CN114046779A - Vision measurement adjustment method based on additional large-scale constraint between observation station and control point - Google Patents
Vision measurement adjustment method based on additional large-scale constraint between observation station and control point Download PDFInfo
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- CN114046779A CN114046779A CN202111407992.6A CN202111407992A CN114046779A CN 114046779 A CN114046779 A CN 114046779A CN 202111407992 A CN202111407992 A CN 202111407992A CN 114046779 A CN114046779 A CN 114046779A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/12—Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken
Abstract
The invention discloses a vision measurement adjustment method based on additional large-scale constraint between a survey station and a control point, belonging to the technical field of vision measurement and comprising the following steps: s10, arranging a series of space point positions in the area to be measured; s20, determining a measuring station, and arranging the measuring instrument at the determined station as a measuring station; s30, leveling the vision measuring instrument, and taking a first picture of the space control point; s40, rotating the horizontal rotary table or the vertical rotary table, and shooting again until shooting is finished; s50, distance measurement is carried out on the point positions of the space control points; s60, moving to the next station, and repeating the steps S10-S50; and S70, inputting the measurement parameters of the measuring station into the adjustment model to obtain the coordinates and the postures of the measuring station and the coordinates of the space point positions. The invention establishes the distance constraint between the center of the instrument and the measured point and the angle constraint under the shooting posture, and can improve the photogrammetric precision of a large-range area.
Description
Technical Field
The invention belongs to the technical field of vision measurement, and particularly relates to a vision measurement adjustment method of a vision measuring instrument with a turntable and a distance measurement function based on large-scale constraint between a measuring station and a control point.
Background
The close-range industrial photogrammetry system is a non-contact measurement, and adopts a single camera or a plurality of cameras to shoot one or a plurality of pictures for a measured object, and utilizes the imaging information of the measured object on a camera image sensor to realize the measurement of the three-dimensional space position of the measured object. Compared with the traditional contact type measurement, the method has the obvious advantages of high measurement efficiency, few operators, flexible station selection and the like. However, for a large range of measurement, especially for the measurement of the long strip-shaped accelerator tunnel control net, the precision of the method has a certain gap compared with a tracker, and the main reason is the lack of large-scale space constraint.
Therefore, there is an urgent need for an accelerator tunnel control network measurement method that can improve photogrammetry accuracy over a wide area.
Disclosure of Invention
The invention provides an accelerator tunnel control network measuring method capable of improving photogrammetry precision of a large-range area, which adopts the following technical scheme:
a vision measurement adjustment method based on additional large-scale constraint between a survey station and a control point comprises the following steps:
s10, arranging a series of space point positions to be measured in an area to be measured, wherein a coordinate system where the points are located is called an object space coordinate system;
s20, determining a measuring station, and arranging the measuring instrument at the determined station as a measuring station;
s30, leveling the vision measuring instrument, and taking a first picture of a space control point at a measuring station; after shooting is finished, taking the measuring position as an initial measuring position of the measuring station;
s40, rotating the horizontal rotary table or the vertical rotary table, photographing the space control point again, and simultaneously recording the angle information of the rotary table until all the measured pictures of the measuring station are photographed;
s50, carrying out distance measurement on the space point to obtain a distance observation value of the measuring instrument;
s60, moving to the next station, repeating the steps S10-S50, and then carrying out related work of distance and photogrammetry on the space point;
s70, inputting observation values and photogrammetric parameters obtained by measurement at the same station into adjustment models of image points on different measurement photos at the same station;
the adjustment model is suitable for observation data of different stations, and finally coordinates and postures of all stations and coordinates of spatial point positions are obtained.
Further, the observation value comprises a photographed image point coordinate, a distance observation value and a posture deviation between different photos, wherein the posture deviation between different photos is an angle observation value of the rotary table.
Further, the relationship between the coordinates of the image point on the photograph and the coordinates of the object space is expressed as follows:
in the above formula, the photo coordinate system between the image principal point and the corresponding image point is O _ xy, and the object coordinate system of the measurement area is O _ XYZ; wherein the coefficient a1，a2，a3，b1b2，b3，c1,c2,c3The transformation relation matrix is a conversion relation matrix among a photo coordinate system, an image space auxiliary coordinate system, an image space coordinate system and an object space coordinate system, implies external elements of the camera, and comprises a survey station position parameter and a posture parameter; x is the number of0,y0The coordinate of the image principal point in the image coordinate system is shown, f is the focal length of the camera and is collectively called as the internal orientation element of the camera; x and y are coordinates of the corresponding object space point in an o _ xy coordinate system at an image point, namely observed values in photogrammetry; xs，Ys，ZsCoordinates of the center of the measuring station in an object space coordinate system O _ XYZ are position parameters of the measuring station; x, Y and Z are coordinates of the measuring point in an O _ XYZ coordinate system.
