CN113203400B - Survey equipment installation measurement method and survey equipment installation measurement system without surveying ship dock - Google Patents
Survey equipment installation measurement method and survey equipment installation measurement system without surveying ship dock Download PDFInfo
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Abstract
The invention discloses an installation and measurement method and an installation and measurement system of investigation equipment without investigating a ship dock, wherein the method comprises the following steps: arranging at least two total station stations on an investigation ship; taking the perspective position adjacent to the total station position as a total station position common point, and arranging a light reflecting piece at the total station position common point; erecting a total station on the total station, and measuring all light reflecting pieces of a common point of the total station; taking the coordinate system of any total station as a reference coordinate system, and converting the measured data coordinates of the rest total station stations into coordinates under the reference coordinate system; taking the station position of the total station and the sight position of the survey ship as a common point of the survey ship, measuring the common point of the survey ship, and placing the survey ship under the reference coordinate system; and establishing a ship coordinate system, and obtaining the position of each survey device to be tested in the ship coordinate system, so that the installation and measurement precision of the survey device is improved.
Description
Technical Field
The invention belongs to the technical field of equipment installation on ships, and relates to an installation and measurement method and an installation and measurement system of survey equipment without survey of docks on ships.
Background
The large-scale precision measurement equipment is arranged at the bottom of the large scientific research ship, and the requirement on the measurement precision of the installation is higher. The method in the prior art comprises the following steps: by docking, a control network is firstly manufactured by adopting a traditional measurement mode, and then step-by-step measurement is carried out to obtain the position and angle relation between the measurement equipment and the indoor accessory equipment thereof as well as the ship; however, after the large scientific research ship is undocked, if the side-hung equipment and the deck equipment are added or replaced, the relative position between the large scientific research ship and the ship is generally realized by combining the structure diagram of the ship through the measurement of a skin-pulling ruler, and cannot be realized through a traditional measurement mode because the ship is dynamic when berthing; the tape-drawing ruler has a rough measuring mode, is low in accuracy and reliability, and can be accepted by equipment which is insensitive to relative position. However, this measurement is not suitable if a relatively position sensitive device is encountered, such as the attitude sensor of a multi-beam sounding system, and the conventional solution is to add or replace the device and perform the installation measurement when the vessel is docked.
If equipment is installed at the bottom of a small and medium-sized scientific investigation ship, the problems of equipment installation and measurement are solved through docking as large-sized scientific investigation ships. However, in many cases, the measuring equipment of small and medium-sized scientific investigation ships is installed in a side-hung manner. For medium-sized ships, the relative position relationship between the side-hung equipment and the affiliated deck equipment thereof and the ship is measured through the structure diagram of the ship and the skin stretching ruler, as with large ships. For a small ship, the tape measure is directly used for measuring the relative position relationship between the equipment and the ship. The measuring mode is suitable for temporary installation of the side-hung equipment or low installation accuracy requirement, and is also a main method for installation and measurement of the current marine survey equipment. If the side-hung equipment is long-term or has high requirement on installation accuracy, the method is not suitable, and the quality of measured data is not high due to low installation accuracy, so that the data per se has poor conformity and large medium error, and the overall quality of the result data is further influenced.
In summary, at present, when a ship is not docked or berthed at a dock, the main method for acquiring the position relationship of the marine survey equipment relative to the ship is to measure in a skin-drawing ruler manner by combining the structure diagram of the ship, and if a better measurement accuracy is to be obtained, the ship must be docked and acquired by a traditional measurement manner. But the measurement is carried out in a skin-drawing ruler mode by combining the structure diagram of the ship, the precision is not high, the measurement result is not ideal, if the better measurement precision is required to be obtained, the ship must be docked and obtained by the traditional measurement mode, but the cost is high, and the limit of practical conditions is met. For this reason, there is a need for an installation measurement method that can acquire the positional relationship of a marine survey instrument with respect to a ship with high accuracy without docking the ship or docking at a quay.
