CN110793508B - Method and device for processing observation data of control points in three-dimensional control network - Google Patents

Method and device for processing observation data of control points in three-dimensional control network Download PDF

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CN110793508B
CN110793508B CN201911097080.6A CN201911097080A CN110793508B CN 110793508 B CN110793508 B CN 110793508B CN 201911097080 A CN201911097080 A CN 201911097080A CN 110793508 B CN110793508 B CN 110793508B
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measuring station
axis
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CN110793508A (en
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李宗春
郭迎钢
汤进九
何华
司奎
冯其强
邓磊
张冠宇
王志远
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Pla 61365
Information Engineering University of PLA Strategic Support Force
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract

The invention relates to a method and a device for processing observation data of control points in a three-dimensional control network, belonging to the technical field of data processing, wherein the method comprises the steps of obtaining observation data of each control point in the three-dimensional control network, wherein the observation data comprises an azimuth angle, a zenith distance and an oblique distance; calculating the coordinates of each control point under the coordinate system of the corresponding measuring station according to the observation data of each control point, wherein the corresponding measuring station is the measuring station for actually measuring the control point; and selecting a measuring station coordinate system of one of the control points as a reference coordinate system, and calculating the coordinates of each control point under the reference coordinate system according to the rotation relationship between the measuring station of the rest control points and the normal on the measuring station of the selected control point and by combining the coordinates of each control point under the corresponding measuring station coordinate system. Compared with the prior art, the method has the advantages that the influence of the non-parallelism of the plumb lines is considered, the observation data of the control points are changed, and the adjustment result after the change is high in accuracy.

Description

Method and device for processing observation data of control points in three-dimensional control network
Technical Field
The invention belongs to the technical field of data processing, and particularly relates to a method and a device for processing observation data of control points in a three-dimensional control network.
Background
In the precision triangulation height measurement in the prior art, the pyramid prisms are respectively fixed on two total stations, so that the relevant measurement information (including horizontal angle, vertical angle and slant distance) is determined by observing the pyramid prisms in opposite directions during measurement, as shown in fig. 1. Due to the influence of the curvature of the earth and the nonuniformity of the gravity field, the directions of plumb lines (which are reference lines for field measurement) of all stations are not parallel. Generally, in a small range, the effect of gravity field non-uniformity on the measurement results can be neglected, and the difference in station plumb line direction is only affected by the curvature of the earth. Generally, the leveling precision of the total station is 1 "-2", and the difference between plumb lines of stations with distances of more than 200m can reach 6 ", while in the prior art, the observation data processing method of the control points in the three-dimensional control network does not take the influence of the non-parallelism of the plumb lines into consideration, so that the observed value is inaccurate, the precision of subsequently solving the leveling function model of the three-dimensional control network is influenced, and the calculation precision of the positions of the control points in the three-dimensional control network obtained by solving is reduced.
Disclosure of Invention
The invention aims to provide a method and a device for processing observation data of control points in a three-dimensional control network, which are used for solving the problem that the observation value of the control points is inaccurate because the influence of the non-parallelism of plumb lines is not considered in the prior art.
Based on the above purpose, a technical scheme of the observation data processing method for the control points in the three-dimensional control network is as follows:
acquiring observation data of each control point in the three-dimensional control network, wherein the observation data comprises an azimuth angle, a zenith distance and an oblique distance;
calculating the coordinates of each control point under the coordinate system of the corresponding measuring station according to the observation data of each control point, wherein the corresponding measuring station is the measuring station for actually measuring the control point;
selecting a measuring station coordinate system of one of the control points as a reference coordinate system, and calculating the coordinates of each control point under the reference coordinate system according to the rotation relationship between the measuring station of the rest control points and the normal on the measuring station of the selected control point and the coordinates of each control point under the corresponding measuring station coordinate system;
calculating a modified observation value of observation data of the corresponding control point according to the coordinates of the control points under the reference coordinate system; the calculation formula of the modified observation value is as follows:
Figure BDA0002268664030000021
Figure BDA0002268664030000022
or
Figure BDA0002268664030000023
Wherein alpha ' is a changed observation value of azimuth angle in observation data of the control point, V ' is a changed observation value of zenith distance in observation data of the control point, X ', Y ' and Z ' are X-axis, Y-axis and Z-axis coordinates of the control point in a reference coordinate system respectively, and X and Y are X-axis and Y-axis coordinates of the control point in a corresponding coordinate system of the measuring station respectively.
