CN111929644A - Measuring point positioning method based on laser scanning - Google Patents
Measuring point positioning method based on laser scanning Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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Abstract
The invention discloses a measuring point positioning method based on laser scanning, which comprises the following steps: 1. setting at least two measuring stations, and arranging measuring points in a common general visual area of the at least two measuring stations; 2. controlling the measuring station to rotate at a constant speed and transmitting laser signals for scanning, and collecting the rotating angle and the reflected laser signals; 3. processing the rotation angle and the reflected laser signal, identifying the identities of the measuring point and the measuring station, and extracting the central angle value of the measuring point relative to a rotation platform of the measuring station scanned to the measuring point to obtain the relative position of the measuring point and the measuring station scanned to the measuring point; 4. calculating an inner angle value of a triangle formed between the measuring point and the measuring station scanned to the measuring point according to the result of the step 3; 5. and (4) according to the result of the step (4), combining the known coordinates of the measuring station, and solving the coordinate values of the measuring points by an angle intersection method. The invention realizes the high-precision positioning of the measuring point by means of unique coding, integrated receiving and transmitting, homodromous rotation, no need of positioning, high-frequency acquisition, multiple overlapping and other technical processing.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a measuring point positioning method based on laser scanning, which is mainly used in the industry needing positioning targets.
Background
Positioning technology is a support technology for applications such as location-based services, virtual reality, and the like. In order to improve user experience, the requirements on positioning accuracy and instantaneity are higher and higher. Laser is one of the main technical means for realizing accurate positioning of a target due to good monochromaticity and directivity. The method is based on the method of measuring the laser arrival angle (AoA), and the method measures the laser arrival angle by using the characteristic of good laser directivity, and then performs target positioning by using the AoA method. According to the method, a plurality of laser sensitive components are mounted on a target, and the time of the laser reaching a sensor is measured respectively. And calculating the position and the motion trail of the target according to the position difference of each sensor. Due to process limitation, the rotating speed period of a rotating motor of a laser emission base station is often unstable, and the time of laser reaching a sensor fluctuates, so that certain errors exist in the prior art for calculating the laser reaching angle by utilizing the constant rotating angular speed of the motor, and the accuracy of a positioning result is influenced.
Patent document No. 201611200841.2, 6/29/2018, discloses a method for positioning an object by laser scanning, comprising: aiming at any one of N laser rotary scanning devices of a laser emitting device, determining a first reference time and a second reference time in each scanning period of the laser rotary scanning device; the laser receiving device determines a first motor rotation angular velocity of the laser rotary scanning device corresponding to the first time according to the first reference time and the second reference time, and a preset first angle of an angle synchronous signal corresponding to the first reference time and a preset second angle of the angle synchronous signal corresponding to the second reference time; calculating to obtain the rotation angle of the laser rotary scanning device; and the laser receiving device determines the position of the laser receiving device according to the rotation angles of the N laser rotating scanning devices and the coordinates of the N laser rotating scanning devices. However, the technology still has the following defects in practical application:
1. the laser emitting device is located in the scanning device, the laser receiving device is arranged at the position of the target object, and all the devices need to be powered, so that the overall structure of the device is too complex.
2. When scanning and positioning, only one laser rotary scanning device is supported to carry out laser scanning on a monitoring area at the same time, and the working efficiency is low.
3. The linear laser module, the photoelectric switch and the rotation angle adopted by the whole set of equipment are all based on the assumption that two rotation angular velocities are not changed, which indicates that the measurement precision of the whole set of equipment is low, and the actual measurement precision of the whole set of equipment basically does not exceed 1', so that the equipment cannot be used for high-precision positioning service with the precision not lower than 1 ″.
