CN109540112B - Total station and sun measurement and orientation method thereof - Google Patents

Total station and sun measurement and orientation method thereof Download PDF

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CN109540112B
CN109540112B CN201811602762.3A CN201811602762A CN109540112B CN 109540112 B CN109540112 B CN 109540112B CN 201811602762 A CN201811602762 A CN 201811602762A CN 109540112 B CN109540112 B CN 109540112B
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sun
total station
image
sun image
horizontal angle
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CN109540112A (en
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詹银虎
李崇辉
张超
郑勇
刘泽军
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Information Engineering University of PLA Strategic Support Force
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract

The invention relates to a total station and a sun-measuring orientation method thereof, wherein a sun image is obtained by the total station, and the center of mass of the sun image is extracted by adopting an edge detection and circle fitting method; then, acquiring an observation horizontal angle of the sun by combining a total station pixel coordinate and a scale coordinate transformation model when a sun image is shot; determining a theoretical azimuth angle of the sun according to the position of the total station, the photographing time and a solar calendar; calculating the azimuth angle of the total station horizontal scale in the zero degree direction according to the theoretical azimuth angle and the observation horizontal angle of the sun; the invention utilizes the automatic photographing function of the total station to replace the naked eyes of people to realize the automatic observation of the sun, realizes the full-automatic measurement and improves the efficiency of measuring the sun orientation.

Description

Total station and sun measurement and orientation method thereof
Technical Field
The invention belongs to the technical field of image processing, and particularly relates to a total station and a sun measurement and orientation method thereof.
Background
The observation targets of astronomical measurement are natural celestial bodies such as the sun, the moon, the planet, the fixed star and the like. In all natural celestial bodies, the sun is very important, mainly because most photoelectric detection devices on the ground can only observe fixed stars at night and cannot realize all-time astronomical measurement. In the optical wave band, the sun is the only natural celestial body which can be used for astronomical measurement in the daytime, and the sun has enough brightness, extremely regular shape and good imaging quality, so the sun has important significance for realizing all-time astronomical measurement.
For example, a document disclosed in surveying and mapping technical equipment of the ministry of shanghai, zhang yin gao, zhang chao in 2012, which is "a new fast sun-measuring and orienting method" is a sun-measuring and orienting method based on an electronic theodolite, which has no photographing function, and needs to observe the edge of the sun by naked eyes of people, so that the method is labor-consuming, low in efficiency and prone to errors.
Meanwhile, in the classical solar measurement orientation based on the total station, the naked eye of a person needs to alternately aim at the front edge and the back edge of the sun, and the azimuth angle of the horizontal scale of the total station in the direction of 0 degree is determined by an observation measurement averaging method, so that the orientation is finished. The measurement method completely depends on human visual observation, time and labor are wasted, and certain orientation errors can be introduced by the inherent sighting habit of operators.
Disclosure of Invention
The invention aims to provide a total station and a sun measurement and orientation method thereof, which are used for solving the problems of low observation efficiency and poor accuracy caused by the fact that the sun is observed by human eyes at present.
In order to solve the technical problem, the invention provides a total station-based sun measurement and orientation method, which comprises the following steps:
1) acquiring a sun image by using an image acquisition module of the total station, and recording an imaging moment and a horizontal angle and a height angle of the total station;
2) carrying out centroid extraction on the acquired sun image to obtain a centroid position of the sun image;
3) calculating an observation horizontal angle of the sun according to the centroid position of the sun image, the central horizontal angle of the cross wire of the telescope of the total station, the pixel coordinate of the total station and a scale coordinate conversion model;
4) and calculating the theoretical azimuth angle of the sun according to the position of the total station, the photographing time and the solar calendar, and calculating the azimuth angle of the total station in the zero degree direction of the horizontal dial according to the theoretical azimuth angle of the sun and the observation horizontal angle of the sun.
