CN108104798B - Tunnel positioning instrument based on magnetic field principle and using method thereof - Google Patents
Tunnel positioning instrument based on magnetic field principle and using method thereof Download PDFInfo
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Abstract
The invention discloses a tunnel positioning instrument based on a magnetic field principle and a using method thereof. Specifically, the tunnel locator of the present invention comprises a coordinate and magnetic field strength measuring device and a magnetic sensor, wherein: and a plurality of measuring points are arranged in the measuring range of the coordinate and magnetic field intensity measuring equipment, and the coordinate and magnetic field intensity measuring equipment is used for measuring the three-dimensional coordinates and the magnetic field intensity of the measuring points. The invention initiatively utilizes the method for measuring the magnetic field to accurately measure the dislocation degree between the two tunnels, and the magnetic field is not influenced by media such as rocks, water and the like, so that the accuracy of the tunnel positioning result can be ensured. The tunnel positioning method is hardly influenced by temperature, can be used for monitoring in places with large temperature difference and severe conditions for a long time, has strong practicability, is convenient to operate, has high precision and high efficiency, can accurately judge the dislocation degree of the drilled holes, and can be used for timely remedying through construction.
Description
Technical Field
The invention belongs to the field of civil engineering equipment, and relates to a tunnel positioning instrument based on a magnetic field principle and a using method thereof.
Background
In some hydraulic engineering or tunnel engineering, it is often necessary to excavate and connect a plurality of tunnels. For example, in the construction of pumped storage power stations, after a horizontal tunnel is dug, the diameter of the tunnel is usually larger than 5 meters, and vertical holes and inclined holes (such as pressure steel pipes and vent holes) are often drilled downwards from the top. In general, these vertical holes and inclined holes are very long, usually two to three hundred meters and more, so that there are various reasons (e.g. non-uniformity of rock medium, construction error, etc.) that the vertical holes and inclined holes do not intersect with the horizontal tunnel at the bottom, and a certain deviation is generated during the actual drilling process.
Since a medium such as rock may have a large water content and various electric signals cannot be transmitted, the sensor based on the electric signals can hardly find the deviation amount and specific position of the vertical hole and the inclined hole. For the method based on the principles of elastic waves and the like, inaccurate measurement can also be caused due to the problems of joints, cracks, water saturation and the like of rocks. In addition, the total station cannot see both vertical holes and inclined holes and also can see the middle point of the horizontal tunnel, so that the deviation of the tunnel cannot be determined.
Disclosure of Invention
In order to solve the technical problem, the invention utilizes the characteristic that the magnetic field generated by the magnet is hardly influenced by rocks and water, and the change of the magnetic field intensity of each point in the first tunnel is observed by placing the magnet in the second tunnel. Before the magnet is placed in the second tunnel, the magnetic field strength of each point in the first tunnel is only influenced by the earth magnetic field; and after the magnet is placed in the second tunnel, the magnetic field intensity of each point in the first tunnel is a composite vector field formed by the superposition of the magnetic field generated by the magnet and the geomagnetic field. In addition, a plurality of measuring points can be arranged in the first tunnel, when the magnet is not arranged in the second tunnel, the geomagnetic field intensity of each measuring point in the first tunnel is measured, then the magnet is arranged in the second tunnel, the composite magnetic field intensity of each measuring point in the first tunnel is measured, and the position of the magnet is accurately calculated by utilizing the three-dimensional coordinate information of each measuring point, so that the position of the second tunnel and the deviation relative to the first tunnel are judged.
Specifically, the invention adopts the following technical scheme:
the utility model provides a tunnel locater based on magnetic field principle, includes coordinate and magnetic field intensity measuring equipment, magnetic sensor, wherein: a plurality of measuring points are arranged in the measuring range of the coordinate and magnetic field intensity measuring equipment, and the coordinate and magnetic field intensity measuring equipment is used for measuring the three-dimensional coordinates and magnetic field intensity of the measuring points; the magnetic field intensity is a vector or a scalar, the vector is a component of the magnetic field intensity in a three-dimensional coordinate system, and the scalar is a modulus of the magnetic field intensity.
Preferably, the coordinate and magnetic field strength measuring device comprises a coordinate measuring device and a magnetic field strength measuring instrument; the coordinate measuring equipment is used for measuring the three-dimensional coordinate where the magnetic field intensity measuring instrument is located, and preferably a total station is selected; the magnetic field intensity measuring instrument is used for measuring the magnetic field intensity of the three-dimensional coordinate where the magnetic field intensity measuring instrument is located.
Preferably, the coordinate and magnetic field strength measuring device further comprises a single prism for cooperating with the magnetic field strength measuring instrument to measure the three-dimensional coordinates thereof.
Preferably, the magnetic sensor includes a spherical shell, the spherical shell is filled with a non-magnetic solid filler, and a magnet is fixed inside the non-magnetic solid filler.
Preferably, the magnetic sensor comprises an outer spherical shell and an inner spherical shell positioned inside the outer spherical shell, liquid is filled between the outer spherical shell and the inner spherical shell, the liquid is used for floating the inner spherical shell, a magnet fixed on the inner spherical shell is arranged inside the inner spherical shell, a leveling counterweight is further arranged inside the inner spherical shell, and a leveling bubble is fixedly connected to the surface of the magnet parallel to or perpendicular to the axis of the magnet; when the level bubble is fixedly connected on the surface of the magnet parallel to the axis of the magnet, the axis of the magnet points to the north-south direction of the geomagnetic field when the inner spherical shell is static by moving the leveling weight; when the level bubble is fixedly connected to the surface of the magnet perpendicular to the axis thereof, the axis of the magnet is made parallel to the direction of gravity when the inner spherical shell is stationary by moving the leveling weight.
The tunnel positioning method based on the magnetic field principle is characterized in that a magnetic sensor placed in a second tunnel is positioned by using coordinates placed in a first tunnel and magnetic field intensity measuring equipment, the coordinates of the second tunnel are expressed by using the coordinates of the magnetic sensor, and then the relative position relation between the two tunnels is obtained.
