CN109141385A - Total station exempts from the localization method of horizontalization - Google Patents
Total station exempts from the localization method of horizontalization Download PDFInfo
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- CN109141385A CN109141385A CN201810665704.9A CN201810665704A CN109141385A CN 109141385 A CN109141385 A CN 109141385A CN 201810665704 A CN201810665704 A CN 201810665704A CN 109141385 A CN109141385 A CN 109141385A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
Abstract
The invention discloses the localization methods that a kind of total station exempts from horizontalization, which comprises using the optical center of total station as coordinate origin, establishes three coordinate systems；Wherein, three coordinate systems are respectively total station instrument coordinate system, total station outline border coordinate system and total station inside casing coordinate system；According to three coordinate systems, the oblique distance, horizontal angle and vertical angle of the N number of datum mark of total station survey are utilized；According to the oblique distance, horizontal angle and vertical angle of each datum mark, it is converted to coordinate of each datum mark under total station instrument coordinate system；A global coordinate system is selected, coordinate of each datum mark under global coordinate system is measured；According to coordinate of each datum mark under the coordinate and total station instrument coordinate system under global coordinate system, the transition matrix of global coordinate system Yu total station instrument coordinate system is solved, to position coordinate of the tested point under any total station instrument coordinate system under global coordinate system.The present invention provides foundation for hydrostatic power research, the various engineering surveys of multi-body mechanical system.
Description
Technical field
The present invention relates to the localization methods that a kind of total station localization method, especially total station exempt from horizontalization, belong to engineering survey
Measure technical field.
Background technique
Total station has been used widely in engineering measurement field, but at present total station mostly be in horizontalization into
Row measurement, when measurement, generally require critically horizontalization, and such time spends more, and labor intensive.Existing total station exempts to set
Measurement method has existed in flat situation, but since the foundation for total station instrument coordinate system does not show completely, it is right
Cause error calculated larger also mostly only with least square method in the solution of coordinate conversion matrix, and lacks for complete
The method that instrument coordinate system of standing is converted with any given global coordinate system.For in mechanical engineering, multi-body mechanical system is quiet, dynamics
The positioning for studying mass center of each individual etc., the conversion of global coordinate system is closed where needing to acquire total station instrument coordinate system and each individual
System.
Summary of the invention
The purpose of the present invention is to solve defect existing for above-mentioned prior art, provides a kind of total station and exempt to set
Flat localization method, the method achieve the coordinates when total station exempts from horizontalization by tested point under total station instrument coordinate system to turn
The coordinate being changed under global coordinate system provides for hydrostatic power research, the various engineering surveys of multi-body mechanical system
Foundation.
The purpose of the present invention can be reached by adopting the following technical scheme that:
Total station exempts from the localization method of horizontalization, which comprises
Using the optical center of total station as coordinate origin, three coordinate systems are established；Wherein, three coordinate systems are respectively whole station
Instrument coordinate system, total station outline border coordinate system and total station inside casing coordinate system；
According to three coordinate systems, the oblique distance, horizontal angle and vertical angle of the N number of datum mark of total station survey are utilized；Wherein, N >=
3；
According to the oblique distance, horizontal angle and vertical angle of each datum mark, each datum mark is converted in total station instrument coordinate system
Under coordinate；
A global coordinate system is selected, coordinate of each datum mark under global coordinate system is measured；
According to coordinate of each datum mark under the coordinate and total station instrument coordinate system under global coordinate system, global seat is solved
The transition matrix of mark system and total station instrument coordinate system, to position the tested point under any total station instrument coordinate system under global coordinate system
Coordinate.
Further, the optical center using total station is established three coordinate systems, is specifically included as coordinate origin:
Using the optical center of total station as total station instrument coordinate system origin, three reference axis of total station instrument coordinate system be respectively X-axis,
Horizontal angle zero setting direction is set Y-axis by Y-axis and Z axis, and vertical angle zero setting direction is set as Z axis, determines X using the right-hand rule
Axis establishes total station instrument coordinate system；
Using the optical center of total station as total station outline border coordinate origin, three reference axis point of total station outline border coordinate system
It Wei not X1Axis, Y1Axis and Z1Axis, the direction that will be perpendicular to outline border main view plane are set as Y1Axis, by the Z axis side of total station instrument coordinate system
To being set as Z1The direction of centre mark is set X by axis1Axis establishes total station outline border coordinate system；
Using the optical center of total station as total station inside casing coordinate origin, three reference axis difference of total station inside casing coordinate system
For X2Axis, Y2Axis and Z2The object lens center position of inside casing is set Y by axis2Axis, the direction that will be perpendicular to inside casing main view plane are set
It is set to Z2Axis, by the X of total station outline border coordinate system1Axis direction is set as X2Axis establishes total station inside casing coordinate system.
