CN117386882A - Deviation correcting method for jacking pipe posture under non-excavation construction - Google Patents

Abstract

The invention discloses a correction method for the posture of a jacking pipe under trenchless construction, which comprises the following steps: acquiring the coordinates of a target prism on the pipe pushing jack in an engineering coordinate system through a measuring system; establishing a target coordinate system of the pipe jacking machine by taking the center of the pipe jacking as an origin, and converting the target coordinate system and the engineering coordinate system based on the relation between the coordinates of the target prism in the engineering coordinate system and the coordinates in the target coordinate system to obtain a track of the pipe jacking under the engineering coordinate system; classifying the jacking pipe track, wherein the jacking pipe track is divided into a straight line section track model, a circular curve section track model and a relaxation curve model; and calculating the deviation between the pipe jacking axis and the designed pipe jacking axis, and correcting the pipe jacking track if the deviation is larger than the set minimum deviation value. The invention has the advantages that: according to the principle of the jacking pipe deviation rectifying track, a quadratic curve is adopted to represent the jacking pipe deviation rectifying track curve, and the relation between the deviation rectifying angle and the jacking pipe track deviation is obtained through calculation, so that the jacking pipe curve track is classified.

Description

Deviation correcting method for jacking pipe posture under non-excavation construction

Technical Field

The invention belongs to the technical field of underground engineering, and particularly relates to a correction method for a jacking pipe posture under non-excavation construction.

Background

Before the underground tunnel is constructed, a design unit plans the construction path of the tunnel in advance, and the center curve of the cross section of the tunnel is usually used for representing the tunneling track direction. The heading cutterhead advances along the axis of the tunnel cross section, and when deviation between the heading cutterhead and the planned track is found, posture adjustment needs to be carried out on the heading cutterhead, and the deviation comprises horizontal deviation and vertical deviation. The tunnel axis is established under the engineering coordinate system, so that the position of the center of the pipe jacking in the tunneling process needs to be obtained, a target coordinate system jacked along with the pipe jacking machine needs to be established, and the real-time position of the tunnel axis under the engineering coordinate system is obtained through the relation between the center of a pipeline in the target coordinate system and the prism coordinate. In addition, the pipe jacking track is relatively complex, so that the pipe jacking track needs to be classified.

Disclosure of Invention

According to the defects of the prior art, the invention provides a deviation correcting method for the posture of a pipe jacking under trenchless construction, when the pipe jacking machine finishes jacking a section of pipeline, an automatic pipe jacking guiding system can measure the coordinates of the head and tail of the pipe which generate deviation, so that the deviation angle of the pipe jacking axis and the design axis is calculated, when the deviation angle is smaller than the minimum deviation set by the pipe jacking machine, the track of the pipe jacking axis is not required to be adjusted in real time, but when the deviation angle is larger than the set minimum deviation value, track deviation correcting planning is adopted as a limit according to whether track optimization can be finished once, so that the deviation correcting treatment for the posture of the pipe jacking is realized.

The invention is realized by the following technical scheme:

a deviation rectifying method for the posture of a jacking pipe under trenchless construction is characterized by comprising the following steps:

s1: acquiring the coordinates of a target prism on the pipe pushing jack in an engineering coordinate system through a measuring system;

s2: establishing a target coordinate system of the pipe jacking machine by taking the center of the pipe jacking as an origin, and converting the target coordinate system and the engineering coordinate system based on the relation between the coordinates of the target prism in the engineering coordinate system and the coordinates in the target coordinate system to obtain a track of the pipe jacking under the engineering coordinate system;

s3: classifying the jacking pipe track, wherein the jacking pipe track is divided into a straight line section track model, a circular curve section track model and a relaxation curve model;

s4: and calculating the deviation between the pipe jacking axis and the designed pipe jacking axis, and correcting the pipe jacking track if the deviation is larger than the set minimum deviation value.

The measuring system comprises a rearview prism arranged at a working well and a plurality of total stations arranged in a tunnel, and a prism is arranged above each total station; the rearview prism is used as a starting point, and the total station is used as a relay point to obtain the coordinates of the target prism in the engineering coordinate system.