Based on the above purpose, a technical solution of an observation data processing device for control points in a three-dimensional control network includes: and the processor is used for executing instructions to realize the observation data processing method.
The two technical schemes have the beneficial effects that:
the invention uses the difference between the normals of the measuring stations to replace the difference between plumb lines, namely, the angle relation between the normals on the two measuring stations is utilized, the coordinates of the control point under the coordinate system of the reference measuring station are calculated by combining the known coordinates of the control point under the coordinate system of the corresponding measuring station, and then the modified observation value of the observation data of the corresponding control point is calculated. Compared with the prior art, the method and the device have the advantages that the observation data of the control point are changed by considering the influence of the non-parallelism of the plumb lines, and the accuracy of the changed observation value is high.
In order to obtain the rotation relation between the measuring station with the rest control points and the normal on the measuring station with the selected control point, the following calculation formula is adopted:
Figure BDA0002268664030000035
ω＝-dx/r
Figure BDA0002268664030000031
in the formula, R is a rotation relation matrix; omega,
Figure BDA0002268664030000032
Respectively the angle of clockwise rotation around the Y axis and anticlockwise rotation around the X axis of the normal on the measuring station of the selected control point, and the angle of the normal on the measuring station of the selected control point is according to omega,
Figure BDA0002268664030000033
After rotating, the normal lines on the measuring station of the remaining control points are obtained; dx and dy are respectively the coordinate difference between the measured point and the measured station in the X direction and the Y direction of the coordinate system of the measured station, and r is the radius of the earth.
Further, after the rotation relation matrix is calculated, the coordinates of the control points in the reference measuring station coordinate system are obtained through the following calculation formula:
Figure BDA0002268664030000034
in the formula, X ', Y ' and Z ' are X-axis, Y-axis and Z-axis coordinates of the control point under a reference coordinate system respectively; and X, Y and Z are respectively the X-axis, Y-axis and Z-axis coordinates of the control point in the corresponding coordinate system of the measuring station.
Further, the three-dimensional control network adjustment function model is solved by using the changed observation value of the observation data, and the position of the corresponding control point in the three-dimensional control network is obtained through solving. Compared with the prior art, the three-dimensional control network adjustment function model is solved by using the changed observation value, and the position precision of the obtained control point is higher.
Drawings
FIG. 1 is a schematic representation of a prior art duplex total station method using a cube-corner prism for observation;
FIG. 2 is a schematic representation of the spatial relationship between the normals of two stations of the present invention;
FIG. 3 is a schematic distribution diagram of a three-dimensional control mesh of the present invention;
fig. 4 is a schematic diagram of the method of calibrating instrument constants of a total station according to the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The method comprises the following steps:
the embodiment provides an observation data processing method for control points in a three-dimensional control network, which comprises the following steps:
acquiring observation data of each control point in the three-dimensional control network, wherein the observation data comprises an azimuth angle, a zenith distance and an oblique distance; aiming at the observation data of each control point, the method is modified by adopting the following steps:
and calculating the coordinates of the control point in the corresponding coordinate system of the measuring station according to the observation data of the control point. Specifically, the observation data of the station i on the control point is (α, V, S), and since the pitch observation value does not change before and after rotation, S is taken as 1, and the data is analyzed in the unit sphere. In the survey station i, in a left-hand system having the north direction as the X axis and the normal line as the Z axis, the coordinates corresponding to the observed values (α, V, 1):
x＝cos(π/2-V)cosα
y＝cos(π/2-V)sinα
z＝sin(π/2-V)
in the formula, X, Y and Z are respectively X-axis, Y-axis and Z-axis coordinates of the control point in a coordinate system of a survey station i, alpha is an azimuth angle, and V is a zenith distance.