The tunnel positioning method mainly comprises the following steps:
(1) the method comprises the following steps of placing coordinate and magnetic field intensity measuring equipment in the tunnel positioning instrument based on the magnetic field principle in a first tunnel, and measuring first three-dimensional coordinates and geomagnetic field intensity of all measuring points in a first measuring point set by using the coordinate and magnetic field intensity measuring equipment, wherein the specific measuring method comprises the following steps: moving a magnetic field intensity measuring instrument in the coordinate and magnetic field intensity measuring equipment to each measuring point in the first measuring point set to measure the magnetic field intensity of each measuring point, recording the magnetic field intensity as the geomagnetic field intensity, and simultaneously measuring the three-dimensional coordinate of each measuring point by using coordinate measuring equipment in the coordinate and magnetic field intensity measuring equipment, and recording the three-dimensional coordinate as a first three-dimensional coordinate; wherein: the first measuring point set refers to a set of measuring points selected for measuring three-dimensional coordinates and magnetic field strength before the magnetic sensor is placed in the second tunnel;
(2) the magnetic sensor in the tunnel locator based on the magnetic field principle is placed in a second tunnel, and the coordinate and magnetic field strength measuring equipment is used for measuring second three-dimensional coordinates and composite magnetic field strength of all measuring points in a second measuring point set, wherein the specific measuring method comprises the following steps: moving a magnetic field intensity measuring instrument in the coordinate and magnetic field intensity measuring equipment to each measuring point in the second measuring point set to measure the magnetic field intensity of each measuring point, recording the magnetic field intensity as a composite magnetic field intensity, and simultaneously measuring the three-dimensional coordinate of each measuring point by using coordinate measuring equipment in the coordinate and magnetic field intensity measuring equipment, and recording the three-dimensional coordinate as a second three-dimensional coordinate; wherein: the second measuring point set refers to a set of measuring points selected for measuring three-dimensional coordinates and magnetic field intensity after the magnetic sensor is placed, and the coordinates of all measuring points in the second measuring point set are located within the envelope range of the coordinates of all measuring points in the first measuring point set;
(3) calculating the geomagnetic field intensity of all measuring points in the second measuring point set before the magnetic sensor is placed by using the first three-dimensional coordinates and the geomagnetic field intensity of all measuring points in the first measuring point set;
(4) and calculating the three-dimensional coordinates of the magnetic sensor by using the second three-dimensional coordinates, the geomagnetic field intensity and the composite magnetic field intensity of all the measuring points in the second measuring point set, so that the tunnel positioning between the first tunnel and the second tunnel can be completed.
Preferably, when the geomagnetic field of the environment where the tunnel locator based on the magnetic field principle is located is a uniform magnetic field, the geomagnetic field intensity of all the measuring points in the second measuring point set in the step (3) is set as the geomagnetic field intensity of any measuring point in the first measuring point set. The reason for the setting is that the geomagnetic field of the environment where the tunnel locator is located is a uniform magnetic field, and the geomagnetic field intensity of each measuring point is the same, so the geomagnetic field intensity of all the measuring points in the second measuring point set is also equal, that is, equal to the geomagnetic field intensity of any measuring point in the first measuring point set.
Preferably, when the first measuring point set is equal to the second measuring point set (each measuring point in the first measuring point set can find a corresponding measuring point with the same coordinate in the second measuring point set), the geomagnetic field intensity of all measuring points in the second measuring point set in step (3) is set as the geomagnetic field intensity of the measuring point respectively corresponding to the first measuring point set.
Preferably, when the geomagnetic field of the environment where the tunnel locator based on the magnetic field principle is located is an inhomogeneous magnetic field and the first measurement point set is not equal to the second measurement point set, the geomagnetic field intensities of all the measurement points in the second measurement point set are calculated by interpolation.
Compared with the prior art, the invention adopting the technical scheme has the following beneficial effects:
(1) the invention initiatively utilizes the method for measuring the magnetic field to accurately measure the dislocation degree between the two tunnels, and the magnetic field is not influenced by media such as rocks, water and the like, so that the magnetic field intensity cannot be weakened, and the accuracy of the tunnel positioning result can be ensured;
(2) the tunnel positioning method is hardly influenced by temperature, can be used for monitoring in places with large temperature difference and severe conditions for a long time, and has strong practicability;
(3) the tunnel positioning method is convenient to operate, high in precision and efficiency, and capable of accurately judging the dislocation degree of the drilled holes and timely remedying through construction.
Drawings
FIG. 1 is a schematic structural diagram of a tunnel locator based on the magnetic field principle according to the present invention;
FIG. 2 is a schematic structural diagram of a tunnel locator based on the magnetic field principle according to the present invention;
FIG. 3 is a schematic diagram of a magnetic sensor in the tunnel locator according to the magnetic field principle of the present invention;
FIG. 4 is a schematic diagram of a magnetic sensor of the tunnel locator based on the magnetic field principle according to the present invention;
FIG. 5 is a schematic diagram of a magnetic sensor in the tunnel locator according to the magnetic field principle of the present invention;
FIG. 6 is a schematic structural diagram of a tunnel locator based on the magnetic field principle according to the present invention;
wherein: 1 is a first tunnel, 11 is a coordinate and magnetic field intensity measuring device, 111 is a magnetic field intensity measuring instrument, 112 is a single prism, 113 is a measuring point, 12 is a coordinate measuring device (total station), 2 is a second tunnel, 21 is a magnetic sensor, 211 is a spherical shell, 211A is an outer spherical shell, 211B is an inner spherical shell, 212A is a non-magnetic solid filler, 212B is a liquid, 213 is a magnet, 214 is a leveling weight, 215 is a leveling bubble, and 22 is an axis of the second tunnel.
Detailed Description
The invention will be described in further detail with reference to the figures and specific embodiments.
Example 1: a tunnel positioning instrument based on a magnetic field principle and application thereof.
As shown in fig. 1 and 2, the tunnel locator based on the magnetic field principle of the embodiment includes a coordinate and magnetic field strength measuring device 11 and a magnetic sensor 21.
A plurality of measuring points 113 are arranged in the measuring range of the coordinate and magnetic field strength measuring device 11, and the coordinate and magnetic field strength measuring device 11 is used for measuring the three-dimensional coordinates and the magnetic field strength of the measuring points 113 (the three-dimensional coordinates and the magnetic field strength of the measuring points 113 can be measured at the same time). The magnetic field intensity can be a vector or a scalar, the vector is a component of the magnetic field intensity in a three-dimensional coordinate system, and the scalar is a modulus of the magnetic field intensity. The coordinate and magnetic field strength measuring device 11 may be an integral device or a combination of a plurality of devices.
In terms of shape, the magnetic sensor 21 is cylindrical (other shapes are also possible); in terms of materials, the magnetic sensor 21 employs a neodymium iron boron strong magnet. The magnetic sensor 21 itself also generates a magnetic field, which in turn influences the magnetic field strength of the measuring point 113.