Further, the distance observation is represented as follows:
where i, j are two points in object space, (X)i,Yi,Zi) And (X)j,Yj,Zj) Is the spatial coordinate between the two points i, j; i. j distance S between two pointsijCan be expressed by the above formula as a distance scale constraint of space.
Further, the station angle observation is the deviation of the attitude of the other pictures i of the same station from the initial picture 1, which can be obtained from the turn table reading, wherein the turn table parameters can be calculated by the following formula:
Δθi1＝θi-θ1
theta in the above formula represents the attitude deviation of different photographs of the same station in three directions.
Further, on different photos of the same station, the adjustment models of the photographed image point coordinates, the distance observation values, the observation data of the attitude deviation among the different photos, the station coordinates and the space measurement point coordinates are as follows:
wherein (x)1，y1) Is the image point coordinate 1 of the space point 1 on the initial picture, (x)2，y2) The spatial point 2 is the image point coordinate 2 on the image 2 of the measuring station; (Δ X)1,ΔY1,ΔZ1) And (Δ X)2,ΔY2,ΔZ2) Is a parameter to be estimated, Delta X, of the spatial coordinates of an object space point location 1 and an object space point location 2s1，ΔYs1，ΔZs1，Δw1，
Δk1The parameter to be estimated, Δ w, of the exterior orientation element of the initial photograph2，
△k2The position parameter of the picture 2 is consistent with the initial picture as the parameter to be estimated of the picture 2 posture; v. ofx1，vy1，vx2，vy2Is the correction of the observed values of image point 1 and image point 2, lx1，ly1，lx2，ly2Is the difference between the image point observation and the approximate value;
respectively a space point location 1, a space point location 2 and a station S1The number of corrections to the distance observation,
is the difference between the measured distance value and the approximate value;
is the correction of the observed value of the attitude deviation between the photos;
subtracting an approximate value from an actual measurement value of the attitude deviation between the photos;
the expression (1) indicates the image point (x)1，y1) The adjustment formula of (2); the expression (2) indicates the image point (x)2，y2) The adjustment formula of (2); formula (3) object space point (X)1,Y1,Z1) A distance observation value adjustment model with the center of the observation station; the formula (4) is an object space point (X)2,Y2,Z2) A distance observation value adjustment model with the center of the observation station; equations (5), (6) and (7) are the pose parameter relationships of the initial photograph and the other photographs; where equations (3), (4), (5), (6) and (7) are angle and distance constraints on the photogrammetric space on a large scale, the image point adjustment model on the initial photograph and other photographs on the station is similar to that shown above.
Further, the 6 exterior orientation elements of different photographs of the same station have the same position pose, but have different angular poses.
Further, before step S10, the surveying instrument is mounted on an instrument stand through a triangular base, and the surveying instrument is leveled.
Further, in step S40, the position of the instrument holder remains unchanged.
Furthermore, the measuring instrument comprises a distance measuring module, a vision measuring module, a vertical rotary table and a horizontal rotary table, wherein the vertical rotary table is rotatably connected with the horizontal rotary table; the vision measuring module is rotationally connected with the vertical rotary table; the distance measuring module is connected with the vision measuring module.
Has the advantages that:
according to the vision measurement adjustment method based on the large-scale constraint added between the measuring station and the control point, the distance constraint between the instrument center and the measured point and the angle constraint under the shooting posture are established, and the photogrammetric precision of a large-scale area can be improved.
Drawings
FIG. 1 is a flow chart of a vision measurement adjustment method based on an additional large-scale constraint between a survey station and a control point according to the present invention;
FIG. 2 is a schematic overall structure diagram of the measuring instrument;
10, a horizontal turntable; 20. a vision measurement module; 30. a vertical turntable; 40. and a distance measuring module.
Detailed Description
Example 1
A vision measurement adjustment method based on additional large-scale constraint between a survey station and a control point comprises the following steps:
and S10, arranging a series of space point positions to be measured in the region to be measured, wherein the coordinate system of the points is called an object space coordinate system.