Selecting a coordinate system of a measuring station k of one control point as a reference coordinate system, wherein the measuring station k is a reference measuring station, and obtaining a rotation relation between normals on the measuring station i and the measuring station k (taking the first measuring station i and the second measuring station k as measuring stations on adjacent control points), wherein the rotation relation is as follows:
Figure BDA0002268664030000051
in the formula, R is a rotation relation matrix between normals on a measuring station i and a measuring station k; omega,
Figure BDA0002268664030000052
The normal of the measuring station k rotates clockwise around the Y axis (facing to the negative direction of the Y axis) and rotates anticlockwise around the X axis (facing to the negative direction of the X axis), and the normal of the measuring station k is according to omega,
Figure BDA0002268664030000053
After rotation, the normal of the station i is defined, as shown in FIG. 2, by the rotation angle ω,
Figure BDA0002268664030000054
The calculation formula of (a) is as follows:
ω＝-dx/r
Figure BDA0002268664030000055
in the formula, dx and dy are respectively the coordinate difference between a measured point and a measured station in the X direction and the Y direction of a coordinate system of the measured station, and r is the radius of the earth.
According to the rotation relation, the coordinates (x ', y ', z ') of the control point in the coordinate system of the measuring station k are calculated by combining the coordinates (x, y, z) of the control point in the coordinate system of the measuring station i, and the calculation formula is as follows:
Figure BDA0002268664030000056
in the formula, X ', Y ' and Z ' are respectively X-axis, Y-axis and Z-axis coordinates of the control point in a k coordinate system of the measuring station.
After the coordinates of the control points under a k coordinate system of the observation station are calculated, the changed observation values of the observation data corresponding to the control points are calculated according to the coordinates of the control points under an i coordinate system of the observation station and the k coordinate system of the observation station; the calculation formula of the modified observation value is as follows:
Figure BDA0002268664030000057
Figure BDA0002268664030000058
or
Figure BDA0002268664030000059
Wherein alpha ' is a changed observation value of azimuth angle in observation data of the control point, V ' is a changed observation value of zenith distance in observation data of the control point, X ', Y ' and Z ' are X-axis, Y-axis and Z-axis coordinates of the control point in a reference coordinate system respectively, and X and Y are X-axis and Y-axis coordinates of the control point in a corresponding coordinate system of the measuring station respectively.
By utilizing the changed observation value of the observation data, the adjustment function model of the three-dimensional control network can be solved, and the position precision of the obtained control point is higher. In particular, station i (x)i,yi,zi) Sighting station k (x)k,yk,zk) Respectively is an azimuth angle alphaikZenith distance VikAnd the slant distance SikThe modified observed values obtained by the above method are respectively alphaik'、Vik' and Sik. Let the orientation angle of the horizontal observation value of the station i (the coordinate azimuth angle of the zero line of the direction value scale) be xiiThen the observation equation is:
Figure BDA0002268664030000065
Figure BDA0002268664030000061
Figure BDA0002268664030000062
by the approximate calculation, the approximate coordinates (x) of the control point i (in the present embodiment, the station and the corresponding control point have the same reference numeral) can be obtainedi0,yi0,zi0) And the approximate coordinates (x) of control point kk0,yk0,zk0) Let Δ x0＝xk0-xi0，Δy0＝yk0-yi0，Δz0＝zk0-zi0Substituting into the above formula to obtain alphaik'、Vik' and SikApproximation of (a)0、V0And S0Respectively is as follows:
Figure BDA0002268664030000063
α0＝arctan(Δy0/Δx0)
V0＝arccos(Δz0/D0)
order to
Figure BDA0002268664030000064
Representing the approximate value of the straight distance from the control point i to the control point k, and taking the direction value obtained when the control point i is aligned with the control point k and subtracted from the azimuth angle from the control point i to the control point k as the initial value xi of the orientation angle of the observation station i0. Let the coordinate correction amount be (dx)i,dyi,dzi) And (dx)k,dyk,dzk) The number of directional angle corrections is d xiiThen, the error equation obtained by linearizing the observation equation is:
Figure BDA0002268664030000071
Figure BDA0002268664030000072
Figure BDA0002268664030000073
the unknown parameters in the error equation form a vector X, the corresponding coefficient matrix is a, and the free term is l, then the error equation (i.e. the three-dimensional control net adjustment function model) can be written as:
V＝AX+l
the coordinate correction (dx) after adjustment of each control point can be obtained by the least square original understandingi,dyi,dzi) And (dx)k,dyk,dzk) And the number of orientation angle corrections is d ξiAnd solving to obtain the position of the corresponding control point in the three-dimensional control network.
