CN107631700A - The three-dimensional vision information method that spatial digitizer is combined with total powerstation - Google Patents
The three-dimensional vision information method that spatial digitizer is combined with total powerstation Download PDFInfo
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Abstract
The invention discloses a kind of three-dimensional vision information method that spatial digitizer is combined with total powerstation.Implementation step is：(1) scanner coordinate system is established；(2) measuring prism coordinate；(3) three-dimensional data of target is measured；(4) judge whether to complete measurement；(5) judge whether the distance between total powerstation and spatial digitizer are more than 30 meters；(6) measuring prism coordinate；(7) mobile total powerstation；(8) three-dimensional vision information of target is completed.The present invention carries out three-dimensional vision information using spatial digitizer, it is not necessary to the three-dimensional data of target can be just obtained by other geography information so that the present invention is preferably applied to carry out three-dimensional vision information to various targets.The present invention is using spatial digitizer by the way of total powerstation is combined so that the present invention can continuously carry out three-dimensional measurement to large-scale target, and carry out rough registration to three-dimensional data simultaneously.
Description
Technical field
The invention belongs to technical field of image processing, a kind of three-dimensional further related in three-dimensional reconstruction field is swept
The method for retouching the large scene three-dimensional vision information that instrument is combined with total powerstation.The present invention can be used in large scene utilizing whole station
Instrument measures the registration that three pairs of corresponding point datas carry out three-dimensional data.
Background technology
Three-dimensional data either all plays key effect in Model Reconstruction or reverse-engineering.Utilize total powerstation and three
Dimension scanner is combined the three-dimensional data for obtaining large scene, further can obtain three pairs of corresponding points, reduction pair by total powerstation
The complexity of three-dimensional data operation, convenient and swift acquisition three-dimensional data simultaneously realize that data are spliced.The measurement side of three-dimensional data at present
Method is mainly measured using spatial digitizer.
Patent document " the tunnel rock occurrence three-dimensional measurement that China Railway SIYUAN Survey and Design Group Co., Ltd applies at it
Method " (number of patent application：201310129397.X application publication number：A kind of tunnel rock production is disclosed in 103207419A)
Shape method for three-dimensional measurement.The geography such as magnanimity DEM (elevation map) that this method is provided with Goole Earth (Google Maps), image
Information is data source, is realized using Goole Earth COM API (Google Maps interface) from Goole Earth (Google Maps)
It is upper acquisition rock stratum boundary point data, carry out the fitting of rock stratum face, calculate the attitude of rocks, and by markup language realize rock stratum face and
The visualization that rock stratum produces key element is shown.Weak point is existing for this method, is carried dependent on Goole Earth (Google Maps)
The geography information such as the magnanimity DEM (elevation map) of confession, image are data source, for what is do not had on Goole Earth (Google Maps)
Rock stratum data, it can not realize and three-dimensional measurement is carried out to it.
Ma Yuqiong, Zheng Hongwei, Wang Wei, the paper that a beautiful Pei delivers at it " visit by thin wall component three-dimensional vision information method
The method that the three dimensional point cloud using three scanning systems measurement part is proposed in rope " (information technology, 2015, TP391.4).
This method utilizes photo taking type 3 D scanning system measurement three-dimensional data and the softwares of Stereo-3D and Geomagic Studio two
Data processing is carried out, obtains the curved-surface structure that reflection blade truly gathers form.Weak point is existing for this method, tester
Material is expensive, and needs to handle three-dimensional data by various software.
The content of the invention
Present disclosure is to be directed to above-mentioned the deficiencies in the prior art, proposes that a kind of spatial digitizer is combined with total powerstation
Three-dimensional vision information method.
