CN109443326A - A kind of engineering machinery localization method and system - Google Patents
A kind of engineering machinery localization method and system Download PDFInfo
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- CN109443326A CN109443326A CN201811166901.2A CN201811166901A CN109443326A CN 109443326 A CN109443326 A CN 109443326A CN 201811166901 A CN201811166901 A CN 201811166901A CN 109443326 A CN109443326 A CN 109443326A
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- engineering machinery
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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
Abstract
A kind of engineering machinery localization method and system, wherein this method comprises: Step 1: obtaining coordinate of two specified points in tunnel space coordinate system in the engineering machinery being located in tunnel；Step 2: carrying out coordinate system transformation in coordinate of the coordinate and two specified points in engineering machinery space coordinates in tunnel space coordinate system according to two specified points being previously stored, and pose of the engineering machinery in tunnel space coordinate system is determined according to transformation results.Since the coordinate in engineering machinery coordinate system is determined in advance and stores, therefore this localization method and system can also obtain above-mentioned coordinate data by directly carrying out reading data, can also effectively reduce the data volume to be processed needed for being positioned to the engineering machinery in tunnel in this way.
Description
Technical field
The present invention relates to engineering machinery field of locating technology, specifically, being related to a kind of engineering machinery localization method and being
System.
Background technique
During constructing tunnel, Quan Zhineng drill jumbo position is the basis as mechanical action design data, therefore
Trolley positioning is an important factor for having an impact to construction precision and speed of application.
It is at present to be surveyed by professional survey crew using total station for the technical way of engineering trolley positioning
Amount.In measurement process, professional survey crew is needed using total station and cooperates the adjusting of trolley operator and realizes to platform
The positioning of vehicle.The degree of automation of this positioning method is low, the help of professional survey crew is needed when implementing, therefore for people
It is big for influence factor degree of dependence, and the presence of human factor is also inevitably to final positioning accuracy and accuracy
It impacts.
Summary of the invention
To solve the above problems, the present invention provides a kind of engineering machinery localization methods, which comprises
Step 1: obtaining coordinate of two specified points in tunnel space coordinate system in the engineering machinery being located in tunnel；
Step 2: according to coordinate of the described two specified points being previously stored in engineering machinery space coordinates and described
Coordinate of two specified points in tunnel space coordinate system carries out coordinate system transformation, and determines the engineering machine according to transformation results
Pose of the tool in the tunnel space coordinate system.
According to one embodiment of present invention, in said step 1, in engineering machinery described in total station survey two are utilized
Coordinate of a specified point in tunnel space coordinate system.
According to one embodiment of present invention, in said step 1, in the engineering machinery at two specified point positions
It is respectively arranged with prism, coordinate of two prisms in tunnel space coordinate system is measured respectively using total station, to obtain
State coordinate of two specified points in tunnel space coordinate system.
According to one embodiment of present invention, in the step 2,
Tunnel space coordinate system is obtained around trunnion axis to the rotation angle of the engineering machinery space coordinates, obtains level
Axis rotates angle；
Rotate angle according to the trunnion axis, using coordinate of described two specified points in tunnel space coordinate system and
Coordinate in engineering machinery space coordinates determines coordinate system conversion parameter, and determines institute according to the coordinate system conversion parameter
State pose of the engineering machinery in the tunnel space coordinate system.
According to one embodiment of present invention, in the step 2, determine that the coordinate system turns according to following expression
Change parameter:
Wherein, (X, Y, Z) indicates that the coordinate a little in tunnel space coordinate system, (x, y, z) indicate a little in engineering machine
Coordinate in tool space coordinates, (Δ x, Δ y, Δ z) indicate the origin and engineering machinery space coordinate of tunnel space coordinate system
Vector between the origin of system, k indicate proportionality coefficient, RX(α) indicates tunnel space coordinate system to engineering machinery space coordinates
Along the transformation matrix of X-axis rotation, RY(β) indicates the change that tunnel space coordinate system is rotated to engineering machinery space coordinates along Y-axis
Change matrix, RZ(γ) indicates that the transformation matrix that tunnel space coordinate system is rotated to engineering machinery space coordinates along Z axis, α indicate
Tunnel space coordinate system around X-axis to engineering machinery space coordinates rotation angle, β indicate tunnel space coordinate system arrived around Y-axis
The rotation angle of engineering machinery space coordinates, γ indicate that tunnel space coordinate system arrives engineering machinery space coordinates about the z axis
Rotate angle, wherein X-axis and Y-axis are trunnion axis.