As shown in fig. 1, during the excavation process of the tunnel, the first tunnel 1 is often excavated first, and then the second tunnel 2 is excavated, and the first tunnel 1 and the second tunnel 2 need to satisfy the condition of communication, but actually the second tunnel 2 may deviate due to various reasons and cannot intersect with the first tunnel 1. At this time, the position relationship between the first tunnel 1 and the second tunnel 2 needs to be measured, and the tunnel positioning instrument based on the magnetic field principle of the embodiment can solve the above problems, and the specific method is as follows:
(1) placing the coordinate and magnetic field strength measuring device 11 in the first tunnel 1, and measuring first three-dimensional coordinates and geomagnetic field strengths (magnetic field strengths of a geomagnetic field at a certain measuring point) of all measuring points in a first measuring point set by using the coordinate and magnetic field strength measuring device 11;
(2) placing the magnetic sensor 21 in the second tunnel 2, and measuring the second three-dimensional coordinates and the composite magnetic field strength of all measuring points in a second measuring point set by using the coordinate and magnetic field strength measuring equipment 11, wherein the coordinates of all measuring points in the second measuring point set are located within the envelope range of the coordinates of all measuring points in the first measuring point set; wherein: the first three-dimensional coordinates and the second three-dimensional coordinates are based on the same three-dimensional coordinate system (for example, the axis of the first tunnel 1 is a Y axis, the vertical direction is a Z axis, and the X axis is a direction perpendicular to the Y axis in the horizontal plane);
(3) calculating the geomagnetic field intensity of all measuring points in a second measuring point set by using the first three-dimensional coordinates and the geomagnetic field intensity of all measuring points in the first measuring point set;
(4) and calculating the three-dimensional coordinate of the magnetic sensor 21, namely the three-dimensional coordinate of the second tunnel 2 by using the second three-dimensional coordinates of all the measuring points in the second measuring point set, the intensity of the geomagnetic field and the intensity of the composite magnetic field.
According to the invention, by utilizing the characteristic that the magnetic field is hardly influenced by rocks and water, when the magnetic sensor is not placed in the second tunnel, the magnetic field intensity of the measuring point in the first tunnel is only influenced by the geomagnetic field, and when the magnetic sensor is placed in the second tunnel, the magnetic field intensity of the measuring point in the first tunnel is a composite vector field formed by superposing the magnetic field generated by the magnetic sensor and the geomagnetic field. Preferably, a plurality of measuring points are arranged in the first tunnel, the geomagnetic field intensity of each measuring point is measured when the magnetic sensor is not arranged in the second tunnel, then the composite magnetic field intensity of each measuring point is measured when the magnetic sensor is arranged in the second tunnel, and the position of the magnetic sensor is accurately calculated by utilizing the three-dimensional coordinate information of each measuring point, so that the position of the second tunnel and the deviation relative to the first tunnel are judged.
And (3) when the geomagnetic field of the environment where the tunnel positioning instrument is located based on the magnetic field principle is a uniform magnetic field, setting the geomagnetic field intensity of all the measuring points in the second measuring point set in the step (3) as the geomagnetic field intensity of any measuring point in the first measuring point set.
And (3) when the first measuring point set is equal to the second measuring point set, setting the geomagnetic field intensity of all the measuring points in the second measuring point set in the step (3) as the geomagnetic field intensity of the measuring points corresponding to the first measuring point set respectively.
And (3) when the geomagnetic field of the environment where the tunnel locator is located based on the magnetic field principle is an inhomogeneous magnetic field and the first measuring point set is not equal to the second measuring point set, calculating the geomagnetic field intensity of all the measuring points in the second measuring point set in the step (3) by utilizing interpolation.
Example 2: a tunnel positioning instrument based on a magnetic field principle and application thereof.
The embodiment is carried out under the condition that the geomagnetic field is a uniform magnetic field, and belongs to the improvement carried out on the basis of the embodiment 1, and the specific improvement is as follows:
as shown in fig. 3, the magnetic sensor includes a spherical shell 211, the interior of the spherical shell 211 is filled with a non-magnetic solid filler 212A, and a magnet 213 is fixed to the interior of the non-magnetic solid filler 212A.
When the magnetic field strength is a vector (a component in a three-dimensional coordinate system), a global coordinate system needs to be determined first (for example, a direction along the south pole of the inside of the geomagnetic field to the north pole of the inside of the geomagnetic field may be defined as a positive Y-axis direction, or a direction along the axis of the first tunnel 1, which is perpendicular to the paper surface, and faces outward as shown in fig. 1) where a direction along the south pole of the inside of the geomagnetic field to the north pole of the inside of the geomagnetic field is defined as a positive Y-axis direction.
Since the placement of the magnetic sensor is arbitrary, it is necessary to determine the local coordinate system of the magnetic sensor, y of the local coordinate system*The axis may be set to the axis of the magnet (assuming the direction y inside the magnet pointing along south to north poles*Positive axial direction). At this point, six unknowns are needed to model: coordinates (x) of the magnetm，ym，zm) And three angles alpha, beta and gamma used by the euler transform. In addition, y needs to be considered*The projection of the positive direction of the axis on the Y axis is positiveOr a negative number. And converting the local coordinate system of the magnet into the global coordinate system, and using an Euler transformation matrix R.
When y is*When the projection of the positive direction of the axis on the Y axis is positive,
when y is*When the projection of the positive axial direction on the Y axis is a negative number,
thus, in the global coordinate system XYZ, the geomagnetic field is not considered, and only the magnetic sensor is at the measurement point (x)i， yi，zi) The three components of the generated magnetic field in the XYZ directions are as follows:
when y is*When the projection of the positive direction of the axis on the Y axis is positive,
when y is*When the projection of the positive axial direction on the Y axis is a negative number,
wherein: x ═ xi-xm，y＝yi-ym，z＝zi-zm，r2＝x2+y2+z2。
As for the objective function of the least squares method, three different objective functions can be used:
the first method comprises the following steps: an objective function that takes into account the earth's magnetic field is employed. The theoretical value of the magnetic field intensity component generated by the magnetic sensor at different measuring points is (B)x，By，Bz) Due to the fact that the magnetic sensor axis y is not known*And therefore does not know which side of the magnetic sensor is the south pole, which results in the algorithm needing to calculate both operating conditions. Therefore (B)x，By，Bz) The expression of these three components is shown in equation (3a) or (3b), and the vector contains six unknowns; during the test, firstly, the geomagnetic field components (B) of different measuring points in the tunnel are measuredEx，BEy，BEz) If, in the case where the Y-axis is the north-south direction of the geomagnetic coordinate system, in the northern hemisphere, the geomagnetic field is a uniform field, the three components of the geomagnetic field in the coordinate system are BE＝(BEx，BEy，BEz)＝(0，-BEcosθ，-BEsin θ), all three components being constants, where BEIs the modulus of the earth magnetic field strength and θ is the magnetic dip of the earth magnetic field. So that the superimposed magnetic field of the magnetic sensor and the earth magnetic field is (B)x+BEx，By+BEy，Bz+BEz) The calculated modulus is Bi. After the magnetic sensor is placed, three components of the magnetic field intensity measured at each measuring point are (B)allx，Bally，Ballz) The measured modulus is Bi. For two working conditions, the magnetic sensor coordinate (x) can be fitted by respectively using the least square method of the formula (4)m，ym，zm) And angles alpha, beta and gamma corresponding to the euler transformation. The correct solution was chosen from a formula with a significantly smaller standard deviation.