4. When there are a plurality of measurement targets, there is a difficulty that the measurement targets cannot be accurately identified.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a measuring point positioning method based on laser scanning, which can partially eliminate the influence caused by machining errors and the like, thereby automatically and accurately positioning the measuring point with high precision.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a measuring point positioning method based on laser scanning is characterized by comprising the following steps:
step 1: arranging at least two measuring stations with known coordinates, and arranging measuring points in a common general view area of the at least two measuring stations, wherein the measuring stations and the measuring points have a light reflecting function and unique codes;
step 2: controlling the measuring stations to rotate continuously at a constant speed and continuously emit laser signals for scanning, wherein each measuring station simultaneously scans a measuring point and other measuring stations, and continuously and high-frequency acquires the rotating angle, the laser signals reflected by the measuring stations and the laser signals reflected by the measuring points;
and step 3: analyzing and processing the rotating angle and the reflected laser signal, identifying the identity of the measuring point and the measuring station according to the unique code, extracting a central angle value of the measuring point relative to a rotating platform of the measuring station scanned to the measuring point, and then obtaining the relative position of the measuring point and the measuring station scanned to the measuring point according to the central angle value;
and 4, step 4: according to the result of the step 3, carrying out data matching on the measuring stations and the measuring points by means of the unique codes, and calculating the inner angle value of a triangle formed between the measuring points and the measuring stations which scan the measuring points together;
and 5: and (4) according to the result of the step (4), combining the known coordinates of the measuring station, and solving the coordinate values of the measuring points by an angle intersection method.
In the step 1, the light reflecting function of the measuring station and the light reflecting function of the measuring point are both realized by the light reflecting sheet, and the unique code of the measuring station and the unique code of the measuring point are both bar codes or electronic tags arranged on the light reflecting sheet.
In the step 1, the number of the measuring points is at least one.
In the step 2, the collection frequency of the high-frequency collection is 0.1-10 MHz.
In the step 3, the angle measurement precision of the measuring point relative to the central angle of the rotating platform is not less than 1'.
In the step 3, the calculation method of the central angle value of the measuring point relative to the rotating platform comprises the following steps:
wherein the content of the first and second substances,
the central angle value of the measuring point relative to the rotating platform is obtained; when alpha and beta are respectively measuring points with laser reflection signalsThe rotation angle value of (a); k is the number of sampling points under the minimum scale of the encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y are the number of readings at the alpha and beta angle values, respectively.
In the step 3, when the measuring station rotates for multiple circles, each measuring point extracts multiple central angle values, the central angle values are subjected to adjustment processing, and then the relative positions of the measuring point and the measuring station scanned to the measuring point are obtained according to the central angle values subjected to adjustment processing.
In the step 5, when the number of the measuring stations for scanning the measuring points together exceeds three, the adjustment can be performed to obtain the final coordinate values of the measuring points.
The station comprises a rotating mechanism and a target identification and positioning mechanism, wherein the rotating mechanism comprises a driver, a rotating platform driven by the driver and an encoder used for calculating the rotating angle of the rotating platform; the light reflecting sheet is fixed on the rotating platform; the target identification positioning mechanism comprises a main controller, a laser transmitter and a laser receiver which are all fixed on the rotary platform, the laser transmitter, the laser receiver, a driver and an encoder are all connected with the main controller, and the main controller is used for driving the laser transmitter to transmit laser signals, is used for recording reflected laser signals received by the laser receiver, and is used for controlling the rotary platform to rotate and is used for recording the rotation angle value of the encoder through the driver.
The reflecting sheet is adhered to the column in a surrounding mode, and the reflecting sheet is fixed to the rotating platform through the column.
And the laser transmitter and the laser receiver are transversely fixed above the rotating platform.
The main controller is also connected with a power supply voltage stabilizing module and a wireless communication module.
The rotating mechanism further comprises a support, a limiting column is arranged on the upper portion of the support, and the rotating platform is installed on the support through the limiting column.