Further, the oblique distance, horizontal angle and vertical angle according to each datum mark, is converted to each datum mark and exists
Coordinate under total station instrument coordinate system, conversion formula are as follows:
X=-Ssin β sin α
Y=Ssin β cos α
Z=Scos β
Wherein, S is oblique distance, and α is horizontal angle, and β is vertical angle, and X, Y and Z are respectively any datum mark in total station instrument coordinate system
Under X axis coordinate, Y axis coordinate and Z axis coordinate.
Further, the seat according to each datum mark under the coordinate and total station instrument coordinate system under global coordinate system
Mark, solves the transition matrix of global coordinate system Yu total station instrument coordinate system, specifically:
It is public that coordinate of each datum mark under the coordinate and total station instrument coordinate system under global coordinate system is substituted into coordinate conversion
Formula solves the transition matrix of global coordinate system Yu total station instrument coordinate system using Gaussian-Newton method；
When datum mark is three, the transition matrix of the global coordinate system and total station instrument coordinate system solved is directlyed adopt；
When datum mark is four or more, wherein three global coordinate systems and the transition matrix error of total station instrument coordinate system are smaller for selection
Datum mark, solve the transition matrix of global coordinate system Yu total station instrument coordinate system again.
Further, the Formula of Coordinate System Transformation, as follows:
Wherein, XC、YCAnd ZCX of respectively any datum mark under global coordinate systemCAxial coordinate, YCAxial coordinate and ZCAxis is sat
Mark；X, Y and Z is respectively X axis coordinate, Y axis coordinate and Z axis coordinate of any datum mark under total station instrument coordinate system；T is total station
Coordinate system is transformed into the translation matrix of global coordinate system, and R is the spin matrix that total station instrument coordinate system is transformed into global coordinate system.
Further, the spin matrix is orthogonal matrix, meets following formula:
Further, the conversion that global coordinate system Yu total station instrument coordinate system are solved using Gaussian-Newton method
Matrix, specifically:
It is programmed in MATLAB, and inputs coordinate of each datum mark under global coordinate system, and in total station instrument coordinate
Coordinate under system runs MATLAB program, solves global coordinate system and total station instrument coordinate system using Gaussian-Newton method
Transition matrix.
Further, the method also includes:
Coordinate of the M known check posts under total station instrument coordinate system is substituted into Formula of Coordinate System Transformation, solution obtains each
The coordinate under global coordinate system of check post theory carries out pair with the coordinate known to each check post under global coordinate system
Than verifying accuracy, and analytical error；Wherein, M >=1.
Further, it is at least not arranged on the same straight line there are three datum mark in N number of datum mark.
The present invention have compared with the existing technology it is following the utility model has the advantages that
1, the present invention establishes total station instrument coordinate system, total station outline border on the basis of traditional total station exempts from horizontalization measurement
Coordinate system and total station inside casing coordinate system these three coordinate systems can accurately, clearly represent oblique distance, horizontal angle and vertical
Angle is so that it is convenient to go out any tested point under total station instrument coordinate system with oblique distance, horizontal angle, vertical angle these three parameter rapid solvings
Coordinate, realize positioning of the total station to tested point each under global coordinate system, the time can be saved, improve precision, solve
Traditional manual tape measure point coordinate is for large-scale multi-body mechanical system, and complicated for operation, measurement result precision is poor
Problem.
2, coordinate of the present invention according to multiple datum marks under the coordinate and total station instrument coordinate system under global coordinate system solves
The transition matrix (translation matrix and spin matrix) of global coordinate system and total station instrument coordinate system out, realizes the mark to total station
It is fixed, obtain the transformational relation of any global coordinate system and total station instrument coordinate system, it can by any tested point in total station instrument coordinate
Coordinate under system is converted to the coordinate of global coordinate system, and the various center of mass motions in multi-body system is facilitated to analyze.