The concrete thought that the present invention realizes is：A cross bar with two prisms is fixed in scanning first, then to sweep
It is the origin of coordinates to retouch instrument center, and cross bar direction is Y-axis, establishes right-handed coordinate system straight up for Z axis.Then rotary scanning instrument it
Two prism coordinates of total station survey are used afterwards, and spatial digitizer scanning obtains three-dimensional data.At the end of scanner scanning, use
Two prism coordinates of total station survey.Measure the three-dimensional that the coordinate of two prisms can obtain scanner twice by total powerstation
Data are transformed under total station instrument coordinate system, realize the splicing of three-dimensional data.Three can be obtained using total station survey prism coordinate
To corresponding points, the three-dimensional data that spatial digitizer obtains is transformed under total station instrument coordinate system, realizes three-dimensional data registration.For
When large scene carries out three-dimensional vision information, total powerstation range scanner is too remote, it is necessary to total powerstation position be moved, by lens seat
Mark can obtain before total powerstation movement with it is mobile and position relationship, realize the continuous measurement to large scene.
The specific steps that the present invention realizes include as follows：
(1a) uses total powerstation, measures the three-dimensional coordinate of 6 reflecting pieces of desktop respectively, and each three-dimensional coordinate is formed into one
Column vector, 6 Column vector groups, using singular value decomposition formula, singular value point are carried out to 3 × 6 matrixes into the matrix of one 3 × 6
Solution, obtains three characteristic values of 3 × 6 matrixes, and three characteristic values are formed to the normal vector of spatial digitizer holding plane；
(1b) uses total powerstation, measures the three-dimensional coordinate of prism I and prism II when scanner is located at original state respectively, often
After secondary rotary scanning instrument, total station survey prism I three-dimensional coordinate, corotation moves scanner 5 times, obtains prism I 6 coordinates,
Using least square method, the round center of circle in prism I 6 three-dimensional coordinates place is calculated；
(1c) calculates spatial digitizer place plane and the three-dimensional coordinate of desktop normal vector intersection point using the intersecting formula of vector
Value；
(1d) utilizes center calculation formula, calculates D coordinates value of the spatial digitizer center under total station instrument coordinate system；
(1e) using spatial digitizer laser center as the origin of coordinates, when spatial digitizer is arranged at initial position, by prism I
It is Y-axis with direction where prism II, desktop normal vector is Z-direction, establishes right hand three-dimensional system of coordinate, and public using matrix operation
Formula, calculate the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system；
(1f) total station survey prism I and prism II coordinates, using matrix multiple formula, calculate two prisms and swept in three-dimensional
Retouch the coordinate under instrument coordinate system；
(1g) utilizes vectorial calculation formula, calculates spatial digitizer center respectively to the distance of two prisms；
(2) measuring prism I and prism II coordinate position：
(2a) spatial digitizer is placed on measurement position, rotates 60 degree of spatial digitizer manually clockwise, uses total powerstation
Measuring prism I and prism II coordinate position；
(2b) utilizes Newton iterative, calculates the D coordinates value at the spatial digitizer center under total station instrument coordinate system；
(3) three-dimensional data of target is measured：
Spatial digitizer time of measuring is arranged to 15 minutes by (3a)；
(3b) using spatial digitizer collection target location three-dimensional data, the three of total station survey prism I and prism II
Dimension coordinate, using corresponding points calculation formula, calculate the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system；
(3c) utilizes matrix multiple formula, calculates the transformation matrix between spatial digitizer and total powerstation initial position；
(4) judge whether whole three-dimensional datas of acquired complete target, if so, then performing step (8), otherwise, perform
Step (5)；
(5) whether the distance between spatial digitizer and total powerstation are judged more than 30 meters, if so, step (6) is then performed, it is no
Then, by spatial digitizer be moved to measurement target another do not survey the position of three-dimensional data after perform step (2)；
(6) measuring prism III coordinate positions：
A prism III is being placed apart from the position of 0.5 meter remote of spatial digitizer, with the three of total station survey prism III
Dimension coordinate position；
(7) mobile total powerstation position：
Mobile total powerstation is to apart from 10 meters of remote positions of spatial digitizer, difference measuring prism I, prism II and prism III
Three-dimensional coordinate position, using Matrix Computation Formulas, calculate the change between volume position after the position and movement before total powerstation movement
Change matrix；
(8) three-dimensional vision information of target is completed.
Compared with prior art, the present invention has advantages below：
First, the present invention is carried out three-dimensional vision information to target, overcome existing by motion scan instrument to different positions
The deficiency for having technology to rely on the geography information such as the magnanimity DEM (elevation map) of Goole Earth (Google Maps) offers, image, makes
The geography information target of the invention that Goole Earth (Google Maps) can be measured and can not be provided is provided, further increases three-dimensional
The measurement targeted species of scanner.
