CN113483663A - Three-dimensional large-size spliced multi-array-surface test calibration system and calibration method - Google Patents
Three-dimensional large-size spliced multi-array-surface test calibration system and calibration method Download PDFInfo
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- CN113483663A CN113483663A CN202110790030.7A CN202110790030A CN113483663A CN 113483663 A CN113483663 A CN 113483663A CN 202110790030 A CN202110790030 A CN 202110790030A CN 113483663 A CN113483663 A CN 113483663A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
- G01C15/002—Active optical surveying means
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Abstract
The invention relates to a three-dimensional large-size spliced multi-array surface testing and calibrating system and a calibrating method, belonging to the technical field of mapping.
Description
Technical Field
The invention belongs to the technical field of surveying and mapping, and particularly relates to a three-dimensional large-size spliced multi-array-surface test calibration system and a calibration method.
Background
The large-size space coordinate measurement has wide application requirements in various fields such as aerospace, infrastructure, industrial production and the like, and due to the large measurement range and the high requirement on the measurement precision, the large-size space coordinate measurement is commonly used for non-contact measurement, such as measurement by using an electronic theodolite, a laser tracker, a total station and photogrammetric equipment. However, the current calibration method has the following limitations: 1. absolute position coordinates of each point on a large-size plane array surface cannot be given; 2. the positioning test of a plurality of large-size spliced array surfaces which are closely spliced or have certain distance intervals in the middle has no solution.
Disclosure of Invention
In order to solve the above problems, a three-dimensional large-size spliced multi-array surface test calibration system and a calibration method are proposed.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a three-dimensional jumbo size concatenation many wavefront test calibration system, includes control point, laser total powerstation and direction finding receiver, and a plurality of wavefront formations of concatenation form by the detection face, the control point is got from the wavefront of concatenation, and the control point department installation reflector plate, the direction finding receiver is located the direction line that is detected the face, the laser total powerstation erects in the opposite of being detected the face, and control point, direction finding receiver all are located the visual scanning range of laser total powerstation.
Furthermore, a plurality of control points are taken on each array surface, and the control points and the array surfaces are integrally processed.
Further, the control points are located at specific positions of the front surface, that is, the positional relationship among the plurality of control points is fixed.
Preferably, the control points are located at the edge positions of the front surface.
Preferably, there are at least 2 control points located on the same wavefront.
Further, the direction-finding receiver comprises a GPS instrument and a 360-degree prism, the 360-degree prism is used for receiving signals sent by the laser total station and reflecting the signals to the laser total station, and the GPS instrument and the 360-degree prism are integrated into an integrated structure.
The GPS instrument and the 360-degree prism are assembled together, the laser total station is aligned to the position of the GPS instrument in a mode of automatically aligning the 360-degree prism, and the local coordinate under the laser total station and the WGS-84 coordinate under the GPS instrument can be directly integrated and tested.
Furthermore, the direction-finding receivers are three and are respectively a first direction-finding receiver, a second direction-finding receiver and a third direction-finding receiver, wherein the first direction-finding receiver and the second direction-finding receiver are used as mobile stations and are positioned on a direction line of the detected surface, and the third direction-finding receiver is used as a reference station and is positioned on the opposite surface of the laser total station.
Further, considering that the longer the satellite positioning baseline, the higher the accuracy, compared with the first direction finding receiver and the second direction finding receiver, the distance between the third direction finding receiver and the laser total station is the largest, and the length of the baseline is extended, so that the baseline direction finding accuracy is improved.
Further, the reference station and the mobile station adopt the operation mode of the CORS station, and when the mobile station is connected to the station of the reference station, the mobile station hand book display measurement value is in a fixed state, and the reference station and the mobile station setting is completed.
Further, the coordinates of the reference station are known.
Further, the first direction finding receiver, the second direction finding receiver and the third direction finding receiver adopt a satellite station differential working mode.