And the second method comprises the following steps: when the algorithm is used for solving unknown quantity, the earth magnetic field is subtracted from the magnetic field strength in each direction in the objective functionThe components in each direction, but only the magnetic field generated by the magnetic sensor. The theoretical value of the magnetic field intensity component generated by the magnetic sensor at different measuring points is (B)x，By，Bz) The expressions of these three components are shown in formula (3a) or (3b), and the vector contains six unknowns; in the test, the geomagnetic field component in the first tunnel is firstly measured to be (B)Ex，BEy，BEz) According to the assumption of a uniform magnetic field, (B)Ex，BEy，BEz) The corresponding three components are all constants. After the magnetic sensor is placed, three components (B) of the magnetic field strength measured at each measuring point are usedallx，Bally，Ballz) Subtracting the geomagnetic field component B in three directions measured when the magnetic sensor is not placedE＝(BEx，BEy，BEz)＝(0，-BEcosθ，-BEsin θ) to obtain a relative magnetic field strength component B' ═ B (B)allx-BEx， Bally-BEy，Ballz-BEz)＝(Bx’，By’，Bz'). When six unknowns are solved, a least square method is adopted, and a control criterion is calculated by taking the six unknowns (B)x，By，Bz) Modulus B of vectoriWith the measured magnetic field strength (B)x’，By’，Bz') modulus Bi' make a difference. For two working conditions, the magnetic sensor coordinate (x) can be fitted by respectively using the least square method of the formula (4)m，ym，zm) And angles alpha, beta and gamma corresponding to the euler transformation. The correct solution was chosen from a formula with a significantly smaller standard deviation. The essential difference between this algorithm and the first algorithm is that each component differs by the magnetic field strength of the earth's magnetic field.
And the third is that: the algorithm differs from the first and second algorithms in that the first two algorithms are theoretical and measured differences in magnetic field moduli and the objective function is sigma (B)i-Bi’)2The algorithm is that the components of the theoretical magnetic field and the test magnetic field in three directions are respectively subjected to difference, then the vector difference is subjected to modulus calculation, and the objective function is as followsIs shown in formula (5), wherein BiAnd Bi' is a vector, and the expression can be used in the first algorithm to consider the condition of the geomagnetic field, or in the second algorithm to subtract the condition of the geomagnetic field.
Example 3: a tunnel positioning instrument based on a magnetic field principle and application thereof.
The embodiment is carried out under the condition that the geomagnetic field is a uniform magnetic field, and belongs to the improvement carried out on the basis of the embodiment 1, and the specific improvement is as follows:
as shown in fig. 4, the magnetic sensor includes an outer spherical shell 211A and an inner spherical shell 211B located inside the outer spherical shell 211A, and a liquid 212B (optional lubricating liquid) is filled between the outer spherical shell 211A and the inner spherical shell 211B, and the liquid 212B is used for floating the inner spherical shell 211B so as to be freely rotatable. The inner spherical shell 211B is internally provided with a magnet 213 fixed on the inner spherical shell 211B. When the magnet 213 is stationary, the magnet axis may automatically point in the north-south direction of the earth's magnetic field and perpendicular to the direction of gravity. A vial 215 is fixedly attached to the surface of the magnet 213 parallel to its axis. The inner spherical shell 211B is provided with a leveling weight 214 inside, and by moving the leveling weight 214, the axis of the magnet 213 can be directed to the north-south direction of the geomagnetic field when the inner spherical shell 211B is stationary.
The scheme has the advantages that when the external geomagnetic field is a uniform field, the rotation problem of the magnet does not need to be considered, so that the unknown angle in the axis direction can be reduced, and the accuracy of the calculated magnet coordinate is improved. The Y axis is the north-south direction of the geomagnetic field, the method is convenient for calculating the coordinates, and the coordinates of the magnet can be determined in two ways.
(1) When the magnetic field strength is the magnetic field strength modulus:
firstly, a global coordinate system needs to be established, the Y axis which can be determined by a guide device is the north-south direction of the geomagnetic field, the X axis is determined accordingly, and the Z axis is the gravity direction.
Before the magnetic sensor is placed in the second tunnel, the coordinates and the earth magnetic field modulus of each measuring point are measured in the first tunnel by using a coordinate and magnetic field intensity measuring device, and thus, the direction vector under the XYZ three-dimensional coordinates of the overall coordinate system is calculated. Experiments show that the magnetic field is almost a uniform field in the absence of other magnetic substances (such as iron, cobalt, nickel and other elements), so that the intensity and direction of the geomagnetic field at each point can be the same by default.
At this time, the components of the earth's magnetic field in three directions are BEx、BEyAnd BEz。BEIs the modulus of the strength of the earth's magnetic field, if in the north hemisphere, where the Y-axis is the north-south direction of the earth's magnetic field coordinate system, the three components of the earth's magnetic field in that coordinate system are B when the earth's magnetic field is a uniform fieldE＝(BEx，BEy，BEz)＝(0，-BEcosθ，-BEsin θ), all three components are constants. It should be noted that, even though the measurement points before and after the magnetic sensor is placed may be different, the geomagnetic field at any point is B because the geomagnetic field is a uniform fieldE＝(0，-BEcosθ，-BEsin θ). When the coordinates of the magnetic sensor are calculated, the used geomagnetic field refers to the geomagnetic field corresponding to different measuring points after the magnetic sensor is placed. If the magnetic sensor is placed in the second tunnel, and the position of the magnetic sensor is (x)m，ym，zm) Then, after the magnetic sensor is placed, when the local magnetic field is a uniform field, a magnetic field intensity measuring instrument is used for measuring a certain measuring point (x) in the horizontal tunneli，yi，zi) Modulus B of the resulting magnetic fieldiAs shown in equation (6).
