CN108519107A - A kind of total powerstation time lag and difference measurement accuracy measurement system and method - Google Patents
A kind of total powerstation time lag and difference measurement accuracy measurement system and method Download PDFInfo
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- CN108519107A CN108519107A CN201810314160.1A CN201810314160A CN108519107A CN 108519107 A CN108519107 A CN 108519107A CN 201810314160 A CN201810314160 A CN 201810314160A CN 108519107 A CN108519107 A CN 108519107A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a kind of total powerstation time lag and difference measurement accuracy measurement systems, including data acquisition computer, total powerstation, motion platform and target；Wherein, the target is fixedly mounted on by connecting plate on sliding block, and the sliding block is connect with the leading screw of the motion platform, and is moved horizontally with the rotation of the leading screw；The data acquisition computer is connect with the motion platform to obtain the mobile data of target on motion platform；The mobile data of the target of the total station survey is delivered to the data acquisition computer by way of wireless transmission.The application show that total powerstation time lag and measurement point position precision are almost the same under indoor and outdoor environment by experiment test, and time lag is between 195 295ms, and measurement point position precision and target motion speed positive correlation are substantially in a linear relationship：Low speed precision is between 1 2mm, and high speed precision is between 3 4mm.
Description
Technical field
The present invention relates to total station survey precision improving environment fields, and in particular to a kind of total powerstation time lag and difference measurement
Accuracy measurement system and method.
Background technology
500 meters of bore spherical radio telescope FAST (Five-hundred-meter Aperture Spherical
Radio Telescope, FAST) be China Eleventh Five-Year Plan major scientific projects, project investment 11.8 hundred million, 5.5 years durations,
September in 2016 is built on the 25th to be completed, and the debugging stage is now entered.It is huge that the concept of engineering of FAST innovations has started inexpensive construction
The new model of radio telescope is the single port diameter radio telescope of most power in the world, and generation will be kept within 20~30 years in future
The status of boundary's elegant device, to improving, China's astronomy area research is horizontal and international status is of great significance.It has debugged
At it is rear this maximum radio telescope will greatly push the research of China's radio astronomy in the world, and obtain unprecedented
Observation and achievement in research.
It is not rigidly connected between the reflecting surface focus and receiver of FAST, they are moved in three dimensions, need to keep phase
It is constant to relationship, high-precision time reference and position reference need to be established, is measured relative to the same inertial coodinate system
Control, the foundation of coordinate system and stability are to realize basis and the guarantee of the operation of FAST high-performance.
Accurate measurement is the key that realize that FAST telescopes observation superperformance, Technology of Precision Measurement therein are with control
Technological difficulties therein and bottleneck.Total powerstation is as main measuring apparatus in FAST projects, under outdoor large scale environment, such as
What overcomes the influence of atmospheric refraction, realizes high-accuracy quick scanning survey and high-precision dynamic tracking measurement, is therein
Where crucial and difficult point.
Total powerstation is that main force's equipment is also the obtainable most accurate equipment on this scale during FAST is measured at present,
It is to ensure that FAST runs well indispensable one that total station survey precision and real-time how are evaluated under live atmospheric environment
Link.The present invention is a set of measuring system and method that developed by this requirement drive.
Invention content
For problems of the prior art, the purpose of the present invention is to provide a kind of total powerstation time lag and difference measurements
Accuracy measurement system efficiently solves problems of the prior art.Another object of the present invention is to provide a kind of complete
Instrument time lag of standing and difference measurement accuracy measurement method.
To achieve the above object, the present invention uses following technical scheme：
A kind of total powerstation time lag and difference measurement accuracy measurement system, including data acquisition computer, total powerstation, movement are flat
Platform and target；Wherein, the target is fixedly mounted on by connecting plate on sliding block, the silk of the sliding block and the motion platform
Thick stick connects, and is moved horizontally with the rotation of the leading screw；The data acquisition computer is connect with the motion platform to obtain
Take the mobile data of target on motion platform；The side that the mobile data of the target of the total station survey passes through wireless transmission
Formula is delivered to the data acquisition computer；The target directly acquired by data acquisition computer comparison by connecting motion platform
Mobile data and the mobile data of target of total station survey obtain the time lag and difference measurement accuracy data of total powerstation.
Further, the target includes circle prism, 360 ° of medium size prisms and 360 ° of small size prisms.
Further, the target is provided with tri- movement speed shelves of 12mm/s, 18mm/s and 24mm/s, and each speed threshold is adopted
It is 10 minutes to collect the time.
Further, under indoor environment, the total powerstation is 6-10m at a distance from the target；It is described complete under outdoor environment
Instrument of standing is 210-250m at a distance from the target.
