CN109579805B - Baseline self-calibration measuring method - Google Patents
Baseline self-calibration measuring method Download PDFInfo
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
Abstract
The invention discloses a baseline self-calibration measuring method, which comprises the following steps: s1, setting a calibration base point according to the position of the monitored point; s2, grouping the monitored points; s3, calculating the initial direction of the survey station according to the least square principle according to the existing control points; s4, determining a real-time correction coefficient of the calibration base point; s5, obtaining a real-time transition correction coefficient of the plane intersection point by using a plane segmentation method according to the real-time correction coefficient of the calibration base point; s6, obtaining the real-time correction coefficient of the monitored point by using a space distance method according to the real-time transition correction coefficient of the plane intersection point; s7, obtaining the side length and the height difference of the monitored point after real-time correction according to the real-time correction coefficient of the monitored point; the problem of low accuracy of monitoring results caused by incomplete meteorological correction, complex monitoring system, poor timeliness and incapability of thoroughly eliminating other system errors in the prior art is solved; the automatic high-precision three-dimensional deformation monitoring is really realized.
Description
Technical Field
The invention belongs to the technical field of deformation monitoring, and particularly relates to a baseline self-calibration measuring method.
Background
In the prior art, the date and time span of deformation monitoring is very large, and when the TCA measuring robot is used for automatic measurement, the TCA measuring robot is inevitably influenced by meteorological representative errors, such as atmospheric side refraction, atmospheric vertical refraction, air temperature, air pressure, atmospheric humidity, wind direction and other factors. The influence of frequency drift, amplitude and phase errors of the electronic instrument, optical and mechanical system errors of an observation instrument and other unknown nonlinear errors is not negligible in precision measurement. These factors change over time with instrument, time, location, topography and atmospheric conditions. For example, for every 1 deg.C change in temperature and 3mba changes in barometric pressure, every 20% change in relative humidity will result in 1 millimeter (1ppm) error per 1 kilometer of range. The influence of the above factors is not considered in the deformation monitoring with a certain precision requirement, and a significant deviation is brought to the final monitoring result.
Therefore, the influence of these errors, especially meteorological errors, needs to be eliminated, and the next processing and calculation of the original observed values are performed, and the final result needs a huge and complex acquisition system composed of a plurality of electronic sensors in order to timely and accurately obtain the parameters, so that the operation cost of the automatic deformation monitoring system is increased, the stability and reliability of the whole system are reduced, and in practical application, the system has low practicability, and the data obtained by using the TCA measuring robot full-automatic measuring device has a large amount of obvious and non-negligible system error data, and cannot be used for deformation monitoring with certain precision requirements.
On the other hand, the existing high-precision deformation monitoring is divided into two components of plane deformation monitoring and elevation deformation monitoring, which belong to different coordinate systems and use completely different principles and instruments and equipment for measurement, in the plane deformation monitoring, a TCA measuring robot is used in many occasions at present, although the TCA measuring robot can obtain the results of plane deformation monitoring and the results of photoelectric triangulation elevation measurement, in the automatic observation, generally only one side (monitoring a monitored point on a measuring station) is observed, and the single-side photoelectric triangulation elevation measurement results are mainly due to the influence of atmospheric vertical refractive difference, the errors of the triangulation elevation results are very large, and the TCA height monitoring can reach the errors of a decimeter level under the conditions of long distance and large pitch angle, and is completely unsuitable for high-precision elevation deformation monitoring. Therefore, at present, the domestic automatic deformation monitoring is only for plane deformation monitoring, and the elevation deformation monitoring can only be manually operated by a precision level one by one station to complete the data acquisition of the elevation deformation monitoring.
Disclosure of Invention
Aiming at the defects in the prior art, the baseline self-calibration measuring method provided by the invention is used for solving the problems of high cost investment, poor timeliness and poor accuracy caused by the fact that system errors cannot be thoroughly eliminated in the prior art; particularly, the automation of high-precision three-dimensional deformation monitoring can be really realized under the condition of meeting a certain condition.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
a baseline self-calibration measurement method, comprising the steps of:
s1: setting a monitored point according to a monitored object, and setting a calibration base point according to the position by using a calibration base point setting method;
s2: grouping the monitored points according to a monitored point grouping method;
s3: initializing the survey station, namely determining the initial direction of the survey station;
s4: calculating a real-time correction coefficient of the calibration base point according to the measuring station and the determined starting direction;
s5: according to the real-time correction coefficient, a plane segmentation method is used for obtaining the real-time transition correction coefficient of the plane intersection point;
s6: obtaining the real-time correction coefficient of the monitored point by using a space distance method according to the real-time transition correction coefficient of the plane intersection point;
s7: and according to the real-time correction coefficient of the monitored point, obtaining the side length and the height difference of the monitored point after correction.