According to one embodiment of present invention, determine that the trunnion axis rotates angle using dipmeter.
The present invention also provides a kind of engineering machinery positioning systems, which is characterized in that the system is using as above any one
The method positions engineering machinery.
According to one embodiment of present invention, the system comprises:
Data storage device is used to store seat of two specified points in engineering machinery space coordinates in engineering machinery
Mark；
Coordinate measuring set, be used for obtain be located at tunnel in engineering machinery on two specified points in tunnel space coordinate
Coordinate in system；
Positioning device is connect with the data storage device and coordinate measuring set, for according to described two specified
Point is sat in the coordinate of coordinate and described two specified points in tunnel space coordinate system in engineering machinery space coordinates
The transformation of mark system, and pose of the engineering machinery in the tunnel space coordinate system is obtained according to transformation results.
According to one embodiment of present invention, the engineering machinery positioning system further includes two prisms, described two ribs
Mirror is separately positioned on two different specified points of the engineering machinery,
The coordinate measuring set is configured to measure coordinate of two prisms in tunnel space coordinate system respectively, thus
To coordinate of above-mentioned two specified point in tunnel space coordinate system.
According to one embodiment of present invention, the positioning device be configured to obtain tunnel space coordinate system arrived around trunnion axis
The rotation angle of the engineering machinery space coordinates obtains trunnion axis rotation angle, and rotates angle according to the trunnion axis,
It is determined using described two specified points in the coordinate in tunnel space coordinate system and the coordinate in engineering machinery space coordinates
Coordinate system conversion parameter out, and determine the engineering machinery in the tunnel space coordinate system according to the coordinate system conversion parameter
Interior pose.
According to one embodiment of present invention, the positioning device includes dipmeter, and the dipmeter is described for measuring
Trunnion axis rotates angle.
According to one embodiment of present invention, the data storage device and positioning device are arranged in the engineering machinery
On.
Mechanically two fixing points exist for engineering machinery localization method and positioning system utilizing works provided by the present invention
Coordinate in two different coordinates (i.e. engineering machinery coordinate system and tunnel space coordinate system) come determine the two coordinate systems it
Between transformational relation, and then pose of the engineering machinery in tunnel space coordinate system is determined according to the transformational relation.Due to
Coordinate in engineering machinery coordinate system is determined in advance and stores, therefore this localization method and system also can be by straight
Row reading data is tapped into obtain above-mentioned coordinate data, can also effectively reduce carried out to the engineering machinery in tunnel in this way
Data volume to be processed needed for positioning.
Meanwhile localization method provided by the present invention and positioning system are by thus according in the engineering machinery got two
A specified point determines pose of the engineering machinery under tunnel space coordinate system in the coordinate under space coordinates, therefore it is compared
The data volume to be processed needed for the prior art is less, and data processing algorithm also can be simpler, not only can mention
High location efficiency, additionally it is possible to reduce the complexity of data processing algorithm, and then reduce development cost and improve the reliable of system
Property.In addition, this method can also effectively reduce artifical influence factor to interference brought by positioning result, can also mention in this way
The accuracy of high final positioning result.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is required attached drawing in technical description to do simple introduction:
Fig. 1 is the implementation flow chart of engineering machinery localization method according to an embodiment of the invention；
Fig. 2 is the structural schematic diagram of engineering machinery positioning system according to an embodiment of the invention；
Fig. 3 is the application scenarios schematic diagram of coordinate measuring set according to an embodiment of the invention；
Fig. 4 is the realization of pose of the determining engineering machinery according to an embodiment of the invention in tunnel space coordinate system
Flow diagram；
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
Meanwhile in the following description, for illustrative purposes and numerous specific details are set forth, to provide to of the invention real
Apply the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can not have to tool here
Body details or described ad hoc fashion are implemented.
In addition, step shown in the flowchart of the accompanying drawings can be in the department of computer science of such as a group of computer-executable instructions
It is executed in system, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence execute shown or described step.
