RU2428656C1 - Installation method of measuring instrument to working position and device for its implementation - Google Patents

Abstract

FIELD: instrument making. ^ SUBSTANCE: installation method of measuring instrument to working position at fixed point of locality involves preliminary and final alignment and levelling of measuring instrument, selection of false grid system, measurement of alignment error and reduction of values considering alignment error. Collimation plane of measuring instrument is oriented as per direction of linear element of alignment error, value of direction and value of image of linear element of alignment error is recorded and actual value of linear element of error is calculated. Measurements provided with purpose of measuring instrument are made, coordinates of fixed and collimating points are calculated and the determined values provided with the purpose of instrument are calculated considering alignment error value. Installation device of measuring instrument to working position at fixed point of locality includes imaging system, sensor for measurement of alignment error, electronic information recording and processing system. Imaging system is equipped with electromagnetic radiation source and sensor of position of centre of identification spot from electromagnetic radiation source. Electronic information recording and processing system is made in the form of complex of functional units connected to each other in compliance with the specified algorithm of reduction of measured values provided with purpose of measuring instrument, considering alignment error, and the above system is installed so that it can receive signals from the above sensor of position of centre of identification spot. ^ EFFECT: high accuracy degree of required precision and high-precision measurements in constraint environment. ^ 16 cl, 10 dwg

Description

The invention relates to the field of instrumentation and measurement technology, mainly geodetic instrumentation and geodetic measurements, and, in particular, can be used when installing the measuring device in the working position, namely when centering and leveling the device, i.e. when combining the vertical axis of rotation of the device with a fixed point on the ground, for example, with the top of the measured horizontal angle, and bringing the vertical axis of rotation of the device into a plumb position. The intended purpose of the proposed method and device is the exclusion of the influence of the centering error of the measuring device on the results of the measured values determined by the device. The predominant use of the invention is in electronic geodetic instruments, in particular in electronic tacheometers, light range finders, in laser instruments that specify horizontal and vertical directions, etc., for centering reflectors of electronic geodetic instruments, target marks, targets, signals. In addition, this invention can be used for centering geodetic instruments of the optical type, for example, theodolites, vertical design instruments, etc.

A known method of installing the measuring device in the working position, providing for the forced centering of the measuring device at a fixed point and its sequential rearrangement from point to point, in each of which the specified forced centering is performed (see, for example, Borshch-Komponiets V.I., Navitny AM, Knysh G.M. Surveying: Textbook for technical schools.- M .: Nedra, 1985, p.119-120).

The disadvantages of this method are the relatively high complexity of the measurement, associated with the need to install special equipment in each of the fixed points, as well as the use of several tripods for measurements in order to reinstall theodolite and signals on them.

There is also a method of setting the measuring device mounted on a tripod into operation, using which a preliminary centering and leveling are carried out at a fixed point in the terrain when one of the tripod legs is installed at some distance from the point where the centering is performed, and the tripod is moved for the other two legs , seeking the location of the vertical axis of the optical plummet near the centering point, observing the indicated actions in the optical plummet and observing simultaneously beyond the horizontal position of the tripod head. Then, continuing to observe the process of centering and leveling, perform further movement of the two legs of the tripod, achieving the most accurate combination of the vertical axis of rotation of the device with a fixed point. After that, the legs of the tripod are strengthened (on soft ground by pressing them into the ground), continuing to center the device and when pushing them into the ground. Then, loosening the stand screw of the tripod, the measuring device is moved to the head of the tripod until the center of the optical center line grid is aligned with the center point and the instrument is leveled (see, for example, Fedorov V.I., Titov A.I., Holdobaev V.A. Workshop on engineering geodesy and aero geodesy: Textbook for high schools. - M .: Nedra, 1987, p.56, §21).

The disadvantages of this method are the following: the relatively high complexity in the case of forced centering and leveling of the device by the method of successive approximations, since each time the vertical axis of rotation of the measuring device is brought into a vertical position, the device’s centering is violated. In turn, the centering of the device leads to a violation of the leveling performed, etc. In addition, the effect of the residual centering error remains unknown.

As a prototype, the method of installing the measuring device in the working position, providing for preliminary centering and leveling of the device at a fixed point in the terrain, its final leveling, orientation of the collimation plane of the measuring device in the direction of one of the sides of the measured horizontal angle, measuring the height of the device, measuring linear and angular elements of centering error, measurement of values provided for by the purpose of the device, and analytical some reduction of the values measured by the device taking into account the values of the elements of the centering error (see application No. 2008128890, application filing date July 14, 2008, publication date of the application January 20, 2010).

The disadvantages of this method are the operation of orienting the collimation plane of the device in the selected direction, the need to measure two elements of the centering error, linear and angular, which leads to an increase in the time spent on installation of the device in the working position.

Known devices for installing measuring instruments and auxiliary equipment in a working position, containing seats for the unambiguous installation of measuring instruments in subsequent measurements, which ensures centering with high accuracy (see, for example, Geodetic methods for studying the deformation of structures / A.K. Zaitsev, C . V.Marfenko, D.Sh. Mikhelev and others - M .: Nedra, 1991, p.29-32).

The disadvantage of these devices is the need for their stationary fixing on special stable bases and in special landing devices, which excludes the possibility of their use in the production of mass measurements.

Known devices used to install the measuring device in the working position, with which they automatically center the measuring device (theodolite) and signals (sighting targets, brands), consisting of a telescope connected rotationally with a buck, which is inserted into the sleeve of the stand of the angle measuring device or signal, two crosswise arranged cylindrical levels attached to a buck. The use of this device provides for leveling (leveling) and centering the stand mounted on a tripod, in which the measuring instrument or signal is then installed (see, for example, Gusev N.A. Surveying and geodetic instruments and devices. - M .: Nedra, 1968 , p. 304-306).