A kind of side measuring total powerstation time lag and difference measurement precision using any measuring systems of claim 1-4
Method, described method includes following steps：
1) motion platform and the total powerstation are placed so that the laser side of the moving direction and total powerstation of the target
To consistent, then start measuring system, total powerstation X-axis under friction speed is calculated separately out by the data acquisition computer
Time lag and difference measurement precision；
2) motion platform and the total powerstation are placed so that the laser side of the moving direction and total powerstation of the target
To vertical in the horizontal direction, then start measuring system, calculated separately out under friction speed by the data acquisition computer
The time lag and difference measurement precision of total powerstation Y-axis；
3) motion platform and the total powerstation are placed so that the laser side of the moving direction and total powerstation of the target
To vertical in vertical direction, then start measuring system, calculated separately out under friction speed by the data acquisition computer
The time lag and difference measurement precision of total powerstation Z axis.
Further, it under indoor environment, is measured simultaneously using three total powerstations；It is same using two total powerstations under outdoor environment
When measure；Final time lag and difference measurement precision be simultaneously measurement more total powerstation time lags and difference measurement precision it is equal
Value.
Further, the data acquisition computer calculates total powerstation X, Y or the time lag of Z axis and the process of difference measurement precision
For：
1) by wired and wirelessly acquire on the motion platform mobile data of target and described respectively
The mobile data of the target of total station survey；
2) mobile data of target on the motion platform of acquisition is subjected to data conversion；
3) under conditions of time unifying, by the target of the mobile data of target on motion platform and total station survey
Mobile data carries out interpolation sampling；
4) by the measurement data by comparing total powerstation and motion platform, the time lag and difference measurement essence of total powerstation are obtained
Degrees of data.
A kind of side measuring total powerstation time lag and difference measurement precision using any measuring systems of claim 1-4
Method, the method are：
Three-dimensional system of coordinate is established as basic point using the total powerstation, the motion platform is placed on the three-dimensional system of coordinate
Interior, coordinate of the target in the beginning and end position of motion platform is respectively (X0、Y0、Z0) and (Xn、Yn、Zn)；Target exists
It is moved with setting speed on motion platform, is adopted respectively by the data acquisition computer and total powerstation in several setting time points
Collect the coordinate of target；It is worth on the basis of the target co-ordinates of data acquisition computer acquisition, is with the target co-ordinates that total powerstation acquires
Measured value compares a reference value by data acquisition computer and the measured value obtains the time lag and difference measurement essence of total powerstation
Degrees of data.
The present invention has following advantageous effects：
The application obtains total powerstation time lag and measurement point position precision basic one under indoor and outdoor environment by experiment test
It causes, time lag is between 195-295ms, and measurement point position precision and target motion speed positive correlation are substantially in a linear relationship：Low speed essence
Degree is between 1-2mm, and high speed precision is between 3-4mm.
Description of the drawings
Fig. 1 is the structural schematic diagram of total powerstation time lag of the present invention and difference measurement accuracy measurement system；
Fig. 2 is the flow chart of total powerstation time lag of the present invention and difference measurement precision measure measurement method.
Specific implementation mode
In the following, refer to the attached drawing, makes a more thorough explanation the present invention, shown in the drawings of the exemplary implementation of the present invention
Example.However, the present invention can be presented as a variety of different forms, it is not construed as the exemplary implementation for being confined to describe here
Example.And these embodiments are to provide, it is of the invention full and complete to make, and will fully convey the scope of the invention to this
The those of ordinary skill in field.
As shown in Figure 1, the present invention provides a kind of total powerstation time lag and difference measurement accuracy measurement system, including data are adopted
Collect computer 1, total powerstation 2, motion platform 3 and target 4；Wherein, the target 4 is fixedly mounted on sliding block by connecting plate
On, the sliding block is connect with the leading screw of the motion platform, and is moved horizontally with the rotation of the leading screw；The data acquisition
Computer 1 is connect with the motion platform 3 to obtain the mobile data of target 4 on motion platform 3；What the total powerstation 2 measured
The mobile data of the target 4 is delivered to the data acquisition computer 1 by way of wireless transmission；It is acquired and is calculated by data
The mobile data of the mobile data for the target that the comparison of machine 1 is directly acquired by connection motion platform and the target of total station survey
Obtain the time lag and difference measurement accuracy data of total powerstation.
The motor encoder of motion platform (leading screw) and total station survey data are acquired by same computer in the application,
Logger computer time when computer receives data ensures that the time reference that data reach is unified.Total powerstation is passed with computer data
It is defeated to pass through radio station, communications protocol RS232.
Target includes circle prism, 360 ° of medium size prisms and 360 ° of small size prisms.Target be provided with 12mm/s, 18mm/s and
Tri- movement speed shelves of 24mm/s, each speed threshold acquisition time are 10 minutes.
