JPH10274526A - Position coordinate detection device and surveying device therewith - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attain a highly-accurate range-finding value by detecting a position coordinate at a measuring point with high accuracy. SOLUTION: A horizontal angle made by a straight line passing through a measuring point M and a reference point to a reference direction θ0 is measured, and based on the angle measuring values θA to θC and the position coordinates of the respective reference points, a circle passing through the reference points A, B and the measuring point M, and a circle passing through the reference points B, C and the measuring point M are specified, and the position coordinate of an intersection point whose position coordinate does not meet the reference point B, of the intersection points of the two circles, is taken as the position coordinate of the measuring point M. Distances LAM, LBM between the measuring point M and the respective reference points A, B are calculated from the measuring points M and the respective position coordinates of the reference points A, B, and a mean value of respective distance errors between rang-finding values LA, LB obtained by surveying a distance between them with a surveying instrument, and the distances LAM, LBM, is set as a distance correction value ε. When range-finding is conducted by the surveying instrument, a value obtained by adding the distance correction value ε to the range-finding value from the surveying instrument is taken as a measuring distance.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for performing surveying using a surveying instrument such as a three-dimensional measuring instrument for performing distance measurement or angle measurement.
Regarding a position coordinate detecting device that detects the position coordinates of a measurement point where a surveying instrument is installed and a surveying device including the same, particularly, a position coordinate detecting device that detects a position coordinate by giving priority to a measuring angle value over a ranging value, and The present invention relates to a surveying device provided with this.

[0002]

2. Description of the Related Art Conventionally, surveying instruments, such as three-dimensional measuring instruments, have been developed and manufactured with a target point at a relatively long distance as the object to be measured. The distance measurement accuracy for measuring the oblique distance to the target point is ±
0.8 mm + 1p.pm × D (D is the measurement distance mm), the angle measurement accuracy for measuring the angle measurement which is the horizontal angle formed by a straight line passing through the measurement point and the target point and a predetermined reference direction is 2 ″ or the like. Has become.

Here, when calculating the position coordinates of the target point based on the angle measurement value and the distance measurement value of the surveying instrument, an angle error is calculated between the calculated position coordinate of the target point and the true position coordinate of the target point. When there is a distance error between the calculated position coordinates of the target point and the true position coordinates of the target point (hereinafter, referred to as the position error), the longer the distance between the measurement point and the target point becomes, the more the angle error causes the angle error.
It is called the angular distance error. ) Increases. Therefore, when the above-described surveying instrument is used at a civil engineering site or the like, since the measurement distance is several thousand meters, the position coordinates of the target point calculated based on the distance measurement value and the angle measurement value and the true coordinates are used. The distance error in the angular direction between the position coordinates of the target point and the distance direction in the angular direction is larger than the distance error in the distance direction, which is the difference between the true distance from the measurement point to the target point and the distance measurement value. The distance error is larger, and as a result, the angle measurement accuracy is relatively lower than the distance measurement accuracy.

In order to avoid this, for example, the position of the target point is determined from a distance measurement value from the measurement point to two target points and an angle measurement value formed by a straight line passing through the measurement point and the target point and a reference direction. By obtaining the coordinates and comparing the angle between the two target points calculated from the position coordinates of these target points and the position coordinates of the known measurement point with the angle difference of the measured angle values, If a mismatch is detected in between, the distance measurement value is regarded as a true value, and the angle measurement value is corrected by, for example, distributing an error due to the mismatch to the left and right from a center angle which is the center between the target points. Like that.

[0005]

As described above, a correction method that regards a distance measurement value as a true value and corrects an angle measurement value is as follows.
This is an effective correction method when a target point at a long distance is to be measured, such as when used at a civil engineering site. However, the distance error between the position coordinates of the target point detected based on the distance measurement value and the angle measurement value and the true position coordinates of the target point is smaller as the distance between the target point and the measurement point is shorter. From
When a relatively short distance target point is to be measured, such as when used in a construction site, the angular distance error associated with the angle measurement accuracy is compared with the distance error in the distance direction associated with the distance measurement accuracy. Smaller. Therefore, as a result, the accuracy of the angle measurement becomes relatively higher than the accuracy of the distance measurement, and there is a problem that the error from the true angle measurement value becomes larger by performing the correction.

Therefore, the present invention has been made in view of the above-mentioned conventional problems. Even when a surveying instrument having a low accuracy of the distance measurement value as compared with the angle measurement value is used, the accuracy of the surveying instrument can be improved. It is an object of the present invention to provide a position coordinate detecting device capable of detecting position coordinates, and to provide a surveying device capable of performing surveying with higher accuracy by using the position coordinate detecting device.