S20, determining a measuring station, and arranging the measuring instrument at the determined station as a measuring station;
s30, leveling the vision measuring instrument, and taking a first picture of a space control point at a measuring station; after shooting is finished, taking the measuring position as an initial measuring position of the measuring station;
s40, rotating the horizontal rotary table or the vertical rotary table, photographing the space control point again, and simultaneously recording the angle information of the rotary table until all the measured pictures of the measuring station are photographed;
s50, carrying out distance measurement on the space point to obtain a distance observation value of the measuring instrument; in this embodiment, the distance measurement point is not necessarily the point visually photographed by the station, but may be a point far from the station and not photographed by photogrammetry;
s60, moving to the next station, repeating the steps S10-S50, and then carrying out related work of distance and photogrammetry on the space point;
s70, inputting the observed value and the photogrammetric parameters measured by the same station into the adjustment model of the image points on different measured pictures of the same station,
the adjustment model is suitable for observation data of different stations, and coordinates and postures of all stations and coordinates of spatial point positions are obtained finally.
In this embodiment, the observation includes the photographed image point coordinates, the distance observation, and the inter-photo attitude deviation, which is the angle observation of the turntable.
The relationship between the coordinates of the image points on the picture and the coordinates of the object space is expressed as follows:
in the above formula, the photo coordinate system between the image principal point and the corresponding image point is O _ xy, and the object coordinate system of the measurement area is O _ XYZ; wherein the coefficient a1，a2，a3，b1b2，b3，c1,c2,c3The transformation relation matrix is a conversion relation matrix among a photo coordinate system, an image space auxiliary coordinate system, an image space coordinate system and an object space coordinate system, implies external elements of the camera, and comprises a survey station position parameter and a posture parameter; x is the number of0,y0The coordinate of the image principal point in the image coordinate system is shown, f is the focal length of the camera and is collectively called as the internal orientation element of the camera; x and y are coordinates of the corresponding object space point in an o _ xy coordinate system at an image point, namely observed values in photogrammetry; xs，Ys，ZsCoordinates of the center of the measuring station in an object space coordinate system O _ XYZ are position parameters of the measuring station; x, Y and Z are coordinates of the measuring point in an O _ XYZ coordinate system.
In the present embodiment, the distance observation value is expressed as follows:
where i, j are two points in object space, (X)i,Yi,Zi) And (X)j,Yj,Zj) Is the spatial coordinate between the two points i, j; i. j distance S between two pointsijCan be expressed by the above formula as a distance scale constraint of space.
In this embodiment, the station angle observation is the deviation of the attitude of the other pictures i of the same station from the initial picture 1, which can be obtained from the turntable reading, wherein the turntable parameter can be calculated by the following formula:
Δθi1＝θi-θ1
theta in the above formula represents the attitude deviation of different photographs of the same station in three directions.
In this embodiment, on different photos of the same station, the adjustment models of the coordinates of the photographed image points, the distance observation values, the observation data of the attitude deviations among the different photos, the coordinates of the station, and the coordinates of the space measurement points are as follows:
wherein (x)1，y1) Is the image point coordinate 1 of the space point 1 on the initial picture, (x)2，y2) Image point of space point 2 on the image point of the observation station picture 2Marking 2; (Δ X)1,ΔY1,ΔZ1) And (Δ X)2,ΔY2,ΔZ2) Is a parameter to be estimated, Delta X, of the spatial coordinates of an object space point location 1 and an object space point location 2s1，ΔYs1，ΔZs1，Δw1，
Δk1The parameter to be estimated, Δ w, of the exterior orientation element of the initial photograph2，
△k2The position parameter of the picture 2 is consistent with the initial picture as the parameter to be estimated of the picture 2 posture; v. ofx1，vy1，vx2，vy2Is the correction of the observed values of image point 1 and image point 2, lx1，ly1，lx2，ly2Is the difference between the image point observation and the approximate value;
respectively a space point location 1, a space point location 2 and a station S1The number of corrections to the distance observation,
is the difference between the measured distance value and the approximate value;
is the correction of the observed value of the attitude deviation between the photos;
subtracting an approximate value from an actual measurement value of the attitude deviation between the photos;
the expression (1) indicates the image point (x)1，y1) The adjustment formula of (2); the expression (2) indicates the image point (x)2，y2) The adjustment formula of (2); formula (3) object space point (X)1,Y1,Z1) A distance observation value adjustment model with the center of the observation station; the formula (4) is an object space point (X)2,Y2,Z2) A distance observation value adjustment model with the center of the observation station; equations (5), (6) and (7) are the pose parameter relationships of the initial photograph and the other photographs; where equations (3), (4), (5), (6) and (7) are angle and distance constraints on the photogrammetric space on a large scale, the image point adjustment model on the initial photograph and other photographs on the station is similar to that shown above.
