CN109944450B - Structure construction multi-point synchronous high-precision positioning method based on Beidou GNSS & BIM - Google Patents
Structure construction multi-point synchronous high-precision positioning method based on Beidou GNSS & BIM Download PDFInfo
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Abstract
The invention provides a structure construction multipoint synchronous high-precision positioning method based on Beidou GNSS and BIM, which is characterized in that a 360-degree electric control rotary photoelectric distance measuring device is used for synchronously measuring a plurality of key nodes of a measured structure, the geodetic coordinates of the measured nodes are automatically calculated through coordinates provided by the Beidou GNSS and relative distances, relative elevation angles and direction angles between the distance measuring device and the high-precision positioning device as well as between the distance measuring device and the measured key nodes, and the coordinates of corresponding nodes in a BIM model are directly replaced through coordinate conversion and mapping relation. The structure construction multi-point synchronous high-precision positioning method based on the Beidou GNSS and BIM can realize synchronous measurement of coordinates of a plurality of key nodes of the structure and enables a BIM model to keep synchronization with structure construction.
Description
Technical Field
The method is mainly applied to measurement and precision control in the civil engineering construction process, and particularly, intelligent analysis and construction simulation are carried out on the construction precision by using the BIM technology.
Background
Due to the lack of data interaction, the construction BIM model is difficult to reflect the actual construction site. Although some automatic total stations can perform on-site line releasing and rechecking according to the BIM model, the technology cannot unify the BIM model with the on-site, and is inconvenient for construction process precision control and safety management service.
For hydraulic lifting and sliding of a large steel structure, coordinates of key nodes in the lifting and sliding process of the large steel structure are mastered, and the method is very necessary for evaluating the final construction precision and the construction process safety. The existing technical means can only monitor individual key nodes (patent number: 201610637972.0, patent name: a method for controlling hydraulic lifting precision of a steel structure net rack based on BIM), and cannot meet the requirement of large-scale monitoring of large-span structure construction. Based on the method, a structure construction multipoint synchronous rapid positioning method based on Beidou GNSS high-precision positioning is provided.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art, provides a structure construction multi-point synchronization high-precision positioning method based on Beidou GNSS and BIM, can realize the synchronous measurement of a plurality of key node coordinates of a structure, and enables a BIM model to keep synchronization with the structure construction.
The technical scheme is as follows: a multi-point synchronous high-precision positioning method for structure construction based on Beidou GNSS and BIM specifically comprises the following steps,
(1) when the structure is constructed, a Beidou GNSS high-precision positioning device is arranged in a region where the structure is not interfered by construction, and the geodetic coordinate of the position is obtained;
(2) arranging a 360-degree electric control rotary photoelectric distance measuring device in an open area between a measured structure and the Beidou GNSS positioning equipment, wherein the photoelectric distance measuring device is used for monitoring the relative distance, the relative elevation angle and the direction angle between the photoelectric distance measuring device and the Beidou GNSS positioning equipment as well as the key nodes of the measured structure;
(3) the remote control photoelectric distance measuring device is used for synchronously measuring a plurality of key nodes of the measured structure in real time, acquiring geodetic coordinates of the measured key nodes and storing the geodetic coordinates;
(4) and synchronously replacing corresponding coordinates of the construction BIM according to the mapping relation between the key node of the measured structure and the construction BIM, and synchronizing the construction BIM and the structure construction.
The invention has the further improvement that in the step (1), the Beidou GNSS positioning equipment is directly arranged in an actual construction area instead of a cross-pile coordinate point outside a construction site.
The invention has the further improvement that in the step (2), the actual position of the Beidou GNSS positioning device can be adjusted in the construction process, so that the distance measuring device can measure the GNSS positioning equipment and the key nodes of the measured structure at one time, and the influence of accumulated errors on the measuring result is avoided.
The invention has the further improvement that in the step (2), the 360-degree electric control rotating photoelectric distance measuring device has high-speed rotation and high positioning precision, and distance measuring and positioning of about 6 points can be realized in 1 minute theoretically;
the invention has the further improvement that in the step (3), the geodetic coordinates of the measured key nodes are directly obtained by calculation through parameters such as the coordinates of the positioning device, the relative distance, the relative elevation angle and the direction angle between the positioning device and the distance measuring device, the relative distance, the relative elevation angle and the direction angle between the measured key nodes and the distance measuring device, and the like which are obtained by calculation through the Beidou GNSS.