Wherein: x ═ xi-xm，y＝yi-ym，z＝zi-zm，r2＝x2+y2+z2。
Coordinates (x) through a series of measurement pointsi，yi，zi) And corresponding magnetic field strength BiWith the measured magnetic field strength BiIn contrast, the expression of equation (4) is minimized using the least squares method, and the coordinates of the magnetic sensor (x) are obtained by fitting the coordinates of the n measurement points and the measured magnetic field strength datam，ym，zm)。
When the axis of the tunnel is used as the Y axis in the coordinate system, the projection of the magnetic field intensity on different coordinate axes only needs to perform coordinate conversion on the components in the X and Y directions in the formula (7) because the Z axis direction is unchanged, and the calculated actual position is irrelevant to the selected coordinate system and is the same.
For the geomagnetic field, if the north-south direction of the geomagnetic field is Y during switching*The shaft is switched to the working condition that the tunnel axis direction is Y-axis if Y-axis and Y-axis*The angle of the axes is γ, the transformation is shown in equation (7).
The three components of the earth's magnetic field in this coordinate system are shown in equation (8 a).
Similarly, the magnetic field (B) generated by the magnetic sensormx，Bmy，Bmz) The three components in this coordinate system are shown in equation (8 b).
(2) When the magnetic field strength is a component of the magnetic field strength in three dimensions:
the global coordinate system is the same as the global coordinate system when the magnetic field intensity is the magnetic field intensity modulus, or the local magnetic field is the same when the Y axis is the north-south direction of the geomagnetic field as an exampleWhen shimming, the three components of the earth magnetic field in the coordinate system are BE＝(BEx，BEy，BEz)＝(0，-BEcosθ，-BEsin θ), all three components are constants. It should be noted that, even though the measurement points before and after the magnetic sensor is placed may be different, the geomagnetic field at any point is B because the geomagnetic field is a uniform fieldE＝(0，-BEcosθ，-BEsin θ). When the coordinates of the magnetic sensor are calculated, the used geomagnetic field refers to the geomagnetic field corresponding to different measuring points after the magnetic sensor is placed. Consider the situation where the south pole of the magnet is pointing to the north pole of the earth's magnetic field, if the magnetic sensor is located at (x)m，ym，zm) Then, after the magnetic sensor is placed, the theoretical magnetic field intensity component generated at the measuring point by the magnetic sensor is (B)x，By， Bz) The vector contains only three unknowns (x)m，ym，zm) As shown in formula (9).
Wherein: x ═ xi-xm，y＝yi-ym，z＝zi-zm，r2＝x2+y2+z2。
The set of theoretical solutions for the magnetic fields generated by the magnetic sensor at the different measuring points thus calculated is B ═ B (B)x，By，Bz) The vector contains three unknowns (x)m，ym，zm) (ii) a During the test, firstly the geomagnetic field component B in the first tunnel is measuredE＝(BEx，BEy，BEz). Set B of three components of the magnetic field intensity measured at each measuring point after placement of the magnetic sensorall＝(Ballx，Bally，Ballz) Subtracting the geomagnetic field vector of the corresponding measuring point to obtain a magnetic field vector set B' ═ B (B) generated by the magnetic sensor at each measuring pointallx-BEx，Bally-BEy，Ballz- BEz). Fitting the magnetic sensor coordinates (x) by the least squares control function of equation (4)m，ym，zm)。
If the coordinate system adopts the axis of the tunnel as the Y axis, the projection of the intensity of the magnetic field of the magnet and the intensity of the earth magnetic field on different coordinate axes can be realized only by using the components in the X direction and the Y direction in the formulas (7) and (8) for coordinate conversion because the Z axis direction is unchanged, and the calculated actual position is irrelevant to the selected coordinate system and is the same.
Example 4: a tunnel positioning instrument based on a magnetic field principle and application thereof.
The embodiment belongs to the improvement on the basis of the embodiment 1, and the specific improvement is as follows:
as shown in fig. 5, the magnetic sensor includes an outer spherical shell 211A and an inner spherical shell 211B located inside the outer spherical shell 211A, and a liquid 212B (optional lubricating liquid) is filled between the outer spherical shell 211A and the inner spherical shell 211B, and the liquid 212B is used for floating the inner spherical shell 211B so as to be freely rotatable. The inner spherical shell 211B is internally provided with a magnet 213 fixed on the inner spherical shell 211B. When the geomagnetic field is a uniform field, the axial direction of the magnet can automatically point to the up-down direction (gravity direction). A vial 215 is fixedly attached to the surface of the magnet 213 perpendicular to its axis. The inner spherical shell 211B is provided with a leveling weight 214 inside, and the axis of the magnet 213 can be made parallel to the gravity direction when the inner spherical shell 211B is stationary by moving the leveling weight 214.
The scheme has the advantages that when the external geomagnetic field is a uniform field, the rotation problem of the magnet does not need to be considered, so that the unknown angle in the axis direction can be reduced, and the accuracy of the calculated coordinates of the magnetic sensor is improved. There are two ways to determine the Y-axis at this time: (1) the Y axis is the north-south direction of the geomagnetic field, and the method is convenient for calculating the coordinate; (2) and the Y axis is the axial direction of the first tunnel, so that the method is convenient for finding points. Because the axial direction is the Z-axis direction, the two methods have no influence on the calculation and do not need coordinate system conversion.
(1) When the magnetic field strength is the magnetic field strength modulus:
as shown in fig. 5, in the operating condition that the south pole of the magnet points to the gravity direction in the reverse direction (the difference between the normal direction and the reverse direction of the gravity is the sign problem of the magnetic field generated by the magnet), the coordinate system can adopt the north-south magnetic field or the tunnel axis of the geomagnetic field as the coordinate system of the Y axis. When using the north-south of the earth magnetic field as the coordinate system of the Y axis, if the magnetic sensor is located at the position of (x)m，ym，zm) In the northern hemisphere, when the geomagnetic field is a uniform field, the three components of the geomagnetic field in the coordinate system are BE＝(BEx，BEy，BEz)＝(0，-BEcosθ，-BEsin θ), all three components are constants. It should be noted that, even though the measurement points before and after the magnetic sensor is placed may be different, the geomagnetic field at any point is B because the geomagnetic field is a uniform fieldE＝(0，-BEcosθ，-BEsin θ). When the coordinates of the magnetic sensor are calculated, the used geomagnetic field refers to the geomagnetic field corresponding to different measuring points after the magnetic sensor is placed. If the magnetic sensor is placed in the second tunnel, and the position of the magnetic sensor is (x)m，ym，zm) Then, after the magnetic sensor is placed, when the local magnetic field is a uniform field, a magnetic field intensity measuring instrument is used for measuring a certain measuring point (x) in the horizontal tunneli，yi，zi) Modulus B of the resulting magnetic fieldiAs shown in equation (10).