[0007]

In order to achieve the above object, a position coordinate detecting apparatus according to a first aspect of the present invention utilizes first, second and third reference points whose position coordinates are known. A position coordinate detecting device for detecting a position coordinate of a predetermined measurement point, wherein a first angle between a straight line passing through the measurement point and the first reference point and a predetermined reference direction, the measurement point and A pair for measuring a second angle formed by a straight line passing through the second reference point and the reference direction, and a third angle formed by a straight line passing through the measurement point and the third reference point and the reference direction. Reference point surveying means, and passes through the first and second reference points and the measurement point based on the angle difference between the first and second angles and the position coordinates of the first and second reference points. First circle specifying means for specifying a first circle, and an angle between the second and third angles And based on said second and position coordinates of the third reference point, the second and third second circle specifying means for specifying a second circle passing through said measurement point and the reference point and,
Among the intersections of the first circle and the second circle, position coordinate detecting means for detecting position coordinates of an intersection different from an intersection coinciding with the second reference point as position coordinates of the measurement point, It is characterized by having.

According to the present invention, the first and second position coordinates are known by the pair of reference point surveying means for measuring the angle between a straight line passing through the predetermined measurement point and the reference point and the predetermined reference direction. , A first angle, a second angle, and a third angle are measured for each of the reference points.
Then, based on the angle difference between the first and second angles and the position coordinates of the first and second reference points stored in a predetermined storage area, the first and second reference points and the measurement point The first through
Is specified by the first circle specifying means by, for example, vector calculation or the like. Similarly, based on the angle difference between the second and third angles and the position coordinates of the second and third reference points stored in the predetermined storage area, the second and third reference points and the measurement point Is specified by the second circle specifying means.

Here, the intersection of the two specified circles is the first
Is the second reference point and the measurement point common to the circle and the second circle, and of the two intersections, the intersection whose position coordinates do not match the position coordinates of the second reference point is the measurement point .
Therefore, the position coordinates of the intersection of the two specified circles are obtained, and this is compared with the position coordinates of the second reference point stored in the predetermined storage area, and the position coordinates of the second reference point coincide with the position coordinates of the second reference point. If the position coordinates of the intersection that does not exist are obtained, the position coordinates of the measurement point will be detected. Therefore, the position coordinates of the measurement point are detected from the first to third angles and the position coordinates of each reference point.

According to a second aspect of the present invention, there is provided a position coordinate detecting apparatus for detecting a position coordinate of a predetermined measurement point using first and second reference points whose position coordinates are known. An apparatus, wherein a first angle between a straight line passing through the measurement point and the first reference point and a predetermined reference direction, a straight line passing through the measurement point and the second reference point, and the reference direction are Reference point surveying means for measuring a second angle to be formed, a first distance between the measurement point and the first reference point, and a second distance between the measurement point and the second reference point; A circle specifying means for specifying a circle passing through the first and second reference points and the measurement point based on the angle difference between the first and second angles and the position coordinates of the first and second reference points; A point on the circle specified by the circle specifying means and the first
And position coordinate detecting means for detecting position coordinates of a point satisfying the distance difference between the second distance and the second distance as position coordinates of the measurement point.

According to the present invention, for each of the first and second reference points whose position coordinates are known, the reference point surveying means measures a straight line passing through the reference point and the measurement point, and a predetermined reference direction. Are determined as a first angle and a second angle, respectively, and the distance from the measurement point to the reference point is determined as a first distance and a second distance, respectively. Then, based on the position coordinates of the first and second reference points stored in the predetermined storage area and the angle difference between the first and second angles, the first and second reference points and the measurement point are determined. The passing circle is specified by the circle specifying means by vector calculation or the like. Further, the first and second positions are detected by the position coordinate detecting means.
A point on the circle specified by the circle specifying means that satisfies the distance difference of the distance is detected, and this point is detected as a measurement point and its position coordinates are detected.

At this time, since the distance difference between the first and second distances is obtained, the mechanical distance measurement accuracy of the reference point surveying means included in the distance measurement value measured by the reference point surveying means. Is offset. Therefore, the error included in the distance measurement value is removed, and the position coordinates are obtained with an accuracy corresponding to the angle measurement accuracy.

According to a third aspect of the present invention, there is provided a surveying apparatus comprising: a target point angle between a straight line passing through a target point and a measurement point and a predetermined reference direction; and a target point distance from the measurement point to the target point. And a position coordinate detection device according to claim 1 or 2, and a position coordinate of the measurement point detected by the position coordinate detection device and an error detection reference point whose position coordinates are known. Distance calculating means for calculating the distance between the measurement point and the error detection reference point based on the position coordinates, and a reference point from the measurement point measured by the target point surveying means to the error detection reference point. A correction value calculation unit configured to calculate a distance correction value based on a distance error between the distance and the distance calculation value calculated by the distance calculation unit; and a correction unit configured to correct the target point distance according to the distance correction value. That It is a symptom.