The invention has the further improvement that in the step (3), the coordinate algorithm of the Beidou GNSS positioning equipment and the coordinate algorithm of the key node of the measured structure is as follows:
(1) beidou GNSS positioning equipment coordinate algorithm
Known Beidou positioning device A point coordinate (x) in Beidou GNSS positioning equipment1,y1,z1) Beidou positioning device B point coordinate (x) in Beidou GNSS positioning equipment2,y2,z2) The distance from the point C to be solved to the point A is rho1The distance from the point C to the point B to be solved is rho2If the elevation angle from the point C to the point A is alpha, then the coordinate (x) of the point C of the measuring device is measured3,y3,z3) The calculation is as follows:
z3＝z1-ρ1sinα
and has ρ3＝ρ1cosα
The solution problem is that in the plane with elevation z3, the center is A1 and rho is taken as the center3Circle with radius and using B1 as center, rho4Solving for the intersection point coordinates of the circles with the radii;
(x3-x1)2+(y3-y1)2＝ρ3 2 (1)
(x3-x2)2+(y3-y2)2＝ρ4 2 (2)
namely, it is
x3 2-2x3x1+x1 2+y3 2-2y3y1+y1 2＝ρ3 2 (3)
x3 2-2x3x2+x2 2+y3 2-2y3y2+y2 2＝ρ4 2 (4)
Subtracting the two formulas, eliminating the quadratic term to obtain
Substituting the above formula into formula (3) or formula (4) to obtain x3Then substituting into formula (5) to obtain y3；
Because two circles intersect to form two intersection points, in the two groups of solutions, one group of solutions is selected according to needs;
(2) measured structure key node coordinate algorithm
Knowing coordinates (x3, y3, z3) of a C point of the distance measuring equipment, wherein the distance between the C point and the D point of the key node D of the structure to be measured is rho, a horizontal corner (direction angle) alpha and a vertical corner (elevation angle) beta;
and (3) solving coordinates (x4, y4, z4) of the point to be measured, solving:
x4＝ρcosβsinα+x3
y4＝ρcosβcosα+y3
z4＝ρsinβ+z3
written in matrix form
Namely, it is
The invention has the further improvement that in the step (4), after the calculation of the geodetic coordinates of the key nodes of the measured structure is finished, the coordinate system is changed into local coordinates through coordinate conversion, and the local coordinates are consistent with the construction BIM model.
The invention has the further improvement that in the step (2), when the large-span structure is monitored in a large range, two to a plurality of 360-degree electric control rotating photoelectric distance measuring devices can be arranged. Each device can realize synchronous measurement and positioning of 50 points within 10 minutes of measurement step length, the manual measurement efficiency is far exceeded, and the multi-point synchronous measurement and positioning of key nodes during the slippage and jacking construction of a large-span structure body are met; when a plurality of 360-degree electric control rotating photoelectric distance measuring devices are adopted, and a large span structure is subjected to multipoint synchronous measurement, the algorithm is as follows:
s1 Equipment measurement points P11, P12, P13, … …, P1(m1-1), P1(m1)
S2 Equipment measurement points P21, P22, P23, … …, P2(m2-1), P2(m2)
……
Sn Equipment measurement points Pn1, Pn2, Pn3, … …, Pn (mn-1), Pn (mn)
That is, the S1 device measurement point coordinates:
s2 measuring point coordinate of equipment
Sn device measurement point coordinates:
compared with the prior art, the multipoint synchronous high-precision positioning method based on the Beidou GNSS and BIM for the structure construction provided by the invention at least has the following beneficial effects:
1. the invention can synchronously measure the coordinates of a plurality of key nodes of the structure in the construction process.
2. The invention realizes the synchronization of BIM model maintenance and structure construction.
3. Through a plurality of 360-degree electric control rotating photoelectric distance measuring devices, the measuring task of the key node coordinate with a large span structure and a large range can be measured, and the measuring precision and the measuring synchronism are ensured.
4. The method is suitable for synchronous monitoring of the deformation of the steel structure when the large-span component is hydraulically lifted or slides.