The disadvantages of the known devices is the need to use special stationary equipment, which virtually eliminates the possibility of their use in mass measurements, the relatively long centering process, as well as the lengthy measurement process, for example, the horizontal angle, including reinstalling the equipment from a tripod to a tripod. In addition, the use of these devices does not allow to measure the residual error of centering and to take it into account in the results of basic measurements.

Known optical plummet, with which the installation of the measuring device is carried out in the working position, consisting of a telescope including a lens, an eyepiece, a network of threads, a prism that changes the direction of the optical axis of the telescope, combined with the vertical axis of rotation of the measuring device, while the collimation plane of the visual the pipe is combined with the collimation plane of the measuring device or forms a known angle with it (see, for example, Zakharov A.I. Geodetic instruments: Reference book. - M .: Nedra, 1989, p. 46, fig. 26 and 27).

One of the drawbacks of this optical plummet is the aforementioned drawbacks in the centering method carried out by the method of successive approximations - the high complexity when installing the device in a working position (see, for example, Fedorov V.I., Titov A.I., Kholdobaev V.A. Workshop on Engineering Geodesy and Airborne Geodesy: A Textbook for High Schools. - M .: Nedra, 1987, p. 56, §21). Other disadvantages of this optical plummet include the fact that the observer must constantly look at the result of centering, observing this process through the eyepiece of the plummet telescope. As you know, the position of the observer during such actions is relatively inconvenient: the actions of observing the center-spot in the telescope and the actions of moving (manipulating) the legs of the tripod are combined. In addition, when using an optical plummet, automation of the centering process is excluded, and the residual centering error remains unknown.

As a prototype, a device was selected for installing the measuring device in a working position at a fixed point in the terrain, including an image-building system, registration sensors for linear and angular elements of centering error, an electronic system for recording and processing information that performs, in particular, analytical centering of the measuring device with taking into account the values of the elements of the centering error. The electronic system of the known device contains, in particular, blocks for calculating coordinates, distances, directional angles, horizontal angles, directions interconnected by the established algorithm for solving the problem of analytical centering of the measuring device (see application No. 2008128890, filing date July 14, 2008, date of publication of the application January 20, 2010). The use of this known device provides for the analytical centering of the measuring device, taking into account the measured values and the values of the linear and angular elements of the centering error, through which the corrections to the values measured by the device are determined. In this case, mechanical centering is performed at the preliminary centering stage (rough, approximate), at which the image of the terrain point at which the device is installed in the working position is introduced into the field of view of the optical centering system, and then continues until the measurement of the values of the angular and linear error elements centering.

The disadvantage of this known device is the need for mechanical actions by the observer when determining two heterogeneous elements of centering error, linear and angular, namely, combining the collimation plane of the measuring device (optical plummet) with the direction of the linear element, combining the fixed point on the ground with the center index of the telescope telescope. When performing these actions, the observer must constantly look into the eyepiece of the telescope, which, to a certain extent, is uncomfortable and relatively tedious for him. In addition, the mechanical measurement of two centering errors provided for by the known device leads to the need to introduce additional measuring screws (handwheels) into the design of the device within its axial system, which causes certain difficulties in the manufacturing technology of the device, since, as you know, the optical centers of electronic tacheometers, theodolites located directly in the axial systems, which are very responsible mechanical parts of measuring instruments of the specified t ipa.

To eliminate the disadvantages indicated for the known methods of installing the measuring device in the working position, a method is proposed for installing the measuring device in the working position at a fixed point in the terrain, including preliminary centering and leveling the measuring device, its final leveling, selection of a conditional coordinate system, measuring the height of the measuring device, orientation of the collimation plane of the measuring device in the direction of the linear element of the error center registering the direction and magnitude of the image of the linear element, calculating the linear element of the centering error, measuring at the standing point the values provided by the purpose of the device, and reducing these values taking into account the centering error, when using which (method) before performing preliminary centering and leveling of the measuring device in a fixed point of the terrain place a source of electromagnetic radiation, perform the final leveling, regis the direction value and the image value of the linear element of the centering error are calculated and the actual value of the linear element of the centering error is calculated taking into account the change in the height of the measuring device relative to its nameplate value, the measurements provided for by the purpose of the measuring device are performed, the coordinates of the fixed and observed points are calculated, and the determined values provided by the purpose are calculated instrument, taking into account the magnitude of the centering error.

The proposed method provides that the measurement of values provided for by the purpose of the measuring device is performed after final leveling at any stage of work at the standing point before calculating the coordinates of the observed points.

In the proposed method, the beginning of the conditional coordinate system and one of its axes are combined with the vertical axis of rotation of the measuring device, and for the other of its axes, any of the possible samples (directions) along the horizontal circle of the measuring device is assigned, including a zero reference.

To eliminate the drawbacks shown for these known devices, a device is proposed for installing the measuring device in a working position, comprising an image-building system, a centering error measuring sensor, an electronic information recording and processing system, the image-forming system of which contains an electromagnetic radiation source in its space of objects , and in its image space contains a position sensor of the center of the identification spot from the source electromagnetic radiation, while the electronic system for recording and processing information is made in the form of a set of functional blocks connected to each other in accordance with the established algorithm for reducing the measured values provided for by the purpose of the measuring device, taking into account the centering error, and is installed with the possibility of receiving signals from the aforementioned position sensor of the center of the identification spot.

In the proposed device, the axis of the imaging system is aligned with the vertical axis of rotation of the measuring device.

The position sensor of the center of the identification spot from the source of electromagnetic radiation can be made in the form of a two-coordinate matrix of electromagnetic radiation receivers, one of the axes of which is perpendicular to the placement surface of the said radiation receivers, is aligned with the vertical axis of rotation of the measuring device, or is made in the form of a linear matrix of electromagnetic radiation receivers whose longitudinal axis is perpendicular to the vertical axis of rotation of the measuring device and aligned with the position the collimation plane of the measuring device either forms a known angle with it, while the rotation of the aforementioned matrix is synchronized with the rotation of the collimation plane of the measuring device, while the linear matrix of the electromagnetic radiation receivers is made with the possibility of autonomous rotation by the recorded angle in the plane perpendicular to the longitudinal axis of the imaging system, relative to the collimation plane of the measuring device corresponding to the maximum signal from the group of receivers lektromagnitnogo radiation belonging to a region identification spot source of electromagnetic radiation image.