3, the present invention proposes measurement four or more on the basis of tradition only surveys three points and solves coordinate conversion matrix
Datum mark selects wherein three lesser datum marks of resolution error, and solves to obtain world coordinates using Gaussian-Newton method
The transition matrix (translation matrix and spin matrix) of system and total station instrument coordinate system, faster, calculated result is than traditional minimum for convergence
The result that the method that square law solves nonlinear equation obtains is more accurate, and extra datum mark is also used as check post substitution
Formula of Coordinate System Transformation, solution obtains the coordinate under global coordinate system of each check post theory, and known to each check post
Coordinate under global coordinate system compares, and verifies accuracy, and analytical error.
Detailed description of the invention
Fig. 1 is that the total station of the embodiment of the present invention 1 exempts from the localization method flow chart of horizontalization.
Fig. 2 is the total station structural schematic diagram of the embodiment of the present invention 1.
Fig. 3 is the enlarged drawing of three coordinate system of the foundation on total station in Fig. 2 at A.
Fig. 4 be the embodiment of the present invention 1 using spherical coordinate system by measured three parameter oblique distances, horizontal angle and vertical angle
Be converted to the schematic diagram of coordinate under corresponding total station instrument coordinate system.
Fig. 5 is that the datum mark of the embodiment of the present invention 1 is converted under global coordinate system in the coordinate under total station instrument coordinate system
Coordinate schematic diagram.
Wherein, 1- total station outline border, 2- total station inside casing, 3- pedestal, 4- tripod, α-horizontal angle, β-vertical angle, Q- are complete
It stands instrument optical center, W- object lens center, A- centre mark.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1:
As shown in Figure 1, present embodiments providing the localization method that a kind of total station exempts from horizontalization, this method includes following step
It is rapid:
S101, using the optical center of total station as coordinate origin, establish three coordinate systems.
In this step, need to establish three coordinate systems, three coordinate systems point of foundation on the basis of total station exempts from horizontalization
It Wei not total station instrument coordinate system, total station outline border coordinate system and total station inside casing coordinate system.
As shown in Figures 2 and 3, the total station of the present embodiment includes total station outline border 1, total station inside casing 2 and pedestal 3, entirely
Instrument inside casing 2 of standing has object lens and eyepiece, is arranged in total station outline border 1, and can revolve in vertical direction around total station outline border 1
Turn, total station outline border 1 is arranged on the base 3, and can rotate in the horizontal direction around 3 central axis of pedestal, in order to support total station
Pedestal 3 is removably attached on tripod 4 by steady operation.
The establishment process of total station instrument coordinate system are as follows: using the optical center Q of total station as total station instrument coordinate system origin, total station is sat
Three reference axis of mark system are respectively X-axis, Y-axis and Z axis, set Y-axis, i.e. horizontal angle zero setting direction for horizontal angle zero setting direction
It is overlapped with Y direction, vertical angle zero setting direction is set as Z axis, i.e. vertical angle zero setting direction is overlapped with Z-direction, utilizes the right hand
Rule determines X-axis, establishes total station instrument coordinate system, and total station instrument coordinate system can be considered as spherical coordinate system.
The establishment process of total station outline border coordinate system are as follows: using the optical center Q of total station as total station outline border coordinate origin,
Three reference axis of total station outline border coordinate system are respectively X1Axis, Y1Axis and Z1Axis, the direction that will be perpendicular to outline border main view plane are set
It is set to Y1The Z-direction of total station instrument coordinate system is set Z by axis1Axis, i.e. Z1Axis direction is overlapped with Z-direction, by centre
The direction of mark A is set as X1Axis, i.e. X1Axis direction is the direction of the line QA of optical center Q and centre mark A, establishes whole station
Instrument outline border coordinate system, the coordinate system are fixed on total station outline border.