According to the present invention, the measurement point and the error detection reference point are determined based on the position coordinates of the error detection reference point whose position coordinates are known and the position coordinates of the measurement point detected by the position coordinate detection device. The distance between the point is calculated by the distance calculating means, and the distance error between the calculated distance calculated by the distance calculating means and the reference point distance to the error detection reference point measured by the target point surveying means is calculated. Is detected. Then, a distance correction value is obtained based on the distance error, and thereafter, the target point distance from the measurement point measured by the target point surveying means to the target point is corrected by adding the distance correction value by the correcting means. You.

Here, since the position coordinate detecting device detects the position coordinates of the measurement point by giving priority to the angle measurement value over the distance measurement value, the distance measurement accuracy of the target point surveying means is determined by the angle measurement. Even when the accuracy is relatively low compared to the accuracy, by correcting the distance measurement value with the position coordinates of the measurement point obtained in preference to the distance measurement value and the distance correction value based thereon,
A more accurate ranging value can be obtained.

According to a fourth aspect of the present invention, in the surveying apparatus, the distance error is obtained with respect to the plurality of error detection reference points, and the distance correction value is calculated based on an average value of the plurality of distance errors. It is characterized by doing.

According to the present invention, the distance between the error detection reference point and the measurement point is calculated from the position coordinates of the measurement point detected by the position coordinate detection device and the position coordinates of the error detection reference point. The distance error between the value and the reference point distance to the error detection reference point measured by the target point surveying means is detected for a plurality of error detection reference points, and the distance correction is performed based on the average value of the plurality of distance errors. The value is detected, and the target point distance is corrected based on the detected value.

Further, according to a fifth aspect of the present invention, there is provided the surveying apparatus, wherein the distance is determined in accordance with the target point distance based on a correlation between the reference point distance and the distance error for a plurality of the error detection reference points. It is characterized in that a correction value is calculated.

According to the present invention, a distance calculation value between the measurement position and the error detection reference point based on the position coordinates of the measurement position detected by the position coordinate detection device and the position coordinates of the error detection reference point is obtained. The distance error from the reference point distance to the error detection reference point measured by the target point surveying means is detected for a plurality of error detection reference points. Then, since the distance correction value is calculated based on the correlation obtained from the plurality of distance errors and the reference point distance, for example, the target point of the distance measurement target is determined according to the ratio between the reference point distance and the distance error. A distance error corresponding to the target point distance up to is calculated, and this distance error is set as a distance correction value.

[0020]

Embodiments of the present invention will be described below. FIG. 1 is a schematic configuration diagram illustrating an example of a surveying device 10 including a position coordinate detecting device according to the present invention.

In FIG. 1, reference numeral 1 denotes an angle measurement value which is a horizontal angle between a reference direction arbitrarily set at a measurement point, a straight line passing through the measurement point and the target point, and an oblique distance from the measurement point to the target point. This is a surveying instrument that outputs a distance measurement value, and the angle measurement value and the distance measurement value from the surveying instrument 1 are output to an arithmetic unit 2 constituted by a microcomputer or the like having an input function. The arithmetic unit 2 detects measurement position coordinates of the surveying instrument 1 in an arbitrary XY coordinate system based on the input angle measurement value and distance measurement value with respect to a predetermined reference point, and calculates the detected measurement position coordinates and Then, the measurement distance to the target point is calculated based on the angle measurement value and the distance measurement value from the surveying instrument 1 with respect to the target point. Further, the position coordinates and the like of the target point are detected based on the measured distance, the angle measurement value, the measured position coordinates and the like, and these are detected, for example, by CR
The information is displayed on a display device 3 such as a T display.

When the arithmetic unit 2 is started, first, the surveying instrument 1 starts, for example, on the basis of the position coordinates in the arbitrary XY coordinate system of the reference point whose position coordinates are known, input by an operator or the like. The measuring position coordinates of the installed measuring point M are detected.

The detection of the measurement position coordinates is performed when three position coordinates are input as reference points.
To C (first, second, and third reference points), respectively,
Angle measurement values θ _{A to} θ _C obtained by measuring the horizontal angle between the straight line passing through the reference point and the measurement point M and the reference direction with the surveying instrument 1.
(First, second, and third angles) are input, and based on the input position coordinates of each reference point and the angle difference between the measured values,
For example, a circle passing through the reference points A and B and the measurement point M and a circle passing through the reference points B and C and the measurement point M are specified,
The position coordinates of the intersection of the two specified circles are determined, and the intersection where the position coordinates do not match the reference point B is set as the measurement point M, and the position coordinates of this intersection are detected.