Disclosure of Invention
The invention provides an installation and measurement method and an installation and measurement system of survey equipment without surveying a dock on a ship, and aims to solve the problem that the survey equipment is low in installation precision due to poor accuracy and reliability of a measuring mode of a pull-skin ruler when side-hung survey equipment and deck survey equipment with high relative position precision requirements are added or replaced under the condition that a survey ship is not docked or berthed at a wharf.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses an installation and measurement method of investigation equipment without investigating a ship dock, which comprises the following steps:
firstly, arranging at least two total station stations on an investigation ship;
secondly, taking the perspective position adjacent to the total station position as a total station position common point, and arranging a light reflecting piece at the total station position common point;
thirdly, erecting a total station on the total station, and measuring all the light reflecting pieces of the common point of the total station;
the reflector can comprise a common point of adjacent stations, a key point of a ship and the position of survey equipment;
fourthly, taking a coordinate system of any total station as a reference coordinate system, and converting the measurement data coordinates of the rest total station stations into coordinates under the reference coordinate system;
fifthly, taking the total station position and the key position of the survey ship as survey ship measuring points, measuring the survey ship key points, and placing the survey ship under the reference coordinate system;
and sixthly, establishing a ship coordinate system, and obtaining the position of each survey device to be tested in the ship coordinate system.
And establishing a ship coordinate system by using the ship key points to obtain the position of each to-be-detected investigation device in the ship coordinate system.
Preferably, in a first step, the surveying equipment to be measured on the survey vessel is surveyed in the field, and the total station is set in combination with a general layout of the survey vessel.
Preferably, in the first step, the total station site is convenient for erecting the total station, and the view thereof should be wide.
Preferably, in the second step, observation points are set at the visible positions of the total station stations on the survey vessel, and the observation points include the common point of the total station stations, the common point of the survey vessel and the survey equipment installation position observation point.
Preferably, in the second step, the number of total station common points is at least three.
Preferably, in the second step, the total station position common points are uniformly distributed, so that over-concentration in a certain direction is avoided.
Preferably, in the third step, when the total station is erected at the total station site, centering is not required.
Preferably, in the third step, the total station is leveled before measurements are made at all observation points.
Preferably, in the third step, all the light reflecting pieces which can be seen through are measured, a sketch is drawn, and measured data are stored in a storage piece of the total station; and measuring the sight-through positions one by one until all the sight-through positions are completely measured.
Preferably, in the fourth step, the measurement data coordinates of the rest total station stations are converted into coordinates under the reference coordinate system; and unifying coordinate systems of all the observation points by calculating conversion parameters of coordinate systems of adjacent total station positions and then converting the measurement data coordinates of each total station position to be under the reference coordinate system by using the conversion parameters.
Preferably, in the fourth step, the measurement data is coordinate data of the observation point.
Preferably, in the fourth step, data of each of the panoramic position stations of the total station is derived, and coordinates of the rest of the total station stations may be converted into coordinates under a T1 coordinate system by using a T1 coordinate system of a first station T1 of the total station as the reference coordinate system.
Preferably, in the fourth step, nine parameters converted by the coordinate systems of the adjacent total station measuring stations are calculated, and then the coordinates of the measuring points of each total station measuring station are converted to the T1 coordinate system by using the conversion parameters, so that the coordinate systems of all the total station measuring stations are unified.
Preferably, in the fourth step, nine parameters converted by the coordinate system of the adjacent total station are calculated by using an arbitrary rotation angle conversion function of OpenCoord coordinate conversion software.
Preferably, in the fifth step, during the measurement at the first measurement station T1, the common point of the positions of all the total stations in sight is measured, and at the same time, the common point of the positions of the total stations in sight and the survey vessel in sight is measured, and the survey vessel is also placed under the T1 coordinate system.
Preferably, in the sixth step, a ship coordinate system is established according to the general layout of the survey vessel, and the position of each survey device to be measured in the ship coordinate system is measured directly on the CAD drawing of the general layout of the survey vessel.
Preferably, in the second step, the light reflecting piece is a light reflecting sticker.