The invention has the advantages that:
1. the invention has the advantage of partially eliminating the influence caused by machining errors and the like. Specifically, the invention relies on the technical treatment of integrated receiving and transmitting, homodromous rotation, no need of positioning, high-frequency acquisition, multiple superposition and the like, can eliminate the influence of machining errors and the like, and improves the positioning precision of the measuring points.
2. The unique codes are arranged on the measuring stations and the measuring points, so that the identities of the measuring stations and the measuring points can be quickly confirmed, the data matching between the measuring points and the corresponding measuring stations is favorably realized, and the positioning accuracy is ensured.
3. The invention supports position identification of a plurality of measuring points at the same time, does not interfere with each other, and has high operating efficiency and wide application range.
4. The angle measurement precision of the measuring point relative to the central angle of the rotating platform is set to be not less than 1', so that the measurement precision of the invention can reach or exceed the positioning precision of a high-precision total station.
5. The invention limits the frequency of high-frequency acquisition to 0.1-10MHz, and can effectively record the rotation angle and the laser signal, thereby achieving the purpose of subdividing the angle and improving the angle identification precision.
6. The station mainly comprises a rotating mechanism and a target identification and positioning mechanism, and the station adopting the structure has the advantages of simple structure and convenience in moving and installation. The measuring station has the advantages of small overall size, low cost, high efficiency, stability, reliability and wide application scene, and can be used for measuring long-term displacement and short-term displacement. In addition, the laser receiving and transmitting integrated design in the station solves the problem of synchronism of laser transmitting and receiving signals; the target has a certain width, and the data precision is improved through high-frequency acquisition; the rotating mechanism is not intermittent, and multiple times of acquisition are carried out, so that the data precision is improved; and a plurality of measuring stations are supported to work simultaneously, so that the working efficiency is improved.
7. The reflecting sheet is fixed on the rotary platform through the cylinder, so that the measuring station can be used as a laser emitting end and also can be used as a laser reflection end, namely, the laser measuring device is integrated with measuring points of the measuring station, can be used as the measuring station and can also be used as the measuring points, the application range of the device is greatly enlarged, and the device is particularly suitable for quickly and automatically building a precise wire net.
8. The main controller is also connected with a power supply voltage stabilizing module and a wireless communication module, wherein the power supply voltage stabilizing module has stable and high-precision voltage output and enough load capacity, and is favorable for providing a stable power supply for a station, and the wireless communication module can realize remote communication and uploading of measured data so as to facilitate terminal display and big data analysis.
9. The rotary platform is supported by the bracket, so that the stability of the station measuring device is ensured.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the identification and positioning of a survey station of the present invention;
FIG. 3 is a schematic diagram of the construction of the station of the present invention;
FIG. 4 is a schematic structural diagram of a station with a light reflecting function according to the present invention;
FIG. 5 is a schematic view of the structure of the retroreflective sheeting of the present invention;
FIG. 6 is a schematic structural diagram of a station of the present invention during scanning of points;
FIG. 7 is a schematic structural view of a survey station with a light reflecting function in scanning a survey point according to the present invention;
FIG. 8 is a schematic structural diagram of a station with a light reflecting function according to the present invention scanning the station with a light reflecting function;
FIG. 9 is a schematic diagram of the operation of the station of the present invention;
labeled as: 1. the device comprises a measuring station, 2, a measuring point, 3, a rotating platform, 4, a main controller, 5, a laser transmitter, 6, a laser receiver, 7, a power supply voltage stabilizing module, 8, a wireless communication module, 9, a limiting column, 10, a reflector, 11 and a support.
Detailed Description
The invention discloses a measuring point positioning method based on laser scanning, which comprises the following steps as shown in figure 1:
step 1: at least two measuring stations 1 with known coordinates are provided, and measuring points 2 are arranged in a common viewing area of the at least two measuring stations 1.