Three-dimensional control networks have three types of observation values of azimuth angle, zenith distance and slant distance, and are independent randomly. Weighting the three types of observed values according to an empirical formula, and then:
Figure BDA0002268664030000074
wherein, Pα、PT、PSThe weights of the three types of observation values of the azimuth angle, the zenith distance and the slant distance are respectively,mbeta is the angle measurement accuracy of the azimuth angle,mt is the angle measurement precision of the zenith distance,mand S is the distance measurement precision of the slant distance.
In one embodiment, the weight ratios of the three types of observed values can be determined according to the prior accuracy of the measuring instrument, and since the determination of the weight ratios has a direct influence on the accuracy and reliability of the adjustment result and the weight ratios of the various types of observed values are difficult to determine directly, another embodiment is to reasonably determine the weight ratios of the three types of observed values by using a method of Helmert variance-covariance component estimation, which is specifically referred to the general formula of variance-covariance component estimation of Helmert published in the university of Wuhan surveying and mapping technology, journal.
The observation data processing method of the present invention is verified below with specific application examples:
in order to install special equipment in certain tunnel engineering, geodetic coordinates with relative precision superior to +/-1 mm need to be introduced. The tunnel has a narrow internal space and is seriously shielded, so that the measurement process is very challenging.
The operation flow is as follows:
the method includes the steps of firstly, comprehensively considering an on-site measurement environment, inter-station distance, altitude difference and communication conditions, and planning a wire route.
Specifically, 2 large horizon height control points are distributed at about 200m outside the tunnel, and 15 lead edges are designed to form a closed lead for coordinate transmission according to the objective environment and the general view condition of the engineering. The longest side 185m, the shortest side 9m and the maximum vertical angle 43 ° are poor, and due to poor visibility conditions, all control points cannot be observed by a station arranged on the control points, branch wires need to be arranged on part of the control points for observation, and a schematic diagram of the wires is shown in fig. 3.
And secondly, erecting three total stations on the adjacent 3 control points respectively, and setting parameters such as temperature, air pressure, humidity, distance measurement and constants and the like.
③ total station of station B, C, and C, D.
And fourthly, moving the total station at the station B and the foot stool to the position E to form a three-dimensional lead between C and D and E, carrying out opposite observation on the total station at the station C, D and the total station at the station D, E according to the third step, moving the total station at the position C and the foot stool to the position F after observation until the measurement of all the control points is completed, and obtaining the observation data of all the control points.
According to the above-mentioned operation flow, the three-dimensional wire and branch wire measurements were performed 3 times in sequence, and the basic information of the three-dimensional wire is obtained as shown in table 1.
TABLE 1
Figure BDA0002268664030000081
And (3) processing the third observation data by taking the point B as a coordinate origin, taking the north direction as an X axis, taking a left-hand system of the point B with the plumb line direction as a Z axis as an engineering coordinate system and taking the survey station N as a reference point (the root-mean-square difference of the coordinates is 0) according to the following different data processing schemes.
The first scheme is as follows:
and (4) performing adjustment according to a traditional three-dimensional wire adjustment method, and taking a weight ratio of 2:1:0.25 according to the verified weight and the horizontal direction value, the zenith distance and the slant distance. After the adjustment, the error in the unit weight is ± 1.42 ", and the coordinates and the point location accuracy of the control points are shown in table 2.