Further, the laser total station is installed at a total station measuring point and used for aiming at a control point and a direction finding receiver, obtaining coordinates and measuring angles and distances, a method of positioning and testing by the laser total station and a GPS is adopted, coordinate information of the GPS is converted into plane coordinates, and the coordinates of the total station measuring point are calculated by a rear intersection method by utilizing the principle of least square.
In addition, the invention also provides a calibration method of the three-dimensional large-size spliced multi-array surface test calibration system, which comprises the following steps:
step S1: erecting a laser total station and a direction finding receiver, selecting control points on the spliced array surface, and attaching a reflector plate;
step S2: the direction-finding receiver starts to receive data, the data result is converged and the coordinates of the mobile station are extracted;
step S3: the laser total station measures a reference station and a mobile station to obtain an angle value and a distance value, introduces coordinates of the reference station and the mobile station, and calculates coordinates of a measuring point of the total station;
step S4: the laser total station measures the distance and the angle of the reflector plate with the same array surface, fits the plane vectors of the array surface in the X direction, the Y direction and the Z direction, and calculates the coordinates of control points;
step S5: and repeating the step S4, completing the measurement of all spliced wavefront, setting one of all spliced wavefronts as a reference plane, calculating to obtain compensation values (namely wavefront flatness) of other wavefront and the reference plane, and completing the calibration of the wavefront test.
Further, in step S1, the laser total station is installed on the opposite side of the detected surface, two direction-finding receivers are installed on the direction line of the detected surface, and one direction-finding receiver is installed on the other opposite side of the detected surface. The invention has the beneficial effects that:
1. the method is simple, the accuracy of the test calibration is high, and the test calibration and data processing can be completed in a short time in a full-automatic manner.
2. The positions of a plurality of large-size array surfaces are tested and calibrated, the direction of the center of each large-size array surface to a static or moving target is given in real time, and the calibration problem of different array surfaces which are not closely arranged and distributed at a certain distance is effectively solved.
3. The laser total station can automatically aim at the next control point to be measured step by step according to the fixed position relation of the control points, and full-automatic testing of each control point is realized.
4. The method of the laser total station and the GPS positioning test is adopted, and the coordinate of the GPS instrument and the plane coordinate are combined together skillfully.
5. By means of the laser total station, the direction finding receiver and the selected control point, the high-precision test calibration of parameters such as relative position coordinates, absolute geographic coordinates, center pointing, flatness and the like of a large-size closely spliced or non-closely spliced array surface is realized in a non-contact, rapid and full-automatic mode.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic diagram of the selection of control points on the array surface.
In the drawings: 1-laser total station, 2-first direction finding receiver, 3-second direction finding receiver, 4-third direction finding receiver, 5-array plane, 6-detected side and 7-control point.
Detailed Description
In order to make the technical solutions of the present invention better understood, the following description of the technical solutions of the present invention with reference to the accompanying drawings of the present invention is made clearly and completely, and other similar embodiments obtained by a person of ordinary skill in the art without any creative effort based on the embodiments in the present application shall fall within the protection scope of the present application. In addition, directional terms such as "upper", "lower", "left", "right", etc. in the following embodiments are directions with reference to the drawings only, and thus, the directional terms are used for illustrating the present invention and not for limiting the present invention.
The first embodiment is as follows:
as shown in fig. 1-2, a three-dimensional large-size spliced multi-wavefront test calibration system comprises a control point 7, a laser total station 1 and a direction-finding receiver, wherein a spliced plurality of wavefront 5 forms a detected surface 6, and meanwhile, the plurality of wavefront 5 can be spliced closely or not.
The control points 7 are taken from the spliced wavefront 5 and a reflective sheet is mounted at the control points 7. Specifically, a plurality of control points 7 are taken on each wavefront 5, and the control points 7 are integrally processed with the wavefront 5. The control points 7 are located at specific positions of the front surface 5, i.e., the positional relationship between the plurality of control points 7 is fixed. Preferably, the control points 7 are located at the edge positions of the front 5. Preferably, there are at least 2 control points 7 located on the same front 5.