When the position coordinates of two points A and B (first and second reference points) are input as the reference points, each of the reference points A and B is measured by the surveying instrument 1. Distance measurement values L _A and L _B (first and second distances) from the measurement point M to the reference point, and angle measurement values (first and second distances) which are angles formed by a straight line passing through the reference point and the measurement point M and the reference direction. 1, the second angle) θ _A and θ _B are input from the surveying instrument 1 and based on the input position coordinates of the reference points A and B and the angle difference between the angle measurement values θ _A and θ _B. Te, identifies the circle passing through the reference point a and B and the measuring point M, then specifies the position on the circle satisfies the distance difference of the distance measurement value L _a and L _B, the position coordinates of the specified position The measurement position coordinates of the measurement point M are set.

In the arithmetic unit 2, the measurement position coordinates and the reference point of the measurement point M calculated as described above, for example,
The distances L _AM and L _BM between the measurement points M calculated from the position coordinates of A and B and the reference points A and B are obtained, and the calculated L _AM and L _BM and the reference points detected by the surveying instrument 1 are obtained. seek distance error between the measured distance L _a and L _B to a and B, it sets the distance correction value ε based on this. This distance correction value ε
For example, an average value of these distance errors is obtained, and this is set as a distance correction value ε, or the distance measurement value is used as a variable based on the relative relationship between the distance measurement value and the distance error in this distance measurement value. A function of the distance error obtained is obtained, and this is used as a distance correction value ε.
Set as

After that, by measuring the target point with the surveying instrument 1, the distance value inputted from the surveying instrument 1 is
This is corrected by the distance correction value ε, and the corrected value is displayed on the display device 3 as a measured distance.

When the arithmetic unit 2 performs each arithmetic processing based on the distance value from the surveying instrument 1, the surveying instrument 1 measures the oblique distance between the target point or the reference point and the measuring point M. Therefore, for example, after performing processing such as converting a distance measurement value to a distance measurement value on an arbitrary XY coordinate system where a reference point exists, each calculation processing is performed.

Here, the surveying instrument 1 corresponds to the target point surveying means and the reference point surveying means, and the computing device 2 corresponds to the position coordinate detecting device. Next, the operation of the above embodiment will be described.

Using the surveying device 10, angle measurement of a target point
When performing surveying such as ranging, the operator must
Of the measurement point M where the surveying instrument 1 is installed
Perform an operation for setting position coordinates. That is, any
The position coordinates of the three reference points A to C in the XY coordinate system are
If known, the position coordinates of these three points A to C are calculated.
Input in the arithmetic unit 2. Next, operate the surveying instrument 1
Any direction as reference direction θ ₀And each reference point A ~
For C, a straight line passing through the measurement point M and the reference point and the reference method
Direction θ₀Measure the horizontal angle between them. Measured by surveying instrument 1
The measured horizontal angle is the angle measurement θ_A~ Θ_CTo arithmetic unit 2 as
Is output.

On the other hand, when the position coordinates of the two reference points A and B in an arbitrary XY coordinate system are known, the position coordinates of these reference points A and B are input to the arithmetic unit 2. Next, the surveying instrument 1 is operated to set an arbitrary direction as the reference direction θ ₀ , and for each of the reference points A and B, the horizontal angle between the straight line passing through the reference point and the measurement point M and the reference direction θ ₀ , And the oblique distance from the measurement point M to the reference point. Horizontal angle and slope distance measured by the surveying instrument 1, Hakakakuchi theta _A and theta _B, is output to the arithmetic unit 2 as the distance value L _A and L _B.

When this operation is performed, the arithmetic unit 2
As shown in the flowchart of FIG.
Are obtained (step S1). That is,
When the position coordinates of the three points A to C are input as the reference points, first, as shown in the flowchart of FIG. 3, the position coordinates of the reference points A to C are read and stored in a predetermined storage area ( (Step S11) Then, the angle measurement values θ _{A to} θ _C are read and stored in a predetermined storage area (Step S11).
12).

Based on the position coordinates of the reference points A to _C and the angle measurement values θ _{A to} θ _C , circles (first circles) passing through the reference points A and B and the measurement point M and , Reference points B and C
And a circle passing through the measurement point M (a second circle) is specified by, for example, performing vector calculation (step S1).
3, S14, first circle specifying means, second circle specifying means).