Further, in step S1, the calibration base point setting method includes:
one-point method comprises the following steps: the monitoring system is arranged at the center of a plurality of monitored points;
the two-point method comprises the following steps: the monitoring device is arranged at the centers of the horizontal or vertical wings of a plurality of monitored points;
three-point method: wherein, the two points are arranged at the centers of the two horizontal wings of the monitored points, and one point is arranged above or below the monitored points;
the four-point method comprises the following steps: the monitoring system is arranged at the upper, lower, left and right corners of an area covering a plurality of monitored points;
the scheme selects a four-point method, namely four calibration base points are arranged around a plurality of monitored points.
Further, in step S2, the monitored point grouping method includes:
dividing a plurality of monitored points of the same type into a group according to engineering geological conditions;
dividing a plurality of monitored points within an elevation threshold range into a group according to an elevation consistency method;
according to a method for shortening the time required for completing the observation period, a plurality of monitored points are divided into a group;
a number of monitored points, which are observed for a respective calibration base point both at the beginning and at the end, are grouped into a group.
Further, in step S3, determining an orientation value of the station start direction includes the following steps:
s3-1: selecting a plurality of rear viewpoints according to the positions of the existing control points;
s3-2: obtaining an observed actual horizontal direction value according to the rear viewpoint;
s3-3: calculating a difference between the actual horizontal direction value and the theoretical direction value;
s3-4: and obtaining the orientation value of the starting direction by using a least square method according to the side length reciprocal weight method and the difference value.
Further, in step S4, the general calculation formula of the real-time correction coefficient of the calibration base point is expressed as:
in the formula, KiCorrecting the coefficients in real time for the calibration base point; xi' is the measured value from the measuring station S to the ith calibration base point; xiTheoretical values for stations S to ith calibration base point.
Further, the universal real-time correction coefficients of the calibration base point comprise real-time side length correction coefficients and real-time altitude correction coefficients;
the formula for calculating the real-time side length correction coefficient is as follows:
in the formula,. DELTA.iCorrecting coefficients for the real-time side lengths from the measuring station S to the ith calibration base point; b'iThe actual measurement edge length value from the measuring station S to the ith calibration base point is obtained; b isiThe theoretical edge length value from the measuring station S to the ith calibration base point;
the calculation formula of the real-time altitude difference correction coefficient is as follows:
in the formula, deltaiCorrecting coefficients for real-time altitude differences from the survey station S to the ith calibration base point; h'iThe measured height difference value from the measuring station S to the ith calibration base point is obtained; h isiThe theoretical high difference from the station S to the ith calibration base point.
Further, in step S5, the calculation formula of the general real-time transition correction coefficient of the plane intersection point is:
in the formula, Kd12,Kd24,Kd34,Kd13Are respectively the base point of calibration JZ1,JZ2,JZ3,JZ4And the intersection point D of the two pairwise connecting lines with the two orthogonal horizontal planes and the vertical plane12,D24,D34,D13The universal real-time transition correction coefficient comprises a real-time side length correction coefficient of a plane intersection point and a real-time elevation correction coefficient of the plane intersection point; d1、d2、d3、d4、d5、d6、d7、d8Are respectively the base point of calibration JZ1,JZ2,JZ3,JZ4Point of intersection D with two orthogonal horizontal and vertical planes12,D24,D34,D13The connecting line between; k is a radical of1、k2、k3、k4Are respectively the base point of calibration JZ1,JZ2,JZ3,JZ4The universal real-time correction coefficient comprises a real-time side length correction coefficient of the calibration base point and a real-time altitude difference correction coefficient of the calibration base point.
Further, in step S6, the general real-time correction factor of the monitored point:
in the formula, Kpn is a universal real-time correction coefficient of a monitored point, and comprises a real-time side length correction coefficient of the monitored point and a real-time altitude difference correction coefficient of the monitored point; l1、l2、l3、l4Respectively as a monitored point and an intersection point D12,D24,D34,D13The connecting line of (2).
