CN109752958A - A kind of adaptive net type constraint error compensation method of terrestrial net updating maintenance - Google Patents
A kind of adaptive net type constraint error compensation method of terrestrial net updating maintenance Download PDFInfo
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Abstract
The invention discloses a kind of adaptive net type of terrestrial net updating maintenance to constrain error compensation method, specifically includes the following steps: known point information is extracted from last round of control net simultaneously and constructs its net structure, the control point information of epicycle control net is solved according to last round of known point information, and constructs epicycle net structure；Similarity transformation is done to two phase net structures, after resolving according to coordinate transform formula, constructs compatible weight function；Tune weight factor is re-defined, in conjunction with compatible weight function, constructs known point weight matrix；The available accuracy of last calculating target function and known point in new net.The present invention updates the net type similarity transformation relationship of front and back according to terrestrial net, establish adaptive constraint adjustment Models, the compatibility of known point can be judged automatically in the case where not needing manual intervention, to assign different weights to known point, realize a kind of preferably data processing method.
Description
Technical field
The present invention relates to city and engineering control network field of measuring technique, are a kind of terrestrial net updates specifically
The adaptive net type of maintenance constrains error compensation method.
Background technique
During city and large-scale construction project, retention time and consistency spatially are answered, control is often embodied in
In the coordinate stability of point, but there is no the points of absolute stability on ground.It develops over time and naturally, early period
Control point trend of the times position and the known coordinate of laying will necessarily have a degree of misfit.
The prior art of city and heavy construction control net updating maintenance still conforms to the way of restraint, i.e. known point using pressure
Compatibility " non-zero i.e. 1 ", it is known that point then defaults 100% weight, this absolutization usage mode is very universal once being used.With
This there is no unified standard also, it is known that point compatibility test method is different, main method show as checking procedure is more, threshold value not
Clearly, phenomena such as individual point compatibility are not significant.Therefore, known point being divided into compatible and incompatible two class, operability is not strong,
And simple classification is apparently not optiaml ciriterion.If can be by from 0% to the 100% section quantification of compatibility of known point, to match
It assigns different weights and carrys out real weighted adjustment, it is clear that is more excellent.
Domestic and international adjustment Software such as POWERNET, GLOBK etc. support different amounts of appropriate relaxation to resolve, and are that a kind of weighting is flat
Poor calculation method, but this method needs user to be previously entered weight, has subjectivity, is different from this adaptive approach.In fact,
One city or an engineering project are surveyed in area's terrestrial net, and changing rule of each control point in natural society's environment is
It is difficult to determination.But in this complicated variation phenomenon, a mathematical relationship is stable, that is, several between control point
What relationship, i.e., the network structure formed between control point still maintain the similitude of height before and after repetition measurement.
This is also the main purpose after city and engineering control network updating maintenance in fact --- keep ground reference data phase
To stabilization.Similitude based on net structure, i.e., in view of the absoluteness of point changes, it is also contemplated that the geometrical relationship of point interdigit
Relative stability, can be used as the Fundamentals of Mathematics of adaptive weighted adjustment.
Summary of the invention
The purpose of the present invention is to provide a kind of adaptive net type of terrestrial net updating maintenance to constrain error compensation method, visitor
It sees ground and optimizes the data processing problem for solving terrestrial net updating maintenance.
The present invention is achieved through the following technical solutions: a kind of adaptive net type constraint adjustment of terrestrial net updating maintenance
Method, specifically includes the following steps:
Step F1: known point information is extracted from last round of control net and constructs its net structure, while being controlled from epicycle
Epicycle net structure is constructed in the observation information of net；
Step F2: coordinate similarity transformation is done to two phase net structures；
Step F3: after resolving according to coordinate transform formula, compatible weight function is constructed；
Step F4: definition is adaptive to adjust weight factor, in conjunction with compatible weight function, constructs known point weight matrix；
Step F5: instrument error equation, calculating target function；
Step F6: resolution error equation calculates each point available accuracy.