Wherein: x ═ xi-xm，y＝yi-ym，z＝zi-zm，r2＝x2+y2+z2。
Coordinates (x) through a series of measurement pointsi，yi，zi) And the calculated corresponding magnetic field strength BiWith the measured magnetic field strength Bi' by contrast, the magnetic sensor coordinates (x) are fitted by the least squares method of equation (3)m，ym，zm)。
When the axis of the tunnel is used as the Y axis in the coordinate system, the projection of the magnetic field intensity on different coordinate axes only needs to perform coordinate conversion on the components in the X and Y directions in the formula (7) because the Z axis direction is unchanged, and the calculated actual position is irrelevant to the selected coordinate system and is the same.
(2) When the magnetic field strength is a component of the magnetic field strength in three dimensions:
or taking the Y axis as the north-south direction of the geomagnetic field as an example, the three components of the geomagnetic field in the coordinate system are BE＝(BEx，BEy，BEz)＝(0，BEcosθ，BEsin θ). In the case of the south pole of the magnet pointing in the direction of gravity reversal, as shown in FIG. 5, if the magnetic sensor is located at the position of (x)m，ym，zm) Then, after the magnetic sensor is placed, the theoretical magnetic field intensity component generated at the measuring point by the magnetic sensor is (B)x，By，Bz) The vector contains only three unknowns (x)m，ym，zm) As shown in formula (11).
Wherein: x ═ xi-xm，y＝yi-ym，z＝zi-zm，r2＝x2+y2+z2。
Thus, the set of theoretical solutions calculated for the magnetic fields generated by the magnetic sensor at the different measurement points is B ═ B (B)x，By，Bz) The vector contains three unknowns (x)m，ym，zm) (ii) a During the test, firstly, the geomagnetic field component B in the first tunnel is measuredE＝(BEx，BEy，BEz) According to the assumption of a uniform magnetic field, (B)Ex，BEy，BEz) The corresponding three components are all constants. Magnetic field intensity measured at each measuring point after being put into a magnetic sensorSet of individual components Ball＝(Ballx，Bally，Ballz) Subtracting the geomagnetic field vector of the corresponding measuring point to obtain a magnetic field vector set B' ═ B (B) measured by the magnetic sensor at each measuring pointallx-BEx，Bally-BEy，Ballz-BEz). Fitting the magnetic sensor coordinates (x) by the least squares control function of equation (4)m，ym，zm)。
If the coordinate system adopts the axis of the tunnel as the Y axis, the projection of the magnetic field intensity on different coordinate axes only uses the components in the X and Y directions in the formula (7) to perform coordinate conversion because the Z axis direction is unchanged, and the calculated actual position is irrelevant to the selected coordinate system and is the same.
Example 5: a tunnel positioning instrument based on a magnetic field principle and application thereof.
This embodiment is performed in the case where the earth magnetic field is an inhomogeneous magnetic field, and since the magnet axis does not point exactly in the north-south direction or the up-down direction even if the magnet is floated by the methods in embodiment 3 and embodiment 4 under the inhomogeneous magnetic field, it must be considered by six unknowns. The embodiment belongs to the improvement on the basis of the embodiment 1, and the specific improvement is as follows:
as shown in fig. 3, the magnetic sensor includes a spherical shell 211, the interior of the spherical shell 211 is filled with a non-magnetic solid filler 212A, and a magnet 213 is fixed to the interior of the non-magnetic solid filler 212A.
The present embodiment is largely different from embodiments 2, 3 and 4 in the geomagnetic field components (B) measured in three directions before the magnetic sensor is placedEx，BEy，BEz) Not a constant but an array. It should be noted that the measuring points before and after the magnetic sensor is placed may be different, but the measuring point after the magnetic sensor is placed is within the envelope range of the measuring point for calibrating the geomagnetic field before the magnetic sensor is placed, and the geomagnetic field B of the different measuring points after the magnetic sensor is placed can be calculated by the interpolation functionE＝(BEx，BEy，BEz)。
The theoretical value of the magnetic field intensity component generated by the magnetic sensor at different measuring points is (B)x，By，Bz) The expression of these three components is shown in equation (2) or (3), and the vector contains six unknowns; in the test, firstly, the geomagnetic field component in the tunnel is measured (B)Ex，BEy，BEz). With respect to the algorithm, again, the least squares method of the three different objective functions used in example 2 was used to solve for six unknowns, except (B)Ex，BEy，BEz) N sets of possibly unequal arrays are acquired by acquiring the intensity of the geomagnetic field at each measuring point.
The direction in which the south pole points to the north pole (i.e., y) inside the magnet is not clearly shown in fig. 3*Positive axial direction), so that there are two working conditions of formulas (2) and (3) during calculation, which results in uncertainty of calculation, and therefore, it is not suitable to adopt this magnet placement method, and the best method is to use the method of fig. 4 and 5 in which north and south poles of the magnet point to north and south or up and down. Even if the earth magnetic field is non-uniform, it will have some influence on the direction of the magnet axis, but the overall direction is definite, but there is only a small angle with the north-south or up-down direction.
The magnetic sensor in fig. 4 includes an outer spherical shell 211A and an inner spherical shell 211B located inside the outer spherical shell 211A, and a liquid 212B is filled between the outer spherical shell 211A and the inner spherical shell 211B, and the liquid 212B is used for floating the inner spherical shell 211B. The inner spherical shell 211B is internally provided with a magnet 213 fixed on the inner spherical shell 211B. A vial 215 is fixedly attached to the surface of the magnet 213 parallel to its axis. The inner spherical shell 211B is provided with a leveling weight 214 inside, and the axis of the magnet 213 can form a smaller included angle with the north-south direction of the geomagnetic field when the inner spherical shell 211B is stationary by moving the leveling weight 214.
When the structure shown in fig. 4 is adopted, six unknowns are still adopted in the case where the axis is substantially in the north-south direction, so that it is not necessary to determine whether to adopt the formula (3a) or (3b), and it is sufficient to adopt the formula (3a) directly. If the least square method is used for solving the unknown quantity, formulas (2) and (3) are adopted; if the least squares method based on the modulus of the magnetic field strength, equation (12) is used.