The step of the conversion method between the target coordinate system and the engineering coordinate system in the step S2 is as follows:

the original point of the engineering coordinate system is O, three axes are respectively an X axis, a Y axis and a Z axis, and the original point of the target coordinate system is O _B The three axes are X respectively _B Axis, Y _B Axis, Z _B An axis, the engineering coordinate system is designated as an N system, the target coordinate system is designated as a B system, and the engineering coordinate system and the target coordinate system are subjected to attitude (alpha, beta, gamma) and displacement W (W) _XoB ，W _YoB ，W _ZoB ) Is transformed by (a);

by O _B Is the rotation point, O _B X _B Around X _B The shaft rotates anticlockwise by an angle gammaY at the back _B The axis is parallel to the O-XY plane;

the rotation matrix around the X axis isThe projection thereof on the N system is as follows:

the rotation matrix is as follows:

O _B Y _s around Y _B The shaft rotates anticlockwise by an angle beta, X after rotation _B The axis is parallel to the O-XY plane, O _B -X _B Y _B Parallel to the O-XY plane;

the rotation matrix for rotation about the Y axis is as follows:

O _B Z _B the rotation matrix for rotation about the Z axis is rotated clockwise by an angle α about the ZB axis as follows:

suppose that there is a point P (X) _P ，Y _P ，Z _P ) The transformed coordinates of the P point on the N system are expressed as:

in the method, in the process of the invention,is the coordinate of P point on N system, < >>Representing B-to N-series rotation matrices, P-pointsRepresenting the projection of N on B;

the target coordinate system and the engineering coordinate system are transformed by an attitude angle, coordinate axes are parallel to each other, only the difference value between displacements exists at the moment, the coordinate transformation is carried out on the difference value, and the P point is represented by a vector For the vector representation of the origin of the target coordinate system in the engineering coordinate system, +.>Translation variable->The vector representation value is represented for the new coordinates after the coordinate conversion, and the vector algorithm comprises the following steps:

substituting a rotation matrix formula into a conversion formula between the target coordinate system and the engineering coordinate system:

in the middle ofM is the scaling factor,conversion matrix for three angles alpha, beta, gamma, (X) _N ，Y _N ，Z _N ) Is the coordinate value of the P point in the new coordinate system.

The straight line segment track model in the step S3 is as follows:

straight line segment origin A coordinate (X) _a ，Y _a ) Second point B coordinate (X _b ，Y _b ) The coordinates of a point P with the line azimuth angle theta and the point A with the mileage L are as follows:

X _P ＝X _a +L·cosθ；

Y _P ＝Y _a +L·sinθ；

to obtain a certain point (X) _n ，Y _n ) The location information of (a) is:

the circular curve segment track model in the step S3 is as follows:

left and right are distinguished by the design axis direction, assuming an AC direction azimuth angle θ ₁ CB azimuth angle θ ₂ Then the rotation angle α=θ between the pipe joints ₁ -θ ₂ Judging the deflection direction of the circular curve through the positive and negative of the turning angle, when the turning angle is larger than 0, the curve deflects to the right side, and when the turning angle is smaller than 0, the curve deflects to the left side;

when the coordinates of A, B, C are known, the AC arbitrary point coordinates (x _i ，y _i ) Assuming A is the starting point of a circular curve, the arc length from any point to A is l _i The coordinates of any point can be expressed as:

wherein R is the radius of a circular curve;

the coordinate values under the engineering coordinate system can be obtained by performing rotation matrix transformation on the coordinate values:

the arc length from any point to A is L-L _i The coordinates of which are expressed as:

solving a point coordinate P on a circular curve AB, calculating by using vectors, wherein the circle center O to the starting point A of the circular curve is expressed as a vectorIts coordinates are (X) _a -X _o ，Y _a -Y _o ) Vector->Rotation angle alpha _p Get vector +.>Obtained by triangle rule

The formula of the coordinates P of any point is as follows:

the relaxation curve model in step S3 is:

the method adopts a convolution line as a moderation curve, and the radius of the convolution line is changed from infinity to a section of arc line with a certain design value, and the expression is as follows:

where c is a constant and represents the change in the radius of the relaxation curve, c=l·ρ, l is the arc length from a point on the convolution to the starting point, ρ is the radius of a point on the convolution, and when l is equal to the used relaxation curve length l _s In this case, the relaxed curve radius is a circular curve radius, c=r·l _s ；