The method that auxiliary positioning is carried out to engineering machinery using total station exists in the prior art, these methods pass through
Known position installation laser range finder and the camera in Tunnel wall are built up, and carries out auxiliary positioning survey using total station
Amount obtains the spatial position of trolley by the distance and imaging of point light source on measurement trolley.However, existing this method exists
Meeting in implementation process is so that the structure and image data processing algorithm of entire positioning system are excessively complicated.
For the problems of in the prior art, the present invention provides a kind of new engineering machinery localization method and answer
The system that engineering machinery is positioned with this method.This method and system based on two specified points in engineering machinery by being existed
Coordinate transform in different coordinates obtains the pose of engineering machinery.
In order to clearly illustrate realization principle, the reality of engineering machinery localization method provided by the present invention and system
Existing process and advantage to carry out engineering machinery localization method provided by the present invention and system below in conjunction with Fig. 1 and Fig. 2
Further instruction.Wherein, Fig. 1 shows the implementation flow chart of engineering machinery localization method provided by the present embodiment, and Fig. 2 shows
The structural schematic diagram of engineering machinery positioning system provided by the present embodiment is gone out.
As shown in Figure 1, engineering machinery localization method provided by the present embodiment can obtain in step s101 be located at first
Coordinate of two specified points in tunnel space coordinate system in engineering machinery in tunnel.As shown in Fig. 2, the present embodiment is provided
Engineering machinery positioning system preferably include coordinate measuring set 201, coordinate measuring set can be to two in engineering machinery
The coordinate data of specified point measures, to obtain coordinate of the two specified points in tunnel space coordinate system.
Specifically, as shown in figure 3, in the present embodiment, coordinate measuring set 201 is preferably realized using total station 301.
And prism is separately installed at two specified point positions in engineering machinery 304, i.e., the engineering machinery positioning system further includes
The first prism 302 and the second prism 303 being separately mounted at two specified point positions.In position fixing process, 301 meeting of total station
The first prism 302 and the second prism 303 are measured respectively, can also respectively obtain the first prism 302 and second in this way
Coordinate of the prism 303 in tunnel space coordinate system.In the present embodiment, tunnel space coordinate system is earth coordinates.
Certainly, in other embodiments of the invention, according to actual needs, coordinate measuring set 201 can also use it
His rational method determines the coordinates of two specified points in engineering machinery, and the invention is not limited thereto.For example, at of the invention one
In embodiment, prism can also be not provided in engineering machinery at two specified point positions, total station 301 can be directly to the two
Point position is positioned, to obtain coordinate of the two specified points in tunnel space coordinate system.
Again as depicted in figs. 1 and 2, in the present embodiment, two specified points are sat in tunnel space on obtaining engineering machinery
After coordinate in mark system, this method can read the above-mentioned two specified point being previously stored in engineering machinery space in step s 102
Coordinate in coordinate system.
Coordinate storage of above-mentioned two specified point in engineering machinery space coordinates in the present embodiment, in engineering machinery
In data storage device 202.Wherein, coordinate of above-mentioned two specified point in engineering machinery space coordinates is preferably in work
It has just measured to obtain before the factory of journey machinery, and has been written into data storage device 202.So in the actual construction process,
When needing to position engineering machinery, method provided by the present embodiment also can be by directly reading data storage dress
The data in 202 are set to obtain coordinate of above-mentioned two specified point in engineering machinery space coordinates.
In the present embodiment, before engineering machinery factory, a rib is preferably installed respectively at above-mentioned two specified point position
Mirror (such as the first prism 302 and second prism 303).By measuring the two fixed points in device coordinate system (i.e. engineering machinery
Space coordinates) in position, also can be obtained by coordinate of the two fixed points in engineering machinery space coordinates.This two
Coordinate of a fixed point in engineering machinery space coordinates also just characterizes two fixing points and engineering machinery space coordinates
Origin between relative positional relationship, also just complete the calibration of local coordinate in this way.
Certainly, in other embodiments of the invention, according to the actual situation, this method can also use other rational methods
Determine coordinate of two specified points in engineering machinery space coordinates in engineering machinery, the invention is not limited thereto.