Further, in order to preferably realize the present invention, the step F1 specifically includes the following steps:
Step F11: known point information (X is extracted from last round of control grid databasei',Yi',Zi')T, it is assumed that there is t1It is a
Know a little, then constructs corner closure net structure Net'(Xi',Yi',Zi'；I=1,2 ..., t1)；
Step F12: according in the known point information extracted in step F11 any point coordinate and its orientation be start base
Standard calculates the coordinate value (X at other control points under the conditions of quasi- free state according to the vector information of epicycle control net observationi',
Yi',Zi')TIf the vector observation in net between adjacent two o'clock ij isAccuracy of observation is accordinglyThe coordinate formula of i point is then calculated by j point are as follows:
Epicycle control selvage angle is formed as a result, is closed net structure Net (Xi,Yi,Zi；I=1,2 ..., t1)T, due to every
All at least there are two consecutive points to connect for a point, therefore each point can at least calculate twice, to calculate the residual of observation
Residual quantityIt solves epicycle and tests error in rear weight unit, formula are as follows:
In formula (2), n is observation sum.
Further, in order to preferably realize the present invention, step F2 is specifically referred to:
Similarity transformation is done to two phase net structures Net', Net；Wherein, the net structure three-dimensional coordinate under space vector becomes
Change formula are as follows:
If being placed under plane vector, net structure two-dimensional coordinate transformation for mula are as follows:
Wherein εx、εy、εzFor the rotation parameter of tri- reference axis of X, Y, Z, δ μ is scale parameter.
Further, in order to preferably realize the present invention, the step F3 specifically includes the following steps:
Step F31: according to coordinate transform least square method, each position coordinate residual error υ is immediately arrived ati；
Step F32: error σ in known point compatibility residual error is calculatedII, formula are as follows:
Step F33: according to coordinate residual error υi, construct compatible weight function:
Further, in order to preferably realize the present invention, the step F4 specifically includes the following steps:
Step F41: definition is adaptive to adjust weight factor
Step F42: in conjunction with compatible weight function and weight factor is adjusted, constructs known point weight matrix:
Further, in order to preferably realize the present invention, the step F5 specifically includes the following steps:
Step F51: net observation information is controlled according to epicycle, determines observation matrix L and its concentration matrix Q, coefficient matrix
A, coordinate parameters matrixObservation error battle array Δ constructs observational equation
Step F52: by coordinate parameters matrixIt is divided into the t with prior information1Tie up known pointIt unites with not having priori
Count the t of characteristic2Tie up unknown pointTwo parts；
Step F53: objective function is determined:
Further, in order to preferably realize the present invention, the step F6 specifically includes the following steps:
Step F61: coordinate parameters matrix equation is solved using least square method, iterative step F51-F61 is constantly updated and sat
Matrix and its residual error are marked, until the objective function of step F53 is minimum:
Step F62: error in the adaptive weight unit of epicycle terrestrial net is calculated:
Calculate available accuracy of the known point in new net:
Working principle:
Safeguard the front and back strong similarity relation of net structure according to terrestrial net, develop a kind of terrestrial net known point from
It adapts to assign Quan Fangfa, objectively optimizes the data processing problem for solving terrestrial net updating maintenance.
Compared with prior art, the present invention have the following advantages that and the utility model has the advantages that
The present invention updates the net type similarity transformation relationship of front and back according to terrestrial net, establishes adaptive constraint adjustment mould
Type can judge automatically the compatibility of known point in the case where not needing manual intervention, to assign to known point different
Weight realizes a kind of preferably data processing method.
Detailed description of the invention
Fig. 1 is inventive algorithm flow chart；
Fig. 2 is frame network point distribution and translocation schematic diagram in the embodiment of the present invention 4；
Fig. 3 is the frame net constraint front and back poor comparison diagram of base correction number in the embodiment of the present invention 4；
Fig. 4 is that frame net adjusted data result compares in the embodiment of the present invention 4；
Fig. 5 is the intercity line CPI repetition measurement net schematic diagram in Shanghai and Nanjing in the embodiment of the present invention 5；
Fig. 6 is the poor distribution schematic diagram of the intercity line CPI net correction in Shanghai and Nanjing in the embodiment of the present invention 5；
Fig. 7 is the intercity line CPI net known point correction comparison in Shanghai and Nanjing in the embodiment of the present invention 5.