Calculating the convolution line parameter, wherein the tangential line and the x-axis included angle at any point P on the curve are tangential angles beta, taking an arc line with the differential length of dl at the P position, and carrying out integral operation on the corresponding central angle dbeta, wherein the integral operation comprises the following steps:

angle of azimuth beta between tangent line and x-axis at end point B of moderation curve ₀ When l=ls, the center angle formed by the full length Ls of the relaxation curve is the azimuth angle beta ₀ The method comprises the following steps:

assuming that the starting point A of the relaxation curve is an origin, the tangent passing through the starting point A is an x-axis, the coordinate system accords with a right-hand coordinate system, a point P is optionally selected on the curve, and the projection equation of the micro-segment arc length is as follows:

expanding cos beta and sin beta in the formula according to the number of stages, and substituting the cos beta and sin beta into the formula:

and integrates it and derives a mild curve parameter equation with a slightly higher order term:

and carrying out coordinate conversion on the parameter equation of the relaxation curve, converting the target coordinate system into the engineering coordinate system, and carrying out coordinate conversion according to different connection types of the relaxation curve.

The invention has the advantages that: the three-dimensional space relation between the pipe jacking design axis and the tunnel design axis is analyzed and calculated, the application of a space coordinate conversion principle and an algorithm model in an automatic guiding system is introduced, the pipe jacking track is measured by a single-prism pipe jacking automatic guiding technology, the correction system of the pipe jacking is utilized for rechecking, and the curve pipe jacking track can be found to be well controlled by combining the on-site measurement deviation value; according to the principle of the jacking pipe deviation rectifying track, a quadratic curve is adopted to represent the deviation rectifying track curve of the jacking pipe, the relation between the deviation rectifying angle and the jacking pipe track deviation is obtained through calculation, the jacking pipe curve track is classified, and the detailed calculation is given to the straight line type, the circular arc type and the gentle curve type.

Drawings

FIG. 1 is a flow chart of the operation of the present invention;

FIG. 2 is a schematic diagram of a measurement system according to the present invention;

FIG. 3 is a diagram illustrating the transformation between a target coordinate system and an engineering coordinate system according to the present invention;

FIG. 4 is a schematic view of the rotation of the target coordinate system about the X-axis (one) in the present invention;

FIG. 5 is a schematic view of the rotation of the target coordinate system about the X-axis (II) in the present invention;

FIG. 6 is a schematic view of the rotation of the target coordinate system about the Y-axis in the present invention;

FIG. 7 is a schematic view of the rotation of the target coordinate system about the Z-axis in the present invention;

FIG. 8 is a schematic diagram of the transformation of the target coordinate system and the engineering coordinate system through the attitude angle in the present invention;

FIG. 9 is a schematic diagram of the displacement transformation of the target coordinate system and the engineering coordinate system according to the present invention;

FIG. 10 is an element diagram of a circle curve in the present invention;

FIG. 11 is a graph of the calculation of the convolution of the present disclosure;

FIG. 12 is a schematic view of in situ elevation deviation in accordance with the present invention;

FIG. 13 is a schematic diagram of a field measured horizontal deviation in accordance with the present invention.

Detailed Description

The features of the present invention and other related features are described in further detail below by way of example in conjunction with the following drawings, to facilitate understanding by those skilled in the art:

as shown in fig. 1-13, the labels are shown as: a rearview prism 1, a prism 2, a target prism 3, a first total station 4, a second total station 5 and a pipe jacking machine 6.

Examples: as shown in fig. 1-13, the embodiment specifically relates to a correction method for the posture of a jacking pipe under non-excavation construction, which specifically includes the following steps:

s1: and obtaining the coordinates of the target prism on the push bench in the engineering coordinate system through a measurement system.