Preferably, in the third step, the storage element is a memory card.
An installation and measurement system of survey equipment without surveying a dock on a ship is used for realizing the installation and measurement method, and comprises a total station and a reflector, wherein the total station is erected on a total station; the light reflecting piece is arranged on a station position common point of the total station.
Preferably, the total station location common points are at least three in number.
Preferably, the system is provided with observation points, the observation points comprise the total station common point, the survey vessel common point and the survey equipment mounting position observation point, and the observation points are located on the survey vessel at visible positions of the total station.
Preferably, a reflector is arranged on the observation point.
Preferably, the total station comprises a storage member, which may be an SD card.
Preferably, the total station comprises a mounting bracket, which may be a tripod.
Preferably, the system further comprises a computer, and the computer is provided with OpenCoord coordinate conversion software.
The invention has the beneficial effects that:
the survey equipment installation measuring method and the survey equipment installation measuring system without surveying the dock on the ship solve the problems that in the prior art, side-hung survey equipment and deck survey equipment which have higher requirements on relative position accuracy are added or replaced under the condition that the survey ship is not docked or is docked at a wharf, and the survey equipment installation accuracy is low due to poor accuracy and reliability of a measuring mode of a tape measure; according to the survey equipment installation and measurement method and the survey equipment installation and measurement system without surveying the ship dock, the unification of a coordinate system is completed through at least two total station stations and the combination of the total station common point and the survey ship common point, the position of each survey equipment to be measured in the ship coordinate system is obtained, and the survey equipment installation and measurement accuracy is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a survey equipment installation measurement system layout without surveying a ship dock according to the present invention.
Fig. 2 is a schematic top view of the installation positions of the MRU and the multi-beam installation rod in the ship coordinate system.
Fig. 3 is a schematic front view of the installation positions of the MRU and the multi-beam installation rod in the ship coordinate system.
In the figure, the black triangles represent total station positions, such as a first station T1, a second station T2 or a third station T3; the black dots represent observation points, e.g., L1, L2, L3, L4, L5, L6, M1, M2, M3 and M4, R1, R2, R3, R4, R5 and R6, C1 and C2, S1, S2, S3, S4, A and B, G1, G2 and O1, O2, O3. And a connecting line between the black triangle and the black dots represents the sight line of the total station and the observation point.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Example 1
When an investigation ship such as a scientific investigation ship is not docked (on a dock), a mounting rod of a multi-beam transducer of investigation equipment is mounted on a left chord rear deck in a side hanging manner, and an attitude sensor (MRU) of the investigation equipment is mounted in a ground fixing frame in the middle of the ship. The survey equipment may be marine survey equipment.
The main task of the installation and measurement is to measure the relative position relationship between the attitude sensor and the multi-beam installation rod in the ship coordinate system, and with the adoption of the installation and measurement method of the survey equipment without surveying the ship dock, as shown in fig. 1, the survey ship is about 40m long, which specifically includes the following steps:
firstly, establishing measuring stations to measure all measuring points; the survey equipment to be measured on the survey ship is subjected to field survey, and three total station stations are arranged on the survey ship in combination with a general layout of the survey ship, wherein the three total station stations are a first station T1, a second station T2 and a third station T3 respectively; the first test station T1 is arranged on the rear deck, the second test station T2 is arranged on the front deck, and the third test station T2 is arranged in the room where the attitude sensor (MRU) is located.
Setting observation points at a visible position of a total station according to the position of the total station, wherein the observation points comprise a common point of the total station, a common point of the survey ship and an observation point of the installation position of the survey equipment, and light reflecting pieces are arranged on the observation points; the total station position common point comprises L1, L2, L3, L4, L5 and L6, M1, M2, M3 and M4, R1, R2, R3, R4, R5 and R6, C1 and C2, and is arranged at the visible positions of two adjacent total station positions; the survey ship common point comprises S1, S2, S3, S4, A and B, wherein the S1, S3 and S4 are arranged on the outer contour of the ship, the S2 is arranged on the deck, and the A and B are arranged on the central axis of the ship; the observation points of the installation positions of the investigation equipment comprise G1, G2 and O1, O2, O3, wherein G1 and G2 are arranged at the installation positions of the installation rods of the multi-beam transducer; o1, O2 and O3 are arranged at the installation position of the attitude sensor (MRU), O1 and O3 represent the heading of the attitude sensor (MRU), and O2 represents the center of the attitude sensor (MRU).