Specific embodiment
The present invention is described in further detail below with reference to embodiment, embodiments of the present invention are not limited thereto.
Embodiment 1:
The present invention is achieved through the following technical solutions, as Figure 1-Figure 4, a kind of terrestrial net updating maintenance it is adaptive
Net type is answered to constrain error compensation method, specifically includes the following steps:
Step F1: known point information is extracted from last round of control net and constructs its net structure, while being controlled from epicycle
Epicycle net structure is constructed in the observation information of net；
Step F2: coordinate similarity transformation is done to two phase net structures；
Step F3: after resolving according to coordinate transform formula, compatible weight function is constructed；
Step F4: definition is adaptive to adjust weight factor, in conjunction with compatible weight function, constructs known point weight matrix；
Step F5: instrument error equation, calculating target function；
Step F6: resolution error equation calculates each point available accuracy.
It should be noted that the present invention proposes a kind of adaptive net of terrestrial net updating maintenance by above-mentioned improvement
Type constrains error compensation method, safeguards the front and back strong similarity relation of net structure according to terrestrial net, develops a kind of terrestrial net
Known point self-adapted tax Quan Fangfa objectively optimizes the data processing problem for solving terrestrial net updating maintenance.At this
A age more and more close together, itself precision for controlling net are still improving, but the strong structure relationship of net type has obtained very
Good holding, thus this method has very strong adaptability and Ke Tuo.
GPS technology has been widely used for the foundation of hierarchic network, and the compatibility test of known point and adjustment strategy
The always key link of GPS network resolving.Consistency based on coordinate difference similarity transformation Yu basic lineal vector observational equation, can between
It connects and resolves known point compatibility relative indicatrix, be aided with adaptive tune weight factor and finally realize known point Weighted Constraint adjustment, be one
The novel practical method that kind GPS network updating maintenance resolves, the benchmark that can efficiently solve high precise control net conform to problem, therefore
The present embodiment is using GPS control net as example explanation.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 2:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in Figure 1, the step F1 is specifically included
Following steps:
Step F11: known point information (X is extracted from last round of control grid databasei',Yi',Zi')T, it is assumed that there is t1It is a
Know a little, then constructs corner closure net structure Net'(Xi',Yi',Zi'；I=1,2 ..., t1)；
Step F12: according in the known point information extracted in step F11 any point coordinate and its orientation be start base
Standard calculates the seat at other control points under the conditions of quasi- free state (least commitment) according to the vector information of epicycle control net observation
Scale value (Xi',Yi',Zi')TIf the vector observation in net between adjacent two o'clock ij isCorresponding observation
Precision isThe coordinate formula of i point is then calculated by j point are as follows:
Epicycle control selvage angle is formed as a result, is closed net structure Net (Xi,Yi,Zi；I=1,2 ..., t1)T, in coordinate
After the completion of all calculating, the angle sum of a triangle that adjacent 3 points are constituted is calculated, is compared, will not meet with 180 ° of theoretical value
Amount distributes to 3 observation vectors, obtains the residual error of corresponding observationIt is tested in rear weight unit to solve
Error, formula are as follows:
In formula (2), n is observation sum.
Step F2 is specifically referred to:
Similarity transformation is done to two phase net structures Net', Net；Wherein, the net structure three-dimensional coordinate under space vector becomes
Change formula are as follows:
If being placed under plane vector, net structure two-dimensional coordinate transformation for mula are as follows:
Wherein εx、εy、εzFor the rotation parameter of tri- reference axis of X, Y, Z, δ μ is scale parameter.