And arranging a rearview prism at the working well as a starting point, arranging a plurality of total stations in the tunnel as relay points, and transmitting the engineering coordinate starting point to a target disc of the pipe jacking drilling machine. As shown in fig. 2, taking two total stations as an example, a first total station 4 and a second total station 5 respectively, the total stations serve as nodes for traversing, a prism 2 is arranged above each total station, coordinates of the prism 2 and central coordinates of the total stations can be directly confirmed through elevation correction, a target prism 3 is arranged on a push bench 6, and the coordinate operation flow is as follows: setting a first total station 4 as a far point, obtaining engineering coordinates of a rearview prism 1 and the first total station 4, orienting the first total station 4 through the rearview prism 1, turning the first total station 4 in a forward viewing direction, and observing a prism 2 on a second total station 5 to obtain a height difference, an inclined distance and the like between the two total stations; and calculating the coordinate of the prism 2 on the second total station 5 through the coordinate of the first total station 4 and the data, obtaining the central engineering coordinate of the second total station 5 by adopting elevation correction, observing the prism 2 above the first total station 4 by utilizing the rear view of the second total station 5, and obtaining the three-dimensional coordinate of the target prism 3 by utilizing the front view of the second total station 5.

S2: and establishing a target coordinate system of the pipe jacking machine by taking the center of the pipe jacking as an origin, and converting the target coordinate system and the engineering coordinate system based on the relation between the coordinates of the target prism in the engineering coordinate system and the coordinates in the target coordinate system to obtain the track of the pipe jacking under the engineering coordinate system.

As shown in FIG. 3, the engineering coordinate system origin is O, the three axes are X axis, Y axis and Z axis respectively, and the target coordinate system origin is O _B The three axes are X respectively _B Axis, Y _B Axis, Z _B An axis, an engineering coordinate system is designated as an N system, a target coordinate system is designated as a B system, and the engineering coordinate system and the target coordinate system are subjected to attitude (alpha, beta, gamma) and displacement W (W) _XoB ，W _YoB ，W _ZoB ) Is transformed by (a);

as shown in fig. 4 and 5, with O _B Is the rotation point, O _B X _B Around X _B The shaft rotates anticlockwise by an angle gamma, and the rotated Y _B The axis is parallel to the O-XY plane;

the rotation matrix around the X axis isThe projection thereof on the N system is as follows:

the rotation matrix is as follows:

as shown in FIG. 6, O _B Y _s Around Y _B The shaft rotates anticlockwise by an angle beta, X after rotation _s The axis is parallel to the O-XY plane, O _B --X _B Y _B Parallel to the O-XY plane;

the rotation matrix for rotation about the Y axis is as follows:

as shown in FIG. 7, O _B Z _B Around Z _B The axis rotates clockwise by an angle α, and the rotation matrix about the Z axis is as follows:

assume that s has a point P (X) _P ，Y _P ，Z _P ) The transformed coordinates of the P point on the N system are expressed as:

in the method, in the process of the invention,is the coordinate of P point on N system, < >>Representing B-to N-series rotation matrices, P-pointsRepresenting the projection of N on B;

as shown in FIG. 8, the coordinate axes of the target coordinate system and the engineering coordinate system are parallel to each other after transformation of the attitude angle, only the difference between displacements exists at this time, the coordinate transformation is performed, and the P point is represented by a vector For the vector representation of the original point of the target coordinate system in the engineering coordinate system>Translation variable->For the new coordinate vector representation after coordinate conversion, as shown in fig. 9, there are:

substituting the rotation matrix formula into a conversion formula between the target coordinate system and the engineering coordinate system:

where m is a scaling factor, i.e. the ratio of the engineering coordinate system to the target coordinate system，Conversion matrix for three angles alpha, beta, gamma, (X) _N ，Y _N ，Z _N ) Is the coordinate value of the P point in the new coordinate system.

S3: the actual pipe jacking track of the pipe jacking is expressed in three-dimensional space coordinates, but the position and the posture of the pipe jacking are very complex to consider directly under the three-dimensional space condition, so that a projection curve is utilized to link the plane line type, the longitudinal plane line type and the mileage, and a logarithmic model is simplified. And traversing the flat curve and the vertical curve linked list, finding a corresponding curve segment according to the given mileage, and solving coordinate values on the curve segment. The curved track of the jacking pipe is divided into three kinds, namely a straight line type, an arc type and a gentle curve type.