TABLE 2
Figure BDA0002268664030000091
As can be seen from Table 2, the adjustment is performed according to the traditional three-dimensional wire adjustment method, the root mean square error among the point positions of 12 control points is +/-1.13 mm, and the accuracy of the adjustment result does not meet the engineering requirement yet.
Scheme II:
on the basis of the first scheme, correction of the non-parallelism of the plumb lines is carried out on the observed values, and the weight ratio of various observed values is unchanged. After the adjustment, the error in the unit weight is ± 1.01 ", and the coordinates and point location accuracy of the control points are shown in table 3.
TABLE 3
Figure BDA0002268664030000092
Figure BDA0002268664030000101
Comparing the accuracies of the control points in the table 2 and the table 3, the correction of the non-parallelism of the plumb line effectively improves the accuracy of the adjustment result, the root mean square error in the point location of the control point of the scheme two reaches +/-0.81 mm, but the accuracy of the point location of 4 points exceeds +/-1.13 mm, and the accuracy requirement of the engineering is still not met.
The third scheme is as follows:
and on the basis of the second scheme, optimizing the weight matrix by using a Helmert variance-covariance component estimation method. Through analysis of the observed values, the long-edge zenith distance observed value is considered to be seriously influenced by the refractive difference, the short-edge zenith distance is not obviously influenced by the refractive difference, and different weights are given to the long-edge zenith distance and the short-edge zenith distance, so that the adjustment result is more reasonable. According to the statistical condition of the length of the three-dimensional lead in actual measurement, the lead with the length exceeding 20m is considered as a long side, and the rest is a short side. And (3) iteratively weighting the four types of observation values of the horizontal direction value, the long-side zenith distance, the short-side zenith distance and the slant distance according to a Helmert variance-covariance component estimation method, wherein the weight ratio of the four types of observation values is 16.6:1.0:10.9:31.7 when the iteration is finally converged, the error in unit weight of the adjustment result is +/-0.40 ", and the coordinates and point position accuracy of the control point are shown in table 4.
TABLE 4
Figure BDA0002268664030000102
Figure BDA0002268664030000111
As can be seen from table 4, the root mean square error in the point location of the third adjustment result in the scheme reaches ± 0.37mm, and as can be seen from comparing table 3 and table 4, the method of Helmert variance-covariance component estimation significantly improves the accuracy of the adjustment result of the control point.
The weight ratios, the errors in the post-test unit weights and the root mean square errors in the point locations of the three schemes are listed in table 5 for comparison.
TABLE 5
Figure BDA0002268664030000112
As can be seen from Table 5, the error in the unit weight before and after the non-parallelism correction of the plumb line is changed from +/-1.42 'to +/-1.01', and the root mean square error in the point location is reduced from +/-1.13 mm to +/-0.81 mm, thus verifying the effectiveness of the non-parallelism correction of the plumb line; the error in the unit weight before and after the variance component estimation is changed from +/-1.01 'to +/-0.40', and the error root mean square in the point position is reduced from +/-0.81 mm to +/-0.37 mm, which shows that the reasonable determination of the weight ratio further improves the precision of the adjustment result.
The coordinates of 64 equipment points are obtained by using a three-dimensional control point and a three-dimensional branch line. The industrial photogrammetry system is adopted for measurement, the coordinates of 15 control points in a certain local area in the photogrammetry coordinate system are obtained, the two groups of coordinate results of the 15 control points are subjected to common point conversion, and the results are shown in table 6.
TABLE 6
Figure BDA0002268664030000113
As can be seen from Table 6, the external coincidence accuracy of the coordinates of the control point of the measuring branch (the coordinates of the three-dimensional branch conductor measuring point are converted into a photogrammetric coordinate system and are subtracted from the coordinates obtained by photogrammetric measurement, and the root mean square of the coordinate difference component of 15 points is taken as the external coincidence accuracy) reaches +/-0.32 mm, which indicates that the measuring point of the conductor and the photogrammetric measurement result have good coincidence, and the correctness of the coordinates of the control point is verified.