It should be noted that by above-mentioned improvement, to realize adaptive weighted to known point in control net, need to combine
Two mathematical relationships of GPS control net, it may be assumed that
Relationship one: in time net adjusted data, the weight of basic lineal vector correction and obligatory point is proportional to；
Relationship two: in repetition measurement net adjusted data, known point position has figure similarity transformation relationship before and after repetition measurement.
It directly calculates that weight operand is big, operability is poor by relationship one, but proves relationship one and relationship second is that unification,
So known point weight can be determined indirectly by similarity transformation, it was demonstrated that process is as follows: similarity transformation -> known point residual error ->
Base correction number -> known point weight.
Wherein similarity transformation can be understood as translation, rotation, scaling between two figures, i.e. seven ginsengs of three dimensional space coordinate
The four-parameter conversion of number conversion or two-dimensional space.Under rectangular coordinate system in space, if r0=(X0Y0Z0)TIndicate former coordinate system O'-
Position vector of the origin O' of X'Y'Z' in new coordinate, εx、εy、εzFor the rotation parameter of tri- reference axis of X, Y, Z, δ μ is ruler
Parameter is spent, then coordinate of the arbitrary point i in new coordinate system may be expressed as: with matrix
It is not difficult to obtain two o'clock coordinate difference transformation model by Coordinate Transformation Models, the coordinate difference transformation model between point i and point j
It may be expressed as: with matrix
Above formula can be rewritten as:
GPS Space Baseline Vector error equation are as follows:
Obviously, the space coordinate difference transformational relation (formula 16) and Space Baseline Vector error equation derived by similarity transformation
(formula 17) is consistent.Similarly, under plane rectangular coordinates, conversion parameter εx=εy=0, transformation model are as follows:
To write out the two-dimensional coordinate difference transformation model between point i and point j, with matrix model are as follows:
Above formula can be rewritten as:
GPS Baseline Vector two-dimensional constrains adjustment data model are as follows:
Obviously, under plane rectangular coordinates, the plane coordinates difference transformational relation (formula 20) and two dimension derived by similarity transformation
Basic lineal vector error equation (formula 21) is consistent.
Therefore, basic lineal vector correction caused by consistent point residual error and strong constraint is detected with consistent by similarity transformation
Property, to establish theoretical basis for known point weight, this is also the reason that similarity transformation can examine known point compatibility.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 3:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in Figure 1, the step F3 is specifically included
Following steps:
Step F31: according to coordinate transform least square method, each position coordinate residual error υ is immediately arrived ati；
Step F32: error σ in known point compatibility residual error is calculatedII, formula are as follows:
Step F33: according to coordinate residual error υi, construct compatible weight function:
The step F4 specifically includes the following steps:
Step F41: definition is adaptive to adjust weight factor
Step F42: in conjunction with compatible weight function and weight factor is adjusted, constructs known point weight matrix:
The step F5 specifically includes the following steps:
Step F51: net observation information is controlled according to epicycle, determines observation matrix L and its concentration matrix Q, coefficient matrix
A, coordinate parameters matrixObservation error battle array Δ constructs observational equation
Step F52: by coordinate parameters matrixIt is divided into the t with prior information1Tie up known pointIt unites with not having priori
Count the t of characteristic2Tie up unknown pointTwo parts；
Step F53: objective function is determined:
The step F6 specifically includes the following steps:
Step F61: coordinate parameters matrix equation is solved using least square method, iterative step F51-F61 is constantly updated and sat
Matrix and its residual error are marked, until the objective function of step F53 is minimum:
Note: iterative process does not need to update λ under normal circumstances, but some instrument producers are to sell instrument, therefore
The precise information measured in specific environment is replaced its nominal accuracy by meaning, is not extremely inconsistent with actual measurement environment, is caused to see
Measured value precision virtual height causes iteration that can not restrain so that it is higher to cause λ value of the invention to define.Therefore, when iteration does not restrain