Wherein, the straight line section track model is:

straight line segment origin A coordinate (X) _a ，Y _a ) Second point B coordinate (X _b ，Y _b ) The coordinates of a point P with the line azimuth angle theta and the point A with the mileage L are as follows:

X _P ＝X _a +L·cosθ；

Y _P ＝Y _a +L·sinθ；

to obtain a certain point (X) _n ，Y _n ) The location information of (a) is:

the circular curve segment track model is as follows:

as shown in fig. 10, the AC azimuth angle θ is assumed by differentiating the left and right in the design axis direction ₁ CB azimuth angle θ ₂ Then the rotation angle α=θ between the pipe joints ₁ -θ ₂ Judging the deflection direction of the circular curve by the positive and negative turning angles whenWhen the rotation angle is larger than 0, the curve is deviated to the right side, and when the rotation angle is smaller than 0, the curve is deviated to the left side;

when the coordinates of A, B, C are known, the AC arbitrary point coordinates (x _i ，y _i ) Assuming A is the starting point of a circular curve, the arc length from any point to A is l _i The coordinates of any point can be expressed as:

wherein R is the radius of a circular curve;

the coordinate values under the engineering coordinate system can be obtained by performing rotation matrix transformation on the coordinate values:

the arc length from any point to A is L-L _i The coordinates of which are expressed as:

solving a point coordinate P on a circular curve AB, calculating by using vectors, wherein the circle center O to the starting point A of the circular curve is expressed as a vectorIts coordinates are (X) _a -X _o ，Y _a -Y _o ) Vector->Rotation angle alpha _p Get vector +.>Obtained by triangle rule

The formula of the coordinates P of any point is as follows:

the relaxation curve model is:

if a gentle curve transition is not employed, the sudden centrifugal force may damage the outside of the pipe when the push bench is pushed from a straight line to a curved section. Therefore, a convolution line is adopted as a moderation curve, and the radius of the convolution line is changed from infinity to a section of arc line with a certain design value, and the expression is as follows:

where c is a constant and represents the change in the radius of the relaxation curve, c=l·ρ, l is the arc length from a point on the convolution to the starting point, ρ is the radius of a point on the convolution, and when l is equal to the used relaxation curve length l _s In this case, the relaxed curve radius is a circular curve radius, c=r·l _s ；

As shown in fig. 11, the convolution parameters are calculated, the tangential angle β between the tangential line P and the x-axis at any point on the curve, an arc line with a differential length dl is taken at P, the corresponding central angle is dβ, and the integral calculation is performed on the arc line:

angle of azimuth beta between tangent line and x-axis at end point B of moderation curve ₀ When l=ls, the center angle formed by the full length Ls of the relaxation curve is the azimuth angle beta ₀ The method comprises the following steps:

assuming that the starting point A of the relaxation curve is an origin, the tangent passing through the starting point A is an x-axis, the coordinate system accords with a right-hand coordinate system, a point P is optionally selected on the curve, and the projection equation of the micro-segment arc length is as follows:

expanding cos beta and sin beta in the formula according to the number of stages, and substituting the cos beta and sin beta into the formula:

and integrates it and derives a mild curve parameter equation with a slightly higher order term:

and carrying out coordinate conversion on the parameter equation of the relaxation curve, converting the target coordinate system into an engineering coordinate system, and carrying out coordinate conversion according to different connection types of the relaxation curve.

S4: and calculating the deflection angle between the pipe jacking axis and the designed pipe jacking axis, when the deflection angle is smaller than the minimum deviation set by the pipe jacking machine, not adjusting the track in real time, and when the deflection angle is larger than the set minimum deflection value, adopting track deviation correction planning according to whether track optimization can be completed once or not as a limit.

In this embodiment, a certain engineering adopts jacking pipe curve jacking, the jacking pipe has an outer diameter 3120mm, the jacking line is divided into a straight line transition section and a curve section, the straight line section is 20m, the curve section is 60m, the curvature radius of the curve jacking pipe is 800m, according to the determined central coordinates of the starting and ending point of the pipeline, the correction and rechecking of the automatic guiding system of the jacking pipe and the total station automatic tracker are utilized, and the on-site actual measurement horizontal deviation and the elevation deviation are shown in fig. 12 and 13 through accurate starting and receiving technology. The elevation deviation is mainly concentrated between-30mm+40mm, wherein the upper deviation is positive, the lower deviation is negative, and the horizontal deviation is concentrated between-90mm+60mm. According to the related specification of the pipe jacking engineering construction regulations, the allowable deviation of jacking of a curve pipe is regulated, the allowable deviation of elevation of a horizontal curve pipe is +/-100 mm, the allowable deviation of plane is +/-150 mm, the horizontal deviation of site is 90mm at the maximum, at the moment, the jacking force adjustment of an oil cylinder cannot be changed, the travel difference of the hydraulic oil cylinder needs to be adjusted in time, and the soil between adjacent pipe joints needs to be removed in time. By combining with the field actual measurement data graph, the Gao Chengpian difference and the horizontal deviation of jacking of the jacking pipe curve are smaller than the standard value. Therefore, the track of jacking of the jacking pipe curve can be well controlled by adopting the automatic jacking pipe guiding system.