In the step, the measuring station 1 and the measuring point 2 both have a light reflecting function and a unique code, wherein the light reflecting function of the measuring station 1 and the light reflecting function of the measuring point 2 are both realized by the light reflecting sheet 10, and the light reflecting material can reflect laser signals on the way. The unique code of the measuring station 1 and the unique code of the measuring point 2 are both bar codes or electronic labels arranged on the reflective sheet 10, and when the reflective sheet 10 is scanned, the identity of the measuring station 1 or the measuring point 2 can be identified by analyzing the unique codes. The unique codes are equivalent to identity cards arranged for the measuring stations 1 and the measuring stations 2, so that the identity of the measuring station 2 and the identity of the measuring station 1 which scans the measuring station 2 together can be obtained definitely, and the data matching of the measuring stations 1 and the measuring stations 2 is realized, so that the positioning accuracy is ensured.
In this step, the number of measuring points 2 is at least one, that is, the number of measuring points 2 can be multiple, but each measuring point 2 is in a common viewing area of at least two measuring stations 1, so as to position the measuring point 2.
Step 2: the measuring stations 1 are controlled to rotate at a constant speed continuously and emit laser signals continuously for scanning, a plurality of measuring stations 1 can scan simultaneously or sequentially, each measuring station 1 can scan a measuring point 2 and other measuring stations 1 located in a scanning area of the measuring station simultaneously, and the rotating angle, the laser signals reflected by the measuring stations 1 and the laser signals reflected by the measuring points 2 are collected continuously at a high frequency.
In the step, the measuring station 1 is controlled to rotate at a low speed, and the acquisition frequency of high-frequency acquisition is 0.1-10MHz, so that the sampling frequency is improved and the identification precision of the measuring point 2 is improved on the premise of not influencing the processing speed.
And step 3: and analyzing and processing the rotating angle and the reflected laser signal, identifying the identities of the measuring point 2 and the measuring station 1 according to the unique code, extracting a central angle value of the measuring point 2 relative to a rotating platform 3 of the measuring station 1 scanned to the measuring point 2, and then obtaining the relative position of the measuring point 2 and the measuring station 1 scanned to the measuring point 2 according to the central angle value.
In this step, the angle measurement precision of the measuring point 2 relative to the central angle of the rotating platform 3 is not less than 1 ″, when the measuring point 2 is scanned, the reflected laser signal acquired at high frequency presents regular change characteristics, and accordingly the reflection center of the measuring point 2 can be analyzed, as shown in fig. 2, the calculation method of the central angle value of the measuring point 2 relative to the rotating platform 3 is as follows:
wherein the content of the first and second substances,
the central angle value of the measuring point 2 relative to the rotating platform 3 is shown; alpha and beta are rotation angle values when the measuring point 2 has laser reflection signals respectively; k is the number of sampling points under the minimum scale of the encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y are the number of readings at the alpha and beta angle values, respectively.
Furthermore, each measuring point 2 is at least located in a common viewing area of two measuring stations 1, so that when the measuring stations 1 rotate for multiple circles, each measuring point 2 extracts multiple central angle values, the multiple central angle values are subjected to adjustment processing, and then the relative position between the measuring point 2 and the measuring station 1 scanned to the measuring point 2 is obtained according to the central angle values subjected to adjustment processing. The principle of the adjustment processing is that when two adjacent scans reach the same measuring point 2, the central angle value should be constant 360 °. The measuring precision of the central angle can be improved through adjustment processing, and then the positioning precision is improved.
And 4, step 4: and (3) according to the result of the step (3), carrying out data matching on the measuring stations (1) and the measuring points (2) by means of the unique codes, and calculating the inner angle value of a triangle formed between the measuring points (2) and the measuring stations (1) which are scanned to the measuring points (2) together. Specifically, it is confirmed from the result of step 3 that the station 1 and the stations 1 and 2 scanned by the station 1 form a data packet, and the internal angle value of each station 2 with respect to the station 1 is calculated, and data matching is performed by a plurality of stations 1 and stations 2, and the triangular correlation data including two stations 1 and one station 2 is arranged.