The electronic system for recording and processing information of the proposed device is equipped with functional units, the combination of which includes a positioning unit and determining the coordinates of the identification spot on the position sensor of the center of the identification spot from the electromagnetic radiation source, a unit for calculating the linear element of the centering error, a unit for calculating the coordinates of a fixed point of the terrain and observed points , directional angle calculation unit, measuring unit height input unit, unit the input of the measured distances, the input unit of the measured directions, the unit for calculating the determined distances, the unit for calculating the determined horizontal angles, the unit for calculating the determined directions and a storage device, while the said unit for positioning and determining the coordinates of the center of the identification spot is installed with the possibility of receiving a signal from the position sensor of the center of the identification spot and transmitting the signal to the unit for calculating the linear element of the centering error, which is installed with the possibility receiving a signal from the height input unit of the measuring device and transmitting a signal to the unit for calculating the coordinates of a fixed point and observable points, which, in turn, is installed with the ability to receive signals from input units for measured distances and input measured directions and transmit signals to directional angle calculation units and calculating the determined distances, said directional angle calculating unit is arranged to transmit a signal to the determined horizontal angle calculating unit, and The device is installed with the possibility of receiving signals from the blocks for calculating the determined distances, calculating the determined horizontal angles and calculating the directional angles, while the block for calculating the directional angles and the block for calculating the determined directions are combined.

In another embodiment of the device according to the invention, the electronic information recording and processing system is equipped with functional units, the aggregate of which includes a positioning unit and determining the coordinates of the identification spot on the position sensor of the center of the identification spot, a unit for calculating a linear element of the centering error, a unit for calculating the coordinates of a fixed terrain point and observed points, block for calculating directional angles, block for entering the height of the measuring device, block for entering measured distances The unit, the input unit for the measured directions, the unit for calculating the determined distances, the unit for calculating the determined horizontal angles, the unit for calculating the determined directions and a storage device, the said unit for positioning and determining the coordinates of the center of the identification spot is installed with the possibility of receiving signals from the position sensor of the center of the identification spot and transmission a signal to the block for calculating the linear element of the error of centering, which is installed with the possibility of receiving a signal from the block and entering the height of the measuring device and transmitting the signal to the block for calculating the coordinates of a fixed point and observed points, which, in turn, is installed with the possibility of receiving signals from blocks for inputting measured distances and inputting measured directions and transmitting signals to blocks for calculating directional angles and calculating determined distances , said block for calculating directional angles is installed with the possibility of transmitting a signal to a block for calculating determined horizontal angles and transmitting a signal in a block for calculating predelyaemyh directions, which is set to receive a signal from the input unit measured directions, a storage device arranged to receive signals from the computing unit determines the distance, determined by calculating the horizontal angle, and calculating the defined directions.

In the third embodiment of the proposed device, the electronic information recording and processing system is equipped with functional units, the aggregate of which includes a positioning unit and determining the coordinates of the identification spot on the position sensor of the center of the identification spot from the electromagnetic radiation source, a unit for calculating a linear element of the centering error, a unit for calculating the coordinates of a fixed terrain point and observed points, directional angle calculation unit, meter height input unit the unit, the input unit for the measured distances, the input unit for the measured directions, the unit for calculating the determined distances, the unit for calculating the determined horizontal angles, the unit for calculating the determined directions and the storage device, while the said unit for positioning and determining the coordinates of the center of the identification spot is installed with the possibility of receiving signals from the sensor the position of the center of the identification spot and the signal transmission to the unit for calculating the linear element of the centering error, which is set It is configured to receive a signal from a unit for inputting the height of a measuring device and transmit a signal to a unit for calculating the coordinates of a fixed point and observed points, which, in turn, is installed with the possibility of receiving signals from the units for inputting the measured distances and inputting the measured directions and transmitting signals to the calculation units directional angles and calculating determined distances, said directional angle calculating unit is installed with the possibility of transmitting a signal to the determined direction calculating unit, ory set to receive a signal from the input unit and the measured signal transmission directions in the calculation unit defined by horizontal angles, and a memory arranged to receive signals from the computing unit determines the distance, determined by calculating the horizontal angle, and calculating the defined directions.

There are other possible versions of the electronic system of the proposed device, in which the task is solved by implementing other calculation algorithms, but with similar results.

The electromagnetic radiation source of the proposed device can be portable with the possibility of temporary placement at a fixed point in the terrain and can be equipped with a delivery system, in particular a rod, for example, of a telescopic type.

In addition, the electromagnetic radiation source can be equipped with a diffusion type reflector, which can be temporarily placed at a fixed point in the terrain and equipped with a delivery system, in particular a rod, for example, of a telescopic type, while the electromagnetic radiation source can be placed directly on the measuring device or on accessories, such as a tripod on a measuring device.

In order to eliminate or attenuate flare from external sources, the aforementioned electromagnetic radiation source may be equipped with an electromagnetic radiation modulator and / or an electromagnetic radiation filter.

To improve the image quality of the identification spot from the source of electromagnetic radiation, the image-building system and the position sensor of the center of the identification spot from the source of electromagnetic radiation are installed with the possibility of mutual movement relative to each other, taking into account changes in the height of the measuring device relative to its nameplate value.

The proposed device can be fully or partially structurally combined with a measuring device.

The necessary explanations for the implementation of the algorithm for analytical reduction of centering errors, the scheme of the proposed device and the features of some parts of this scheme, as well as the necessary explanations for correcting the centering errors are shown in FIGS. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10.

Figure 1 shows a diagram explaining the algorithm for calculating and introducing amendments to the values measured by the device (in particular, an electronic total station) taking into account the centering error.