Second, the mode that the present invention is combined by using total powerstation with scanner, mobile total powerstation and spatial digitizer
Three-dimensional vision information is carried out to diverse location so that the present invention can measure the three-dimensional data of bigger target, improve and sweep
The measurement range of instrument is retouched, experimental cost is cheap and has good operability.
Brief description of the drawings
Fig. 1 is the flow chart of the present invention；
Fig. 2 is present invention measurement three-dimensional data process schematic.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Referring to the drawings 1, the specific steps of the present invention are described as follows.
Step 1, scanner coordinate system is established.
Utilize singular value decomposition, the normal vector of calculating scanner holding plane.Singular value decomposition is as follows：
[S, D, V]=svd (H)
Wherein, H represents 3 × 6 matrixes of desktop reflecting piece coordinate composition, and S represents 3 × 3 matrixes, and D is represented by 3 × 6 matrixes
Eigenvalue cluster into matrix, V represent 3 × 3 matrixes.
The center of circle of least square fitting prism I rotary motion traces.Least square method formula is as follows：
Wherein, xi,yi,ziPrism I three direction value of coordinate are represented respectively, and r represents the radius of fitting circle, xop,yop,zop
Represent that the center of circle corresponds to the value of X-axis, Y-axis and Z-direction respectively.
According to intersecting formula, plane where calculating scanner and the intersection point of desktop normal vector.Calculate intersection point zo's (x, y, z)
Intersecting formula：
xsx+ysy+zsZ+1=0
Wherein, x, y and z represent plane X-axis corresponding with the intersection point of desktop normal vector where spatial digitizer, Y-axis and Z respectively
The value of direction of principal axis, xs, xsAnd xsRepresent that desktop normal vector corresponds to the value of X-axis, Y-axis and Z-direction respectively.
According to center calculation formula, coordinate of the scanner center under total station instrument coordinate system is calculated.Center calculation formula is such as
Under：
Wherein, x1, y1 and z1 are illustrated respectively in spatial digitizer center under total station instrument coordinate system and correspond to X-axis, Y-axis and Z axis
The value in direction, h represent the height between spatial digitizer center and spatial digitizer base.
Using the center of scanner as the origin of coordinates, when scanner is in into zero degree position, prism I and prism II
Place direction is Y-axis, and desktop vertical line is Z-direction, establishes right hand three-dimensional system of coordinate, and utilizes matrix operation, meter
Calculate the transformation matrix between acquisition scanner coordinate system and total station instrument coordinate system.Between scanner coordinate system and total station instrument coordinate system
Transformation matrix R it is as follows：
[A, X1, Y1, Z1]=R [a, a+ax, a+ay, a+az]
Wherein, A represents the origin of coordinates of spatial digitizer coordinate system, and X1, Y1 and Z1 represent spatial digitizer coordinate respectively
Three direction of principal axis of system, R represent the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system, and a is represented in whole station
The three-dimensional coordinate at spatial digitizer center under instrument coordinate system, ax represent X-direction, and ay represents the Y-axis that prism I and prism II is formed
Direction, az represent that desktop normal vector forms Z-direction.
Using matrix multiple, coordinate of two prisms under scanner coordinate system is calculated.Matrix operation is as follows：
II (xi, yi, zi, 1)=RI (xI, yI, zI, 1)
IIII (xii, yii, zii, 1)=RII7 (xII, yII, zII, 1)
Wherein, II (xi, yi, zi, 1), IIII (xii, yii, zii, 1) represent that prism I and prism II is swept in three-dimensional respectively
Retouch the three-dimensional coordinate under instrument coordinate system, I (xI,yI,zI, 1), III (xII,yII,zII, 1) and represent prism I and prism II complete respectively
The three-dimensional coordinate stood under instrument coordinate system.
Using vector form, scanner center is calculated to the distance of two prisms.
The vector form is as follows：
Wherein, RaRepresent the distance between prism I and scanner center, RbRepresent between prism II and scanner center
Distance.
Step 2, measuring prism coordinate.