The invention has the beneficial effects that: the invention images the sun through the total station, extracts the centroid of the sun image, and acquires the observation horizontal angle of the sun by combining the transformation model of the total station pixel coordinate and the scale coordinate; and further calculating the azimuth angle of the total station horizontal scale in the zero degree direction according to the theoretical azimuth angle of the sun and the observation horizontal angle of the sun, thereby finishing the orientation. The invention realizes full-automatic sun-finding orientation, gets rid of the dependence of a classical method on human eyes and improves the efficiency of astronomical orientation.
Further, in order to accurately achieve the orientation of the sun; the centroid extraction process of the sun image in the step 2) is as follows:
A. carrying out edge detection on the sun image to obtain edge point coordinates of the sun image;
B. and carrying out circle fitting on the edge point coordinates of the sun image to obtain the centroid position of the sun image.
Further, in order to more accurately extract the centroid of the solar image; and the edge detection of the step A is realized by adopting a Sobel operator.
Further, in order to improve the accuracy of the sun image centroid acquisition; and B, performing circle fitting by using a least square method.
Further, the orientation of the sun is accurately obtained; the observation horizontal angle of the sun in the step 3) is as follows:
Figure BDA0001922920170000021
wherein the content of the first and second substances,
Figure BDA0001922920170000022
is the x-coordinate, L, of the centroid of the sun image0Is the horizontal angle of the center of the cross wire of the telescope of the total station, k is the proportionality coefficient between the pixel coordinate and the scale coordinate, and b is a constant term.
The invention also provides a total station, which comprises an image acquisition module and an information processing module, wherein the image acquisition module is used for acquiring the sun image and sending the acquired sun image, the imaging time of the sun image and the horizontal angle and the elevation angle of the total station to the information processing module, and the information processing module is used for carrying out mass center extraction on the acquired sun image to obtain the mass center position of the sun image; and calculating the observation horizontal angle of the sun according to the centroid position of the sun image, the central horizontal angle of the crosshair of the total station telescope, the pixel coordinate of the total station telescope and the scale coordinate conversion model, calculating the theoretical azimuth angle of the sun according to the position of the total station, the photographing time and the solar calendar table, and calculating the azimuth angle of the total station horizontal scale in the zero-degree direction according to the theoretical azimuth angle of the sun and the observation horizontal angle of the sun.
The invention has the beneficial effects that: the invention adopts a total station with an image acquisition module and an information processing module to image the sun, extracts the centroid of the sun image, and acquires the observation horizontal angle of the sun by combining a conversion model of the total station pixel coordinate and the scale coordinate; and further calculating the azimuth angle of the total station horizontal scale in the zero degree direction according to the theoretical azimuth angle of the sun and the observation horizontal angle of the sun, thereby finishing the orientation. The invention realizes full-automatic sun-finding orientation, gets rid of the dependence of a classical method on human eyes and improves the efficiency of astronomical orientation.
Further, in order to accurately achieve the orientation of the sun; the centroid extraction process of the sun image is as follows:
A. carrying out edge detection on the sun image to obtain edge point coordinates of the sun image;
B. and carrying out circle fitting on the edge point coordinates of the sun image to obtain the centroid position of the sun image.
Further, in order to more accurately extract the centroid of the solar image; and the edge detection of the step A is realized by adopting a Sobel operator.
Further, in order to improve the accuracy of the sun image centroid acquisition; and B, performing circle fitting by using a least square method.
Further, in order to accurately obtain the orientation of the sun; the observation horizontal angle of the sun is as follows:
Figure BDA0001922920170000031
wherein the content of the first and second substances,
Figure BDA0001922920170000032
is the x-coordinate, L, of the centroid of the sun image0Is the horizontal angle of the center of the cross wire of the total station telescope, and k is the pixel coordinate and the scaleThe proportionality coefficient between the coordinates, b is a constant term.