Designations adopted in figure 1:

A, B and C - terrain points that determine the size of the measured (determined) horizontal angle, distances, as well as determining directions (readings according to the horizontal circle system of the measuring device); the indicated points are fixed on the ground;

T is the projection of the vertical axis of rotation of the measuring device on a horizontal plane;

β _O is the determined horizontal angle;

β is the measured horizontal angle;

N _TB and N _TC - measured horizontal directions (readings according to the horizontal circle of the measuring device) from point T to points B and C, respectively;

N _AB and N _AC - determined horizontal directions (determined counts along the horizontal circle of the measuring device) from point A to points B and C, respectively;

N _x - any direction (counting according to the horizontal circle of the measuring device) corresponding to the position of the Tx axis of the conditional system of rectangular coordinates Txyz (in particular, when the specified axis is oriented to zero reference the horizontal circle system N _x = 0);

N _TA is the direction (counting according to the horizontal circle of the measuring device) of the linear element of the centering error;

Txyz is a conventional rectangular coordinate system, the Tx axis of which can be given any direction within the possible samples along the horizontal circle system of the measuring device, in particular, a zero reference system of the horizontal circle of the measuring device can be selected (to simplify the calculations); the Tz axis coincides with the vertical axis of rotation of the measuring device, i.e. perpendicular to the plane of the drawing of FIG. one;

l is a linear element of the centering error (the distance in the horizontal plane between points A and T);

L _TB and L _TC - measured distances;

L _AB and L _AC - determined distances;

α _AB and α _AC - conditional directional angles of the respective determined directions (the specified directional angles are calculated during analytical processing of the measurement results);

α _TB and α _TC are the conditional directional angles of the corresponding measured directions (the indicated directional angles are calculated during analytical processing of the measurement results);

α _TA is the directional angle of the direction of the linear element of the centering error;

x _A and y _A are the rectangular coordinates of point A fixed on the ground in the conditional system of rectangular coordinates Txyz.

Figure 2 presents a diagram of a device designed to implement the method of installing the measuring device in the working position at a fixed point on the ground.

Designations shown in figure 2:

1 - image building system (subsequently, for reduction, the equivalent notation is used - system 1);

2 - source of electromagnetic radiation;

3 - the position sensor of the center of the identification spot from the source of electromagnetic radiation (subsequently, for reduction, the equivalent designation is used - position sensor 3);

4 - electronic system for recording and processing information (subsequently, for abbreviation, the equivalent designation is used - electronic system 4);

A - fixed point on the ground at which the measuring device is installed in the operating position (at this point, a radiation source 2 is installed);

A 'is the projection of point A (electromagnetic radiation source 2) on the position sensor 3; the center of the identification spot from the source of electromagnetic radiation 2;

T - point, which is the projection of the vertical axis of rotation of the measuring device on a horizontal plane;

T 'is the projection along the vertical line of point T onto the position sensor 3;

l is a linear element of the error of centering (space of the subject of system 1);

l 'is an image of a linear element in the plane of the matrix 3 of radiation receivers (image space of system 1);

h is the height of the measuring device.

Figure 3, 4 and 5 shows the functional blocks of the electronic system 4 and their relationship in accordance with the established algorithm for solving the problem.

Designations adopted in figure 3, 4 and 5:

3 - position sensor (see figure 2);

4 - electronic system (see. Fig. 2);

5 - positioning unit and determining the coordinates of the center of the identification spot from the electromagnetic radiation source 2 on the position sensor 3 (the equivalent designation is used hereinafter - positioning unit 5);

6 - block for calculating the linear element of the error of centering (in the following, the equivalent designation is used - block for calculating the linear element 6);

7 - unit for entering the height of the measuring device (in the following, the equivalent designation is used - unit for entering the height of 7);

8 - input unit measured distances;

9 - unit for calculating the coordinates of a fixed point and observed points (in the following, the equivalent designation is used - unit for calculating coordinates 9);

10 - input unit of the measured directions;

11 - unit for calculating the determined distances;

12 - block calculating the directional angles;

13 is a unit for calculating the determined horizontal angles;

14 - storage device;

15 is a block calculating the determined directions.

6 and 7 are respectively diagrams of a two-coordinate matrix and a linear matrix of electromagnetic radiation receivers that perform the function of a position sensor 3.

Designations in Fig.6 and 7:

3 - position sensor (matrix of electromagnetic radiation receivers, in the future - matrix 3);

16 - elementary radiation receiver;

17 - identification spot from the radiation source 2, in the plane of the two-coordinate matrix 3, on the linear matrix 3, formed through the system 1 from the electromagnetic radiation source 2 (see figure 2);

Т'х _M at _M - conditional rectangular coordinate system of matrix 3, the origin of which is aligned with the vertical axis of rotation of the measuring device;

T'xy - the projection of the conditional system of rectangular coordinates Thu in the plane of matrix 3, the center of which coincides with the point T ';

x _C and y _C are the rectangular coordinates of the center of the identification spot 17 in the conventional rectangular coordinate system T'x _M at _M.

The remaining designations are shown in figures 1 and 2.

Fig. 8 is a diagram illustrating an algorithm for correcting a measured value of a linear element of a centering error. Designations in Fig. 8 (designations of poses 1, 2 and 3 - see in Fig. 2):

A and T are terrain points (see designations in Fig. 1);

A 'and T' - image of points A and T through system 1 (A ' ₁ - at s _O , at position sensor 3; A ₂ ' - at s = s _O + Δs; A ₂ '' - at s = s _O + Δs on the position sensor 3);

F and F 'are the points of the front and rear foci of system 1, respectively;

ƒ and ƒ 'are the front and rear focal lengths of system 1;

s is the distance from the subject (radiation source 2) to the front focus of system 1;

s _O - passport distance from the subject to the front focus of system 1;

Δs is the change in the passport distance s _O ;

s' is the distance from the image to the back focus of system 1;

s _O '- passport distance from the position sensor 3 to the back focus of system 1;

l is a linear element of the error of centering in the space of the object (l ₁ - for s _O ; l ₂ - for s = s _O + As);

l 'and l''- image size of the linear element of the centering error in the image space of system 1 (l' - at s _O , at position sensor 3; l ₂ '- at s = s _O + Δs; l ₂ ''- at s = s _O + Δs at the position sensor 3).