When, λ should be updated by 0.1 multiple step-length in calculating process, increase iterative step F41-F42, it may be assumed that the λ →... of λ → 0.2 of λ → 0.1；
Step F62: error in the adaptive weight unit of epicycle terrestrial net is calculated:
Calculate available accuracy of the known point in new net:
It should be noted that incompatible point correction is big by above-mentioned improvement, compatible point correction is small, by
This can define power with coordinate corrective value and compare relationship.Known point weight matrix is constructed using the certificateTwo parts can be divided into,
That is relative weighting and adaptation adjusts weight factor, and concrete mode is as follows:
(1) weight factor ρ (υ is constructed based on known point residual errori):
In adjustment, the precision of correction generally quite with and slightly above its corresponding observed quantity precision.Therefore it can be used
Very mature ρ function in robust iterative, have residual error absolutely, minimum function, Huber function, Tukey function, Hampel function,
Danish law, IGG scheme etc., each method is similar.For example, Huber function are as follows:
(2) weight factor λ is adaptively adjusted based on error definition middle after testing before testing:
Adjust weight factor to play a part of balance influences without the error of coordinate of constraint net and target network.After if unconstrined minimization is tested
Error is σ in weight unitI, similarity transformation tests error σ in rear weight unitII, then adaptive factor λ (dimensionless) is defined are as follows:
I-th of known point weight as a result, are as follows:
Assuming that point sum known and unknown in control net is t, observation base vector number is n, if observational equation are as follows:
In above formula, A is n × t level matrix number,Coordinate parameters vector is tieed up for t, Δ is that n ties up observation error vector, L n
Basic lineal vector is tieed up, the weight matrix of L is indicated with n × n rank matrix P；Then error equation are as follows:
In above formula, V is that n ties up residual vector, X0ForApproximation.
Set again control net in known point number as t1, unknown point number is t2, thus willIt is divided into two parts, it may be assumed that
Wherein,For the t with priori value and Posterior weight1Known coordinate vector is tieed up, priori value is For without
The t of priori statistical property2Tie up unknown coordinates vector.
Objective function may be expressed as:
To obtain the equation of the least square solution of known point Weighted Constraint are as follows:
Power against needle are as follows:
If known point correction are as follows:
Then error in weight unit are as follows:
It brings formula (24) into formula (28), parameter optimal value can be resolved, and complete subsequent accuracy assessment, it is final to realize automatically
Change Weighted Constraint adjustment.
Meanwhile available accuracy (i.e. self-adaption accuracy) of the renewable known point in new net are as follows:
The place that known point Weighted Constraint adjustment Models are different from classical adjustment model is to need known point Posterior weightAlthough the variance matrix of known point has shown that the priori interest of known point is pushed away with the time in last round of control net
Shifting is difficult to remain unchanged.In control net updating maintenance, the known point of good compatibility ought to assign bigger weight, and for simultaneous
The point of capacitive difference ought to assign smaller weight.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 4:
The present embodiment advanced optimizes on the basis of the above embodiments, and as Figure 1-Figure 4, the present embodiment is with adaptive
It answers weight to construct error compensation method, carries out the checking computations of Desing Of Urban Network instance data.
Certain city is again started up new round control net maintenance work, has laid 11 Beidou ground strengthening system base stations,
The relationship with CGCS2000 is established by translocation 8 high-grade control points, GPS translocation net is as shown in Fig. 2, in CGCS2000 benchmark
Under, to GPS Baseline Vector unconstrined minimization.Test error σ in rear weight unitI=± 0.78cm, X-direction correction are less than
0.48cm, Y-direction correction are less than 1.37cm, and Z-direction correction is less than 1.76cm, illustrate the interior symbol of the GPS network of this maintenance
Conjunction property is fine.And after obligating adjustment, as shown in figure 3, each base station correction occurs a small number of lofty without constraint reduction, say
There are incompatible in bright GPS known point.
According to adaptive weighted method, after seeking the free coordinate of each point under unconfined condition, carried out with known coordinate
Similarity transformation can obtain the coordinate residual error of known point, to define the weight of known point.Error in known point similarity transformation residual error
σII=± 1.94cm, it is known that adaptive factor λ=6.2.