Of course, it is not specifically necessary for any one product that implements the invention to achieve all of the above-described technical effects simultaneously.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart of the operation of the present invention;
FIG. 2 is a diagram of a station coordinate algorithm of the distance measuring device;
FIG. 3 is a diagram of a measured structure key node coordinate algorithm;
fig. 4 is a diagram of a multi-point synchronous measurement positioning algorithm of a plurality of electrically-controlled rotating photoelectric distance measuring devices on a key node.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
Example 1, an international convention and exhibition center project for a certain Yangtze river and coastal city comprises two main bodies, namely a conference center and an exhibition center, and the total building area is about 12.3 ten thousand meters2. The structural roof respectively adopts a steel truss and a steel mesh truss roof, and correspondingly adopts jacking and sliding construction. In order to control the downwarping deformation of the steel roof node in the jacking and sliding processes, the method provided by the invention is adopted, and the lifting and sliding processes of the steel structure are synchronously monitored by 2 pieces of BeiDou GNSS high-precision positioning equipment and 2 pieces of 360-degree high-precision electric control photoelectric distance measuring devices, so that the construction is ensured to be successful once without safety and quality construction.
A multi-point synchronous high-precision positioning method for structure construction based on Beidou GNSS and BIM specifically comprises the following steps,
(1) when the structure is constructed, 2 high-precision positioning devices of a Beidou GNSS are arranged in an area where the structure is not interfered by construction, and the geodetic coordinates of the position are obtained;
(2) arranging 2 360-degree electric control rotary photoelectric distance measuring devices in an open area between a measured structure and the Beidou GNSS positioning equipment, wherein the photoelectric distance measuring devices are used for monitoring the relative distance, the relative elevation angle and the direction angle between the photoelectric distance measuring devices and key nodes of the Beidou GNSS positioning equipment and the measured structure;
(3) the remote control photoelectric distance measuring device is used for synchronously measuring a plurality of key nodes of the measured structure in real time, acquiring geodetic coordinates of the measured key nodes and storing the geodetic coordinates;
(4) and synchronously replacing corresponding coordinates of the construction BIM according to the mapping relation between the key node of the measured structure and the construction BIM, and synchronizing the construction BIM and the structure construction.
Based on the embodiment, the 360-degree electric control rotating photoelectric distance measuring device is used for synchronously measuring a plurality of key nodes of the measured structure, the geodetic coordinates of the measured nodes are automatically calculated through the coordinates provided by the Beidou GNSS and the relative distance, the relative elevation angle and the direction angle between the distance measuring device and the Beidou GNSS high-precision positioning device as well as between the distance measuring device and the measured key nodes, the coordinates of the corresponding nodes in the BIM model can be directly replaced through coordinate conversion and mapping relation, the synchronous measurement of the coordinates of the plurality of key nodes of the structure is realized, and the BIM model is kept synchronous with the structure construction.
To further explain the embodiment, it should be noted that, in step (2), the ranging apparatus performs one measurement on the GNSS positioning apparatus and the key node of the structure under test. And reasonable ranging equipment layout positions are selected, so that the ranging equipment only needs to measure the key nodes of the GNSS positioning equipment and the measured structure once respectively, the accumulated error caused by multiple measurement is avoided, and the overall measurement precision is improved.
To further explain the embodiment, it should be noted that, in step (1), the beidou GNSS positioning apparatus is directly deployed in the actual construction area, not in the intersection coordinate point outside the construction site.
To further explain this embodiment, it should be noted that, in step (2), during the construction, the actual position of the beidou GNSS positioning apparatus may be adjusted, and the distance measurement apparatus is implemented to measure the GNSS positioning apparatus and the key node of the measured structure at one time, so as to avoid the influence of the accumulated error on the measurement result.
To further explain the embodiment, it should be noted that, in the step (2), the 360-degree electrically-controlled rotating photoelectric distance measuring device has high-speed rotation and high positioning accuracy, and can theoretically realize distance measuring and positioning at about 6 points in 1 minute;
for further explanation of the embodiment, it should be noted that in step (3), the geodetic coordinates of the measured key node, the positioning device coordinates obtained by calculation of the beidou GNSS, the relative distance, the relative elevation angle and the direction angle between the positioning device and the ranging device, and the relative distance, the relative elevation angle and the direction angle between the measured key node and the ranging device are directly obtained by calculation, which can meet the requirement of synchronous measurement of a plurality of key nodes in a small-range structure.