Figures 9 and 10 show the placement options of the electromagnetic radiation source during measurements.

The designations adopted in FIG. 9 and 10:

2 - source of electromagnetic radiation (see figure 2);

18 - a means of delivery of a source of electromagnetic radiation or a reflector 21 to a fixed point A of the terrain (rod telescopic type);

19 - measuring device;

20 - tripod;

21 - reflector diffusion type;

T is the standing point of the measuring device (see figures 1 and 2).

Consider a diagram illustrating the analytical centering of the measuring device shown in figure 1.

When measuring the horizontal angle β _O and the distances L _AB and L _{AC, the} projection of the vertical axis of rotation of the measuring device did not coincide with the vertex A of the measured angle, but turned out to be at point T, which in fact leads to the measurement of a different angle (β) and other distances (L _TB and L _TC ) and other destinations (N _TB , N _TC and N _TA ).

We choose a conditional coordinate system Txyz whose axis Tx corresponds to an arbitrary direction N _x . In the operating position, the xTy plane is horizontal, and the Tz axis is directed along a plumb line at a standing point coinciding with the vertical axis of rotation of the measuring device.

From the solution of the direct geodesic problem (see, for example, Afanasyev VG, Egorov AP Geodesy and surveying in transport construction. M: Nedra, 1978, § 14, p.21-23) we find the coordinates of points A , B and C in the indicated coordinate system (it is obvious that x _T = 0 and y _T = 0):

In formulas (1), the differences between the measured directions and the arbitrary direction N _{x of} the Tx axis determine the corresponding conditional directional angles in the adopted rectangular coordinate system Txyz:

Since the coordinate system is arbitrary, it can be conditionally, for simplicity of further calculations, assume that the Tx axis is oriented to the zero reference of the horizontal circle of the measuring device, i.e. N _x = 0. It will be shown below that this simplifies the circuit of electronic system 4. In this case, formulas (1) are written in the form:

It follows that under the indicated condition, the values of the directions (measured and determined) and the values of the corresponding directional angles coincide:

From the solution of the inverse geodesic problem, we find the conditional directional angles α _AB and α _AC (i.e., the determined directions N _AB and N _AC, respectively) and the determined distances L _AB and L _AC provided that the direction N _x = 0:

If an arbitrary direction is N _x ≠ 0, then formulas (5) and (6) will take the general form:

Next, we calculate the value of the determined horizontal angle as the difference of the corresponding directional angles of the determined directions obtained by formulas (5) or (7):

Obviously, the value of the determined horizontal angle for the set conditions, i.e. for N _x = 0, can also be calculated by the formula

in accordance with formulas (4).

If N _x ≠ 0, then the values of the determined directions are calculated in accordance with formulas (2) and the scheme of figure 1 according to the formulas:

In the above diagram, the determined directions are easy. Often this is required to be done when, with accurate and high-precision measurements, measurements are made in central systems, i.e. at the standing point, several directions are determined at once, and then they are equalized and the equalized values of the determined horizontal angles are calculated by the formula (10), taking into account the equalized values of the directions.

Thus, the analytical reduction of the values measured by the device, provided for by its purpose (in this case, distances, horizontal angles and directions), eliminates the error in centering the measuring device of almost any value. In used total stations, for example, an imaging system (optical center) provides an overview in the space of an object in linear dimensions up to 50 mm. This can be approximately the linear error of centering the measuring device, which will be taken into account in the future when reducing the measured values.

Consider the diagram (Fig. 8) explaining the correction of the measured linear element of the centering error.

The diagram shows the path of the rays from the space of the object into the image space of the system 1, where the position sensor 3 is installed.

We consider two cases with equal values of the linear element of the error of centering (l ₁ = l ₂ ):

- the source of electromagnetic radiation 2 is located at point A on the passport value of the distance s _O from the front focus of the system 1;

- the electromagnetic radiation source 2 is located at point A at a distance from the front focus of system 1, which is different from the certified value by Δs equal to the difference between the current value of the height h of the measuring device and the certified value of the height h _{O of the} measuring device, i.e.:

Moreover, in both cases, the position sensor 3 is located at the passport distance s _O 'from the back focus of the system 1.

The value of the measured segment AT = l ₁ in the space of the object is determined through the measured segment in the image space l ₁ 'according to the formula:

where K _O is the magnification factor equal to the reciprocal of the magnification factor of system 1:

In this case, the value of K _{About is} also the passport value of the coefficient of increase of the proposed device.

Since when the measuring device is installed in the operating position, the size of the segment s _O will be different in most cases (s = s _O ± Δs), then the value of the magnification factor for the image of the segment l ₂ '' in the plane of the matrix of radiation receivers will also change.

Preliminarily find:

where K is the current magnification factor.

For the center A ₂ ″ of the identification spot 17 on the position sensor 3 with respect to the segment l ₂ ^′ , the distortion coefficient can be determined

Since, as follows from the geometry of the circuit,

then, after substituting the obtained parameters into formula (16), we obtain:

Thus, taking into account the above expressions for K and K _l , formula (15) can be written in the form:

The value of the linear element of the centering error measured by the position sensor 3 of the image l 'or l''is determined in the conditional coordinate system T'x _M at _M z _M , the beginning of which coincides with the projection T' of the point T, according to the formula of the inverse geodesic problem:

when using a two-coordinate matrix of radiation receivers as a position sensor 3 (see Fig.6), or directly measured distance when using a linear matrix of radiation receivers as a position sensor 3 (see Fig.7).