In order to preferably assess adaptive weighted constraint adjustment effects, compares this adaptive approach and foreign countries GLOBK is filtered
Algorithm and country cosaGPS obligate arithmetic result.The GLOBK filtering algorithm correction situation of known point is as shown in table 1,
It is as shown in table 2 that cosaGPS obligates algorithm.The algorithm YXIU point worst to compatibility is obligated not use directly, and it is right
It is equal in these general points of compatibility of QLAI, RENS and with the point of other good compatibilities and uses, easily causes net type and locally lose
Very；And though filtering algorithm and this method consistency are preferable, individual points such as QLAI point reductions are insufficient, and YXIU reduction mistake
Greatly, illustrate that filtering algorithm does not consider net type similarity relation.In addition, the resolving of other 11 base stations is as shown in Figure 4, it can be seen that
Weighted Constraint adjustment coordinate difference curve is gentler, illustrates that its coordinate relative stability is kept as more preferably, reliability is more equal
Even, effect, which is significantly better than, obligates adjustment.
Table 1
Table 2
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 5:
The present embodiment advanced optimizes on the basis of the above embodiments, and as shown in Fig. 1,5-7, the present embodiment is with two dimension
Without constraining and obligating error compensation method, the checking computations of engineering control network instance data are carried out.
" Shanghai and Nanjing inter-city high-speed rail " is the inter-city passenger rail passenger traffic in connection East China a two big city Shanghai City and Nanjing
Special line, is completely laid with non-fragment orbit by 301 kilometers of operating mileage.It is illustrated in figure 5 the intercity CPI control net repetition measurement schematic diagram in Shanghai and Nanjing,
It controls net and uses the independent engineering coordinate system based on WGS84 ellipsoid, in addition to individual destructions restore current potential, other points are all with
Know coordinate.
Under WGS84 benchmark, two dimension is carried out respectively to GPS Baseline Vector without constraining and obligating adjustment, relatively together
Name basic lineal vector correction, a small number of lofty points of poor appearance, as shown in fig. 6, illustrating GPS known point, there are incompatible.According to this
The adaptive weighted method of invention, the first step is i.e. by seeking each point projection coordinate under unconfined condition, and and known coordinate
The coordinate residual error of known point can be obtained by carrying out similarity transformation, to define the weight of known point.Unconstrined minimization tests rear weight unit
Middle error σI=± 1.57cm, it is known that error σ in point similarity transformation residual errorII=± 2.54cm, then adaptive factor λ=2.8.It is right
Than the coordinates correction value that existing cosaGPS software finally resolves, it is flat preferably to assess the adaptive weighted constraint of the present embodiment
Poor effect, the two are as shown in Figure 7 to the reduction situation of known point.
Obviously, method of weighting error compensation method is only adapted to the correction of known point compared with correcting mode correction, trend one
It causes but correction more mitigates, embody adaptive weighted leash law to GPS network intensity and the comprehensive assessment result for meeting benchmark.
It, can be automatic in the case where not needing manual intervention using GPS network similarity transformation relationship and constraint adjustment Models
Judge the compatibility of known point, to assign different weights to known point, realizes a kind of preferably Weighted Constraint adjustment side
Method.Embodiment 4 and embodiment 5 have carried out reality in certain Desing Of Urban Network updating maintenance and high-speed rail CPI net repetition measurement using this method
It tests, achieves good experiment effect.At this, more and more close age, itself precision for controlling net mention step by step together
Height, thus this method can also be extended to other types and closely control in net.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is all according to
According to technical spirit any simple modification to the above embodiments of the invention, equivalent variations, protection of the invention is each fallen within
Within the scope of.