Drawings
Fig. 1 is a flow chart of a total station based sun-finding orientation method of the present invention;
FIG. 2 is a field captured sun image of the present invention;
FIG. 3 is a schematic diagram of the edge point circle fitting of the solar image of the present invention;
fig. 4 is a schematic diagram of the results of the total station based solar determination orientation method of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The embodiment of the sun-measuring and orienting method based on the total station comprises the following steps:
the total station based sun measurement orientation method can replace human naked eyes to realize automatic observation of the sun and realize full-automatic measurement; as shown in fig. 1, the sunview orientation method includes the following steps:
(1) acquiring a sun image; an optical filter is additionally arranged in front of a telescope of the total station, and after the sun completely enters the field of view of the telescope, the total station is controlled by a notebook computer to photograph the sun, so that a sun image is obtained; fig. 2 is a sun image taken in the field. And simultaneously recording the imaging time and the horizontal angle and the height angle of the total station.
Specifically, taking a come card TS60 image total station as an example, the image acquisition instruction is as follows:
％R1Q，23623:1
(2) carrying out centroid extraction on the acquired sun image to obtain a centroid position of the sun image; the centroid extraction process of the solar image is as follows:
A. carrying out edge detection on the sun image to obtain edge point coordinates of the sun image; firstly, segmenting a sun image by adopting a classical global threshold segmentation algorithm, and filtering background noise; then, edge detection is carried out on the solar image by adopting a classical Sobel operator to obtain edge point coordinates of the solar image;
B. performing circle fitting according to the edge point coordinates of the sun image to obtain the centroid position of the sun image;
in this embodiment, a least square method is used to perform circle fitting on the edge point coordinates of the sun image, and the specific fitting method is as follows:
let the edge point coordinate sequence of the extracted sun image be (x)1,y1)...(xn,yn) Wherein (x)c0，yc0) Is the sun view center coordinate, r0Is the sun view surface radius, delta is a constant; fitting the centroid position coordinates of the solar image according to the least square method
Figure BDA0001922920170000041
And radius
Figure BDA0001922920170000042
Then the error equation is
Figure BDA0001922920170000043
Given a parametric approximation of X0＝[xc0 yc0 r0]TLinearize the error equation:
Figure BDA0001922920170000044
the coefficient expressions are as follows:
Figure BDA0001922920170000045
order to
Figure BDA0001922920170000046
Writing n error equations in matrix form
Figure BDA0001922920170000047
According to the least square method, the following can be obtained:
Figure BDA0001922920170000051
estimation of unknown parameters:
Figure BDA0001922920170000052
as shown in fig. 3, in this embodiment, the edge point coordinates of the sun image are fitted by a least square method, and then the centroid position coordinates of the sun image are accurately obtained through multiple iterations.
(3) Calculating an observation horizontal angle L of the sun according to the centroid position of the sun image, the central horizontal angle of the cross wire of the telescope of the total station, the pixel coordinate of the total station and a scale coordinate conversion model:
Figure BDA0001922920170000053
wherein
Figure BDA0001922920170000054
Is the x-coordinate, L, of the centroid of the sun image0The horizontal angle of the center of the cross wire of the telescope of the total station is shown, k is a proportionality coefficient between a pixel coordinate and a scale coordinate, b is a constant term, and L is an observation horizontal angle of the sun to be solved.
(4) Calculating the azimuth angle of the total station horizontal scale in the zero degree direction according to the theoretical azimuth angle and the observation horizontal angle of the sun;
θ＝A-L (9)
wherein, A is the theoretical azimuth angle of the sun, L is the observation horizontal angle of the sun, theta is the azimuth angle of the total station horizontal scale in the direction of zero degree (0 degree), and the east direction is positive from the north and the range is 0-360 degrees.
In the embodiment, the theoretical azimuth angle a of the sun is calculated according to the position of the total station, the photographing time and the solar calendar; specifically, the solar calendar is obtained by looking up a table according to the longitude and latitude of the total station and the photographing time.
Fig. 4 is a graph showing the difference between the orientation results of 12 sun images and the mean value, with a standard deviation of 2.2 arcsec, and the effect of the test according to the day-finding orientation method of the present invention.
In the embodiment, when the edge detection of the sun image is carried out, methods such as a Roberts cross operator, a Canny operator and a compass operator can be adopted; the fitting method for the edge point coordinates of the sun image in the above embodiment may also use a matrix decomposition method in the prior art.