And erecting total stations on the three total station stations, leveling the total stations, measuring all the total station common points, the survey ship common points and the survey equipment installation position observation points by the total stations, and automatically storing measured data in a storage element of the total stations. After the measurement is completed, data of each station is derived, as shown in tables 1 to 3, and the coordinate positions of part of observation points of the stations are shown in fig. 1.
Table 1 shows the coordinates of the observation points in the first measuring station T1
Table 2 shows the coordinates of the observation points in the second measurement station T2
Table 3 shows the coordinates of the observation points in the third measurement station T3
| Serial number | Encoding | X(m) | Y(m) | Z(m) | Remarks to note |
| 1 | O3-T3 | 1.9869 | -2.2107 | 0.0822 | MRU course |
| 2 | O2-T3 | 2.1476 | -2.3429 | 0.0812 | MRU center |
| 3 | O1-T3 | 1.9439 | -2.1754 | 0.0823 | |
| 4 | R5-T3 | 1.6697 | 1.0975 | 1.1162 | |
| 5 | L4-T3 | 0.8577 | 0.7178 | 0.1997 | |
| 6 | L3-T3 | 0.5798 | 0.9416 | 0.2043 | |
| 7 | C2-T3 | 1.0674 | 1.2699 | 2.1059 | |
| 8 | C1-T3 | 1.1057 | 1.4986 | 2.1098 | |
| 9 | R6-T3 | 0.8243 | 1.8043 | 1.1303 | |
| 10 | R2-T3 | 1.1376 | 1.5637 | 1.9421 | |
| 11 | R1-T3 | 1.3879 | 1.3556 | 1.9376 | |
| 12 | R3-T3 | 1.416 | 1.3751 | 0.2191 |
Secondly, placing all observation points in a T1 coordinate system of a first observation station;
firstly, calculating nine parameters of conversion from T3 and T2 to T1;
specifically, the data in the storage element is imported into OpenCoord software, nine parameters converted by a coordinate system of an adjacent total station are calculated by using an arbitrary rotation angle conversion function of the OpenCoord coordinate conversion software,
the nine-parameter conversion method is a simple method suitable for converting coordinates of any rotation angle, and the principle of the method is that firstly, the barycenter of the coordinates of each point under two sets of coordinate systems is changed, and then a conversion matrix is obtained.
Let the barycentric coordinates of n points in the coordinate systems O-XYZ and O-XYZ be (X) g ，Y g ，Z g ) And (x) g ，y g ，z g ) The calculation formula is as follows:
the coordinates after the center of gravity was recorded as (X' i ，Y′ i ，Z′ i ) And (x' i ，y′ i ，z′ i ) The calculation formula is as follows:
the following relationship is believed to exist:
(X′ i ，Y′ i ，Z′ i ) T ＝R×(x′ i ，y′ i ，z′ i ) T
in the formula (I), the compound is shown in the specification,
i.e. nine parameters.
Secondly, converting the measuring points T2 and T3 into a coordinate system T1 by using the nine parameters to obtain all measuring station coordinates under the coordinate system T1;
specifically, nine parameters are utilized to convert the coordinates of the measuring points of all the total station measuring stations into the T1 coordinate system, so that the coordinate systems of all the total station measuring stations are unified; taking the T1 coordinate system of the first station T1 of the total station location as the reference coordinate system, converting the coordinates of the total station locations of the second station T2 and the third station T3 into coordinates under the T1 coordinate system, and obtaining all the station coordinates under the T1 coordinate system, as shown in table 4.