To avoid defocusing the image of the electromagnetic radiation source at the position sensor 3 with changes in the height of the measuring device relative to its nameplate value, the system 1 and the position sensor 3 are installed with the possibility of mutual movement relative to each other. The movement of these elements of the device in the direction of the vertical axis of rotation of the measuring device should be

Suppose that ƒ = ƒ '= 100 mm, s _O = 1100 mm, Δs = + 200 mm, which corresponds to an increase in the distance to the object (source of electromagnetic radiation). Then Δs' = 1.4 mm. This corresponds to defocus compensation by moving the position sensor 3 towards system 1 by 1.4 mm or by moving the same amount of system 1 towards the position sensor 1.

Suppose that for the same values of focal lengths and values s _O Δs = -200 mm, which corresponds to a decrease in the distance to the subject compared to its nameplate value. Then Δs' = 2.0 mm. This is suitable for compensating for defocusing by moving the position sensor 3 from system 1 or moving from the position sensor 3 of system 1 by 2.0 mm.

In these cases, i.e. for fixed movements of the position sensor 3 and system 1, determined by changes in the height of the measuring device relative to its nameplate value, the correction of the measured image value of the linear element of the centering error in the image space on the position sensor 3 is performed according to the formula (15), i.e. only taking into account the current magnification factor:

where Δs is calculated by the formula (12).

To ensure the necessary calculations according to the established algorithm for reducing the values measured by the device, the following values should be stored in the device memory:

- passport value of the height h _O device;

- passport value s _O corresponding to the passport value of the height of the device h _O ,

- focal front and rear distances of system 1;

- passport value of the coefficient of increase To _O system 1 (its reciprocal).

The implementation of the method of installation of the measuring device in the working position at a fixed point on the ground is as follows.

A source of electromagnetic radiation 2 is installed in a fixed point A of the terrain 2. The measuring device 19 is pre-centered and horizontal in a point A fixed on the terrain, which consists in the approximate combination of the vertical axis of rotation with a fixed point (observed on the display of the measuring device) and approximate leveling by the position of the tripod head 20. Perform the final leveling of the measuring device 19, i.e. bring the vertical axis of rotation of the device into a vertical position.

In the general case, the projection of the vertical axis of the measuring device does not coincide with point A, but appears at point T.

A conditional coordinate system is selected, which consists in arbitrary setting the direction value (reference on the horizontal circle of the measuring device) for the axis Тх of the coordinate system; in this case, in all cases, an unambiguous choice of the value of the indicated direction equal to zero is possible.

Measure the height of the device h from a fixed point A to the installed mechanical part of the measuring device 19 and fix its value in the electronic system for recording and processing information 4 in the input unit 7 of the height of the measuring device.

Install a source of electromagnetic radiation 2 at a fixed point A or a diffusion type reflector 21 included in the electromagnetic radiation source system (see Figs. 9 and 10).

The direction and magnitude of the image of the linear element of the centering error are measured.

When using a linear array of radiation detectors after final leveling measuring instrument its collimation plane is set in such a direction as the y coordinate identification spot center 17 _D becomes equal to zero or until a maximum signal is established from a group of detectors caught within the spot identification.

The actual value of the linear element of the centering error is calculated taking into account the change in the height of the measuring device relative to its nameplate value (the operation is performed by the functional unit 5 of the electronic system 4 for recording and processing information).

Perform the necessary measurements provided for by the purpose of the measuring device, which consists in determining the directions to all observed points and in determining the values of the measured distances to them.

Next, the electronic system 4 for recording and processing information according to the established algorithm calculates the coordinates of a fixed point and the coordinates of the observed points in the selected conditional coordinate system and calculates the determined values provided for by the purpose of the device, taking into account the reduction of the linear element of the centering error.

The proposed device for installing the measuring device in the working position (figure 1, 2, 3, 4 and 5) works as follows.

At a fixed location A point, the radiation source 2 is installed and preliminary alignment and leveling of the measuring device is performed, which consists in bringing the image from the radiation source 2 into the field of view, determined by the geometric parameters of the position sensor 3, which can be controlled by the display of the measuring device. Final leveling of the measuring device is carried out, observing on the display of the measuring device the position of the identification spot 17 from the electromagnetic radiation source within the position sensor 3. The height (h) of the measuring device is determined from the fixed point of the terrain in which the device is installed in the operating position, to the established mechanical parts of the measuring device. The obtained height value is entered into the memory of the measuring device.

After completing the final leveling and placing the source of electromagnetic radiation at a fixed point A, the positioning unit 5 scans the sensing elements (radiation receivers) of the position sensor 3, identifies the image area of the electromagnetic radiation source 2, and calculates the coordinates x _C and _{C of the} center of the identification spot in adopted coordinate system. Next, the received coordinates are transmitted from block 5 to block 6 calculating a linear element. The same unit 6 also receives the value of the current height h of the measuring device from the input unit 7 of the height of the measuring device. Block 6 performs the calculation of the actual value of the linear element l of the centering error: first, the value of the difference in the distance to the object relative to its passport value is determined by the formula (12), then (or simultaneously) the image value of the linear centering error is calculated by the formula (20) and finally - calculation of the actual value of the linear element of the centering error according to the formula (19). The obtained value of the linear element of the centering error comes from block 6 to block 9 for calculating the coordinates of the fixed point and the observed points, which simultaneously with the measurements receives information about the values of the measured directions and distances from blocks 8 and 10, respectively. Block 9 according to the algorithm of formulas (1) or (3) performs the calculation of the values of the corresponding coordinates of the points in the adopted conditional coordinate system. The obtained values of the coordinates of the points from block 9 go to block 11 for calculating the determined distances, which, according to the algorithm of formulas (6) or (8), computes them, and to block 12 for calculating the directional angles of the determined directions, in which according to formulas (5) or (7 ) calculates the values of the desired directional angles. Information (values of directional angles) from block 12 enters the block 13 for calculating the determined horizontal angles, obtained by formula (9), the values of which are transmitted to the storage device 14. Information about the values of the reduced determined distances from the block 11 is also sent to the same storage device 14. In the diagram shown in figure 4, taking into account the condition N _x = 0, the values of the determined directions coincide with the values of the determined directional angles, and therefore the information from block 12 is transmitted as the determined direction in storage device 14.