Further, in step S7, the general real-time correction coefficients of the monitored point include a real-time side length correction coefficient of the monitored point and a real-time height difference correction coefficient of the monitored point;
the calculation formula of the corrected side length of the monitored point is as follows:
Bn＝B'pn+BΔpn
in the formula, Bn is the side length of the corrected monitored point; b delta pn is a side length correction value of the monitored point obtained according to the real-time side length correction coefficient of the monitored point; b' pn is the actually measured edge length value of the monitored point;
the calculation formula of the corrected height difference of the monitored point is as follows:
Hn＝h'pn+Hδpn
in the formula, Hn is the height difference of the corrected monitored point; h delta pn is a height difference correction value obtained according to the real-time height difference correction coefficient of the monitored point; h' pn is the measured height difference of the monitored point.
Further, the calculation formula of the side length correction value of the monitored point is as follows:
BΔpn＝Δpn*B'pn
in the formula, Bdelta pn is a side length correction value of the monitored point; delta pn is the real-time side length correction coefficient of the monitored point; b' pn is the actually measured edge length value of the monitored point;
the calculation formula of the monitored point height difference correction value is as follows:
Hδpn＝δpn*h'pn
in the formula, H delta pn is the correction value of the height difference of the monitored point; delta pn is the real-time altitude difference correction coefficient of the monitored point; h' pn is the measured height difference of the monitored point.
The invention has the beneficial effects that:
(1) the baseline self-calibration measuring method provided by the invention saves cost investment, basically eliminates the problem of system errors caused by incomplete correction of meteorological parameters and other various nonlinear system errors in the conventional deformation monitoring, and simplifies a deformation monitoring system;
(2) the direction value, the edge length value and the height difference value acquired by the measuring robot are effectively corrected, so that the data precision is greatly improved, and the timeliness of deformation monitoring and the data accuracy are improved;
(3) on the premise of meeting the three-dimensional distribution of the calibration base points, the unilateral photoelectric triangulation elevation measurement is used for replacing the second-class leveling measurement, so that the plane deformation monitoring and the elevation deformation monitoring which is still manually measured at present can be combined into a whole, and the three-dimensional deformation monitoring is truly automated.
Drawings
FIG. 1 is a flow chart of a baseline self-calibration measurement method;
FIG. 2 is a graph of a baseline self-calibration measurement three-dimensional coordinate.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
A baseline self-calibration measurement method, as shown in fig. 1, comprising the steps of:
s1: setting a monitored point according to a monitored object, and setting a calibration base point according to the position by using a calibration base point setting method;
the setting method of the calibration base point comprises the following steps:
one-point method comprises the following steps: the monitoring system is arranged at the center of a plurality of monitored points;
the two-point method comprises the following steps: the monitoring device is arranged at the centers of the horizontal or vertical wings of a plurality of monitored points;
three-point method: wherein, the two points are arranged at the centers of the two horizontal wings of the monitored points, and one point is arranged above or below the monitored points;
the four-point method comprises the following steps: the monitoring system is arranged at the upper, lower, left and right corners of an area covering a plurality of monitored points;
the scheme selects a four-point method, namely four calibration base points are arranged around a plurality of monitored points;
s2: grouping a plurality of monitored points according to a monitored point grouping method;
the grouping method of the monitored points comprises the following steps:
dividing a plurality of monitored points of the same type into a group according to engineering geological conditions;
dividing a plurality of monitored points within an elevation threshold range into a group according to an elevation consistency method;
according to a method for shortening the time required for completing the observation period, a plurality of monitored points are divided into a group;
a plurality of monitored points for observing the corresponding calibration base points at the beginning and the end are divided into a group;
s3: initializing the station, namely determining the starting direction of the station, comprising the following steps:
s3-1: selecting a plurality of rear viewpoints according to the positions of the existing control points;
s3-2: obtaining an observed actual horizontal direction value according to the rear viewpoint;
s3-3: calculating a difference between the actual horizontal direction value and the theoretical direction value;
s3-4: obtaining an orientation value of the starting direction by using a least square method according to a side length reciprocal weight determination method and a difference value;
as shown in FIG. 2, in XYH rectangular coordinate system, JZ1,JZ2,JZ3,JZ4The method comprises the following steps that four calibration base points are positioned at four corners of a monitoring area, S is a measuring station, and Pn is an arbitrary monitored point in the area. And the Pn point is located on the horizontal plane of gray (parallel to the XY plane) and the vertical plane of yellow (parallel to the HY plane); the HX plane is substantially facing the survey station S;