That is, as shown in FIG.
In the coordinate system, the position coordinates A (X _A ,
_{Y A), B (X B} , and Y _B), the measurement point M and the reference point A
If the horizontal angles formed by the straight line passing through the measurement point M and the straight line passing through the measurement point M and the reference point and the arbitrarily set reference direction θ ₀ , that is, the angle measurement values θ _A and θ _B are determined,
Is obtained, and a circle satisfying ∠AMB = θ _B −θ _A is obtained, this circle becomes the reference points A and B and the measurement point M
It can be specified as a circle E _AB through and.

Similarly, the position coordinates B (X
_B , Y _B ), C (X _C , Y _C ), the horizontal angle formed by each straight line passing through each of the reference points B and C and the measurement point M and the reference direction θ ₀ , that is, the angle measurement values θ _B and If θ _C is determined, it is a circle passing through the reference points B and C, and ∠BMC = θ
_The circles satisfying _C− θ _B are the reference points B and C and the measurement point M
And a circle _EBC passing through

Then, the circle E_ABAnd E_BCBut
Once identified, then the circle E_ABAnd E _BCCoordinates of the intersection of
And the two intersections P₁And P_TwoOf the predetermined storage area
Intersection P that matches the position coordinates of reference point B stored in the area
₁Intersection P_TwoIs the measurement point M, and this intersection P
_TwoPosition coordinates of measurement point M are detected as measurement position coordinates
And store it in a predetermined storage area (step S15, location
Coordinate detecting means).

That is, as shown in FIG. 4, the intersection points P ₁ and P ₁ between the circle E _AB passing through the reference points A and B and the measurement point M and the circle E _BC passing through the reference points B and C and the measurement point M. Since P ₂ matches the reference point B and the measurement point M, the intersection P ₂ that does not match the reference point B is the measurement point M.

Thus, according to the above procedure, the reference points A to C
The measurement point M is detected based on the position coordinates and the angle measurement values θ _{A to} θ _C. In the flowchart of FIG. 3, a circle E _AB passing through the reference points A and B and the measurement point M, and a circle E _BC passing through the reference points B and C and the measurement point M are specified. Although from the intersection of the _AB and the E _BC is to obtain the measurement point M, a circle E _AB passing through the reference point a and B and the measuring point M, the reference points a and C indicated by a broken line in FIG. 4 measuring points may be so as to identify and circle E _CA passing through the M,
In this case, of the intersections of the two circles, circles E _AB and E _CA
The point of intersection which does not coincide with the reference point A passing through the
Becomes

On the other hand, as reference points, the positions of two points A and B
When coordinates are input, the flowchart shown in FIG.
First, read the position coordinates of the reference points A and B
This is stored in a predetermined storage area (step S21).
From the surveying instrument 1 _AAnd θ_BAnd distance value L_APassing
And L_BAnd store them in a predetermined storage area.
(Step S22).

Based on the position coordinates of the reference points A and B stored in the predetermined storage area and the angle measurement values θ _A and θ _B , a circle passing through the reference points A and B and the measurement point M is formed. , For example, by performing vector calculation (step S
23, circle specifying means). Next, determine the distance difference ΔL _AB = L _B -L _A distance measurement value L _A and L _B are stored to calculate the point P on the circle E _AB satisfying this distance difference [Delta] L _AB, the point The position coordinates of P are set as the measurement position coordinates of the measurement point M, and are stored in a predetermined storage area (step S24, position coordinate detection means).

That is, as shown in FIG.
The position of the reference points A and B in an arbitrary XY coordinate system
Position coordinates A (X_A, Y_A), B (X_B, Y_B) And optionally
Set reference direction θ₀And each of the reference points A and B
Horizontal angle between a straight line passing through the measurement point M, that is, angle measurement
Value θ_AAnd θ_BIs determined, a circle passing through the reference points A and B
And ∠AMB = θ_B−θ_AFor a circle that satisfies
A circle E passing through the reference points A and B and the measurement point M_ABage
Can be specified. Therefore, the specified circle E _ABupper
Is the point and the distance difference ΔL_ABIf you ask for a point that satisfies
The point is the measurement point M.

[0041] Thus, the above processing, the position coordinates of the reference points A and B, the angle measurement values of the reference points A and B theta _A and theta _B, based on the distance measurement value L _A and L _B, the measurement point M measurement position coordinates are detected.

Therefore, when detecting the coordinates of the measurement position of the measurement point M, if three reference points A to C are obtained, the position coordinates of the reference points A to _C and the angle measurement values θ _{A to} θ _C are calculated. , The measurement position coordinates of the measurement point M can be detected with an accuracy corresponding to the angle measurement accuracy of the surveying instrument 1 without using the distance measurement value.