To further explain this embodiment, it should be noted that, in step (3), the algorithm for the coordinate of the Beidou GNSS positioning apparatus and the coordinate of the key node of the measured structure is as follows:
(1) coordinate algorithm of 360-degree electric control rotation photoelectric distance measuring device
Known Beidou positioning device A point coordinate (x) in Beidou GNSS positioning equipment1,y1,z1) Beidou positioning device B point coordinate (x) in Beidou GNSS positioning equipment2,y2,z2) The distance from the point C to be solved to the point A is rho1The distance from the point C to the point B to be solved is rho2The elevation angle from the point C to the point A is alpha, as shown in FIG. 2, then the coordinate (x) of the point C of the electro-optical distance measuring device3,y3,z3) The calculation is as follows:
z3＝z1-ρ1sinα
and has ρ3＝ρ1cosα
The solution problem is that in the plane with elevation z3, the center is A1 and rho is taken as the center3Circle with radius and using B1 as center, rho4Solving for the intersection point coordinates of the circles with the radii;
(x3-x1)2+(y3-y1)2＝ρ3 2 (1)
(x3-x2)2+(y3-y2)2＝ρ4 2 (2)
namely, it is
x3 2-2x3x1+x1 2+y3 2-2y3y1+y1 2＝ρ3 2 (3)
x3 2-2x3x2+x2 2+y3 2-2y3y2+y2 2＝ρ4 2 (4)
Subtracting the two formulas, eliminating the quadratic term to obtain
Substituting the above formula into formula (3) or formula (4) to obtain x3Then substituting into formula (5) to obtain y3；
Because two circles intersect to form two intersection points, in the two groups of solutions, one group of solutions is selected according to needs;
(2) as shown in fig. 3, the measured structure key node coordinate algorithm:
knowing coordinates (x3, y3, z3) of a C point of the distance measuring equipment, wherein the distance between the C point and the D point of the key node D of the structure to be measured is rho, a horizontal corner (direction angle) alpha and a vertical corner (elevation angle) beta;
and (3) solving coordinates (x4, y4, z4) of the point to be measured, solving:
x4＝ρcosβsinα+x3
y4＝ρcosβcosα+y3
z4＝ρsinβ+z3
written in matrix form
Namely, it is
To further explain this embodiment, it should be noted that, in step (4), after the geodetic coordinates of the key nodes of the measured structure are calculated, the coordinate system is changed into local coordinates through coordinate transformation, and the local coordinates are kept consistent with the construction BIM model.
To further explain the embodiment, it should be noted that, in the step (2), when the large-span structure is monitored in a large range, two to multiple 360-degree electrically-controlled rotary photoelectric distance measuring devices may be arranged. If the key node coordinates of a structure with a large range need to be measured, a plurality of distance measuring devices need to be used simultaneously so as to ensure the measurement precision and synchronism; the invention is suitable for the synchronous monitoring of the deformation of the steel structure when the large-scale component in the steel structure construction is hydraulically lifted or slides. And replacing the corresponding coordinates of the structure construction BIM model by the coordinates of the measured nodes of the structure after coordinate conversion according to the mapping relation, so that the construction BIM model and the site are kept synchronous.
Each device can realize synchronous measurement and positioning of 50 points within 10 minutes of measurement step length, the manual measurement efficiency is far exceeded, and the multi-point synchronous measurement and positioning of key nodes during the slippage and jacking construction of a large-span structure body are met; when a plurality of 360-degree electric control rotating photoelectric distance measuring devices are adopted, and a large span structure is subjected to multipoint synchronous measurement, as shown in fig. 4, the algorithm is as follows:
s1 Equipment measurement points P11, P12, P13, … …, P1(m1-1), P1(m1)
S2 Equipment measurement points P21, P22, P23, … …, P2(m2-1), P2(m2)
……
Sn Equipment measurement points Pn1, Pn2, Pn3, … …, Pn (mn-1), Pn (mn)
That is, the S1 device measurement point coordinates:
s2 measuring point coordinate of equipment
Sn device measurement point coordinates:
according to the embodiment, the multipoint synchronous high-precision positioning method based on the Beidou GNSS and BIM structure construction provided by the invention at least has the following beneficial effects:
1. the invention can synchronously measure the coordinates of a plurality of key nodes.
2. The invention realizes the synchronization of BIM model maintenance and structure construction.
3. At least one 360-degree electric control rotary photoelectric distance measuring device can measure key node coordinates of structures in a large range, and the measuring precision and the measuring synchronism are guaranteed.
4. The method is suitable for synchronous monitoring of the deformation of the steel structure when the large-span structure construction large member is hydraulically lifted or slides.