D12,D24gray horizontal plane and calibration base point JZ respectively1,JZ3And JZ2,JZ4The intersection of the connecting lines;
D34,D13respectively a yellow vertical plane and a calibration base point JZ1,JZ2And JZ3,JZ4The intersection of the connecting lines;
s4: calculating a universal real-time correction coefficient of the calibration base point according to the measuring station and the determined starting direction;
the general calculation formula for the real-time correction coefficients of the calibration base points is expressed as:
in the formula, KiCorrecting the coefficients in real time for the calibration base point; xi' is the measured value from the measuring station S to the ith calibration base point; xiTheoretical values from the measuring station S to the ith calibration base point;
the universal real-time correction coefficient of the calibration base point comprises a real-time side length correction coefficient and a real-time altitude difference correction coefficient;
the formula for calculating the real-time side length correction coefficient is as follows:
in the formula,. DELTA.iCorrecting coefficients for the real-time side lengths from the measuring station S to the ith calibration base point; b'iThe actual measurement edge length value from the measuring station S to the ith calibration base point is obtained; b isiThe theoretical edge length value from the measuring station S to the ith calibration base point;
the calculation formula of the real-time altitude difference correction coefficient is as follows:
h 'is the actually measured height difference value from the station to a certain calibration base point'i，h'i＝LicosZ，LiZ is the zenith distance measured by the measuring station to the calibration base point for the bevel edge length after ppm correction,
in the formula, deltaiCorrecting coefficients for real-time altitude differences from the survey station S to the ith calibration base point; h'iThe measured height difference value from the measuring station S to the ith calibration base point is obtained; h isiThe theoretical height difference value from the measuring station S to the ith calibration base point;
s5: according to the real-time correction coefficient, a plane segmentation method is used to obtain a general real-time transition correction coefficient of the plane intersection point;
the calculation formula of the general real-time transition correction coefficient of the plane intersection point is as follows:
in the formula, Kd12,Kd24,Kd34,Kd13Are respectively the base point of calibration JZ1,JZ2,JZ3,JZ4And the intersection point D of the two pairwise connecting lines with the two orthogonal horizontal planes and the vertical plane12,D24,D34,D13The universal real-time transition correction coefficient comprises a real-time side length correction coefficient of a plane intersection point and a real-time elevation correction coefficient of the plane intersection point; d1、d2、d3、d4、d5、d6、d7、d8Are respectively the base point of calibration JZ1,JZ2,JZ3,JZ4Point of intersection D with two orthogonal horizontal and vertical planes12,D24,D34,D13The connecting line between; k is a radical of1、k2、k3、k4Are respectively the base point of calibration JZ1,JZ2,JZ3,JZ4The universal real-time correction coefficient comprises a real-time side length correction coefficient of the calibration base point and a real-time altitude difference correction coefficient of the calibration base point;
s6: acquiring a real-time correction coefficient of a monitored point by using a space distance method according to the general real-time transition correction coefficient of the plane intersection point;
general real-time correction factor of monitored point:
in the formula, Kpn is a universal real-time correction coefficient of a monitored point, and comprises a real-time side length correction coefficient of the monitored point and a real-time altitude difference correction coefficient of the monitored point; l1、l2、l3、l4Are respectively a quiltMonitoring point and intersection point D12,D24,D34,D13The connecting line of (1);
real-time side length correction coefficient of monitored point:
real-time elevation correction coefficient of monitored point:
s7: according to the general real-time correction coefficient of the monitored point, obtaining the corrected side length and height difference of the monitored point;
the general real-time correction coefficient of the monitored point comprises a real-time side length correction coefficient of the monitored point and a real-time altitude difference correction coefficient of the monitored point;
the calculation formula of the corrected side length of the monitored point is as follows:
Bn＝B'pn+BΔpn
in the formula, Bn is the side length of the corrected monitored point; b delta pn is a side length correction value obtained by the monitored point according to the real-time side length correction coefficient; b' pn is the actually measured edge length value of the monitored point;
the calculation formula of the side length correction value of the monitored point is as follows:
BΔpn＝Δpn*B'pn
in the formula, Bdelta pn is a side length correction value of the monitored point; delta pn is the real-time side length correction coefficient of the monitored point; b' pn is the actually measured edge length value of the monitored point;
the calculation formula of the corrected height difference of the monitored point is as follows:
Hn＝h'pn+Hδpn
in the formula, Hn is the height difference of the corrected monitored point; h delta pn is a height difference correction value obtained by the monitored point according to the real-time height difference correction coefficient; h' pn is the measured height difference of the monitored point.