And 5: and (4) according to the result of the step (4), combining the known coordinates of the measuring station (1), and solving the coordinate values of the measuring points (2) by an angle intersection method.
In this step, when the number of the stations 1 scanning the measuring points 2 together exceeds three, the adjustment can be performed to obtain the final coordinate values of the measuring points 2. Specifically, when the measuring point 2 is located in a common viewing area of three, four, or even more measuring stations 1, the final coordinate value of the measuring point 2 should be obtained through adjustment. The adjustment method is various, and may not be limited to the following adjustment methods: for example, when the number of the stations 1 is 3, there are three combinations of 12, 13, and 23. At this time, coordinate values of the three measuring points 2 are obtained, and the coordinate values are adjusted to obtain the final coordinate value of the measuring station 1. Because the coordinate values are subjected to adjustment, the obtained final coordinate values are also obtained comprehensively according to the data of the three measuring stations 1, and the finally obtained coordinate values of the measuring points 2 have high precision.
In the invention, as shown in fig. 3-8, the measuring station 1 comprises a rotating mechanism, an object identification and positioning mechanism, a power supply voltage stabilization module 7 and a wireless communication module 8, wherein the rotating mechanism comprises a driver, a rotating platform 3 driven by the driver and an encoder for calculating the rotating angle of the rotating platform 3; the reflective sheet 10 is fixed on the rotary platform 3, specifically, the reflective sheet 10 is adhered to a cylinder in a surrounding manner and fixed on the rotary platform 3 through the cylinder; preferably, the light reflecting sheets 10 are vertically fixed above and below the platform body respectively so as to facilitate effective reflection of the laser signal; target identification positioning mechanism is including all fixing main control unit 4 on rotary platform 3, laser emitter 5 and laser receiver 6 are all transversely fixed in rotary platform 3's top, laser emitter 5, laser receiver 6, a driver, the encoder, power supply voltage stabilizing module 7 and wireless communication module 8 all are connected with main control unit 4, main control unit 4 is used for driving laser emitter 5 transmission laser signal, be used for recording laser receiver 6 received reflection laser signal, be used for through the rotatory angle value that is used for recording the encoder of drive control rotary platform 3 rotation. The main controller 4 positions the position of the measuring point 2 according to the received reflected laser signal and the known data such as the rotation angle value of the encoder. As shown in fig. 9, the functions of the components are as follows:
a rotating mechanism: the command from the main controller 4 can be quickly responded, and the subdivided angle flag can be fed back to the main controller 4. When the main controller 4 collects the high-frequency signal fed back by the laser receiver 6 at high frequency, the encoder can accurately feed back the current subdivided scale value to the main controller 4 after the main controller 4 sends an instruction.
The main controller 4: is the core component of the whole measuring device, and is mainly used for driving a laser transmitter 5 to transmit a laser signal, receiving a reflected laser signal from a laser receiver 6, controlling the rotation of the platform body through a driver, reading data of an encoder, and identifying a target according to the received reflected laser signal and the data of the encoder. Meanwhile, the test data can be wirelessly uploaded to a remote end by communicating with the wireless communication module 8.
The laser emitter 5: the laser is driven and controlled by the main controller 4, is point or linear laser, and has the characteristics of high precision, small diffusion, long irradiation distance, collimation and the like.
The laser receiver 6: for receiving the reflected laser signal projected by the laser transmitter 5, the receiving circuit can convert the receiving tube optical signal into a corresponding voltage signal and provide the voltage signal to the main controller 4.
Power supply voltage stabilizing module 7: mainly for main control unit 4, laser emitter 5 and wireless communication module 8 provide stable voltage output, this power supply voltage stabilizing module 7 accessible outside direct current vary voltage, also can convert into the VCC power supply voltage of main control unit 4, laser emitter 5 and the 8 demands of wireless communication module through the lithium cell energy storage, this power supply voltage stabilizing module 7 has voltage output and sufficient load capacity of stabilizing the high accuracy.