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (3)
1. A multi-point synchronous high-precision positioning method for structure construction based on Beidou GNSS and BIM is characterized by comprising the following steps of,
(1) when the structure is constructed, Beidou GNSS high-precision positioning equipment is arranged at a position where the structure is not interfered by construction, and geodetic coordinates of the position are obtained;
(2) arranging a 360-degree electric control rotary photoelectric distance measuring device in an open area between a measured structure and the Beidou GNSS positioning equipment, wherein the photoelectric distance measuring device is used for monitoring the relative distance, the relative elevation angle and the direction angle between the photoelectric distance measuring device and the Beidou GNSS positioning equipment as well as the key nodes of the measured structure;
(3) the remote control distance measuring device is used for synchronously measuring a plurality of key nodes of the measured structure in real time, calculating geodetic coordinates of the measured key nodes and storing the geodetic coordinates;
(4) synchronously replacing corresponding coordinates of the construction BIM according to the mapping relation between the key node of the measured structure and the construction BIM, and synchronizing the construction BIM and the structure construction;
in the step (3), the algorithm of the coordinate of the Beidou GNSS positioning equipment and the coordinate of the key node of the measured structure is as follows:
(1) beidou GNSS positioning equipment coordinate algorithm
Known Beidou positioning device A point coordinate (x) in Beidou GNSS positioning equipment1,y1,z1) Beidou positioning device B point coordinate (x) in Beidou GNSS positioning equipment2,y2,z2) The distance from the point C to be solved to the point A is rho1The distance from the point C to the point B to be solved is rho2If the elevation angle from the point C to the point A is alpha, then the coordinate (x) of the point C of the measuring device is measured3,y3,z3) The calculation is as follows:
z3＝z1-ρ1sinα
and has ρ3＝ρ1cosα
The solution problem is that in the plane with elevation z3, the center is A1 and rho is taken as the center3Solving the coordinate of the intersection point of the circle with the radius and the circle with the B1 as the center and the rho 4 as the radius;
(x3-x1)2+(y3-y1)2＝ρ3 2 (1)
(x3-x2)2+(y3-y2)2＝ρ4 2 (2)
namely, it is
x3 2-2x3x1+x1 2+y3 2-2y3y1+y1 2＝ρ3 2 (3)
x3 2-2x3x2+x2 2+y3 2-2y3y2+y2 2＝ρ4 2 (4)
Subtracting the two formulas, eliminating the quadratic term to obtain
Substituting the above formula into formula (3) or formula (4) to obtain x3Then substituting into formula (5) to obtain y3；
Because two circles intersect to form two intersection points, in the two groups of solutions, one group of solutions is selected according to needs;
(2) measured structure key node coordinate algorithm
Knowing coordinates (x3, y3, z3) of a C point of the distance measuring equipment, wherein the distance between the C point and the D point of the key node D of the structure to be measured is rho, a horizontal corner (direction angle) alpha and a vertical corner (elevation angle) beta;
and (3) solving coordinates (x4, y4, z4) of the point to be measured, solving:
x4＝ρcosβsinα+x3
y4＝ρcosβcosα+y3
z4＝ρsinβ+z3
written in matrix form
Namely, it is
In the step (4), after the geodetic coordinates of the key nodes of the measured structure are calculated, the coordinate system is changed into local coordinates through coordinate conversion, and the local coordinates are consistent with the construction BIM model;
in the step (2), at least one 360-degree electric control rotary photoelectric distance measuring device is arranged according to the application environment and the precision requirement;
when a plurality of 360-degree electric control rotating photoelectric distance measuring devices are adopted, and a large span structure is subjected to multipoint synchronous measurement, the algorithm is as follows:
s1 Equipment measurement points P11, P12, P13, … …, P1(m1-1), P1(m1)
S2 Equipment measurement points P21, P22, P23, … …, P2(m2-1), P2(m2)
……
Sn Equipment measurement points Pn1, Pn2, Pn3, … …, Pn (mn-1), Pn (mn)
That is, the S1 device measurement point coordinates:
s2 measuring point coordinate of equipment
Sn device measurement point coordinates:
2. the structure construction multipoint synchronous high-precision positioning method based on the Beidou GNSS and BIM as claimed in claim 1, wherein in the step (2), the ranging device only needs to measure the GNSS positioning equipment and the key nodes of the measured structure once, and the influence of accumulated errors on the measurement result is not required to be considered.
3. The structure construction multipoint synchronous high-precision positioning method based on the Beidou GNSS and BIM as claimed in claim 1, wherein in the step (3), the geodetic coordinates of the measured key nodes are obtained by directly calculating the parameters of the positioning device coordinates, the relative distance, the relative elevation angle and the direction angle between the positioning device and the ranging device, the relative distance, the relative elevation angle and the direction angle between the measured key nodes and the ranging device, and the like, which are obtained by the Beidou GNSS high-precision positioning calculation.
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