Manual rotary scanning instrument clockwise, 60 degree are rotated, with total station survey prism I and prism II coordinate.
According to Newton iterative, scanner center coordinate under total station instrument coordinate system is calculated.Newton iterative formula
It is as follows：
Minf (x, y, z)=((x-xa)2+(y-ya)2+(z-za)2-((x-xa_)2+(y-ya_)2+(z-za_)2))2
+((x-xb)2+(y-yb)2+(z-zb)2-((x-xb)2+(y-yb_)2+(z-zb_)2))2
+((x-xa)2+(y-ya)2+(z-za)2-Ra 2))2
+((x-xb)2+(y-yb)2+(z-zb)2-Rb 2))2
Wherein, f (x, y, z) represents minimum value, xa,ya,zaRepresent total station survey prism I in X-axis, Y-axis and Z axis respectively
The value in direction, xb,yb,zbTotal station survey prism II is represented respectively in X-axis, the value of Y-axis and Z-direction, xa_,ya_,za_Respectively
Spatial digitizer is represented when being in initial position, total station survey prism I is in X-axis, the value of Y-axis and Z-direction, xb_,yb_,zb_
Spatial digitizer is represented respectively when being in initial position, and total station survey prism II is in X-axis, the value of Y-axis and Z-direction, x, y, z
Spatial digitizer center corresponds to the value of X-axis, Y-axis and Z-direction under expression total station instrument coordinate system respectively.
Step 3, three-dimensional data is measured.
Scanner time of measuring is arranged to 15 minutes.
Using the three-dimensional data of scanner collection target location, using corresponding points formula, calculate scanner coordinate system with it is complete
The transformation matrix stood between instrument coordinate system.Corresponding points formula is as follows：
[a I II]=Rr[A markerI markerII]
Wherein, I, II represent the coordinate of prism I and prism II under total station instrument coordinate system, R respectivelyrRepresent spatial digitizer
Transformation matrix between coordinate system and total station instrument coordinate system, markerI and markerII represent that prism I and prism II are being swept respectively
Retouch the coordinate under instrument coordinate system.
Using matrix multiple, the transformation matrix between scanner and total powerstation initial position is calculated.
Matrix multiple formula is as follows：
Rt=RtempRr
Wherein, RtRepresent the transformation matrix between scanner coordinate system and total powerstation initial position.
Step 4, whether human eye observation has acquired the Complete three-dimensional data of target, if so, step 8 is then performed, otherwise,
Perform step 5.
Step 5, human eye judges whether to need to move total powerstation position, if so, performing step 6, otherwise, performs step 7.
Step 6, measuring prism coordinate.
A prism III is being placed apart from the position of 0.5 meter remote of spatial digitizer, with the three of total station survey prism III
Dimension coordinate position.
Mobile total powerstation measures three prism coordinates, using total powerstation formula, calculates total powerstation again to appropriate position
Transformation matrix before mobile and after movement.Total powerstation formula is as follows:
[I1 II2 III3]=Rtemp [I1' II2' III3']
Wherein, I1, II2And III3Measuring prism I, prism II and prism III seat before expression total powerstation moves respectively
Mark, I1', II2'And III3'Measuring prism I, prism II and prism III coordinates, Rtemp are represented after the movement of expression total powerstation respectively
The transformation matrix between the position after position and movement before total powerstation movement.
Step 7, the position that motion scan instrument does not gather to another, step (2) is performed.
Step 8, the three-dimensional vision information of target is completed.
Reference picture 2, present invention measurement three-dimensional data process is further described.
In fig. 2, when a points and scanner survey station 1 respectively carry out three-dimensional vision information to target for the first time, total powerstation
Position and the position relationship of spatial digitizer.In human eye of the present invention judges whether to need to move total powerstation position step 5, when complete
When standing the distance between instrument and spatial digitizer less than 30 meters, spatial digitizer is moved to scanner from the position of scanner survey station 1
The position of survey station 2 measures.When the distance between total powerstation and spatial digitizer are more than 30 meters, total powerstation is moved to b from a points
Point continues to measure.Two prisms that prism I, prism II are respectively used in measuring prism coordinate step 2 of the present invention, rib
Mirror III is prism fixed near scanner in measuring prism coordinate step 6 of the present invention.
