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A Pose Estimation Method for Vehicle-mounted Total Station in Mobile Station

A technology of pose estimation and total station, applied in the directions of instruments, measuring instruments, surveying and navigation, etc., can solve the problems of unknown position of the total station, low degree of automation, slow station setting speed, etc., to improve the measurement efficiency and automation degree of effect

Active Publication Date: 2020-09-29
JIANGXI EVERBRIGHT MEASUREMENT & CONTROL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art that the position of the total station is unknown, the speed of setting up the station is slow, and the degree of automation is low, and a method for estimating the pose of the vehicle-mounted total station of the mobile station is proposed

Method used

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  • A Pose Estimation Method for Vehicle-mounted Total Station in Mobile Station
  • A Pose Estimation Method for Vehicle-mounted Total Station in Mobile Station
  • A Pose Estimation Method for Vehicle-mounted Total Station in Mobile Station

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] Solve the coordinate rotation matrix between the total station coordinate system and the track inspection instrument coordinate system.

[0036] (1) Preparation and data import software for track design alignment, CPIII design coordinates and other materials.

[0037] (2) Create a new measurement file, open the relative measurement, and after obtaining the relative measurement data of the track inspection instrument, perform the first manual station setting of the total station without leveling, and solve the coordinates and attitude of the total station site through the adjustment method. Using formula 3, find the coordinate rotation matrix R from the total station coordinate system to the earth coordinate system 0 .

[0038] (3) According to the measurement information of the horizontal sensor of the track detector and the azimuth and pitch angle data in the line design alignment, formula 1 is used to solve the coordinate rotation matrix R' from the coordinate system...

Embodiment 2

[0043] Estimate the pose of the vehicle-mounted total station at the mobile station.

[0044] (1) Carry out the orbit detector to the first station, and calculate the coordinate rotation matrix R' between the coordinate system of the orbit detector and the geodetic coordinate system through relative measurement data such as mileage and superelevation 1 .

[0045] (2) Calculate the coordinate rotation matrix between the total station coordinate system and the geodetic coordinate system based on the objective law that the pose relationship between the total station coordinate system and the track inspection instrument coordinate system is always constant.

[0046] (3) Through the coordinates of the first CPIII control point of the first station (x 11 ,y 11 ,z 11 ) to calculate the station coordinates of the first station of the total station.

[0047] Its program flow is attached figure 2 It is shown in the part of the i-th total station without setting up the horizontal s...

Embodiment 3

[0049] (1) Estimate the position of the CPIII target prism.

[0050] (2) Complete vehicle total station station coordinates (X si ,Y si ,Z si ) and the rotation matrix R i After estimating, the horizontal angle and the vertical angle of the 8 CPIII control points of the current station under the total station coordinate system are estimated by formula (7);

[0051] (3) Use the GeoCOM interface of the total station to call the onboard program of the total station, and position its collimation axis near the CPIII pile point to be measured. The rotation positioning subroutine is AUT_MakePositioning(double Hz, double V, AUT_POSMODE POSMode, AUT_ATRMODE ATRMode, BOOLE bDummy), Hz and V are the horizontal angle and vertical angle, and the rest are mode parameters related to rotation positioning. When ATRMODE is AUT_TARGET, when the total station rotates to the target position, it will automatically aim at the prism within the aiming range.

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Abstract

The invention provides a position and posture estimation method for a vehicle-mounted total station of a mobile station. The position and posture estimation method comprises the following steps: (1) measuring and calculating initial postures of the vehicle-mounted total station and a track inspection instrument; (2) carrying out position and posture estimation based on a total station position andposture model. According to the position and posture estimation method provided by the invention, a total station and track inspection instrument position and posture model is constructed by utilizing a basic principle that a position and posture relation between a total station coordinate system and a track inspection instrument coordinate system is not changed all the time in a moving process of the track inspection instrument; on the basis, position and posture information of the moving track inspection instrument and measured data of one CPIII control point are combined, and a position and a posture of the vehicle-mounted total station of the mobile station are estimated, so that automatic collimation and measurement of a prism point in leveling-free station setting of the total station are realized. By adopting the method provided by the invention, a target can be automatically, rapidly and accurately collimated in a leveling-free station setting process of the total station; themethod is applicable to rapid fine adjustment and daily maintenance of a high-speed railway ballastless track, and the measurement efficiency and the automation degree of a fine measurement method ofthe vehicle-mounted total station can be effectively improved.

Description

technical field [0001] The invention belongs to the technical field of railway track measurement. Background technique [0002] In view of the characteristics of high stability, high smoothness and low maintenance of ballastless track, the "Code for Design of High-Speed ​​Railways" suggests that the track structure of high-speed railways should adopt a full-line seamless and ballastless track structure. But at the same time, as a new track structure, the ballastless track is highly experimental. Through the laying and use of Beijing-Shanghai, Zhengxu, Shanghai-Kunming and other high-speed railways, my country has achieved certain results in track laying and completion, and has formed its own technical system. However, for the three-dimensional coordinates and absolute position measurement and control of high-speed rail ballastless tracks, the existing track measuring instruments (absolute measurement technology) for passenger dedicated lines are insufficient in terms of env...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C15/00
CPCG01C15/00
Inventor 陶捷朱洪涛吴维军
Owner JIANGXI EVERBRIGHT MEASUREMENT & CONTROL TECH CO LTD
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