The establishment process of total station outline border coordinate system are as follows: using the optical center Q of total station as total station inside casing coordinate origin,
Three reference axis of total station inside casing coordinate system are respectively X2Axis, Y2Axis and Z2The object lens center direction W of inside casing is set Y by axis2
Axis, i.e. Y2Axis direction is the direction of the line QW of optical center Q and object lens center W, will be perpendicular to the direction setting of inside casing main view plane
For Z2Axis, by the X of total station outline border coordinate system1Axis direction is set as X2Axis, i.e. X2Axis direction and X1Axis direction is overlapped, and establishes whole station
Instrument inside casing coordinate system, the coordinate system are fixed on total station inside casing.
S102, according to three coordinate systems, utilize the oblique distance S of total station survey datum mark P, horizontal angle HAR (α) and vertical angle
ZA(β)。
It, can be direct using total station instrument coordinate system, total station outline border coordinate system and total station inside casing coordinate system in this step
It indicates that the horizontal angle and vertical angle when total station survey point, horizontal angle are angle of the Y-axis to Y2 axis with angle between reference axis, hangs down
Right angle is angle of the Z axis to Z3 axis, when horizontal angle zero setting equal with vertical angle, total station instrument coordinate system, total station outline border coordinate system
It is overlapped with these three coordinate systems of total station inside casing coordinate system.
There are six the experimental point P that the present embodiment utilizes total station to be measured, as shown in table 1 below；Wherein P1, P2, P3 and P4
On the basis of point, P5 and P6 are check post.
1 total station data of table (unit: m)
S103, oblique distance S, horizontal angle α and vertical angle β according to each datum mark P, are converted to each datum mark P complete
The coordinate stood under instrument coordinate system, as shown in Figure 4.
In this step, in the case where total station exempts from horizontalization state, using total station to four datum marks measurement oblique distances, horizontal angle with
Vertical angle.
According to the oblique distance S, horizontal angle α and vertical angle β of each datum mark P, it is converted to each datum mark P and is sat in total station
Coordinate under mark system, conversion formula are as follows:
X=-Ssin β sin α
Y=Ssin β cos α
Z=Scos β
Wherein, X, Y and Z are respectively that X axis coordinate, Y axis coordinate and Z axis of any datum mark under total station instrument coordinate system are sat
Mark；The present embodiment also acquires two in addition to acquiring four datum marks other than the coordinate under total station instrument coordinate system according to above-mentioned formula
Coordinate of the check post under total station instrument coordinate system, as shown in table 2 below.
Coordinate (unit: m) of 2 experimental point of table under total station instrument coordinate system
S104, a global coordinate system is selected, measures coordinate of each datum mark P under global coordinate system.
In this step, pass through coordinate (X of each datum mark P of manual measurement under global coordinate systemC, YC, ZC)。
The present embodiment also measures two check posts complete in addition to measuring four datum marks other than the coordinate under global coordinate system
Coordinate under office's coordinate system, as shown in table 3 below.
Coordinate (unit: m) of 3 experimental point of table under global coordinate system
S105, the coordinate according to each datum mark P under the coordinate and total station instrument coordinate system under global coordinate system, solve
The transition matrix of global coordinate system and total station instrument coordinate system, to position the tested point under any total station instrument coordinate system in world coordinates
Coordinate under system, as shown in Figure 5.
Global coordinate system and the transition matrix of total station instrument coordinate system include translation matrix T and spin matrix R, are turned by coordinate system
The definition of matrix is changed, spin matrix R is an orthogonal matrix, can so determine six equations, also needs six equations, flat to solve
Totally ten two unknown quantitys, this process are the calibration process of total station in shifting matrix T and spin matrix R.Solve translation matrix T and rotation
Torque battle array R needs (to have acquired coordinate under global coordinate system according to the above method and in total station using at least three datum marks
Coordinate under coordinate system), since the biggish datum mark of error calculated in practical calculating process, can be cast out, because
The more the quantity that this chooses datum mark the more accurate, the present embodiment cast out P3 this solve translation matrix T and spin matrix R error compared with
Big point, and tri- datum marks of P1, P2 and P4 are chosen, nine equations are established, in addition six equations that spin matrix R is determined, subtract
It goes since distance is three repeat constraints of fixed value bring between point, nine plus six subtract three, totally ten two equations, just
12 unknown quantitys in translation matrix T and spin matrix R are solved, therefore translation matrix T can be solved by these equations
With spin matrix R；Formula of Coordinate System Transformation is as follows:
Wherein, XC、YCAnd ZCX of respectively any datum mark under global coordinate systemCAxial coordinate, YCAxial coordinate and ZCAxis is sat
Mark；X, Y and Z is respectively X axis coordinate, Y axis coordinate and Z axis coordinate of any datum mark under total station instrument coordinate system.