Claims (7)
1. a kind of adaptive net type of terrestrial net updating maintenance constrains error compensation method, it is characterised in that: specifically include following
Step:
Step F1: extracting known point information from last round of control net and construct its net structure, while being netted from epicycle control
Epicycle net structure is constructed in observation information；
Step F2: coordinate similarity transformation is done to two phase net structures；
Step F3: after resolving according to coordinate transform formula, compatible weight function is constructed；
Step F4: definition is adaptive to adjust weight factor, in conjunction with compatible weight function, constructs known point weight matrix；
Step F5: instrument error equation, calculating target function；
Step F6: resolution error equation calculates each point available accuracy.
2. a kind of adaptive net type of terrestrial net updating maintenance according to claim 1 constrains error compensation method, special
Sign is: the step F1 specifically includes the following steps:
Step F11: known point information (X is extracted from last round of control grid databasei',Yi',Zi')T, it is assumed that there is t1It is a known
Point then constructs corner closure net structure Net'(Xi',Yi',Zi'；I=1,2 ..., t1)；
Step F12: according in the known point information extracted in step F11 any point coordinate and its orientation be start benchmark,
According to the vector information of epicycle control net observation, the coordinate value (X at other control points under the conditions of quasi- free state is calculatedi',Yi',
Zi')TIf the vector observation in net between adjacent two o'clock ij isAccuracy of observation is accordinglyThe coordinate formula of i point is then calculated by j point are as follows:
Epicycle control selvage angle is formed as a result, is closed net structure Net (Xi,Yi,Zi；I=1,2 ..., t1)T, in coordinate whole
After the completion of reckoning, the angle sum of a triangle that adjacent 3 points are constituted is calculated, is compared with 180 ° of theoretical value, resultant point will be inconsistent
3 observation vectors of dispensing, obtain the residual error of corresponding observationIt is tested in rear weight unit to solve epicycle net
Error, formula are as follows:
In formula (2), n is observation sum.
3. a kind of adaptive net type of terrestrial net updating maintenance according to claim 2 constrains error compensation method, special
Sign is: step F2 is specifically referred to:
Similarity transformation is done to two phase net structures Net', Net；Wherein, the net structure three-dimensional coordinate transformation under space vector is public
Formula are as follows:
If being placed under plane vector, net structure two-dimensional coordinate transformation for mula are as follows:
Wherein εx、εy、εzFor the rotation parameter of tri- reference axis of X, Y, Z, δ μ is scale parameter.
4. a kind of adaptive net type of terrestrial net updating maintenance according to claim 3 constrains error compensation method, special
Sign is: the step F3 specifically includes the following steps:
Step F31: according to coordinate transform least square method, each position coordinate residual error υ is immediately arrived ati；
Step F32: error σ in known point compatibility residual error is calculatedII, formula are as follows:
Step F33: according to coordinate residual error υi, construct compatible weight function:
5. a kind of adaptive net type of terrestrial net updating maintenance according to claim 4 constrains error compensation method, special
Sign is: the step F4 specifically includes the following steps:
Step F41: definition is adaptive to adjust weight factor
Step F42: in conjunction with compatible weight function and weight factor is adjusted, constructs known point weight matrix:
PXi=λ ρ (υi), i=1,2 ..., t1 (8)。
6. a kind of adaptive net type of terrestrial net updating maintenance according to claim 5 constrains error compensation method, special
Sign is: the step F5 specifically includes the following steps:
Step F51: net observation information is controlled according to epicycle, determines observation matrix L and its concentration matrix Q, coefficient matrices A, seat
Mark parameter matrixObservation error battle array Δ constructs observational equation
Step F52: by coordinate parameters matrixIt is divided into the t with prior information1Tie up known pointPriori statistics is special with not having
The t of property2Tie up unknown pointTwo parts；
Step F53: objective function is determined:
7. a kind of adaptive net type of terrestrial net updating maintenance according to claim 6 constrains error compensation method, special
Sign is: the step F6 specifically includes the following steps:
Step F61: coordinate parameters matrix equation is solved using least square method, iterative step F51-F61 constantly updates coordinate square
Battle array and its residual error, until the objective function of step F53 is minimum:
Step F62: error in the adaptive weight unit of epicycle terrestrial net is calculated:
Calculate available accuracy of the known point in new net:
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