The invention uses the difference between the normals of the measuring stations to replace the difference between plumb lines, namely, the angle relation between the normals on the two measuring stations is utilized, the coordinate of the control point under the coordinate system of the first measuring station is combined with the coordinate of the known control point under the coordinate system of the second measuring station, and then the changed observation value of the observation data of the corresponding control point is calculated. Compared with the prior art, the method and the device have the advantages that the observation data of the control point are changed by considering the influence of the non-parallelism of the plumb lines, and the accuracy of the changed observation value is high. Compared with the prior art, the three-dimensional control network adjustment function model is solved by using the changed observation value, and the position precision of the obtained control point is higher.
In this embodiment, the observation data used for the modification is obtained by measuring the control point by a triple total station method (i.e., the operation flow from the first step to the fourth step), and as another embodiment, the observation data processing method of the present invention is applicable to the modification of the observation data obtained by measurement by another method, such as a double total station method, a triple tripod method, and the like.
It should be noted that, in order to further improve the distance measurement accuracyIn this embodiment, the modified slope distance is further modified by a calibrated total station instrument constant, and the method for calibrating the total station instrument constant adopts a simple three-stage method in the prior art, as shown in fig. 4, 4 foot rests A, B, C, D are erected on a flat ground with a length of about 30m, and the centers of the foot rests are required to be approximately positioned on a straight line, and the bases are substantially at the same height. A prism is erected at C, D, and a total station measuring section distance d for observation is erected at A1、d2Erecting a total station at the position B to determine the distance d of the measuring section after the measurement is finished3、d4And obtaining an equation of the total station instrument constant K according to the geometrical relation:
d1-d2＝d3+d4+2K
therefore, the calculation formula of the total station instrument constant K is as follows:
Figure BDA0002268664030000121
and after the instrument constant K of the total station is determined, adding the changed slope distance to the solved instrument constant K of the total station to obtain the slope distance with higher precision.
The embodiment of the device is as follows:
the embodiment provides an observation data processing device for control points in a three-dimensional control network, which comprises an acquisition unit and a processing unit, wherein the acquisition unit is used for acquiring observation data of each control point in the three-dimensional control network, and the observation data comprises an azimuth angle, a zenith distance and an oblique distance; the processing unit is used for executing the instructions according to the steps in the method embodiment, realizing the modification of the observation data of each control point, solving the adjustment function model of the three-dimensional control network by using the modified observation value of the observation data, and solving to obtain the position of the corresponding control point in the three-dimensional control network.
Since the steps specifically executed by the processing unit in the above embodiments are sufficiently clear and complete already described in the method embodiments, they will not be described in detail. In addition, the processing unit in this embodiment may be a computer, a microprocessor, such as an ARM, or a programmable chip, such as an FPGA, a DSP, or the like.