[0043] When the reference points A and B of the two points is obtained, and the position coordinates of the reference points A and B, and Hakakakuchi theta _A and theta _B, a distance value L _A and L _B Based on this, the measurement position coordinates of the measurement point M can be detected. Thus, for example, when to relatively low compared to the ranging accuracy of the surveying instrument 1 is angle measurement accuracy, but will include mechanical precision specific errors in distance measurement value L _A or L _B, measured By calculating the distance difference ΔL _AB between the distance values L _A and L _B , a mechanical precision error is canceled. Therefore, by using the distance difference ΔL _AB ,
Since errors in mechanical precision can be further reduced, even when only two reference points can be obtained, the surveying instrument 1
, The measurement position coordinates of the measurement point M can be detected with high accuracy in accordance with the angle measurement accuracy.

Next, returning to the flowchart of FIG. 2, upon detecting the coordinates of the measurement position of the measurement point M (step S1), the arithmetic unit 2 sets a distance correction value ε (step S2).

As shown in the flowchart of FIG. 7, the processing procedure for setting the distance correction value ε is as follows: first, for example, a reference point (reference point for error detection) whose position coordinates stored in a predetermined storage area are known. ) The distance (distance) between the reference point A and the measurement point M based on the position coordinates of A and B and the measurement position coordinates of the measurement point M obtained in the processing of step S1 and stored in the predetermined storage area. The calculated value _LAM and the distance (calculated distance) _LBM between the reference point B and the measurement point M are calculated (step S31, distance calculating means).

Next, the calculated distance _LAM and distance _LBM
And the distance measurement values (reference point distances) L _A and L _B to the reference points A and B stored in the predetermined storage area, based on the distance error ε _A = L _A −L _AM , ε _B = L _B -L _BM asking (step S32), these distance error epsilon _a, based on the epsilon _B, obtains the distance correction value epsilon, which is stored in a predetermined storage area (step S33, the correction value calculation means).

As the distance correction value ε, for example, as shown in FIG. 8, an average value of the distance errors ε _A and ε _B is obtained and set as the distance correction value ε. That is, the distance correction value ε is a constant value.

For example, as shown in FIG.
Distance L_AM, L_BMAnd distance value L_A, L _BAnd the distance error ε_A
And ε_BAnd the distance value L_A, L_BDistance measurement
Distance correction function f (L_N), For example
(1) is obtained, and this is set as a distance correction value ε.

[0049] f (L _N) = _{[(ε B -ε A) / (} L B -L A) ] _{· (L N -L B) +} ε B ...... (1) Incidentally, the distance correction value epsilon, a distance The method of obtaining the average value of the error and the method of obtaining the distance correction function ε = f (L _N ) are selected as follows, for example. That is, for a plurality of reference points whose position coordinates are known, the distance error between the distance measurement value and the distance calculated from the position coordinates of the measurement point M and the reference point is determined, and the variation between the distance measurement value and the distance error is determined. Select by request. For example, as shown in FIG. 8, when a substantially constant distance error occurs irrespective of the distance measurement value, a method of using an average value of the distance errors as the distance correction value ε is used. On the other hand, as shown in FIG. 9, when the distance error changes according to the distance measurement value, the distance correction function f (L _N )
Is used. In this way, by setting the distance correction value according to the occurrence state of the distance error, a more accurate distance correction value ε can be set.

Next, returning to the flowchart of FIG. 2, the distance correction value ε has been set (step S2).
The surveying device 1 measures the target point, and when the distance value (target point distance) _LN is input from the surveying device 1, the arithmetic unit 2 replaces the input distance value with the distance value in step S2. Distance correction value ε set in processing and stored in a predetermined storage area
Or a distance correction value corresponding to the input distance measurement value is calculated by the stored distance correction function, and is added (step S3, correction means), and this is calculated as the measurement distance LL.
_N is displayed on the display device 3 together with the angle measurement value (target point angle). Further, the position coordinates of the target point are calculated based on the corrected measurement distance and angle measurement value, the stored measurement position coordinates, and the like, and are displayed on the display device 3 (step S4).

Therefore, for example, in FIG. 10, when the distance measurement and the angle measurement are performed for the target point C, the surveying instrument 1
And the angle measurement value θ _C and the distance measurement value L _C are input to the arithmetic unit 2. The arithmetic unit 2, by adding the distance correction value epsilon distance measurement value L _C, measured distance LL _C = calculated measurement distance LL _C as L _C + epsilon, with Hakakakuchi theta _C, display the measurement distance LL _C 3
And displays it, and obtains the position coordinates of the target point C based on the angle measurement value θ _{C, the} measurement distance LL _C, and the measurement position coordinates of the measurement point M, and outputs this to the display device 3. To display.