In this embodiment, the picture 2 is a picture taken at the same station and different from the initial position.
Before step S10, the surveying instrument is mounted on the instrument stand through the triangular base, and the surveying instrument is leveled.
In step S40, the position of the instrument holder remains unchanged.
In the embodiment, the measuring instrument comprises a distance measuring module 40, a vision measuring module 20, a vertical rotary table 30 and a horizontal rotary table 10, wherein the vertical rotary table 30 is rotatably connected with the horizontal rotary table 10; the vision measuring module 20 is rotatably connected with the vertical rotary table 30; the ranging module 40 is connected with the vision measuring module 20.
Wherein, the ranging module 40 can obtain the instrument distance; the vision measurement module 20 can obtain the relationship between the image points and the control points; thus forming an instrument with the functions of vision measurement, distance measurement and angle measurement. Thus, the distance constraint between the instrument center and the measured point and the angle constraint under the shooting posture can be established in the measurement.
In this embodiment, different stations capture the same spatial point locations to form redundant information.
In this embodiment, the coordinates of the spatial point location are obtained by performing adjustment on the whole photos of different stations.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention still belong to the technical scope of the present invention.
Claims (10)
1. A vision measurement adjustment method based on large-scale constraint added between a survey station and a control point is characterized by comprising the following steps:
s10, arranging a series of space point positions to be measured in an area to be measured, wherein a coordinate system where the points are located is called an object space coordinate system;
s20, determining a measuring station, and arranging the measuring instrument at the determined station as a measuring station;
s30, leveling the vision measuring instrument, and taking a first picture of a space control point at a measuring station; after shooting is finished, taking the measuring position as an initial measuring position of the measuring station;
s40, rotating the horizontal rotary table or the vertical rotary table, photographing the space control point again, and simultaneously recording the angle information of the rotary table until all the measured pictures of the measuring station are photographed;
s50, carrying out distance measurement on the space point to obtain a distance observation value of the measuring instrument;
s60, moving to the next station, repeating the steps S10-S50, and then carrying out related work of distance and photogrammetry on the space point;
s70, inputting observation values and photogrammetric parameters obtained by measurement in the same station into adjustment models of image points on different measurement pictures in the same station;
the adjustment model is suitable for observation data of different stations, and finally coordinates and postures of all stations and coordinates of spatial point positions are obtained.
2. The vision-measurement adjustment method based on the additional large-scale constraint between the observation station and the control point according to claim 1, characterized in that the observation values comprise the coordinates of the photographed image point, the distance observation value and the different inter-photograph attitude deviation, wherein the different inter-photograph attitude deviation is the angle observation value of the rotation table.
3. The vision measurement adjustment method based on the large-scale constraint between the observation station and the control point as claimed in claim 2, wherein the relationship between the coordinates of the image point on the photograph and the coordinates of the object space is expressed as follows:
in the above formula, the photo coordinate system between the image principal point and the corresponding image point is O _ xy, and the object coordinate system of the measurement area is O _ XYZ; wherein the coefficient a1，a2，a3，b1b2，b3，c1,c2,c3The transformation relation matrix is a conversion relation matrix among a photo coordinate system, an image space auxiliary coordinate system, an image space coordinate system and an object space coordinate system, implies external elements of the camera, and comprises a survey station position parameter and a posture parameter; x is the number of0,y0The coordinate of the image principal point in the image coordinate system is shown, f is the focal length of the camera and is collectively called as the internal orientation element of the camera; x and y are coordinates of the corresponding object space point in an o _ xy coordinate system at an image point, namely observed values in photogrammetry; xs，Ys，ZsCoordinates of the center of the measuring station in an object space coordinate system O _ XYZ are position parameters of the measuring station; x, Y and Z are coordinates of the measuring point in an O _ XYZ coordinate system.