Wherein: x ═ xi-xm，y＝yi-ym，z＝zi-zm，r2＝x2+y2+z2。
The magnetic sensor in fig. 5 includes an outer spherical shell 211A and an inner spherical shell 211B located inside the outer spherical shell 211A, and a liquid 212B is filled between the outer spherical shell 211A and the inner spherical shell 211B, and the liquid 212B is used for floating the inner spherical shell 211B. The inner spherical shell 211B is internally provided with a magnet 213 fixed on the inner spherical shell 211B. A vial 215 is fixedly attached to the surface of the magnet 213 perpendicular to its axis. The inside of interior spherical shell 211B is provided with leveling counter weight 214, through removing leveling counter weight 214 can make the axis of magnet 213 is in when interior spherical shell 211B is static and gravity direction produce less contained angle.
At this time, consider z*Axial orientation, arrangement of magnets according to the structure in FIG. 5, z*The direction of the axis is clear, here in terms of z*The positive axis is considered to be the negative Z-axis, i.e., the magnet south pole faces approximately upward. The local coordinate system of the magnet is converted into the global coordinate system, and an Euler transformation matrix R shown in formula (1) is used.
Thus, in the global coordinate system XYZ, the geomagnetic field is not considered, and only the magnetic sensor is at the measurement point (x)i， yi，zi) The three components of the generated magnetic field in the XYZ directions are as follows:
wherein: x ═ xi-xm，y＝yi-ym，z＝zi-zm，r2＝x2+y2+z2。
Considering more complicated working conditions, namely adopting different measuring points before and after the magnetic sensor is placed, wherein the measuring point group before the magnetic sensor is placed is (x, y, z), the measuring point group after the magnetic sensor is placed is (x ', y ', z '), and the geomagnetic field component group corresponding to the measuring points (x, y, z) is (B)Ex，BEy，BEz) And the three components of each measuring point may be different, so that the geomagnetic field component group (B) corresponding to the measuring point (x ', y ', z ') needs to be solved through algorithms such as interpolation and the likeEx’， BEy’，BEz') and B' is used as the relative magnetic field strength component (B ═ B)allx-B’Ex，Bally-B’Ey，Ballz-B’Ez)＝(B’x，B’y， B’z)。
Example 6: a tunnel positioning instrument based on a magnetic field principle and application thereof.
The embodiment belongs to the improvement on the basis of the embodiment 1, and the specific improvement is as follows:
as shown in fig. 6, the coordinate and magnetic field strength measuring apparatus includes a coordinate measuring apparatus 12 and a magnetic field strength measuring instrument 111; the coordinate measuring device 12 is configured to measure a three-dimensional coordinate where the magnetic field strength measuring instrument 111 is located, and the magnetic field strength measuring instrument 111 is configured to measure a magnetic field strength of the three-dimensional coordinate where the magnetic field strength measuring instrument 111 is located. Preferably, a plurality of the magnetic field strength measuring instruments 111 are fixedly provided to the coordinate and magnetic field strength measuring apparatus. When the positions of the plurality of magnetic field strength measuring instruments are fixed, the coordinates thereof are also determined.
Compared with embodiment 1, since the coordinates of the magnetic field strength measuring instrument are already determined, it is easier to determine a global coordinate system. The specific structure and implementation of the magnetic field strength measuring instrument in the present embodiment are known in the prior art, and will not be described herein.
Example 7: a tunnel positioning instrument based on a magnetic field principle and application thereof.
This example belongs to an improvement on the basis of example 6, and the specific improvement is as follows:
as shown in fig. 6, the coordinate and magnetic field strength measuring device includes a coordinate measuring device 12 and a magnetic field strength measuring instrument 111, the coordinate measuring device 12 is a total station; the coordinate measuring device 12 is configured to measure a three-dimensional coordinate where the magnetic field strength measuring instrument 111 is located, and the magnetic field strength measuring instrument 111 is configured to measure a magnetic field strength of the three-dimensional coordinate where the magnetic field strength measuring instrument 111 is located. Preferably, the coordinate and magnetic field strength measuring device further comprises a single prism 112, and the single prism 112 is used for matching with the magnetic field strength measuring instrument 111 to measure the three-dimensional coordinates of the magnetic field strength measuring instrument.
At this time, a plurality of measuring points are selected in the tunnel to place the magnetic field intensity measuring instrument, and a single prism is arranged above the measuring instrument, so that the corresponding three-dimensional coordinates can be read by a total station while the magnetic field intensity (the magnetic field intensity can be a component or a modulus) of each point is measured. Before the magnetic sensor is placed, the intensity of the earth magnetic field is measured; after the magnetic sensor is placed, the superimposed field of the earth magnetic field and the magnetic sensor magnetic field is measured. The position of the magnet can be calculated by using a formula through the magnetic field intensity and the three-dimensional coordinates of different measuring points, and finally the deviation degree of the hole is determined.
It should be noted that, since all the magnetic field measurement results are components, the placing direction of the magnetic field strength measurement instrument is very important, and therefore, it is necessary to ensure that the magnetic field strength component measured by the magnetic field strength measurement instrument each time can be converted into components in three directions in the total station coordinate system through the conversion matrix.
After placing the magnetic sensor 21 in the second tunnel 2, the magnetic sensor 21 influences the magnetic field strength in the first tunnel 1 (including the magnetic field strength at the point where the magnetic field strength meter 111 and the single prism 112 are located). When no magnetic sensor is placed in the second tunnel 2, the magnetic field intensity of each point in the first tunnel 1 is only influenced by the earth magnetic field; when the magnetic sensor is placed in the second tunnel 2, the magnetic field strength of each point (including the point where the magnetic field strength measuring instrument 111 and the single prism 112 are located) in the first tunnel 1 is a composite vector field obtained by superimposing the magnetic field generated by the magnetic sensor and the geomagnetic field. By using the magnetic field intensity change and the three-dimensional coordinate information of the point where the magnetic field intensity measuring instrument 111 and the single prism 112 are located before and after the magnetic sensor is placed in the second tunnel 2, the position of the magnetic sensor can be accurately calculated, and thus the position of the second tunnel 2 and the deviation relative to the first tunnel 1 are judged. This tunnel locater is applicable to various tunnels, water conservancy isotructure, and as long as involve the problem of two hole misplacements, all can confirm the relative position of the distance of dislocation and two holes through this tunnel locater, conveniently communicates two holes.