The direction-finding receiver is positioned on the direction line of the detected surface 6. Specifically, the direction-finding receiver comprises a GPS instrument and a 360-degree prism, the GPS instrument is positioned above the 360-degree prism, and central shafts of the GPS instrument and the 360-degree prism are in rigid connection through a connecting piece, namely the GPS instrument and the 360-degree prism are integrated into an integrated structure. The 360-degree prism is used for receiving signals sent by the laser total station 1 and reflecting the signals to the laser total station 1, the GPS instrument and the 360-degree prism are assembled together, the laser total station 1 is aligned to the position of the GPS instrument in a mode of automatically aligning the 360-degree prism, and the local coordinate under the laser total station 1 and the WGS-84 coordinate under the GPS instrument can be directly integrated and tested.
The three direction-finding receivers are respectively a first direction-finding receiver 2, a second direction-finding receiver 3 and a third direction-finding receiver 4, wherein the first direction-finding receiver 2 and the second direction-finding receiver 3 are used as mobile stations and are positioned on a direction line of a detected surface 6, and the third direction-finding receiver 4 is used as a reference station and is positioned on the opposite surface of the laser total station 1. Considering that the longer the satellite positioning base line, the higher the accuracy, compared with the first direction finding receiver 2 and the second direction finding receiver 3, the distance between the third direction finding receiver 4 and the laser total station 1 is the largest, and the length of the base line is prolonged, so as to improve the base line direction finding accuracy. The reference station and the mobile station adopt an operation mode of a CORS station, when the mobile station is connected to a station of the reference station, the mobile station hand book display measurement value is in a fixed state, and the reference station and the mobile station are set. At the same time, the coordinates of the reference station are known. The first direction finding receiver, the second direction finding receiver and the third direction finding receiver adopt a satellite station differential working mode.
The laser total station 1 is erected opposite to the detected surface 6, and the control point 7 and the direction finding receiver are both located in a visible scanning range of the laser total station 1. The laser total station 1 is installed at a total station measuring point and used for aiming at the control point 7 and the direction finding receiver, obtaining coordinates and measuring angles and distances, has the advantages of rapidness and accuracy of data processing, and carries out spatial data acquisition and updating to realize digitization of surveying and mapping. The method comprises the steps of converting coordinate information of a GPS instrument into plane coordinates by adopting a laser total station and GPS positioning test method, and calculating coordinates of a measuring point of the total station by utilizing a least square principle and a rear intersection method.
The calibration method of the three-dimensional large-size spliced multi-array surface test calibration system mainly comprises three processes of station setting orientation, measurement and calculation, wherein the station setting orientation is realized by observing a 360-degree prism, converting GPS coordinate information of a direction-finding receiver into plane coordinates, and observing a plurality of direction-finding receivers by using the least square principle, so that the current coordinates of the laser total station 1 can be accurately determined. The method specifically comprises the following steps:
step S1: the method comprises the steps of erecting a laser total station 1 on the opposite side of a detected surface 6, erecting two direction finding receivers (namely a first direction finding receiver 2 and a second direction finding receiver 3 as mobile stations) on a direction line of the detected surface 6, erecting a direction finding receiver (namely a third direction finding receiver 4 as a reference station with known coordinates) on the other opposite side of the detected surface 6, selecting a control point 7 on a spliced array surface 5, attaching a reflector plate, and testing and recording the longitude, the latitude and the altitude of the first direction finding receiver 2 and the second direction finding receiver 3.
Step S2: the working mode of the direction-finding receiver is star station difference, the data reception is started, the data result convergence is waited after the observation, and the coordinate of the mobile station is extracted.
Step S3: the laser total station 1 measures a reference station and a mobile station to obtain an angle value and a distance value, introduces coordinates of the reference station and the mobile station, and calculates coordinates of a measuring point of the total station by using a least square principle.