4. The vision measurement adjustment method based on the large-scale constraint between the observation station and the control point is characterized in that the distance observation value is represented as follows:
where i, j are two points in object space, (X)i,Yi,Zi) And (X)j,Yj,Zj) Is the spatial coordinate between the two points i, j; i. j distance S between two pointsijCan be expressed by the above formula as a distance scale constraint of space.
5. The vision measurement adjustment method based on the additional large-scale constraint between the observation station and the control point of claim 4, wherein the observation of the platform angle is the attitude deviation of other photos i of the same observation station relative to the initial photo 1 obtained from the reading of the turntable, and wherein the parameters of the turntable can be calculated by the following formula:
Δθi1＝θi-θ1
theta in the above formula represents the attitude deviation of different photographs of the same station in three directions.
6. The vision measurement adjustment method based on the large-scale constraint between the observation station and the control point as claimed in claim 5, wherein the adjustment models of the coordinates of the image point, the distance observation value and the observation data of the attitude deviation between different photos, the coordinates of the observation station and the coordinates of the space measurement point on different photos of the same observation station are as follows:
wherein (x)1，y1) Is the image point coordinate 1 of the space point 1 on the initial picture, (x)2，y2) The spatial point 2 is the image point coordinate 2 on the image 2 of the measuring station; (Δ X)1,ΔY1,ΔZ1) And (Δ X)2,ΔY2,ΔZ2) Is a parameter to be estimated, Delta X, of the spatial coordinates of an object space point location 1 and an object space point location 2s1，ΔYs1，ΔZs1，Δw1，
Δk1The parameter to be estimated, Δ w, of the exterior orientation element of the initial photograph2，
△k2The position parameter of the picture 2 is consistent with the initial picture as the parameter to be estimated of the picture 2 posture; v. ofx1，vy1，vx2，vy2Is image point 1 andcorrection of the observed value of image point 2,/x1，ly1，lx2，ly2Is the difference between the image point observation and the approximate value;
respectively a space point location 1, a space point location 2 and a station S1The number of corrections to the distance observation,
is the difference between the measured distance value and the approximate value;
is the correction of the observed value of the attitude deviation between the photos;
subtracting an approximate value from an actual measurement value of the attitude deviation between the photos;
the expression (1) indicates the image point (x)1，y1) The adjustment formula of (2); the expression (2) indicates the image point (x)2，y2) The adjustment formula of (2); formula (3) object space point (X)1,Y1,Z1) A distance observation value adjustment model with the center of the observation station; the formula (4) is an object space point (X)2,Y2,Z2) A distance observation value adjustment model with the center of the observation station; equations (5), (6) and (7) are the pose parameter relationships of the initial photograph and the other photographs; where equations (3), (4), (5), (6) and (7) are angle and distance constraints on the photogrammetric space on a large scale, the image point adjustment model on the initial photograph and other photographs on the station is similar to that shown above.
7. The vision measurement adjustment method based on the large-scale constraint between the measuring station and the control point as claimed in claim 6, characterized in that the 6 exterior orientation elements of different photos of the same measuring station have the same position pose but different angle poses.
8. The vision measurement adjustment method based on the additional large-scale constraint between the observation station and the control point according to claim 1, characterized in that, before step S10, the measuring instrument is installed on the instrument support through a triangular base and is leveled.
9. The vision measurement adjustment method based on the additional large-scale constraint between the measuring station and the control point according to claim 8, characterized in that the position of the instrument holder is kept unchanged in step S40.
10. The vision measurement adjustment method based on the additional large-scale constraint between the observation station and the control point according to claim 1, characterized in that the measuring instrument comprises a distance measuring module, a vision measuring module, a vertical turntable and a horizontal turntable, wherein the vertical turntable is rotatably connected with the horizontal turntable; the vision measuring module is rotationally connected with the vertical rotary table; the distance measuring module is connected with the vision measuring module.
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| CN110398208A (en) * | 2019-07-23 | 2019-11-01 | 四川建筑职业技术学院 | Big data deformation monitoring method based on photographic measuring apparatus system |
| CN110779498A (en) * | 2019-09-19 | 2020-02-11 | 中国科学院测量与地球物理研究所 | Shallow river water depth mapping method and system based on unmanned aerial vehicle multi-viewpoint photography |
| CN113324528A (en) * | 2021-05-18 | 2021-08-31 | 武汉大学 | Close-range photogrammetry target positioning method and system with known camera station position |
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