Under indoor environment, the total powerstation is 6-10m at a distance from the target；Under outdoor environment, the total powerstation with
The distance of the target is 210-250m.
As shown in Figure 2；Present invention also provides a kind of measurement total powerstation time lag and the method for difference measurement precision, the sides
Method includes the following steps：
1) motion platform and the total powerstation are placed so that the laser side of the moving direction and total powerstation of the target
To consistent, then start measuring system, total powerstation X-axis under friction speed is calculated separately out by the data acquisition computer
Time lag and difference measurement precision；
2) motion platform and the total powerstation are placed so that the laser side of the moving direction and total powerstation of the target
To vertical in the horizontal direction, then start measuring system, calculated separately out under friction speed by the data acquisition computer
The time lag and difference measurement precision of total powerstation Y-axis；
3) motion platform and the total powerstation are placed so that the laser side of the moving direction and total powerstation of the target
To vertical in vertical direction, then start measuring system, calculated separately out under friction speed by the data acquisition computer
The time lag and difference measurement precision of total powerstation Z axis.
Under indoor environment, measured simultaneously using three total powerstations；Under outdoor environment, measured simultaneously using two total powerstations；
Final time lag and difference measurement precision be simultaneously measurement more total powerstation time lags and difference measurement precision mean value.
The data acquisition computer calculates total powerstation X, Y or the time lag of Z axis and the process of difference measurement precision is：
1) by wired and wirelessly acquire on the motion platform mobile data of target and described respectively
The mobile data of the target of total station survey；
2) mobile data of target on the motion platform of acquisition is subjected to data conversion；
3) under conditions of time unifying, by the target of the mobile data of target on motion platform and total station survey
Mobile data carries out interpolation sampling；
4) by the measurement data by comparing total powerstation and motion platform, the time lag and difference measurement essence of total powerstation are obtained
Degrees of data.
The application obtains total powerstation time lag and measurement point position precision basic one under indoor and outdoor environment by experiment test
It causes, time lag is between 195-295ms, and measurement point position precision and target motion speed positive correlation are substantially in a linear relationship：Low speed essence
Degree is between 1-2mm, and high speed precision is between 3-4mm.
Result specific embodiment does further the total powerstation time lag and difference measurement accuracy measurement method of the application below
Explanation：
Embodiment one：
Target motion direction is consistent with total powerstation laser direction, respectively analyze lower three total powerstations of three kinds of speed time lag,
Measurement period, error in point measurement, composition error and measurement distance changes, the variation of difference measurement length of side vector, see the table below：
As seen from the above table, X error is maximum in the case, the reason is that, X error is actual error and time lag collective effect
As a result, Y error and Z errors can embody the substantial measurement errors of total powerstation.
Embodiment two：
Target motion direction and total powerstation laser direction perpendicular in the horizontal direction, analyze lower three of three kinds of speed respectively
Time lag, measurement period, error in point measurement, composition error and the measurement distance changes of total powerstation, the variation of difference measurement length of side vector, are shown in
Following table：
As seen from the above table, Y error is maximum in the case, and similarly, Y error is that actual error and time lag are coefficient
As a result, X error and Z errors can embody the substantial measurement errors of total powerstation.
Embodiment three：
Three total powerstations survey the same target, analyze the time lag, measurement period, point of lower three total powerstations of three kinds of speed respectively
Position error, composition error and three total station survey consistency, see the table below：
The application is obtained by testing above to draw a conclusion：
1, total powerstation sampling period integrated distribution takes in 110ms, since there are light paths inside and outside periodicity to switch for total powerstation,
About 1 minute period, inside and outside light path switching time about 0.8s, this time are the main originals for causing error information significantly saltus step occur
Cause.
2, measurement accuracy is significantly increased compared with spot measurement precision after difference.
3, total station survey data time lag is solved, Time-Delay model and Kalman filtering algorithm need to be established, effectively reduces measuring
Time lag.
4, total station survey data synchronization problems are solved, light path switching time domestic demand is to measuring number especially inside and outside total powerstation
According to being effectively predicted.
It is described above simply to illustrate that of the invention, it is understood that the present invention is not limited to the above embodiments, meets
The various variants of inventive concept are within protection scope of the present invention.
Claims (8)
1. a kind of total powerstation time lag and difference measurement accuracy measurement system, which is characterized in that including data acquisition computer, whole station
Instrument, motion platform and target；Wherein, the target is fixedly mounted on by connecting plate on sliding block, the sliding block and the fortune
The leading screw of moving platform connects, and is moved horizontally with the rotation of the leading screw；The data acquisition computer and the movement are flat
Platform is connected to obtain the mobile data of target on motion platform；The mobile data of the target of the total station survey passes through nothing
The mode of line transmission is delivered to the data acquisition computer；It is direct by connecting motion platform by data acquisition computer comparison
The mobile data of the target of acquisition and the mobile data of the target of total station survey obtain time lag and the difference measurement of total powerstation
Accuracy data.