The calculation formula of the monitored point height difference correction value is as follows:
Hδpn＝δpn*h'pn
in the formula, H delta pn is the correction value of the height difference of the monitored point; delta pn is the real-time altitude difference correction coefficient of the monitored point; h' pn is the measured height difference of the monitored point.
The invention has the beneficial effects that:
(1) the baseline self-calibration measuring method provided by the invention saves cost investment, basically eliminates the problem of system errors caused by incomplete correction of meteorological parameters and other various nonlinear system errors in the conventional deformation monitoring, and simplifies a deformation monitoring system;
(2) the direction value, the edge length value and the height difference value acquired by the measuring robot are effectively corrected, so that the data precision is greatly improved, and the timeliness of deformation monitoring and the data accuracy are improved;
(3) on the premise of meeting the three-dimensional distribution of the calibration base points, the unilateral photoelectric triangulation elevation measurement is used for replacing the second-class leveling measurement, so that the plane deformation monitoring and the elevation deformation monitoring which is still manually measured at present can be combined into a whole, and the three-dimensional deformation monitoring is truly automated.
Claims (5)
1. A baseline self-calibration measurement method, comprising the steps of:
s1: setting a monitored point according to a monitored object, and setting a calibration base point according to the position by using a calibration base point setting method;
s2: grouping the monitored points according to a monitored point grouping method;
s3: initializing the survey station, namely determining the initial direction of the survey station;
s4: calculating a real-time correction coefficient of the calibration base point according to the measuring station and the determined starting direction;
s5: according to the real-time correction coefficient of the calibration base point, a plane segmentation method is used for obtaining the real-time transition correction coefficient of the plane intersection point;
s6: obtaining the real-time correction coefficient of the monitored point by using a space distance method according to the real-time transition correction coefficient of the plane intersection point;
s7: according to the real-time correction coefficient of the monitored point, obtaining the corrected side length and height difference of the monitored point;
in step S4, the general calculation formula of the real-time correction coefficient of the calibration base point is expressed as:
in the formula, KiCorrecting the coefficients in real time for the calibration base point; xi' is the measured value from the measuring station S to the ith calibration base point; xiTheoretical values from the measuring station S to the ith calibration base point;
the general real-time correction coefficients of the calibration base points comprise real-time side length correction coefficients and real-time altitude correction coefficients;
the formula for calculating the real-time side length correction coefficient is as follows:
in the formula,. DELTA.iCorrecting coefficients for the real-time side lengths from the measuring station S to the ith calibration base point; b'iThe actual measurement edge length value from the measuring station S to the ith calibration base point is obtained; b isiThe theoretical edge length value from the measuring station S to the ith calibration base point;
the calculation formula of the real-time altitude difference correction coefficient is as follows:
in the formula, deltaiCorrecting coefficients for real-time altitude differences from the survey station S to the ith calibration base point; h'iThe measured height difference value from the measuring station S to the ith calibration base point is obtained; h isiThe theoretical height difference value from the measuring station S to the ith calibration base point;
in step S5, the calculation formula of the real-time transition correction coefficient of the plane intersection point is:
in the formula, Kd12,Kd24,Kd34,Kd13Are respectively the base point of calibration JZ1,JZ2,JZ3,JZ4And the intersection point D of the two pairwise connecting lines with the two orthogonal horizontal planes and the vertical plane12,D24,D34,D13The real-time transition correction coefficient comprises a real-time side length correction coefficient of a plane intersection point and a real-time elevation correction coefficient of the plane intersection point; d1For calibrating the base point JZ1And intersection point D12Length of the connecting line between, d2For calibrating the base point JZ2And intersection point D12Length of the connecting line between, d3For calibrating the base point JZ2And intersection point D24Length of the connecting line between, d4For calibrating the base point JZ4And intersection point D24Length of the connecting line between, d5For calibrating the base point JZ4And intersection point D34Length of the connecting line between, d6For calibrating the base point JZ3And intersection point D34Length of the connecting line between, d7For calibrating the base point JZ3And intersection point D13Length of the connecting line between, d8For calibrating the base point JZ1And intersection point D13The length of the connecting line between; k is a radical of1、k2、k3、k4Are respectively the base point of calibration JZ1,JZ2,JZ3,JZ4The universal real-time correction coefficient comprises a real-time side length correction coefficient of the calibration base point and a real-time altitude difference correction coefficient of the calibration base point;
in step S6, the real-time correction factor of the monitored point:
in the formula, Kpn is a universal real-time correction coefficient of a monitored point, and comprises a real-time side length correction coefficient of the monitored point and a real-time altitude difference correction coefficient of the monitored point; l1For the monitored point and the intersection point D12Length of connecting line of l2For the monitored point and the intersection point D24Length of connecting line of l3For the monitored point and the intersection point D34Of (2) a connection lineLength,. l4For the monitored point and the intersection point D13The length of the connection line;
in step S7, the general real-time correction coefficients of the monitored point include a real-time side length correction coefficient of the monitored point and a real-time height difference correction coefficient of the monitored point;
the calculation formula of the corrected side length of the monitored point is as follows:
Bn＝B'pn+BΔpn
in the formula, Bn is the side length of the corrected monitored point; b delta pn is a side length correction value obtained by the monitored point according to the real-time side length correction coefficient; b' pn is the actually measured edge length value of the monitored point;
the calculation formula of the height difference after the correction of the monitored point is as follows:
Hn＝h'pn+Hδpn
in the formula, Hn is the height difference of the corrected monitored point; h delta pn is a height difference correction value obtained by the monitored point according to the real-time height difference correction coefficient; h' pn is the measured height difference of the monitored point.