The beneficial effects of this embodiment are: the three-dimensional space relation between the pipe jacking design axis and the tunnel design axis is analyzed and calculated, the application of a space coordinate conversion principle and an algorithm model in an automatic guiding system is introduced, the pipe jacking track is measured by a single-prism pipe jacking automatic guiding technology, the correction system of the pipe jacking is utilized for rechecking, and the curve pipe jacking track can be found to be well controlled by combining the on-site measurement deviation value; according to the principle of the jacking pipe deviation rectifying track, a quadratic curve is adopted to represent the deviation rectifying track curve of the jacking pipe, the relation between the deviation rectifying angle and the jacking pipe track deviation is obtained through calculation, the jacking pipe curve track is classified, and the detailed calculation is given to the straight line type, the circular arc type and the gentle curve type.

Although the foregoing embodiments have been described in some detail with reference to the accompanying drawings, it will be appreciated by those skilled in the art that various modifications and changes may be made thereto without departing from the scope of the invention as defined in the appended claims, and thus are not repeated herein.

Claims (6)

1. A deviation rectifying method for the posture of a jacking pipe under trenchless construction is characterized by comprising the following steps:

s1: acquiring the coordinates of a target prism on the pipe pushing jack in an engineering coordinate system through a measuring system;

s2: establishing a target coordinate system of the pipe jacking machine by taking the center of the pipe jacking as an origin, and converting the target coordinate system and the engineering coordinate system based on the relation between the coordinates of the target prism in the engineering coordinate system and the coordinates in the target coordinate system to obtain a track of the pipe jacking under the engineering coordinate system;

s3: classifying the jacking pipe track, wherein the jacking pipe track is divided into a straight line section track model, a circular curve section track model and a relaxation curve model;

s4: and calculating the deviation between the pipe jacking axis and the designed pipe jacking axis, and correcting the pipe jacking track if the deviation is larger than the set minimum deviation value.

2. The method for correcting the posture of the jacking pipe under trenchless construction according to claim 1, wherein the measuring system comprises a rearview prism arranged at a working well and a plurality of total stations arranged in a tunnel, and a prism is arranged above each total station; the rearview prism is used as a starting point, and the total station is used as a relay point to obtain the coordinates of the target prism in the engineering coordinate system.

3. The method for correcting the posture of a jacking pipe under trenchless construction according to claim 1, wherein the step of the conversion method between the target coordinate system and the engineering coordinate system in the step S2 is as follows:

the workerThe origin of the range coordinate system is O, the three axes are respectively X axis, Y axis and Z axis, and the origin of the target coordinate system is O _B The three axes are X respectively _B Axis, Y _B Axis, Z _B An axis, the engineering coordinate system is designated as an N system, the target coordinate system is designated as a B system, and the engineering coordinate system and the target coordinate system are subjected to attitude (alpha, beta, gamma) and displacement W (W) _XoB ，W _YoB ，W _ZoB ) Is transformed by (a);

by O _B Is the rotation point, O _B X _B Around X _B The shaft rotates anticlockwise by an angle gamma, and the rotated Y _B The axis is parallel to the O-XY plane;

the rotation matrix around the X axis isThe projection thereof on the N system is as follows:

the rotation matrix is as follows:

O _B Y _s around Y _B The shaft rotates anticlockwise by an angle beta, X after rotation _B The axis is parallel to the O-XY plane, O _B -X _B Y _B Parallel to the O-XY plane;

the rotation matrix for rotation about the Y axis is as follows:

O _B Z _B around Z _B The axis rotates clockwise by an angle α, and the rotation matrix about the Z axis is as follows:

suppose that there is a point P (X) _P ，Y _P ，Z _P ) The transformed coordinates of the P point on the N system are expressed as:

in the method, in the process of the invention,is the coordinate of P point on N system, < >>Representing B-to N-series rotation matrices, P-pointsRepresenting the projection of N on B;

the target coordinate system and the engineering coordinate system are transformed by an attitude angle, coordinate axes are parallel to each other, only the difference value between displacements exists at the moment, the coordinate transformation is carried out on the difference value, and the P point is represented by a vector For the vector representation of the origin of the target coordinate system in the engineering coordinate system, +.>Translation variable->The vector representation value is represented for the new coordinates after the coordinate conversion, and the vector algorithm comprises the following steps:

substituting a rotation matrix formula into a conversion formula between the target coordinate system and the engineering coordinate system:

where m is the scaling factor,conversion matrix for three angles alpha, beta, gamma, (X) _N ，Y _N ，Z _N ) Is the coordinate value of the P point in the new coordinate system.

4. The method for correcting the posture of a jacking pipe under trenchless construction according to claim 3, wherein the straight line segment track model in the step S3 is as follows:

straight line segment origin A coordinate (X) _a ，Y _a ) Second point B coordinate (X _b ，Y _b ) The coordinates of a point P with the line azimuth angle theta and the point A with the mileage L are as follows:

X _P ＝X _a +L·cosθ；

Y _P ＝Y _a +L·sinθ；

to obtain a certain point (X) _n ，Y _n ) The location information of (a) is:

5. the method for correcting the posture of a jacking pipe under trenchless construction according to claim 3, wherein the trajectory model of the circular curve segment in step S3 is as follows:

left and right are distinguished by the design axis direction, assuming an AC direction azimuth angle θ ₁ CB azimuth angle θ ₂ Then the rotation angle α=θ between the pipe joints ₁ -θ ₂ Judging the deflection direction of the circular curve through the positive and negative of the turning angle, when the turning angle is larger than 0, the curve deflects to the right side, and when the turning angle is smaller than 0, the curve deflects to the left side;

when the coordinates of A, B, C are known, the AC arbitrary point coordinates (x _i ，y _i ) Assuming A is the starting point of a circular curve, the arc length from any point to A is l _i The coordinates of any point can be expressed as:

wherein R is the radius of a circular curve;

the coordinate values under the engineering coordinate system can be obtained by performing rotation matrix transformation on the coordinate values:

the arc length from any point to A is L-L _i The coordinates of which are expressed as:

solving a point coordinate P on a circular curve AB, calculating by using vectors, wherein the circle center O to the starting point A of the circular curve is expressed as a vectorIts coordinates are (X) _a -X _o ，Y _a -Y _o ) Vector->Rotation angle alpha _p Get vector +.>Is made>

The formula of the coordinates P of any point is as follows:

6. the method for correcting the posture of a jacking pipe under trenchless construction according to claim 3, wherein the moderation curve model in step S3 is as follows:

the method adopts a convolution line as a moderation curve, and the radius of the convolution line is changed from infinity to a section of arc line with a certain design value, and the expression is as follows:

where c is a constant and represents the change in the radius of the relaxation curve, c=l·ρ, l is the arc length from a point on the convolution to the starting point, ρ is the radius of a point on the convolution, and when l is equal to the used relaxation curve length l _s In this case, the relaxed curve radius is a circular curve radius, c=r·l _s ；

Calculating the convolution line parameter, wherein the tangential line and the x-axis included angle at any point P on the curve are tangential angles beta, taking an arc line with the differential length of dl at the P position, and carrying out integral operation on the corresponding central angle dbeta, wherein the integral operation comprises the following steps:

angle of azimuth beta between tangent line and x-axis at end point B of moderation curve ₀ When l=ls, the center angle formed by the full length Ls of the relaxation curve is the azimuth angle beta ₀ The method comprises the following steps:

assuming that the starting point A of the relaxation curve is an origin, the tangent passing through the starting point A is an x-axis, the coordinate system accords with a right-hand coordinate system, a point P is optionally selected on the curve, and the projection equation of the micro-segment arc length is as follows:

expanding cos beta and sin beta in the formula according to the number of stages, and substituting the cos beta and sin beta into the formula:

and integrates it and derives a mild curve parameter equation with a slightly higher order term:

and carrying out coordinate conversion on the parameter equation of the relaxation curve, converting the target coordinate system into the engineering coordinate system, and carrying out coordinate conversion according to different connection types of the relaxation curve.