Since spin matrix R is orthogonal matrix, meet equation following six:
According to above-mentioned Formula of Coordinate System Transformation, global coordinate system and total station instrument coordinate are solved using Gaussian-Newton method
The transition matrix of system, specifically:
It is programmed in MATLAB, and inputs the coordinate and total station of three datum marks P1, P2 and P4 under global coordinate system
Coordinate under coordinate system runs MATLAB program, solves global coordinate system and total station instrument coordinate using Gaussian-Newton method
The transition matrix of system, the translation matrix T and spin matrix R solved are as shown in table 4 below.
4 global coordinate system of table and total station instrument coordinate system conversion parameter
S106, the coordinate that coordinate of two check post P5 and P6 under total station instrument coordinate system substitutes into above-mentioned steps S105 is turned
Change formula, solve obtain two check posts the coordinate under global coordinate system be respectively (- 0.0710,0,9922,0.8569),
(1.6911,0.9906,0.6610) compare coordinate (see the above table 3) of the two actually measured check posts under global coordinate system,
Can must then exempt from the case of horizontalization total station is 3cm to the positioning accuracy at global coordinate system midpoint, therefore the positioning side of the present embodiment
Method precision is reliable, and this method has feasibility.
It will be appreciated by persons skilled in the art that said reference point can be three or more, check post can be one
It is a or more.
In conclusion the present invention establishes total station instrument coordinate system, whole station on the basis of traditional total station exempts from horizontalization measurement
Instrument outline border coordinate system and total station inside casing coordinate system these three coordinate systems, can accurately, clearly represent oblique distance, horizontal angle and
Vertical angle is so that it is convenient to go out any tested point in total station instrument coordinate with oblique distance, horizontal angle, vertical angle these three parameter rapid solvings
Coordinate under system realizes positioning of the total station to tested point each under global coordinate system, can save the time, improves precision, solution
Traditional manual tape measure point coordinate determined for large-scale multi-body mechanical system, it is complicated for operation, measurement result precision compared with
The problem of difference.
The above, only the invention patent preferred embodiment, but the scope of protection of the patent of the present invention is not limited to
This, anyone skilled in the art is in the range disclosed in the invention patent, according to the present invention the skill of patent
Art scheme and its inventive concept are subject to equivalent substitution or change, belong to the scope of protection of the patent of the present invention.
Claims (9)
1. the localization method that total station exempts from horizontalization, it is characterised in that: the described method includes:
Using the optical center of total station as coordinate origin, three coordinate systems are established；Wherein, three coordinate systems are respectively that total station is sat
Mark system, total station outline border coordinate system and total station inside casing coordinate system；
According to three coordinate systems, the oblique distance, horizontal angle and vertical angle of the N number of datum mark of total station survey are utilized；Wherein, N >=3；
According to the oblique distance, horizontal angle and vertical angle of each datum mark, each datum mark is converted under total station instrument coordinate system
Coordinate；
A global coordinate system is selected, coordinate of each datum mark under global coordinate system is measured；
According to coordinate of each datum mark under the coordinate and total station instrument coordinate system under global coordinate system, global coordinate system is solved
With the transition matrix of total station instrument coordinate system, to position seat of the tested point under any total station instrument coordinate system under global coordinate system
Mark.
