinate.
As shown in Figure 1, be to tilt surveying instrument several times first, it is in the present invention, specific to tilt twice, then utilize
Tilt measurement module obtains the location of surveying instrument coordinate and each inclined level inclination when tilting every time, so obtains
One initial data.Then surveying instrument is obtained per inclined twice change procedure using the gyroscope integration inside tilt measurement module
In course increment, be finally modified calculating with reference to these obtained data, draw the revised position coordinates of surveying instrument, this
A revised coordinate is exactly accurate surveying instrument position coordinates.
Specifically, being to tilt a high-precision surveying instrument several times, in the present invention, which is tilted two
It is secondary, high-precision location information can be measured by high-precision surveying instrument, it so can be as the high accuracy data before subsequent correction
Information.Obtain inclined high precision position coordinate and angle of inclination with respect to the horizontal plane and profit simultaneously by tilt measurement module
The surveying instrument is obtained per the course angle increment in inclined twice change procedure with the gyroscope integration inside tilt measurement module, knot
Close course angle increment, surveying instrument that gyroscope integration obtains when inclined position coordinates and surveying instrument tilt every time every time compared with
These data of the angle of inclination of horizontal plane carry out accurate corrected Calculation, draw revised position coordinates.
Specifically, exact position and inclined angle after tilt measurement module acquisition surveying instrument inclined twice, inclined
Angle includes roll angle and pitch angle, and the course angle increment obtained during inclined twice, joint are then integrated using gyroscope
It is high to calculate the longitude and latitude after tilt correction.
Current general surveying instrument position correction compensation method is the posture obtained based on tilt measurement module single measurement
What the position coordinates of angle and acquisition compensated and corrected.First, if the position after surveying instrument tilts is [L, λ, H], after amendment
Position is [L ', λ ', H '].Wherein L represents latitude, and λ represents longitude, and H represents height.Assuming that a length of l of barO, then correction position
Shown in calculation formula such as formula (1).
Wherein R is earth radius,With the long l of barOBetween relation such as formula (2) shown in.
γ is the roll angle that obliquity sensor measurement obtains in formula, and θ is the pitch angle that obliquity sensor side measures,For
The course angle that obliquity sensor measurement obtains.
According to above-mentioned rudimentary algorithm, tilt measurement module is in moment t1Location information [the L of acquisition1,λ1,H1] and moment t2
Location information [the L of acquisition2,λ2,H2] and formula (1) formula (3) and formula (4) can be obtained
(3)-(4) is made to obtain (5)：
Wherein C3=(L2-L1) (R+H '), D3=(λ2-λ1)(R+H′)cosL′
Formula (6) and formula (7) can further be write out according to formula (2)
Wherein m=sin θ cos γ, n=sin γ.
(6) and (7) are substituted into (5) and obtain (8) and (9)
Wherein
It is obtained (10) after (8) are rearranged
Wherein
It is obtained (11) after (9) are rearranged
(10) and (11) simultaneous solution are obtained (12)
And if only if a1 2+a2 2≠0 (12)
From formula (12) if in it 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 a2=0
When, the C in formula (10) and (11)3=0 and D3=0, and when surveying instrument is not in situ tilt variation position, C3And D3It is permanent
Not equal to 0.So when surveying instrument tilt variation position, formula (12) is permanent sets up.
Formula (12) is substituted into (7) and obtains (13)：
(13) are substituted into formula (4) can obtain current time t2Revised location information.
Based on above-mentioned modified computing method, finally so that the obliquity correcting method is highly practical, explicit physical meaning,
It is easy to operate, take small and do not increase additional hardware cost, the operation of measurement accuracy and user is horizontal and operating habit without
It closes, can ensure accurately to correct precision in the case of various.
In conclusion a kind of novel surveying instrument that the present invention discloses design tilts amount correction method, first by surveying instrument itself
It tilts several times, the position coordinates after tilting every time is obtained by tilt measurement module, then by inclination angle when tilting every time
The course increment and position coordinates that degree, gyroscope integration are drawn combine, and internal calculation show that entire surveying instrument tilt quantity is repaiied
Accurate position coordinates after just can so solve the shadow that GEOMAGNETIC CHANGE and magnetic interference correct surveying instrument tilt quantity precision
It rings, improves tilt correction precision, service efficiency and the practical precision of surveying instrument.
By explanation and attached drawing, the exemplary embodiments of the specific structure of specific embodiment are given, it is smart based on the present invention
God can also make other conversions.Although foregoing invention proposes existing preferred embodiment, however, these contents are not intended as
Limitation.
For a person skilled in the art, after reading above description, various changes and modifications undoubtedly will be evident.
Therefore, appended claims should regard whole variations and modifications of the true intention and scope that cover the present invention as.It is weighing
The scope and content of any and all equivalence, are all considered as still belonging to the intent and scope of the invention in the range of sharp claim.
Claims (6)
1. a kind of surveying instrument tilts amount correction method, which is characterized in that including：
Surveying instrument is tilted several times, records the surveying instrument inclined position coordinates and inclination angle with respect to the horizontal plane every time
Degree；
The surveying instrument is obtained per the course angle increment in inclined twice conversion process using gyroscope integration；
The surveying instrument tilt quantity is modified simultaneously with reference to the course angle increment, the position coordinates and the angle of inclination
Draw revised position coordinates.
2. surveying instrument according to claim 1 tilts amount correction method, which is characterized in that the method further includes：
The position coordinates of inclined surveying instrument every time is obtained by tilt measurement module.
3. surveying instrument according to claim 2 tilts amount correction method, which is characterized in that the method further includes：
The angle of inclination of the surveying instrument every time with respect to the horizontal plane is obtained using the tilt measurement module.
4. surveying instrument according to claim 3 tilts amount correction method, which is characterized in that the method further includes：
Position coordinates, the course angle increment and angle of inclination after the surveying instrument is tilted every time are transmitted to central processing unit
Revised position coordinates is calculated；
Revised position coordinates is transmitted to the surveying instrument.
5. surveying instrument according to claim 1 tilts amount correction method, which is characterized in that the surveying instrument at least tilts two
It is secondary.
6. surveying instrument according to claim 1 tilts amount correction method, which is characterized in that the angle of inclination includes roll
Angle and pitch angle.
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| CN1894557A (en) * | 2003-12-16 | 2007-01-10 | 特里伯耶拿有限公司 | Calibration of a surveying instrument |
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| CN103292801A (en) * | 2013-05-28 | 2013-09-11 | 中国船舶重工集团公司第七0七研究所 | Optical fiber gyroscope theodolite and north-seeking method thereof |
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