Therefore, according to the above embodiment, it is possible to obtain the measurement distance based on the angle measurement value, giving priority to the angle measurement value over the distance measurement value measured by the surveying instrument 1. Therefore, for example, in the case of a surveying instrument used in a civil engineering site or the like, since it is developed on the premise that measurement is performed on a long-distance target, the surveying instrument is used at a relatively short distance such as a construction site. 1, the distance accuracy is relatively lower than the angle accuracy. However, in the above-described embodiment, the measurement position coordinates of the measurement point M are detected and the distance measurement is performed with priority given to the angle measurement value. Since the measurement distance is obtained by correcting the value, it is necessary to measure a short distance using a surveying instrument that measures a long distance target such as a surveying instrument used at civil engineering sites etc. Even in this case, distance detection or position coordinate detection can be performed with high accuracy according to the angle measurement accuracy of the surveying instrument 1.

At this time, the measurement position coordinates of the measurement point M can be detected from the position coordinates of the three reference points and the angle measurement values from the reference direction θ ₀ to these three reference points. Since the measurement position coordinates are detected without using the distance value, the detection position coordinates can be detected with high accuracy even when the measurement position coordinates are detected based on a relatively short distance reference point. Also,
Even when three reference points cannot be obtained, the position coordinates of the two reference points, the angle measurement value formed by the straight line passing through the two reference points and the measurement point M and the reference direction θ ₀ , and the measurement point M Can be detected based on the distance difference ΔL of each distance from the distance to each reference point, and the distance difference ΔL in which the distance measurement value is used but the mechanical systematic error has been offset. Since the measurement position coordinates are detected based on the above, the measurement position coordinates can be detected with high accuracy. Therefore, the distance measurement value is corrected based on the measurement position coordinates detected with high accuracy in this way, and the position coordinates of the target are detected, so that a highly accurate survey value can be obtained.

In the above-described embodiment, a case has been described in which the survey value is obtained by giving priority to the angle measurement value.
For example, when the distance measurement value is within a predetermined distance, that is,
If the angle measurement value is relatively more accurate than the distance measurement value, the measurement position coordinates of the measurement point M are detected by giving priority to the angle measurement value, and various survey values are obtained. If the distance value is greater than or equal to a predetermined distance and the distance measurement value is relatively more accurate than the angle measurement value, priority is given to the distance measurement value to obtain various survey values. Which of the distance measurement value and the angle measurement value is prioritized may be switched according to the distance value, and each survey value may be obtained by giving priority to the one with relatively higher accuracy. By doing so, a more accurate survey value can be obtained regardless of the distance measurement value.

[0055]

As described above, according to the first aspect of the present invention,
According to the position coordinate detecting device according to the present invention, the position coordinates of the first, second, and third reference points whose position coordinates are known, each straight line passing through each of the reference points and the measurement point, and a predetermined reference direction The position coordinates of the measurement point are detected based on each angle between the measurement point and the measurement point, regardless of the distance measurement accuracy of the reference point surveying means, with the accuracy corresponding to only the angle measurement accuracy. Can be detected.

According to the position coordinate detecting device of the second aspect of the present invention, the position coordinates of the first and second reference points whose position coordinates are known, the measurement point, and each of these reference points are determined. Each angle between each straight line passing and a predetermined reference direction,
Based on the distance difference between the measurement point and each of the reference points, the position coordinates of the measurement point are detected based on the distance difference between the reference point and the measurement point. Since the position coordinates of the measurement point are detected, even if the distance measurement accuracy of the reference point surveying means is lower than the angle measurement value, the error due to the distance measurement accuracy will be canceled out, Even when only two points are obtained, position coordinates can be detected with high accuracy.

Further, according to the surveying device of the third aspect of the present invention, the position coordinates of the measuring point obtained according to the angle measurement value without using the distance measurement value, or the angle measurement value is more than the distance measurement value. A calculated value of the distance between the measurement point and the error detection reference point based on the position coordinates of the measurement point preferentially obtained and the position coordinates of the error detection reference point, and the target measured by the target point surveying means. Based on each distance error from the point distance, a distance correction value is obtained, and when surveying is performed on the target point by the target point surveying means, the target point distance is corrected by the distance correction value. Therefore, even when the distance measurement accuracy of the target point surveying means is lower than the angle measurement accuracy, the distance from the measurement point to the target point can be measured with higher accuracy.