Step S4: the laser total station 1 measures the distance and the angle of the reflector plate with the same array surface 5, fits the plane vectors of the array surface 5 in the X direction, the Y direction and the Z direction, and calculates the coordinates of the control point 7. Because the position relation of the adjacent control points is fixed, the laser total station 1 can automatically aim at the next control point to be measured for stepping, and the full-automatic test of each control point 7 is realized.
Step S5: and repeating the step S4, completing the measurement of all the spliced wavefront 5, setting one wavefront of all the spliced wavefront 5 as a reference plane, calculating to obtain compensation values (i.e. wavefront flatness) of other wavefronts and the reference plane, and completing the calibration of the wavefront test.
The laser total station 1 is used for testing and calibrating the pointing direction of the center of each array surface 5 in a beam scanning mode, the method is simple, the testing and calibrating accuracy is high, and the testing and calibrating and data processing can be completed in a short time in a full-automatic mode. The positions of a plurality of large-size array surfaces 5 are tested and calibrated, the pointing direction of the center of each large-size array surface 5 to a static or moving target is given in real time, the calibration problem of different array surfaces which are not closely arranged and distributed at a certain distance is effectively solved, and the high-precision test calibration of parameters such as relative position coordinates, absolute geographic coordinates, center pointing, flatness and the like of large-size closely spliced or non-closely spliced array surfaces is realized in a non-contact, rapid and full-automatic manner.
The coordinates of the reference station are known, under the condition of known local coordinates and WGS-84 coordinates, point-to-point conversion parameters of two coordinate systems are obtained, a BLH result obtained by a GPS is converted into xyH under a plane rectangular coordinate system by using a coordinate conversion algorithm, and then the coordinates and the direction of the laser total station 1 under the plane rectangular coordinate system are solved by using a rear intersection algorithm. The calibration process involves back intersection, coordinate transformation and plane fitting algorithms, which are all prior art of degree and thus are not described any further.
Example two:
parts of this embodiment that are the same as those of the first embodiment are not described again, except that:
as shown in fig. 2, the spliced multi-array surface is composed of three large-sized flat plates, the height of each flat plate is 2.5 meters, the width of each flat plate is 1.5 meters, and the center of each flat plate is spaced by 1 meter. The following parameters were calculated by the test: the orientation of the three plates relative to a plurality of different targets (orientation in a rectangular coordinate system centered on the three plates); the precision of the relative positions of the three flat plates is better than 0.7 mm; the direction detection precision is better than 0.16 degree/per meter base line; the central absolute geographic coordinates of the three panels; parallelism of the three plates; the system setup and test time should be completed within 20 min.
Specifically, the laser total station 1 is erected at a proper position A which is about 10 meters opposite to the detected surface, two direction-finding receivers are installed at B, C points on the direction line of the detected surface, and the distance between the two direction-finding receivers is larger than 80 meters. And erecting a direction-finding receiver at a position D about 100 meters away from the laser total station 1, and attaching a reflector plate on the detected surface. And setting the working mode of the direction-finding receiver as a satellite-station difference, starting to receive data, waiting for the data result to converge after about 5 minutes of observation, and extracting B, C point coordinates. The laser total station 1 is operated to measure B, C, D points, an angle value and a distance value are measured, a coordinate value of B, C, D points is introduced to calculate a coordinate value of a station measuring of the A point (wherein one point selected from the B point and the C point is a precision checking and evaluating point, a directional point is a D point, and a long base line is beneficial to improving the directional precision).
And taking 18 control points which are totally marked as P1-P18 from the six control points 7 on each flat plate, and measuring 18 reflectors on the 3 flat plates by using the laser total station 1 to obtain coordinate values of P1-P18. Calculating a plane normal vector, an X-axis vector, a target azimuth angle, a target pitch angle and a target distance, determining a reference plane by using P7-P12 on a 2 nd flat plate, respectively calculating the center point values of the reference plane, a 1 st flat plate and a 3 rd flat plate, and calculating the coordinate difference value between the center point of the 1 st flat plate and the 3 rd flat plate and the origin point under a spherical coordinate taking the center point of the reference plane as the origin point, namely the compensation value of the 1 st flat plate, the 3 rd flat plate and the reference plane.