The above embodiments are only used for clearly illustrating the specific technical solutions of the present invention, and are not intended to limit the protection scope of the present invention. It will be apparent to those skilled in the art that other variations and modifications based on the foregoing description may be made while remaining within the scope of the present invention.
Claims (2)
1. The utility model provides a tunnel locater based on magnetic field principle, includes coordinate and magnetic field intensity measuring equipment (11), magnetic sensor (21), its characterized in that:
a plurality of measuring points (113) are arranged in the measuring range of the coordinate and magnetic field intensity measuring device (11), and the coordinate and magnetic field intensity measuring device (11) is used for measuring the three-dimensional coordinates and magnetic field intensity of the measuring points (113);
the magnetic field intensity is a vector or a scalar, the vector is a component of the magnetic field intensity in a three-dimensional coordinate system, and the scalar is a module value of the magnetic field intensity;
the coordinate and magnetic field strength measuring device (11) comprises a coordinate measuring device (12) and a magnetic field strength measuring instrument (111);
the coordinate measuring device (12) is used for measuring the three-dimensional coordinate of the magnetic field intensity measuring instrument (111), and the magnetic field intensity measuring instrument (111) is used for measuring the magnetic field intensity of the three-dimensional coordinate;
the coordinate measuring device (12) is a total station;
the coordinate and magnetic field strength measuring device (11) further comprises a triangular prism (112), and the triangular prism (112) is used for cooperating with the magnetic field strength measuring instrument (111) to measure the three-dimensional coordinate of the coordinate and magnetic field strength measuring device;
the magnetic sensor (21) comprises a spherical shell (211), wherein the interior of the spherical shell (211) is filled with a non-magnetic solid filler (212A), and a magnet (213) is fixed inside the non-magnetic solid filler (212A);
the magnetic sensor (21) comprises an outer spherical shell (211A) and an inner spherical shell (211B) positioned inside the outer spherical shell (211A), liquid (212B) is filled between the outer spherical shell (211A) and the inner spherical shell (211B), the liquid (212B) is used for enabling the inner spherical shell (211B) to float, a magnet (213) fixed on the inner spherical shell (211B) is arranged inside the inner spherical shell (211B), a leveling weight (214) is further arranged inside the inner spherical shell (211B), and a leveling bubble (215) is fixedly connected to the surface of the magnet (213) parallel to or perpendicular to the axis of the magnet;
when the level bubble (215) is fixedly connected to the surface of the magnet (213) parallel to the axis thereof, the axis of the magnet (213) is directed in the north-south direction of the geomagnetic field when the inner spherical shell (211B) is at rest by moving the leveling weight (214); -when the level vial (215) is fixedly connected on the surface of the magnet (213) perpendicular to its axis, the axis of the magnet (213) is made parallel to the direction of gravity when the inner spherical shell (211B) is at rest by moving the leveling weight (214);
the coordinate and magnetic field strength measuring device (11) is placed in the first tunnel (1); and the magnetic sensor (21) is placed in the second tunnel (2) to complete tunnel positioning between the first tunnel (1) and the second tunnel (2).
2. A tunnel locating method using the tunnel locator based on the magnetic field principle according to claim 1, comprising the steps of:
1) the method comprises the following steps of placing coordinate and magnetic field intensity measuring equipment (11) in the tunnel positioning instrument based on the magnetic field principle in a first tunnel (1), and measuring first three-dimensional coordinates and geomagnetic field intensity of all measuring points in a first measuring point set by using the coordinate and magnetic field intensity measuring equipment (11), wherein the specific measuring method comprises the following steps: moving a magnetic field intensity measuring instrument (111) in the coordinate and magnetic field intensity measuring equipment (11) to each measuring point in the first measuring point set to measure the magnetic field intensity of each measuring point, recording the magnetic field intensity as the geomagnetic field intensity, and simultaneously measuring the three-dimensional coordinate of each measuring point by using coordinate measuring equipment (12) in the coordinate and magnetic field intensity measuring equipment (11), and recording the three-dimensional coordinate as a first three-dimensional coordinate; wherein: the first measuring point set refers to a set of measuring points selected for measuring three-dimensional coordinates and magnetic field intensity before the magnetic sensor is placed;
2) the magnetic sensor (21) in the tunnel locator based on the magnetic field principle is placed in a second tunnel (2), and second three-dimensional coordinates and composite magnetic field strength of all measuring points in a second measuring point set are measured by the coordinate and magnetic field strength measuring equipment (11), wherein the specific measuring method comprises the following steps: moving a magnetic field intensity measuring instrument (111) in the coordinate and magnetic field intensity measuring device (11) to each measuring point in the second measuring point set to measure the magnetic field intensity of each measuring point, recording the magnetic field intensity as a composite magnetic field intensity, and simultaneously measuring the three-dimensional coordinates of each measuring point by using a coordinate measuring device (12) in the coordinate and magnetic field intensity measuring device (11), and recording the three-dimensional coordinates as second three-dimensional coordinates; wherein: the second measuring point set refers to a set of measuring points selected for measuring three-dimensional coordinates and magnetic field intensity after the magnetic sensor is placed, and the coordinates of all measuring points in the second measuring point set are located within the envelope range of the coordinates of all measuring points in the first measuring point set;
3) calculating the geomagnetic field intensity of all measuring points in the second measuring point set before the magnetic sensor is placed by using the first three-dimensional coordinates and the geomagnetic field intensity of all measuring points in the first measuring point set;
4) calculating the three-dimensional coordinate of the magnetic sensor (21) by using the second three-dimensional coordinates, the geomagnetic field intensity and the composite magnetic field intensity of all the measuring points in the second measuring point set, so that the tunnel positioning between the first tunnel (1) and the second tunnel (2) can be completed;
when the geomagnetic field of the environment where the tunnel positioning instrument based on the magnetic field principle is located is a uniform magnetic field, setting the geomagnetic field intensity of all measuring points in the second measuring point set in the step 3) as the geomagnetic field intensity of any measuring point in the first measuring point set;
when the first measuring point set is equal to the second measuring point set, setting the geomagnetic field intensity of all measuring points in the second measuring point set in the step 3) as the geomagnetic field intensity of the measuring point corresponding to the first measuring point set;
when the geomagnetic field of the environment where the tunnel locator based on the magnetic field principle is located is an inhomogeneous magnetic field and the first measuring point set is not equal to the second measuring point set, computing the geomagnetic field intensity of all measuring points in the second measuring point set by interpolation.
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| CN108104798A (en) | 2018-06-01 |
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