2. The baseline self-calibration measurement method according to claim 1, wherein in step S1, the calibration base point setting method is as follows:
one-point method comprises the following steps: the monitoring system is arranged at the center of a plurality of monitored points;
the two-point method comprises the following steps: the monitoring device is arranged at the centers of the horizontal or vertical wings of a plurality of monitored points;
three-point method: wherein, the two points are arranged at the centers of the two horizontal wings of the monitored points, and one point is arranged above or below the monitored points;
the four-point method comprises the following steps: the monitoring system is arranged at the upper, lower, left and right corners of an area covering a plurality of monitored points;
the baseline self-calibration measurement method selects a four-point method, namely four calibration base points are arranged around a plurality of monitored points.
3. The baseline self-calibration measurement method according to claim 2, wherein in step S2, the monitored points are grouped by:
dividing a plurality of monitored points of the same type into a group according to engineering geological conditions;
dividing a plurality of monitored points within an elevation threshold range into a group according to an elevation consistency method;
according to a method for shortening the time required for completing the observation period, a plurality of monitored points are divided into a group;
a number of monitored points, which are observed for a respective calibration base point both at the beginning and at the end, are grouped into a group.
4. The baseline self-calibration measurement method according to claim 3, wherein in step S3, the determining the orientation value of the station starting direction comprises the following steps:
s3-1: selecting a plurality of rear viewpoints according to the positions of the existing control points;
s3-2: obtaining an observed actual horizontal direction value according to the rear viewpoint;
s3-3: calculating a difference between the actual horizontal direction value and the theoretical direction value;
s3-4: and obtaining the orientation value of the starting direction by using a least square method according to the side length reciprocal weight method and the difference value.
5. The baseline self-calibration measurement method of claim 4, wherein the calculation formula of the side length correction value of the monitored point is as follows:
BΔpn＝Δpn*B'pn
in the formula, Bdelta pn is a side length correction value of the monitored point; delta pn is the real-time side length correction coefficient of the monitored point; b' pn is the actually measured edge length value of the monitored point;
the calculation formula of the monitored point height difference correction value is as follows:
Hδpn＝δpn*h'pn
in the formula, H delta pn is the correction value of the height difference of the monitored point; delta pn is the real-time altitude difference correction coefficient of the monitored point; h' pn is the measured height difference of the monitored point.
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| JP4634657B2 (en) * | 2001-06-29 | 2011-02-16 | 株式会社ミツトヨ | Calibration method for surface texture measuring device |
| CN100398274C (en) * | 2005-07-25 | 2008-07-02 | 廊坊智通机器人系统有限公司 | Robot tool centre point three-component calibration method based on plane measurement |
| CN106393174B (en) * | 2016-10-09 | 2018-10-26 | 华中科技大学 | A method of demarcating robot architecture's parameter using ball bar |
| CN106840137B (en) * | 2016-12-28 | 2022-12-27 | 中国煤炭科工集团太原研究院有限公司 | Automatic positioning and orienting method of four-point type heading machine |
| CN108519055A (en) * | 2018-04-26 | 2018-09-11 | 华中科技大学 | A kind of dual robot relative pose online calibration method of view-based access control model |
| CN108692688B (en) * | 2018-04-28 | 2020-02-18 | 武汉理工大学 | Automatic calibration method for coordinate system of scanner of robot measuring-processing system |
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