The given block diagram of the device explains only the possible algorithm for solving the problem of analytical centering of the measuring device indicated in formulas (1), (3), (5), (6), (7), (8), (9). It is possible, for example, to introduce in block 5 of the system for calculating the magnitude of the image of the linear element of the centering error, which is performed in the above block diagram in block 6. Correction of the value of the linear element of the centering error due to changes in the height of the measuring device can be entered, for example, directly into the measured values coordinates in block 5, and therefore in the block diagram this would be reflected in the additional connection of block 7 with block 5. Perhaps, for example, dividing block 6 into several independent blocks: the value of the image of the linear element of the centering error according to the formula (20); block image correction of the linear element of the error of centering; block scaling the linear element of the error of centering, taking into account the current value of the magnification factor. Other changes are possible in the block diagram, the functional actions of the elements of which will lead to the same result as when using the above block diagram.

As possible options, we consider a block diagram of the calculation of the determined directions (see figures 4 and 5).

The operation of the part of the flowchart discussed above, depicted in figure 4, is as follows. Information from the block 9 for calculating the coordinates of fixed and observed points enters the block 12 for calculating the directional angles, in which according to the algorithm of formulas (7), their values are calculated. Further, from block 12, information is transmitted to block 13 for calculating the determined horizontal angles using formulas (9) and to block 15 for calculating the determined directions, which additionally receives information from the block for inputting measured directions 10. Block 15 calculates the determined directions using formulas (11). Then the values of all determined values are received in the storage device 14.

The difference between the second variant of the part of the device’s block diagram (see FIG. 5) and the above (FIG. 4) is that the directional angle calculation unit 12 is installed with the possibility of receiving a signal from the unit 9 for calculating the coordinates of a fixed point and observed points and transmitting signal to the block 15 for calculating the determined directions according to formulas (11), for which information from the block 10 for entering the measured directions is sent to the same block. Further, information from block 15 is sent to block 13 for calculating the determined angles according to formulas (10), after which information about the values of all determined quantities is received in the storage device 14.

The electronic information processing system or its individual parts can be fully or partially constructively combined with similar functional units and systems of the measuring device. So, for example, electronic blocks for calculating coordinates, directional angles, horizontal angles, distances, storage device of the proposed device are identical to the corresponding blocks of the measuring device. It is also possible to combine, for example, the imaging system of the proposed device with the optical centering system of the measuring device, etc.

Using the centering method with the algorithm for analytical reduction of the measured values taking into account centering errors, as well as the device designed to implement this method, will significantly reduce the complexity when installing the measuring device, since the values of the linear centering elements are not eliminated by mechanical actions with the device, as well as similar actions with the mechanisms of the plummet, and determine their magnitude and the corresponding angular position automatically directly during the measurements at the selected arbitrary coordinate system and eliminate the influence of errors of alignment by introducing appropriate corrections in all the measured values determined destination device. The accuracy of centering is determined not by the values of the elements of the error of centering, but only by the errors in the determination of these elements. For example, the value of the linear element of the centering error can be equal to 30-40 mm (or more) with the required accuracy of the mechanical centering equal to 0.2-0.5 mm.

Thus, the proposed method and device for installing the measuring device in the working position will significantly automate the process of analytical centering of the measuring device with the calculation of the values of the determined values (directions, horizontal angles, distances), the accuracy of which is determined by the accuracy of the measurement of the linear element of the centering error.

Using the proposed device will allow with a high degree of accuracy to make the necessary accurate and high-precision measurements in confined spaces, with short sides of the measured angles in dense buildings, on construction sites, when creating geodetic networks of high accuracy classes.

Claims (16)