2. the localization method that total station according to claim 1 exempts from horizontalization, it is characterised in that: the optical center with total station
As coordinate origins, three coordinate systems are established, are specifically included:
Using the optical center of total station as total station instrument coordinate system origin, three reference axis of total station instrument coordinate system are respectively X-axis, Y-axis
And Z axis, Y-axis is set by horizontal angle zero setting direction, vertical angle zero setting direction is set as Z axis, determines X-axis using the right-hand rule,
Establish total station instrument coordinate system；
Using the optical center of total station as total station outline border coordinate origin, three reference axis of total station outline border coordinate system are respectively
X1Axis, Y1Axis and Z1Axis, the direction that will be perpendicular to outline border main view plane are set as Y1Axis sets the Z-direction of total station instrument coordinate system
It is set to Z1The direction of centre mark is set X by axis1Axis establishes total station outline border coordinate system；
Using the optical center of total station as total station inside casing coordinate origin, three reference axis of total station inside casing coordinate system are respectively X2
Axis, Y2Axis and Z2The object lens center position of inside casing is set Y by axis2Axis, the direction that will be perpendicular to inside casing main view plane are set as
Z2Axis, by the X of total station outline border coordinate system1Axis direction is set as X2Axis establishes total station inside casing coordinate system.
3. the localization method that total station according to claim 1 exempts from horizontalization, it is characterised in that: described according to each datum mark
Oblique distance, horizontal angle and vertical angle, be converted to coordinate of each datum mark under total station instrument coordinate system, conversion formula is as follows:
X=-Ssin β sin α
Y=Ssin β cos α
Z=Scos β
Wherein, S is oblique distance, and α is horizontal angle, and β is vertical angle, and X, Y and Z are respectively any datum mark under total station instrument coordinate system
X axis coordinate, Y axis coordinate and Z axis coordinate.
4. the localization method that total station according to claim 1 exempts from horizontalization, it is characterised in that: described according to each datum mark
Coordinate under the coordinate and total station instrument coordinate system under global coordinate system solves turn of global coordinate system and total station instrument coordinate system
Matrix is changed, specifically:
Coordinate of each datum mark under the coordinate and total station instrument coordinate system under global coordinate system is substituted into Formula of Coordinate System Transformation, is adopted
The transition matrix of global coordinate system Yu total station instrument coordinate system is solved with Gaussian-Newton method；
When datum mark is three, the transition matrix of the global coordinate system and total station instrument coordinate system solved is directlyed adopt；Work as base
When being on schedule four or more, the lesser base of transition matrix error of wherein three global coordinate systems and total station instrument coordinate system is selected
On schedule, the transition matrix of global coordinate system Yu total station instrument coordinate system is solved again.
5. the localization method that total station according to claim 4 exempts from horizontalization, it is characterised in that: the Formula of Coordinate System Transformation,
It is as follows:
Wherein, XC、YCAnd ZCX of respectively any datum mark under global coordinate systemCAxial coordinate, YCAxial coordinate and ZCAxial coordinate；
X, Y and Z is respectively X axis coordinate, Y axis coordinate and Z axis coordinate of any datum mark under total station instrument coordinate system；T is total station seat
Mark system is transformed into the translation matrix of global coordinate system, and R is the spin matrix that total station instrument coordinate system is transformed into global coordinate system.
6. the localization method that total station according to claim 5 exempts from horizontalization, it is characterised in that: the spin matrix is orthogonal
Matrix meets following formula:
7. the localization method that total station according to claim 4 exempts from horizontalization, it is characterised in that: described to use Gauss-Newton
Solution by iterative method goes out the transition matrix of global coordinate system Yu total station instrument coordinate system, specifically:
It is programmed in MATLAB, and inputs coordinate of each datum mark under global coordinate system, and under total station instrument coordinate system
Coordinate, run MATLAB program, the conversion of global coordinate system Yu total station instrument coordinate system is solved using Gaussian-Newton method
Matrix.
8. the localization method that total station according to claim 1-7 exempts from horizontalization, it is characterised in that: the method is also
Include:
Coordinate of the M known check posts under total station instrument coordinate system is substituted into Formula of Coordinate System Transformation, solution obtains each verifying
The theoretical coordinate under global coordinate system of point, compares with the coordinate known to each check post under global coordinate system,
Verify accuracy, and analytical error；Wherein, M >=1.
9. the localization method that total station according to claim 1-7 exempts from horizontalization, it is characterised in that: N number of base
It is at least not arranged on the same straight line there are three datum mark on schedule.
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| CN113029087A (en) * | 2021-04-27 | 2021-06-25 | 江南造船(集团)有限责任公司 | Method for measuring space installation angle of ship body base |
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