The wireless communication module 8: the method and the device are used for realizing remote communication, uploading of measured data and wireless networking so as to facilitate display and big data analysis of the terminal.
In the invention, the rotating mechanism further comprises a support 11, the support 11 is preferably a triangular frame, a limiting column 9 is arranged at the upper part of the support 11, and the rotating platform 3 is installed on the support 11 through the limiting column 9. When the laser receiving device is used, the rotary platform 3 is driven by the driver to rotate on the support 11, so that the laser transmitter 5 and the laser receiver 6 on the rotary platform 3 are driven to transmit laser signals and receive reflected laser signals.
The invention is mainly applied to the industry needing accurate positioning, for example, the invention can be applied to an automatic warehouse, when the invention is applied to the warehouse, the measuring stations 1 can be arranged on the peripheral walls of the warehouse, and the measuring stations 2 are arranged on the equipment needing positioning or moving in the warehouse, thus the accurate position of the equipment in the warehouse can be obtained at any time.
In the invention, as long as the relative position between the measuring point 2 and the measuring station 1 scanned to the measuring point 2 can be accurately obtained, the position of the measuring point 2 can be accurately positioned. Based on this, the applicant has verified the following scheme of the invention:
1. device selection
2. Content of the experiment
A fixed point is selected in the field for setting a measuring station 1, two measuring points 2 are respectively arranged in the visual range of the measuring station 1, and the horizontal distances between the fixed point and the two measuring points 2 are respectively 38 meters and 70 meters.
3. Procedure of the test
(1) The rotating platform 3 is erected on a fixed point through a measuring tripod in a centering way, and then the starting device continuously rotates for 10 circles at a low speed.
(2) And controlling the measuring station 1 to continuously rotate and continuously emit laser signals, and continuously acquiring the rotating angle and the laser signals reflected by the two measuring points 2 at the sampling frequency of 1MHz to acquire alpha, beta, X and Y of each measuring point 2 in each circle.
(3) The above data is substituted into the following formula to calculate the central angle value of the measuring point 2 relative to the rotating platform 3:
wherein the content of the first and second substances,
the central angle of the measuring point 2 relative to the rotating platform 3; alpha and beta are rotation angle values when the measuring point 2 has laser reflection signals respectively; k is the number of sampling points under the minimum scale of the encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y are the number of readings at the angle alpha and beta values, respectively; n is the number of turns of the rotary table;
psi is the angular difference in the plane of rotation between station 1 and station 2.
4. Comparison of tests
A total station instrument, the model of Lycra TCA2003, is erected at the position of a rotary platform 3 and respectively irradiates two measuring points 2 and psi under 1 survey.
5. Verification result
| The invention obtains the result | Total station obtaining results | |
| ψ | 36°48′36.43″ | 36°48′36.2″ |
Experimental data show that the invention can accurately measure the angle relative to a total station, and the precision can reach 1'. Based on this, the invention can accurately position the measuring point 2.
While the invention has been described with reference to specific embodiments, any feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise; all of the disclosed features, or all of the method or process steps, may be combined in any combination, except mutually exclusive features and/or steps.