Claims (9)
1. a kind of three-dimensional vision information method that spatial digitizer is combined with total powerstation, it is characterised in that comprise the following steps：
(1) spatial digitizer coordinate system is established：
(1a) uses total powerstation, respectively measure 6 reflecting pieces of desktop three-dimensional coordinate, by each three-dimensional coordinate composition one arrange to
Amount, 6 Column vector groups, using singular value decomposition formula, carry out singular value decomposition to 3 × 6 matrixes, obtained into the matrix of one 3 × 6
To three characteristic values of 3 × 6 matrixes, by the normal vector of three characteristic values composition spatial digitizer holding planes；
(1b) uses total powerstation, measures the three-dimensional coordinate of prism I and prism II when scanner is located at original state respectively, turns every time
After dynamic scanner, total station survey prism I three-dimensional coordinate, corotation moves scanner 5 times, obtains prism I 6 coordinates, utilizes
Least square method, calculate the center of circle of circle where prism I 6 three-dimensional coordinates；
(1c) calculates spatial digitizer place plane and the D coordinates value of desktop normal vector intersection point using the intersecting formula of vector；
(1d) utilizes center calculation formula, calculates D coordinates value of the spatial digitizer center under total station instrument coordinate system；
(1e) using spatial digitizer laser center as the origin of coordinates, when spatial digitizer is arranged at initial position, by prism I and rib
Direction where mirror II is Y-axis, and desktop normal vector is Z-direction, establishes right hand three-dimensional system of coordinate, and utilizes matrix operation formula,
Calculate the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system；
(1f) total station survey prism I and prism II coordinates, using matrix multiple formula, two prisms are calculated in spatial digitizer
Coordinate under coordinate system；
(1g) utilizes vectorial calculation formula, calculates spatial digitizer center respectively to the distance of two prisms；
(2) measuring prism I and prism II coordinate position：
(2a) spatial digitizer is placed on measurement position, rotates 60 degree of spatial digitizer manually clockwise, uses total station survey
Prism I and prism II coordinate position；
(2b) utilizes Newton iterative, calculates the D coordinates value at the spatial digitizer center under total station instrument coordinate system；
(3) three-dimensional data of target is measured：
Spatial digitizer time of measuring is arranged to 15 minutes by (3a)；
(3b) using the three-dimensional data of spatial digitizer collection target location, total station survey prism I and the three-dimensional of prism II are sat
Mark, using corresponding points calculation formula, calculate the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system；
(3c) utilizes matrix multiple formula, calculates the transformation matrix between spatial digitizer and total powerstation initial position；
(4) judge whether whole three-dimensional datas of acquired complete target, if so, then performing step (8), otherwise, perform step
(5)；
(5) whether the distance between spatial digitizer and total powerstation are judged more than 30 meters, if so, step (6) is then performed, otherwise,
By spatial digitizer be moved to measurement target another do not survey the position of three-dimensional data after perform step (2)；
(6) measuring prism III coordinate positions：
A prism III is being placed apart from the position of 0.5 meter remote of spatial digitizer, is being sat with total station survey prism III three-dimensional
Cursor position；
(7) mobile total powerstation position：
Mobile total powerstation is to apart from the three of 10 meters of remote positions of spatial digitizer, respectively measuring prism I, prism II and prism III
Dimension coordinate position, using Matrix Computation Formulas, the conversion square after the position and movement before calculating total powerstation movement between volume position
Battle array；
(8) three-dimensional vision information of target is completed.
2. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total powerstation, its feature exist
In：Least square method is as follows described in step (1b)：
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Root operates, xi, yiAnd ziTotal powerstation ith measuring prism I is represented respectively in X-axis, the value of Y-axis and Z-direction, i=1,2 ...,
6, xop, yopAnd zopThe centers of circle of prism I 6 three-dimensional coordinate locus circles is represented respectively in X-axis, the value of Y-axis and Z-direction, r tables
Show the radius of prism I 6 three-dimensional coordinate locus circles.
3. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total powerstation, its feature exist
In：The intersecting formula of vector described in step (1c) is as follows：
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xsx+ysy+zsZ+1=0
Wherein, x, y and z represent plane X-axis corresponding with the intersection point of desktop normal vector where spatial digitizer, Y-axis and Z axis side respectively
To value, xs, xsAnd xsRepresent that desktop normal vector corresponds to the value of X-axis, Y-axis and Z-direction respectively.
4. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total powerstation, its feature exist
In：Center calculation formula described in step (1d) is as follows:
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Wherein, x1, y1 and z1 are illustrated respectively in spatial digitizer center under total station instrument coordinate system and correspond to X-axis, Y-axis and Z-direction
Value, h represents the height between spatial digitizer center and spatial digitizer base.
5. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total powerstation, its feature exist
In：Matrix operation formula is as follows described in step (1e)：
[A, X1, Y1, Z1]=R [a, a+ax, a+ay, a+az]
Wherein, A represents the origin of coordinates of spatial digitizer coordinate system, and X1, Y1 and Z1 represent spatial digitizer coordinate system respectively
Three direction of principal axis, R represent the transformation matrix between spatial digitizer coordinate system and total station instrument coordinate system, and a represents to sit in total powerstation
The three-dimensional coordinate at the lower spatial digitizer center of mark system, ax represent X-direction, and ay represents the Y-axis side that prism I and prism II is formed
To az represents that desktop normal vector forms Z-direction.
6. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total powerstation, its feature exist
In：Matrix multiple formula is as follows described in step (1f)：
II (xi, yi, zi, 1)=RI (xI,yI,zI,1)
IIII (xii, yii, zii, 1)=RIII (xII,yII,zII,1)
Wherein, II (xi, yi, zi, 1), IIII (xii, yii, zii, 1) represent prism I and prism II in spatial digitizer respectively
Three-dimensional coordinate under coordinate system, I (xI,yI,zI, 1), III (xII,yII,zII, 1) and represent prism I and prism II in total powerstation respectively
Three-dimensional coordinate under coordinate system.
7. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total powerstation, its feature exist
In：Newton iterative is as follows described in step (2b)：
Minf (x, y, z)=((x-xa)2+(y-ya)2+(z-za)2-((x-xa_)2+(y-ya_)2+(z-za_)2))2
+((x-xb)2+(y-yb)2+(z-zb)2-((x-xb_)2+(y-yb_)2+(z-zb_)2))2
+((x-xa)2+(y-ya)2+(z-za)2-Ra 2))2
+((x-xb)2+(y-yb)2+(z-zb)2-Rb 2))2
Wherein, f (x, y, z) represents minimum value, xa,ya,zaRepresent total station survey prism I in X-axis, Y-axis and Z-direction respectively
Value, xb,yb,zbTotal station survey prism II is represented respectively in X-axis, the value of Y-axis and Z-direction, xa_,ya_,za_Represent respectively
When spatial digitizer is in initial position, total station survey prism I is in X-axis, the value of Y-axis and Z-direction, xb_,yb_,zb_Respectively
Spatial digitizer is represented when be in initial position, total station survey prism II is in X-axis, the value of Y-axis and Z-direction, x, y, and z distinguishes
Spatial digitizer center corresponds to the value of X-axis, Y-axis and Z-direction under expression total station instrument coordinate system.
8. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total powerstation, its feature exist
In：Corresponding points calculation formula is as follows described in step (3b)：
[a I II]=Rr[A markerI markerII]
Wherein, I, II represent the coordinate of prism I and prism II under total station instrument coordinate system, R respectivelyrRepresent spatial digitizer coordinate
Transformation matrix between system and total station instrument coordinate system, markerI and markerII represent prism I and prism II in scanner respectively
Coordinate under coordinate system.
9. the three-dimensional vision information method that spatial digitizer according to claim 1 is combined with total powerstation, its feature exist
In：Matrix Computation Formulas is as follows described in step (7):
[I1 II2 III3]=Rtemp [I1' II2' III3']
Wherein, I1, II2And III3Measuring prism I, prism II and prism III coordinate, I before expression total powerstation moves respectively1',
II2'And III3'Measuring prism I, prism II and prism III coordinates, Rtemp represent total powerstation after the movement of expression total powerstation respectively
The transformation matrix between the position after position and movement before movement.
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