According to the surveying device of the fourth aspect of the present invention, the reference point distance to the error detection reference point measured by the target point surveying means for a plurality of error detection reference points, and the position coordinates The distance error between the error detection reference point and the calculated distance between the measurement point obtained from the position coordinates of the measurement point detected by the detection device and the position coordinates of the error detection reference point is determined, and the average value of these distance errors is obtained. , The distance correction value corresponding to the actual distance measurement error in the target point surveying means can be easily set.

Further, according to the surveying device of the fifth aspect of the present invention, the distance calculation value between the position coordinates of the measurement position detected by the position coordinate detecting device and the position coordinates of the error detection reference point is obtained. And a distance error between the reference point distance to the error detection reference point measured by the target point surveying means and a plurality of error detection reference points, and a reference point distance for the plurality of error detection reference points. Since the distance correction value corresponding to the target point distance is calculated based on the correlation between the distance error and the distance error, it is possible to set an accurate distance correction value according to the occurrence situation of the distance error.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram illustrating an example of a surveying device according to the present invention.

FIG. 2 is a flowchart illustrating an example of a processing procedure of an arithmetic device.

FIG. 3 is a flowchart illustrating an example of a processing procedure of measurement position coordinate detection processing when there are three reference points.

FIG. 4 is an explanatory diagram illustrating a method of detecting measurement position coordinates when there are three reference points.

FIG. 5 is a flowchart illustrating an example of a processing procedure of measurement position coordinate detection processing when there are two reference points.

FIG. 6 is an explanatory diagram illustrating a method of detecting measurement position coordinates when there are two reference points.

FIG. 7 is a flowchart illustrating an example of a processing procedure of a distance correction value setting procedure.

FIG. 8 is an explanatory diagram when a distance correction value is set from an average value of distance errors.

FIG. 9 is an explanatory diagram when a distance correction value is set from a correlation between a distance error and a distance measurement value.

FIG. 10 is an explanatory diagram for explaining the operation of the present invention;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Surveyor 2 Computing device 3 Display device 10 Surveying device

Claims (5)

[Claims] 1. A position coordinate detecting device for detecting position coordinates of a predetermined measurement point using first, second, and third reference points whose position coordinates are known, wherein the position coordinate detection device detects the position coordinates of the predetermined measurement point A first line formed by a straight line passing through one reference point and a predetermined reference direction
, A second angle between a straight line passing through the measurement point and the second reference point and the reference direction, and a second angle between a straight line passing through the measurement point and the third reference point and the reference direction. And a reference point surveying means for measuring an angle of the third and the first and second reference points based on an angle difference between the first and second angles and position coordinates of the first and second reference points. A first circle specifying means for specifying a first circle passing through the measurement point, based on an angle difference between the second and third angles and position coordinates of the second and third reference points, The second and third
A second circle specifying means for specifying a second circle passing through the reference point and the measurement point, and matching the second reference point among the intersections of the first circle and the second circle. A position coordinate detecting device for detecting position coordinates of an intersection different from the intersection as position coordinates of the measurement point. 2. A position coordinate detection device for detecting position coordinates of a predetermined measurement point using first and second reference points whose position coordinates are known, wherein the measurement point and the first reference point are detected. A first angle between a straight line passing through a point and a predetermined reference direction, a second angle between a straight line passing through the measurement point and the second reference point and the reference direction, the measurement point and the first angle A reference point surveying means for measuring a first distance between reference points and a second distance between the measurement point and the second reference point; and an angle difference between the first and second angles and the second distance. 1
Based on the position coordinates of the second reference point and the first and second
Circle specifying means for specifying a circle passing through the reference point and the measurement point, and a position of a point on the circle specified by the circle specifying means and satisfying a distance difference between the first and second distances. Position coordinate detecting means for detecting coordinates as position coordinates of the measurement point. 3. Target point surveying means for measuring a target point angle between a straight line passing through the target point and the measurement point and a predetermined reference direction, and a target point distance from the measurement point to the target point. The position coordinate detection device according to 1 or 2, and the measurement point and the error based on the position coordinates of the measurement point detected by the position coordinate detection device and the position coordinates of an error detection reference point whose position coordinates are known. Distance calculating means for calculating the distance between the detection reference points, a reference point distance from the measurement point measured by the paired target point measuring means to the error detection reference point, and a distance calculation value calculated by the distance calculating means. And a correction value calculating means for calculating a distance correction value based on a distance error between the target point and the correction value, and a correcting means for correcting the target point distance in accordance with the distance correction value. 4. The method according to claim 3, wherein the distance error is obtained with respect to the plurality of error detection reference points, and the distance correction value is calculated based on an average value of the plurality of distance errors.
Surveying device as described. 5. The distance correction value is calculated according to the target point distance based on a correlation between the reference point distance and the distance error for a plurality of the error detection reference points. 3. The surveying device according to 3.