As shown in Figure 1, on obtaining engineering machinery coordinate of two specified points in engineering machinery space coordinates and
After the coordinate in tunnel space coordinate system, this method can be in step s 103 according to the two specified points in engineering machinery space
Coordinate in coordinate system and the coordinate in tunnel space coordinate system carry out coordinate system transformation, obtain engineering machinery in tunnel sky
Between pose in coordinate system.
Specifically, in the present embodiment, this method with coordinate measuring set 201 and data storage in step s 103 by filling
The positioning device 203 of 202 connections is set to determine pose of the engineering machinery in tunnel space coordinate system.
Fig. 4 shows positioning device 203 in the present embodiment and determines pose of the engineering machinery in tunnel space coordinate system
Implementation process schematic diagram.
As shown in figure 4, positioning device 203 can preferably obtain tunnel space coordinate in step S401 in the present embodiment
It is the rotation angle around trunnion axis to engineering machinery space coordinates, to obtain trunnion axis rotation angle.
Above-mentioned trunnion axis preferably characterizes two orthogonal reference axis in the horizontal plane of tunnel space coordinate system, this
Two reference axis are set to X-axis and Y-axis respectively.It and is the vertical axes of tunnel space coordinate system perpendicular to the reference axis of X-axis and Y-axis
Z axis.
In the present embodiment, positioning device 203 preferably includes dipmeter.Dipmeter is arranged in engineering machinery, fixed in this way
Position device 203 also can measure to obtain using dipmeter in step S401 tunnel space coordinate system around trunnion axis to engineering
The rotation angle of mechanical space coordinate system.Wherein, which includes tunnel space coordinate system around X-axis to engineering machinery space
The rotation angle beta of the rotation angle [alpha] of coordinate system and tunnel space coordinate system around Y-axis to engineering machinery space coordinates.
After obtaining trunnion axis rotation angle, positioning device 203 can in step S402 according to above-mentioned horizontal rotation angle,
Coordinate of the above-mentioned two specified point of utilizing works mechanically in tunnel space coordinate system and in engineering machinery space coordinates
In coordinate determine coordinate system conversion parameter.
Specifically, in the present embodiment, above-mentioned coordinate system conversion parameter can be characterized with rotation angle [alpha], rotation angle beta
Transformational relation between the tunnel space coordinate system coordinate system different from engineering machinery space coordinates two.Wherein, above-mentioned seat
Mark system conversion parameter preferably includes the original of proportionality coefficient k, the origin of tunnel space coordinate system and engineering machinery space coordinates
(Δ x, Δ y, Δ z) and tunnel space coordinate system arrive the rotation angle of engineering machinery space coordinates to vector between point about the z axis
Spend γ.
For example, positioning device 203 determines above-mentioned coordinate system conversion ginseng advantageously according to following expression in the present embodiment
Number:
Wherein, (X, Y, Z) indicates that the coordinate a little in tunnel space coordinate system, (x, y, z) indicate a little in engineering machine
Coordinate in tool space coordinates, RX(α) indicates the change that tunnel space coordinate system is rotated to engineering machinery space coordinates along X-axis
Change matrix, RY(β) indicates the transformation matrix that tunnel space coordinate system is rotated to engineering machinery space coordinates along Y-axis, RZ(γ) table
Show the transformation matrix that tunnel space coordinate system is rotated to engineering machinery space coordinates along Z axis.
In the present embodiment, transformation matrix R that tunnel space coordinate system to engineering machinery space coordinates is rotated along X-axisX(α)
It can indicate are as follows:
The transformation matrix R that tunnel space coordinate system is rotated to engineering machinery space coordinates along Y-axisY(β) can be indicated are as follows:
The transformation matrix R that tunnel space coordinate system is rotated to engineering machinery space coordinates along Z axisZ(γ) can be indicated
Are as follows:
Due to having obtained coordinate under tunnel space coordinate system of two specified points in engineering machinery and in engineering machine
Coordinate under tool coordinate system, while rotation angle [alpha], rotation angle beta have also been obtained, in this way by this two groups of coordinate datas and rotation
Angle-data, which substitutes into above-mentioned expression formula (1), also can be obtained by proportionality coefficient k, the origin of tunnel space coordinate system and engineering machinery
(Δ x, Δ y, Δ z) and tunnel space coordinate system arrive engineering machinery space to vector between the origin of space coordinates about the z axis
The rotation angle γ of coordinate system to get arrive coordinate system conversion parameter.