And then, three non-closely spliced wavefront 5 are tested, the pointing direction of the center of each wavefront 5 is tested and verified in a beam scanning mode, and the error is within the range of 0.1 degrees, so that the positioning test error of the wavefront 5 meets the index requirement that the error is not more than 0.7mm and the direction detection precision is better than 0.16 degrees/per meter of base line. Meanwhile, the whole system can complete the test and data processing in 20 min.
The present invention has been described in detail, and it should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Claims (10)
1. The three-dimensional large-size spliced multi-array surface testing and calibration system is characterized by comprising control points, a laser total station and a direction finding receiver, wherein a plurality of spliced array surfaces form a detected surface, the control points are taken from the spliced array surfaces, a reflector plate is arranged at the control points, the direction finding receiver is positioned on a direction line of the detected surface, the laser total station is erected opposite to the detected surface, and the control points and the direction finding receiver are positioned in a visual scanning range of the laser total station.
2. The system for testing and calibrating the spliced multiple wavefront of the three-dimensional large-size according to claim 1, wherein a plurality of control points are taken on each wavefront, and the control points and the wavefronts are integrally processed.
3. The system of claim 2, wherein the positional relationship between the plurality of control points is fixed.
4. The system of claim 1, wherein the direction-finding receiver comprises a GPS instrument and a 360 ° prism, the 360 ° prism is configured to receive and reflect signals from and to the laser total station, and the GPS instrument and the 360 ° prism are integrated into a single structure.
5. The system of claim 4, wherein there are three direction-finding receivers, namely a first direction-finding receiver, a second direction-finding receiver and a third direction-finding receiver, wherein the first direction-finding receiver, the second direction-finding receiver are used as mobile stations and are located on the direction line of the detected surface, and the third direction-finding receiver is used as a reference station and is located on the opposite side of the laser total station.
6. The system of claim 5, wherein the first direction finding receiver, the second direction finding receiver and the third direction finding receiver are in a star-station differential operation mode.
7. The system of claim 6, wherein the reference station and the mobile station adopt the CORS station operation mode, and when the mobile station is connected to the base station of the reference station, the mobile station handbook display measurement value is in a fixed state, and the reference station and the mobile station are set.
8. The system for three-dimensional large-size splicing and multi-wavefront-test calibration and calibration of any one of claims 1 to 7, wherein the laser total station is installed at a measuring point of the total station, and is used for aiming at a control point and a direction-finding receiver, obtaining coordinates and measuring angles and distances, and calculating the coordinates of the measuring point of the total station by a back intersection method.
9. A calibration method using the three-dimensional large-sized spliced multi-wavefront test calibration system according to claim 8, comprising the steps of:
step S1: erecting a laser total station and a direction finding receiver, selecting control points on the spliced array surface, and attaching a reflector plate;
step S2: the direction-finding receiver starts to receive data, the data result is converged and the coordinates of the mobile station are extracted;
step S3: the laser total station measures a reference station and a mobile station to obtain an angle value and a distance value, introduces coordinates of the reference station and the mobile station, and calculates coordinates of a measuring point of the total station;
step S4: the laser total station measures the distance and the angle of the reflector plate with the same array surface, fits the plane vector of the array surface and calculates the coordinates of the control points;
step S5: and repeating the step S4, finishing the measurement of all spliced wavefront, setting one of all spliced wavefronts as a reference plane, calculating to obtain the compensation values of other wavefront and the reference plane, and finishing the wavefront test calibration.
10. The calibration method of claim 9, wherein in step S1, the laser total station is installed on the opposite side of the detected surface, two direction-finding receivers are installed on the direction line of the detected surface, and one direction-finding receiver is installed on the other opposite side of the detected surface.
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