The OpenCoord software also supports the transformation of the projection of geographic coordinates and the transformation of small angles between different ellipsoids (the seven parameter boolean).
Table 4 shows the coordinates of all observation points unified in the T1 coordinate system
Thirdly, calculating the position and angle relation of each device under a ship coordinate system;
when the first survey station T1 is used for surveying, the common point of the through positions of the adjacent total station stations is surveyed, the common point of the through positions of the total station stations and the survey ship is surveyed at the same time, and the survey ship is also placed under the T1 coordinate system; according to the general arrangement diagram of the survey vessel, a ship coordinate system is established, as shown in fig. 2 and fig. 3, by taking the axis of the ship as an X axis, the forward direction of the X axis is positive, the intersection point of the vertical line of the center of the stern and the waterline is an original point, the sideline of the stern is a Y axis, the rightward direction of the Y axis is positive, the vertical plane to the XY plane is a Z axis, and the upward direction of the Z axis is positive, the ship coordinate system is established, as shown in table 5, the positions of an attitude sensor (MRU) and a multi-beam mounting rod and the included angle between the axis of the ship and the course of the attitude sensor are obtained.
TABLE 5 position coordinates of attitude sensor (MRU) and multibeam mounting bar under ship coordinate system
Fourthly, evaluating the precision;
specifically, the coordinate conversion accuracy and the point location accuracy are evaluated, as shown in table 6, the conversion accuracy of the T2-T1 coordinate system reaches dx =1.9mm, dy =0.6mm, dz =0.3mm, and the measurement accuracy of the observation point is 2mm; the conversion precision of the T3-T1 coordinate system reaches dx =0.5mm, dy =0.5mm and dz =0.2mm, and the measurement precision of an observation point is 0.7mm; the calculation of the position and the precision of the observation point can be manually processed by Excel software; the survey equipment installation measuring method can realize high-precision installation measurement of the ship-mounted equipment when a ship is not docked, can measure the relative position relation of each installation equipment relative to the gravity center of the ship, can also carry out precision evaluation, and has high installation measuring precision and obvious advantages compared with a tape-pull mode.
Table 6 shows the coordinate transformation of T2-T1 and T3-T1 and the accuracy of the point location of the observation point
| Name(s) | dX(mm) | dY(mm) | dZ(mm) | Point location accuracy (mm) |
| T2-T1 | 1.9 | 0.6 | 0.3 | 2.0 |
| T3-T1 | 0.5 | 0.5 | 0.2 | 0.7 |
Example 2
An installation and measurement system of survey equipment without survey of a shipboard dock is used for realizing the installation and measurement method of the embodiment, and comprises a total station and a reflector, wherein the total station is erected on a total station; the light reflecting piece is arranged on a station position common point of the total station; the total station can be a TS50 total station, observation point measurement can be realized in a prism-free mode of the TS50 total station, and the number of station position common points of the total station is at least three; the system is provided with observation points, wherein the observation points comprise a total station position common point, a survey vessel common point and a survey equipment installation position observation point, and are positioned on a survey vessel at a visible position of the total station position; a reflecting piece is arranged on the observation point; the total station comprises a storage part, wherein the storage part can be an SD card; the total station comprises a mounting bracket, which may be a tripod; the system also comprises a computer, and the computer is provided with OpenCoord coordinate conversion software.