It should be pointed out that in other embodiments of the invention, positioning device 203 can also use other rational methods
Determine coordinate system conversion parameter, the invention is not limited thereto.For example, in one embodiment of the invention, engineering machinery positioning
Method can also (including specified point be in tunnel using the dependent coordinates of three or three or more the specified points of utilizing works mechanically
Coordinate in road space coordinates and the coordinate in engineering machinery coordinate system) determine that proportionality coefficient k and tunnel space are sat
Mark system origin and engineering machinery space coordinates origin between vector (Δ x, Δ y, Δ z), at this time according to actual needs
Trunnion axis rotation angle can be no longer measured, but is directly calculated by the dependent coordinate of specified point.
In the present embodiment, positioning device 203 can be converted in step S403 using coordinate system obtained in step S402
Parameter come according to tunnel space coordinate system determine engineering machinery space coordinates (i.e. engineering machinery itself) tunnel space sit
Pose in mark system.
Specifically, in the present embodiment, between the origin of tunnel space coordinate system and the origin of engineering machinery space coordinates
Vector (Δ x, Δ y, Δ z) can characterize coordinate of the engineering machinery in tunnel space coordinate system, and rotate angle [alpha], β and γ
Posture of the engineering machinery in tunnel space coordinate system can then be symbolized.
As can be seen that engineering machinery localization method provided by the present invention and positioning system utilize work from foregoing description
Journey mechanically coordinate of the two fixing points in two different coordinates (i.e. engineering machinery coordinate system and tunnel space coordinate system)
To determine the transformational relation between the two coordinate systems, and then determine engineering machinery in tunnel space according to the transformational relation
Pose in coordinate system.Since the coordinate in engineering machinery coordinate system is determined in advance and stores, this localization method with
And system also can obtain above-mentioned coordinate data by directly carrying out reading data, can also effectively reduce right in this way
Engineering machinery in tunnel data volume to be processed needed for being positioned.
Meanwhile localization method provided by the present invention and positioning system are by thus according in the engineering machinery got two
A specified point determines pose of the engineering machinery under tunnel space coordinate system in the coordinate under space coordinates, therefore it is compared
The data volume to be processed needed for the prior art is less, and data processing algorithm also can be simpler, not only can mention
High location efficiency, additionally it is possible to reduce the complexity of data processing algorithm, and then reduce development cost and improve the reliable of system
Property.In addition, this method can also effectively reduce artifical influence factor to interference brought by positioning result, can also mention in this way
The accuracy of high final positioning result.
It should be understood that disclosed embodiment of this invention is not limited to specific structure disclosed herein or processing step
Suddenly, the equivalent substitute for these features that those of ordinary skill in the related art are understood should be extended to.It should also be understood that
It is that term as used herein is used only for the purpose of describing specific embodiments, and is not intended to limit.
" one embodiment " or " embodiment " mentioned in specification means the special characteristic described in conjunction with the embodiments, structure
Or characteristic is included at least one embodiment of the present invention.Therefore, the phrase " reality that specification various places throughout occurs
Apply example " or " embodiment " the same embodiment might not be referred both to.
Although above-mentioned example is used to illustrate principle of the present invention in one or more application, for the technology of this field
For personnel, without departing from the principles and ideas of the present invention, hence it is evident that can in form, the details of usage and implementation
It is upper that various modifications may be made and does not have to make the creative labor.Therefore, the present invention is defined by the appended claims.
Claims (12)
1. a kind of engineering machinery localization method, which is characterized in that the described method includes:
Step 1: obtaining coordinate of two specified points in tunnel space coordinate system in the engineering machinery being located in tunnel；
Step 2: according to coordinate of the described two specified points being previously stored in engineering machinery space coordinates and described two
Coordinate of the specified point in tunnel space coordinate system carries out coordinate system transformation, and determines that the engineering machinery exists according to transformation results
Pose in the tunnel space coordinate system.
2. the method as described in claim 1, which is characterized in that in said step 1, utilize engineering described in total station survey
Mechanically coordinate of two specified points in tunnel space coordinate system.