2. total powerstation time lag according to claim 1 and difference measurement accuracy measurement system, which is characterized in that the target
Including circle prism, 360 ° of medium size prisms and 360 ° of small size prisms.
3. total powerstation time lag according to claim 1 and difference measurement accuracy measurement system, which is characterized in that the target
Tri- movement speed shelves of 12mm/s, 18mm/s and 24mm/s are provided with, each speed threshold acquisition time is 10 minutes.
4. total powerstation time lag according to claim 1 and difference measurement accuracy measurement system, which is characterized in that indoor environment
Under, the total powerstation is 6-10m at a distance from the target；Under outdoor environment, the total powerstation is at a distance from the target
210-250m。
5. a kind of side measuring total powerstation time lag and difference measurement precision using any measuring systems of claim 1-4
Method, which is characterized in that described method includes following steps：
1) motion platform and the total powerstation are placed so that the moving direction of the target and the laser direction one of total powerstation
It causes, then starts measuring system, the time lag of total powerstation X-axis under friction speed is calculated separately out by the data acquisition computer
And difference measurement precision；
2) motion platform and the total powerstation are placed so that the moving direction of the target and the laser direction of total powerstation exist
Horizontal direction is vertical, then starts measuring system, and whole station under friction speed is calculated separately out by the data acquisition computer
The time lag and difference measurement precision of instrument Y-axis；
3) motion platform and the total powerstation are placed so that the moving direction of the target and the laser direction of total powerstation exist
Vertical direction is vertical, then starts measuring system, and whole station under friction speed is calculated separately out by the data acquisition computer
The time lag and difference measurement precision of instrument Z axis.
6. the method according to claim 5 for measuring total powerstation time lag and difference measurement precision, which is characterized in that indoor ring
Under border, measured simultaneously using three total powerstations；Under outdoor environment, measured simultaneously using two total powerstations；Final time lag and difference
Point measurement accuracy is the mean value of the more total powerstation time lags and difference measurement precision of measurement simultaneously.
7. the method according to claim 5 for measuring total powerstation time lag and difference measurement precision, which is characterized in that the number
Total powerstation X, Y or the time lag of Z axis are calculated according to collecting computer and the process of difference measurement precision is：
1) by wired and wirelessly acquire the mobile data of target and the whole station on the motion platform respectively
The mobile data for the target that instrument measures；
2) mobile data of target on the motion platform of acquisition is subjected to data conversion；
3) under conditions of time unifying, by the movement of the mobile data of target on motion platform and the target of total station survey
Data carry out interpolation sampling；
4) by the measurement data by comparing total powerstation and motion platform, the time lag and difference measurement precision number of total powerstation are obtained
According to.
8. a kind of side measuring total powerstation time lag and difference measurement precision using any measuring systems of claim 1-4
Method, which is characterized in that the method is：
Three-dimensional system of coordinate is established as basic point using the total powerstation, the motion platform is placed in the three-dimensional system of coordinate, institute
It is respectively (X to state coordinate of the target in the beginning and end position of motion platform0、Y0、Z0) and (Xn、Yn、Zn)；Target is flat in movement
It is moved with setting speed on platform, target is acquired by the data acquisition computer and total powerstation respectively in several setting time points
Coordinate；It is worth on the basis of the target co-ordinates of data acquisition computer acquisition, using the target co-ordinates of total powerstation acquisition as measured value,
The a reference value is compared by data acquisition computer and the measured value obtains the time lag and difference measurement accuracy data of total powerstation.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111076720A (en) * | 2019-12-31 | 2020-04-28 | 中国科学院国家天文台 | Cabin pose dynamic measurement method and system based on distance intersection |
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| CN1563889A (en) * | 2004-03-26 | 2005-01-12 | 清华大学 | Laser tracking inertia combined measuring system and its measuring method |
| CN101608920A (en) * | 2008-06-18 | 2009-12-23 | 中国科学院国家天文台 | A kind of combined type spatial pose precisely and dynamically measuring device and method |
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| CN111076720A (en) * | 2019-12-31 | 2020-04-28 | 中国科学院国家天文台 | Cabin pose dynamic measurement method and system based on distance intersection |
| CN111076720B (en) * | 2019-12-31 | 2020-11-13 | 中国科学院国家天文台 | Cabin pose dynamic measurement method and system based on distance intersection |
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