Claims (10)
1. A measuring point positioning method based on laser scanning is characterized by comprising the following steps:
step 1: arranging at least two measuring stations (1) with known coordinates, arranging measuring points (2) in a common general view area of the at least two measuring stations (1), wherein the measuring stations (1) and the measuring points (2) have a light reflecting function and unique codes;
step 2: controlling the measuring stations (1) to rotate at a constant speed continuously and emit laser signals continuously for scanning, wherein each measuring station (1) scans the measuring point (2) and other measuring stations (1) simultaneously, and continuously collecting the rotation angle, the laser signals reflected by the measuring stations (1) and the laser signals reflected by the measuring points (2) at a high frequency;
and step 3: analyzing and processing the rotating angle and the reflected laser signal, identifying the identities of the measuring point (2) and the measuring station (1) according to the unique code, extracting the central angle value of the measuring point (2) relative to the rotating platform (3) of the measuring station (1) scanning the measuring point (2), and then obtaining the relative position of the measuring point (2) and the measuring station (1) scanning the measuring point (2) according to the central angle value;
and 4, step 4: according to the result of the step 3, data matching is carried out on the measuring stations (1) and the measuring points (2) by means of the unique codes, and the inner angle value of a triangle formed between the measuring points (2) and the measuring stations (1) which scan to the measuring points (2) together is calculated;
and 5: and (4) according to the result of the step (4), combining the known coordinates of the measuring station (1), and solving the coordinate values of the measuring point (2) by an angle intersection method.
2. The measuring point positioning method based on laser scanning as claimed in claim 1, wherein: in the step 1, the light reflecting function of the measuring station (1) and the light reflecting function of the measuring point (2) are both realized through the light reflecting sheet (10), and the unique code of the measuring station (1) and the unique code of the measuring point (2) are both bar codes or electronic tags arranged on the light reflecting sheet (10).
3. A station positioning method based on laser scanning according to claim 1 or 2, characterized in that: in the step 1, the number of the measuring points (2) is at least one.
4. A station positioning method based on laser scanning according to claim 1 or 2, characterized in that: in the step 2, the collection frequency of the high-frequency collection is 0.1-10 MHz.
5. A station positioning method based on laser scanning according to claim 1 or 2, characterized in that: in the step 3, the angle measurement precision of the measuring point (2) relative to the central angle of the rotating platform (3) is not less than 1'.
6. A station positioning method based on laser scanning according to claim 1 or 2, characterized in that: in the step 3, the calculation method of the central angle value of the measuring point (2) relative to the rotating platform (3) comprises the following steps:
wherein phi is a central angle value of the measuring point (2) relative to the rotating platform (3); alpha and beta are rotation angle values when the measuring point (2) has laser reflection signals respectively; k is the number of sampling points under the minimum scale of the encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y are the number of readings at the alpha and beta angle values, respectively.
7. A station positioning method based on laser scanning according to claim 1 or 2, characterized in that: in the step 3, when the measuring station (1) rotates for multiple circles, each measuring point (2) extracts multiple central angle values, the central angle values are subjected to adjustment processing, and then the relative position between the measuring point (2) and the measuring station (1) scanned to the measuring point (2) is obtained according to the central angle values after the adjustment processing.
8. A station positioning method based on laser scanning according to claim 1 or 2, characterized in that: in the step 5, when the number of the measuring stations (1) which scan the measuring points (2) together exceeds three, adjustment can be performed to obtain the final coordinate values of the measuring points (2).
9. The measuring point positioning method based on laser scanning as claimed in claim 2, characterized in that: the station (1) comprises a rotating mechanism and an object recognition and positioning mechanism, wherein the rotating mechanism comprises a driver, a rotating platform (3) driven by the driver and an encoder used for calculating the rotating angle of the rotating platform (3); the light reflecting sheet (10) is fixed on the rotating platform (3); target identification positioning mechanism is including all fixing main control unit (4), laser emitter (5) and laser receiver (6) on rotary platform (3), laser emitter (5), laser receiver (6), driver and encoder all are connected with main control unit (4), main control unit (4) are used for driving laser emitter (5) transmission laser signal, are used for recording reflection laser signal that laser receiver (6) received, are used for controlling rotary platform (3) rotation and are used for recording the rotation angle value of encoder through the driver.
10. The measuring point positioning method based on laser scanning as claimed in claim 9, wherein: the reflective sheet (10) is adhered to the column in a surrounding mode, and the reflective sheet (10) is fixed to the rotating platform (3) through the column.
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