1. The method of installing the measuring device in a working position at a fixed point in the terrain, including preliminary centering and leveling, and then the final leveling of the measuring device, choosing a conditional coordinate system, measuring the height of the measuring device, measuring the error of centering, measuring at a standing point the values provided for by the purpose of the device , and the reduction of values taking into account the error of centering, characterized in that at a fixed point in the terrain place the source to electromagnetic radiation, preliminary centering and leveling of the measuring device is performed, its final leveling, after which the collimation plane of the measuring device is oriented in the direction of the linear element of the centering error, the direction value and image size of the linear element of the centering error are recorded and the actual value of the linear element of the centering error is calculated with taking into account the change in the height of the measuring device about With regard to its nameplate value, the measurements provided for by the purpose of the measuring device are performed, the coordinates of the fixed and observed points are calculated, and the determined values provided by the purpose of the device are calculated, taking into account the magnitude of the centering error. 2. The method according to claim 1, characterized in that the measurement of values provided for by the purpose of the measuring device is performed after final leveling at any stage of work at the standing point until the coordinates of the observed points are calculated. 3. The method according to claim 1, characterized in that the beginning of the conditional coordinate system and one of its axes are combined with the vertical axis of rotation of the measuring device, and for the other of its axes, any of the possible counts along the horizontal circle of the measuring device is assigned, including zero countdown. 4. A device for installing the measuring device in a working position at a fixed point in the terrain, containing an image-building system, a centering error measurement sensor, an electronic information recording and processing system, characterized in that the image-building system is equipped with an electromagnetic radiation source in its space of objects, and its image space is equipped with a sensor for the position of the center of the identification spot from the source of electromagnetic radiation, while The information recording and processing system is made in the form of a set of functional blocks connected to each other in accordance with the established algorithm for reducing the measured values provided for by the purpose of the measuring device, taking into account the centering error, and is installed with the possibility of receiving signals from the mentioned position sensor of the center of the identification spot. 5. The device according to claim 4, characterized in that the axis of the imaging system is aligned with the vertical axis of rotation of the measuring device. 6. The device according to claim 4, characterized in that the position sensor of the center of the identification spot from the source of electromagnetic radiation is made in the form of a two-coordinate matrix of electromagnetic radiation receivers, one of whose axes perpendicular to the placement surface of the said radiation receivers is aligned with the vertical axis of rotation of the measuring device . 7. The device according to claim 4, characterized in that the position sensor of the center of the identification spot from the source of electromagnetic radiation is made in the form of a linear matrix of electromagnetic radiation receivers, the longitudinal axis of which is perpendicular to the vertical axis of rotation of the measuring device and combined with the position of the collimation plane of the measuring device or forms a known angle, while the rotation of the matrix is synchronized with the rotation of the collimation plane of the measuring device. 8. The device according to claim 4, characterized in that the electronic system for recording and processing information is equipped with functional units, which together include a positioning unit and determining the coordinates of the identification spot on the position sensor of the center of the identification spot from the electromagnetic radiation source, a block for calculating the linear element of the centering error , block for calculating coordinates of a fixed point of terrain and observed points, block for calculating directional angles, block for entering the height of the measuring about the device, the input unit of the measured distances, the input unit of the measured directions, the unit for calculating the determined distances, the unit for calculating the determined horizontal angles, the unit for calculating the determined directions and a storage device, while the said unit for positioning and determining the coordinates of the center of the identification spot is installed with the possibility of receiving a signal from the sensor the position of the center of the identification spot and the signal transmission to the unit for calculating the linear element of the centering error, which is installed with the possibility of receiving a signal from the input unit of the height of the measuring device, and transmitting the signal to the unit for calculating the coordinates of a fixed point and observed points, which, in turn, is installed with the possibility of receiving signals from the units for inputting the measured distances and inputting the measured directions and transmitting signals to the calculation units directional angles and calculating the determined distances, said directional angle calculating unit is installed with the possibility of transmitting a signal to the determining horizontal angles calculating unit And a memory arranged to receive signals from the calculating unit determines the distance determined by calculating the horizontal angle and calculation of directional angles, the directional angles calculating unit and calculating unit determines the directions are aligned. 9. The device according to claim 4, characterized in that the electronic system for recording and processing information is equipped with functional units, which together include a positioning unit and determining the coordinates of the identification spot on the position sensor of the center of the identification spot, a unit for calculating a linear element of the centering error, a unit for calculating coordinates fixed terrain points and observed points, directional angle calculation unit, measuring unit height input unit, measured distance input unit th, a unit for inputting measured directions, a unit for calculating determined distances, a unit for calculating determined horizontal angles, a unit for calculating determined directions and a storage device, wherein said positioning and determining unit for coordinates of the center of the identification spot is installed with the possibility of receiving signals from the position sensor of the center of the identification spot and transmission signal to the block for calculating the linear element of the error of centering, which is installed with the possibility of receiving a signal from the block in ode to the height of the measuring device, and transmitting a signal to the block for calculating the coordinates of a fixed point and observable points, which, in turn, is installed with the possibility of receiving signals from blocks for inputting measured distances and inputting measured directions and transmitting signals to blocks for calculating directional angles and calculating determined distances , said directional angle calculating unit is installed with the possibility of transmitting a signal to the determined horizontal angle calculating unit and transmitting the signal to the defining calculating unit Desired directions, which is installed with the possibility of receiving a signal from the input unit of the measured directions, and the storage device is installed with the ability to receive signals from the units for calculating the determined distances, calculating the determined horizontal angles and calculating the determined directions. 10. The device according to claim 4, characterized in that the electronic system for recording and processing information is equipped with functional units, which together include a positioning unit and determining the coordinates of the identification spot on the position sensor of the center of the identification spot from the electromagnetic radiation source, a unit for calculating the linear element of the centering error , block for calculating coordinates of a fixed point of terrain and observed points, block for calculating directional angles, block for entering height about the device, the input unit for the measured distances, the input unit for the measured directions, the unit for calculating the determined distances, the unit for calculating the determined horizontal angles, the unit for calculating the determined directions and a storage device, while the said positioning and determining unit for the coordinates of the center of the identification spot is installed with the possibility of receiving signals from the sensor the position of the center of the identification spot and transmitting the signal to the unit for calculating the linear element of the centering error, which established n with the possibility of receiving a signal from the input unit of the height of the measuring device, and transmitting the signal to the unit for calculating the coordinates of a fixed point and observed points, which, in turn, is installed with the ability to receive signals from the input units of the measured distances and input the measured directions and transmit signals to the blocks calculating directional angles and calculating determined distances, said directional angle calculating unit is arranged to transmit a signal to the determined direction calculating unit, which th is set to receive a signal from the input unit and the measured signal transmission directions in the calculation unit defined by horizontal angles, and a memory arranged to receive signals from the computing unit determines the distance, determined by calculating the horizontal angle, and calculating the defined directions. 11. The device according to claim 4, characterized in that the source of electromagnetic radiation is portable with the possibility of temporary placement at a fixed point in the terrain and is equipped with a delivery system, in particular a rod, for example, of a telescopic type. 12. The device according to claim 4, characterized in that the electromagnetic radiation source is equipped with a diffusion reflector made with the possibility of temporary placement at a fixed point in the terrain and equipped with a delivery system, in particular a rod, for example, of a telescopic type. 13. The device according to claim 4, characterized in that the source of electromagnetic radiation is placed directly on the measuring device or on auxiliary equipment, for example, on a tripod of the measuring device. 14. The device according to claim 4, characterized in that the source of electromagnetic radiation is equipped with a modulator of electromagnetic radiation and / or an electromagnetic radiation filter. 15. The device according to claim 4, characterized in that the imaging system and the position sensor of the center of the identification spot from the electromagnetic radiation source are mounted with the possibility of mutual movement relative to each other, taking into account changes in the height of the measuring device relative to its nameplate value. 16. The device according to claim 4, characterized in that it is structurally fully or partially combined with the measuring device.

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