Claims (4)

1. A method for processing observation data of control points in a three-dimensional control network is characterized by comprising the following steps:
acquiring observation data of each control point in the three-dimensional control network, wherein the observation data comprises an azimuth angle, a zenith distance and an oblique distance;
calculating the coordinates of each control point under the coordinate system of the corresponding measuring station according to the observation data of each control point, wherein the corresponding measuring station is the measuring station for actually measuring the control point;
selecting a measuring station coordinate system of one of the control points as a reference coordinate system, and calculating the coordinates of each control point under the reference coordinate system according to the rotation relationship between the measuring station of the rest control points and the normal on the measuring station of the selected control point and the coordinates of each control point under the corresponding measuring station coordinate system;
the calculation formula of the rotation relationship is as follows:
Figure FDA0003058480760000011
ω＝-dx/r
Figure FDA0003058480760000012
in the formula, R is a rotation relation matrix; omega,
Figure FDA0003058480760000013
Respectively the angle of clockwise rotation around the Y axis and anticlockwise rotation around the X axis of the normal on the measuring station of the selected control point, and the angle of the normal on the measuring station of the selected control point is according to omega,
Figure FDA0003058480760000014
After rotating, the normal lines on the measuring station of the remaining control points are obtained; dx and dy are respectively the coordinate difference between the measured point and the measured station in the X direction and the Y direction of the coordinate system of the measured station, and r is the radius of the earth;
the coordinates of the control point in the reference coordinate system are obtained by the following calculation formula:
Figure FDA0003058480760000015
in the formula, X ', Y ' and Z ' are X-axis, Y-axis and Z-axis coordinates of the control point under a reference coordinate system respectively; x, Y and Z are respectively X-axis, Y-axis and Z-axis coordinates of the control point under the corresponding coordinate system of the measuring station;
calculating a modified observation value of observation data of the corresponding control point according to the coordinates of the control points under the reference coordinate system; the calculation formula of the modified observation value is as follows:
Figure FDA0003058480760000021
Figure FDA0003058480760000022
or
Figure FDA0003058480760000023
Wherein α ' is a changed observation value of azimuth angle in observation data of the control point, V ' is a changed observation value of zenith distance in observation data of the control point, and X ', Y ' and Z ' are respectively coordinates of X axis, Y axis and Z axis of the control point in a reference coordinate system.
2. The method according to claim 1, wherein the adjustment function model of the three-dimensional control network is solved by using the modified observation value of the observation data, and the position of the corresponding control point in the three-dimensional control network is obtained by solving.
3. An observation data processing device for a control point in a three-dimensional control network, which is characterized by comprising a processor and is used for executing instructions to realize the following steps:
acquiring observation data of each control point in the three-dimensional control network, wherein the observation data comprises an azimuth angle, a zenith distance and an oblique distance;
calculating the coordinates of each control point under the coordinate system of the corresponding measuring station according to the observation data of each control point, wherein the corresponding measuring station is the measuring station for actually measuring the control point;
selecting a measuring station coordinate system of one of the control points as a reference coordinate system, and calculating the coordinates of each control point under the reference coordinate system according to the rotation relationship between the measuring station of the rest control points and the normal on the measuring station of the selected control point and the coordinates of each control point under the corresponding measuring station coordinate system;
the calculation formula of the rotation relationship is as follows:
Figure FDA0003058480760000024
Figure FDA0003058480760000031
Figure FDA0003058480760000032
in the formula, R is a rotation relation matrix; omega,
Figure FDA0003058480760000033
Respectively the angle of clockwise rotation around the Y axis and anticlockwise rotation around the X axis of the normal on the measuring station of the selected control point, and the angle of the normal on the measuring station of the selected control point is according to omega,
Figure FDA0003058480760000034
After rotating, the normal lines on the measuring station of the remaining control points are obtained; dx and dy are respectively the coordinate difference between the measured point and the measured station in the X direction and the Y direction of the coordinate system of the measured station, and r is the radius of the earth;
the coordinates of the control point in the reference coordinate system are obtained by the following calculation formula:
Figure FDA0003058480760000035
in the formula, X ', Y ' and Z ' are X-axis, Y-axis and Z-axis coordinates of the control point under a reference coordinate system respectively; x, Y and Z are respectively X-axis, Y-axis and Z-axis coordinates of the control point under the corresponding coordinate system of the measuring station;
calculating a modified observation value of observation data of the corresponding control point according to the coordinates of the control points under the reference coordinate system; the calculation formula of the modified observation value is as follows:
Figure FDA0003058480760000036
Figure FDA0003058480760000037
or
Figure FDA0003058480760000038
Wherein α ' is a changed observation value of azimuth angle in observation data of the control point, V ' is a changed observation value of zenith distance in observation data of the control point, and X ', Y ' and Z ' are respectively coordinates of X axis, Y axis and Z axis of the control point in a reference coordinate system.
4. The observation data processing device of the control points in the three-dimensional control network according to claim 3, wherein the adjustment function model of the three-dimensional control network is solved by using the modified observation value of the observation data, and the position of the corresponding control point in the three-dimensional control network is obtained by solving.
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