Total station embodiment:
the invention also provides a total station, which comprises an image acquisition module and an information processing module, wherein the image acquisition module is used for acquiring the sun image and sending the acquired sun image, the imaging time of the sun image and the horizontal angle and the elevation angle of the total station to the information processing module, and the information processing module is used for carrying out mass center extraction on the acquired sun image to obtain the mass center position of the sun image; and calculating the observation horizontal angle of the sun according to the centroid position of the sun image, the central horizontal angle of the crosshair of the total station telescope, the pixel coordinate of the total station telescope and the scale coordinate conversion model, calculating the theoretical azimuth angle of the sun according to the position of the total station, the photographing time and the solar calendar table, and calculating the azimuth angle of the total station telescope in the zero-degree direction of the scale according to the theoretical azimuth angle of the sun and the observation horizontal angle. The specific processing procedure has been specifically described in the method embodiment, and is not described herein again.
The total station in this embodiment is a come card TS60 image total station.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (4)

1. A total station based sun measurement and orientation method is characterized by comprising the following steps:
1) acquiring a sun image by using an image acquisition module of the total station, and recording an imaging moment and a horizontal angle and a height angle of the total station;
2) carrying out centroid extraction on the acquired sun image to obtain a centroid position of the sun image;
3) calculating an observation horizontal angle of the sun according to the centroid position of the sun image, the central horizontal angle of the cross wire of the telescope of the total station, the pixel coordinate of the total station and a scale coordinate conversion model;
4) calculating a theoretical azimuth angle of the sun according to the position of the total station, the photographing time and a solar calendar, and calculating an azimuth angle of a horizontal scale of the total station in the zero degree direction according to the theoretical azimuth angle of the sun and an observation horizontal angle of the sun;
the centroid extraction process of the sun image in the step 2) is as follows:
A. carrying out edge detection on the sun image to obtain edge point coordinates of the sun image;
B. performing circle fitting on the edge point coordinates of the sun image to obtain the centroid position of the sun image;
b, performing circle fitting by using a least square method;
the observation horizontal angle of the sun in the step 3) is as follows:
Figure FDA0002917432160000011
wherein the content of the first and second substances,
Figure FDA0002917432160000012
is the x-coordinate, L, of the centroid of the sun image0Is the horizontal angle of the center of the cross wire of the telescope of the total station, k is the proportionality coefficient between the pixel coordinate and the scale coordinate, and b is a constant term.
2. The total station-based solar determination method according to claim 1, wherein said edge detection of step a is implemented using Sobel operator.
3. A total station is characterized by comprising an image acquisition module and an information processing module, wherein the image acquisition module is used for acquiring a sun image and sending the acquired sun image, the imaging time of the sun image and the horizontal angle and the elevation angle of the total station to the information processing module, and the information processing module is used for carrying out mass center extraction on the acquired sun image to obtain the mass center position of the sun image; calculating an observation horizontal angle of the sun according to the centroid position of the sun image, the central horizontal angle of the cross wire of the total station telescope, the pixel coordinate of the total station telescope and a scale coordinate conversion model, calculating a theoretical azimuth angle of the sun according to the position of the total station, the photographing time and a solar calendar table, and calculating an azimuth angle of the total station horizontal scale in the zero-degree direction according to the theoretical azimuth angle of the sun and the observation horizontal angle of the sun;
the centroid extraction process of the sun image is as follows:
A. carrying out edge detection on the sun image to obtain edge point coordinates of the sun image;
B. performing circle fitting on the edge point coordinates of the sun image to obtain the centroid position of the sun image;
b, performing circle fitting by using a least square method;
the observation horizontal angle of the sun is as follows:
Figure FDA0002917432160000021
wherein the content of the first and second substances,
Figure FDA0002917432160000022
is the x-coordinate, L, of the centroid of the sun image0Is the horizontal angle of the center of the cross wire of the telescope of the total station, k is the proportionality coefficient between the pixel coordinate and the scale coordinate, and b is a constant term.
4. The total station according to claim 3, wherein said edge detection of step A is performed using a Sobel operator.
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