The main technical parameters of the total station may be: the angle measurement precision is 0.5 second; the distance measurement precision is 2mm +2ppm.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (6)
1. A survey equipment installation measuring method without surveying a dock on a ship is characterized by comprising the following steps:
firstly, arranging at least two total station stations on an investigation ship; establishing measuring stations for measuring all measuring points;
secondly, taking the perspective position adjacent to the total station position as a total station position common point, and arranging a light reflecting piece at the total station position common point; setting observation points at a visible position of a total station according to the position of the total station, wherein the observation points comprise a common point of the total station, a common point of the survey ship and an observation point of the installation position of the survey equipment, and light reflecting pieces are arranged on the observation points;
thirdly, erecting a total station on the total station, and measuring all the light reflecting pieces of the common point of the total station; leveling the total station, wherein the total station measures all station position common points, survey ship common points and survey equipment installation position observation points of the total station; measuring all the visible light reflecting pieces, drawing a sketch, and storing measured data in a storage piece of the total station; the communication positions are measured one by one until all the communication positions are completely measured;
fourthly, taking a coordinate system T1 of any total station position as a reference coordinate system, and converting the measured data coordinates of the rest total station positions into coordinates under the reference coordinate system T1 by utilizing conversion parameters through calculating the conversion parameters of the coordinate systems of the adjacent total station positions;
fifthly, taking the station position of the total station and the sight position of the survey ship as a survey ship common point, measuring the survey ship common point, and arranging the survey ship common point on the ship outline, the deck and the ship central axis; the survey equipment installation position observation points are arranged at the installation positions of the installation rods of the multi-beam transducer and the installation positions of the attitude sensors, wherein two survey equipment installation position observation points represent the course of the attitude sensors, and one survey equipment installation position observation point represents the center of the attitude sensors; placing the survey vessel under the reference coordinate system T1;
firstly, carrying out barycenter transformation on coordinates of each point under two sets of coordinate systems, and then solving a conversion matrix;
let the barycentric coordinates of n points in the coordinate systems O-XYZ and O-XYZ be (X) g ，Y g ，Z g ) And (x) g ，y g ，z g ) The calculation formula is as follows:
the coordinates after the center of gravity was recorded as (X' i ，Y′ i ，Z′ i ) And (x' i ，y′ i ，z′ i ) The calculation formula is as follows:
the following relationship exists:
(X′ i ，Y′ i ，Z′ i ) T ＝R×(x′ i ，y′ i ，z′ i ) T
in the formula (I), the compound is shown in the specification,
sixthly, establishing a ship coordinate system, and obtaining the position of each to-be-detected survey device in the ship coordinate system; establishing a ship coordinate system according to the general arrangement drawing of the survey ship, and directly measuring the position of each survey device to be measured in the ship coordinate system on a CAD drawing of the general arrangement drawing of the survey ship;
when a first survey station T1 is used for surveying, the common point of the through positions of the adjacent total station stations is surveyed, the common point of the through positions of the total station stations and the survey ship is surveyed at the same time, and the survey ship is also placed under the T1 coordinate system; and establishing a ship coordinate system according to the general arrangement diagram of the survey ship, wherein the ship axis is taken as an X axis, the forward X axis is positive, the intersection point of a vertical line of the center of the stern and a waterline is taken as an origin, the side line of the stern is a Y axis, the right Y axis is positive, the vertical plane to the XY plane is a Z axis, and the upward Z axis is positive, and acquiring the positions of the attitude sensor and the multi-beam mounting rod and the included angle between the ship axis and the course of the attitude sensor.
2. The surveying equipment installation measuring method without surveying a shipboard dock according to claim 1, wherein in the second step, the number of total station location common points is at least three.
3. An investigation equipment installation measurement system without surveying a shipboard dock for implementing the investigation equipment installation measurement method without surveying a shipboard dock of any of claims 1 or 2, the system comprising a total station and a reflector, wherein the total station is erected on a total station; the light reflecting piece is arranged on a station position common point of the total station.
4. The surveying equipment installation measuring system without surveying dock on a vessel of claim 3, wherein the number of total station site common points is at least three.
5. The surveying device installation measuring system without surveying vessel dock of claim 3, wherein the system is provided with observation points including the total station common point, the surveying vessel common point and the surveying device installation location observation point, the observation points being located at the total station visible location on the surveying vessel.
6. The survey instrument installation measurement system without surveying a dock on a vessel of claim 3, wherein a light reflector is arranged on the observation point.
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| CN109029465A (en) * | 2018-08-24 | 2018-12-18 | 上海大学 | A kind of unmanned boat tracking and obstacle avoidance system based on millimetre-wave radar |
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