3. method according to claim 2, which is characterized in that in said step 1, specified for two in the engineering machinery
Point is provided with prism at position respectively, measures coordinate of two prisms in tunnel space coordinate system respectively using total station, from
And obtain coordinate of above-mentioned two specified point in tunnel space coordinate system.
4. method according to any one of claims 1 to 3, which is characterized in that in the step 2,
Tunnel space coordinate system is obtained around trunnion axis to the rotation angle of the engineering machinery space coordinates, obtains trunnion axis rotation
Gyration；
Angle is rotated according to the trunnion axis, using coordinate of described two specified points in tunnel space coordinate system and in engineering
Coordinate in mechanical space coordinate system determines coordinate system conversion parameter, and determines the work according to the coordinate system conversion parameter
Pose of the journey machinery in the tunnel space coordinate system.
5. method as claimed in claim 4, which is characterized in that in the step 2, according to following expression determination
Coordinate system conversion parameter:
Wherein, (X, Y, Z) indicates that the coordinate a little in tunnel space coordinate system, (x, y, z) indicate a little in engineering machinery sky
Between coordinate in coordinate system, (Δ x, Δ y, Δ z) indicate the origin and engineering machinery space coordinates of tunnel space coordinate system
Vector between origin, k indicate proportionality coefficient, RX(α) indicates tunnel space coordinate system to engineering machinery space coordinates along X-axis
The transformation matrix of rotation, RY(β) indicates the transformation square that tunnel space coordinate system is rotated to engineering machinery space coordinates along Y-axis
Battle array, RZ(γ) indicates that the transformation matrix that tunnel space coordinate system is rotated to engineering machinery space coordinates along Z axis, α indicate tunnel
Space coordinates are around the rotation angle of X-axis to engineering machinery space coordinates, and β expression tunnel space coordinate system is around Y-axis to engineering
The rotation angle of mechanical space coordinate system, γ indicate that tunnel space coordinate system arrives the rotation of engineering machinery space coordinates about the z axis
Angle, wherein X-axis and Y-axis are trunnion axis.
6. method as described in claim 4 or 5, which is characterized in that determine that the trunnion axis rotates angle using dipmeter.
7. a kind of engineering machinery positioning system, which is characterized in that the system is used as described in any one of claim 1~6
Method engineering machinery positioned.
8. system as claimed in claim 7, which is characterized in that the system comprises:
Data storage device is used to store coordinate of two specified points in engineering machinery space coordinates in engineering machinery；
Coordinate measuring set, be used for obtain be located at tunnel in engineering machinery on two specified points in tunnel space coordinate system
Coordinate；
Positioning device is connect with the data storage device and coordinate measuring set, for being existed according to described two specified points
The coordinate of coordinate and described two specified points in tunnel space coordinate system in engineering machinery space coordinates carries out coordinate system
Transformation, and pose of the engineering machinery in the tunnel space coordinate system is obtained according to transformation results.
9. system as claimed in claim 8, which is characterized in that the engineering machinery positioning system further includes two prisms, institute
Two prisms are stated to be separately positioned on two different specified points of the engineering machinery,
The coordinate measuring set is configured to measure coordinate of two prisms in tunnel space coordinate system respectively, to obtain
State coordinate of two specified points in tunnel space coordinate system.
10. system as claimed in claim 8 or 9, which is characterized in that the positioning device is configured to obtain tunnel space coordinate
System obtains trunnion axis rotation angle around trunnion axis to the rotation angle of the engineering machinery space coordinates, and according to the water
Flat axis rotates angle, using coordinate of described two specified points in tunnel space coordinate system and in engineering machinery space coordinates
In coordinate determine coordinate system conversion parameter, and determine the engineering machinery in the tunnel according to the coordinate system conversion parameter
Pose in road space coordinates.
11. system as claimed in claim 10, which is characterized in that the positioning device includes dipmeter, and the dipmeter is used
Angle is rotated in measuring the trunnion axis.
12. the system as described in any one of claim 8~11, which is characterized in that the data storage device and positioning dress
It installs in the engineering machinery.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111964653A (en) * | 2020-09-02 | 2020-11-20 | 石家庄铁道大学 | Railway construction station building positioning data measuring device and positioning method |
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