High-precision gyroscope orientation measurement method

Abstract

The invention relates to the technical field of measurement, in particular to a high-precision gyroscope orientation measurement method, which comprises the steps of out-hole known edge gyroscope orientation measurement, in-hole orientation edge gyroscope orientation measurement, orientation edge gyroscope coordinate azimuth angle calculation and gyroscope orientation orientation precision evaluation. An existing gyroscope orientation measurement method is low in measurement precision and poor in applicability, and the high-precision gyroscope orientation measurement method provided by the invention is high in measurement precision and high in applicability.

Description

Technical Field

[0001] The invention patent relates to the field of measurement technology, and specifically to a high-precision gyro orientation measurement method. Background Art

[0002] The gyro total station can use the fixed axis and precession of the gyroscope to obtain the true north azimuth from the measuring station to any target under the action of the earth's rotation. The gyro total station has many advantages. First, it can automatically find the north without relying on other conditions. Therefore, it can be used in tunnels, mines, caverns and other places where GNSS technology fails. Secondly, each measurement is independent, which overcomes the disadvantage of traditional traverse measurement that the error accumulates with the extension of distance. Finally, it is not restricted by the narrow construction site, occupies the construction channel for a short time, is highly efficient, and saves manpower and material resources. Based on the above advantages, the gyro total station has been widely used in ultra-long tunnels, urban subways, mine penetration measurements, missile positions, etc.

[0003] The existing gyroscopic orientation measurement method mainly includes: first, the instrument constant E0 is determined by comparing the coordinate azimuth of the known side with the coordinate azimuth of the known side at the control point outside the tunnel, and then the gyroscopic orientation is performed inside the tunnel to measure the gyroscopic coordinate azimuth of the oriented side inside the tunnel. The existing gyroscopic orientation measurement method for tunnel control measurement has the following two problems: first, various tolerance indicators and accuracy assessment methods are not specified during the gyroscopic measurement process, resulting in low measurement accuracy of the method; second, when the control point outside the tunnel is a forced centering observation pier, it is impossible to set up a gyroscopic total station, resulting in poor applicability of the method.

[0004] Therefore, the existing gyro orientation measurement method has low measurement accuracy and poor applicability. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the disadvantages of the above-mentioned prior art and provide a high-precision gyro orientation measurement method with high measurement accuracy and strong applicability.

[0006] In order to solve the above technical problems, the present invention provides a high-precision gyro orientation measurement method comprising:

[0007] Gyro azimuth measurement of known edge outside the cave:

[0008] Determine whether the two known edges outside the tunnel in the GNSS control network can be used to set up a gyro total station. If the gyro total station can be directly set up, then set up the gyro total station directly. If the control point outside the tunnel is a forced centering observation pier, use the forced centering auxiliary device to set up the gyro total station, measure the gyro azimuth of the known edge outside the tunnel by the gyro total station, and calculate the instrument constant E0 in combination with the coordinate azimuth of the known edge outside the tunnel;

[0009] During the measurement process, the difference between the distance measured by the gyro total station and the horizontal distance calculated by the two GNSS control points is σ1. After the measurement is completed, the gyro azimuth angle of the two known edges outside the hole is compared with the angle calculated by the two GNSS edges, and the difference between the angles is σ2.

[0010] In-hole directional gyro azimuth measurement:

[0011] Select a period of time when the temperature difference with the outside of the cave is small, and determine whether the control point in the cave can be set up with a gyro total station. If the control point in the cave can be set up with a gyro total station, set up gyro total stations at the first control point in the cave and the second control point in the cave respectively, and conduct gyro round-trip measurement to obtain the gyro azimuth of the directional edge in the cave. When performing round-trip measurement, the horizontal distance difference limit is set to σ3. When the round-trip distance measurement exceeds the limit, check the centering and leveling. If the control point in the cave cannot be set up with a gyro total station, set up gyro total stations at the first gyro setting position and the second gyro setting position respectively for round-trip observation to obtain the gyro azimuth from the first gyro setting position to the second control point in the cave and the gyro azimuth from the second gyro setting position to the first control point in the cave. Each gyro measurement record the plane distance and horizontal azimuth of the gyro total station and the first control point in the cave and the second control point in the cave respectively. Each gyro measurement corresponds to at least 2 total station observation values ​​of the measurement.

[0012] After completing the gyro azimuth measurement of the directional side in the cave, perform a second gyro azimuth measurement of the known side outside the cave according to the method of measuring the gyro azimuth of the known side outside the cave to obtain the gyro azimuth of the known side outside the cave. The average difference of the gyro azimuths of the two known side measurements outside the cave must be less than the limit difference of the average difference of the gyro azimuths of the two known side measurements outside the cave σ5;

[0013] Orienting side gyro coordinate azimuth calculation:

[0014] If the gyro total station is set up at the control point in the first hole and the control point in the second hole to directly measure the directional edge, the gyro coordinate azimuth T is calculated. The calculation formula of the gyro coordinate azimuth T is as follows:

[0015] T=N+A-γ+E0 (6)

[0016] E0=α0-(N0+A0-γ0) (7)

[0017] In formula (6) and formula (7), T is the gyro coordinate azimuth of the oriented edge in the cave; N is the north deviation of the gyro azimuth measurement in the cave, A is the average value of the horizontal readings of the gyro total station in the cave; γ is the meridian convergence angle of the gyro stand station in the cave; E0 is the instrument constant calculated for the known edge outside the cave; α0 is the coordinate azimuth of the known edge outside the cave; N0 is the north deviation of the gyro azimuth measurement outside the cave; A0 is the average value of the horizontal readings of the gyro total station outside the cave; γ0 is the meridian convergence angle of the gyro stand station outside the cave;

[0018] If the gyro total station is respectively set up at the first gyro setting position and the second gyro setting position, the coordinates of the first gyro setting position and the second gyro setting position are respectively calculated according to the recorded plane distance and the horizontal azimuth, the meridian convergence angle of the gyro station is calculated, the gyro coordinate azimuth of the gyro orientation edge is calculated by equation (6) and equation (7), and then the three-side angle between the first gyro setting position, the second gyro setting position and the first in-hole control point and the second in-hole control point is calculated according to the cosine function, and the gyro coordinate azimuth data of the first in-hole control point and the second in-hole control point are indirectly calculated;

[0019] Gyro orientation azimuth accuracy assessment:

[0020] The gyro azimuth measurement of the known side outside the cave and the gyro azimuth measurement of the directional side inside the cave are both observed for at least 3 rounds, and the gyro azimuth difference between multiple rounds at one station must be less than the gyro azimuth difference limit σ6 between multiple rounds at one station, and the gyro azimuth mean error σ7 between multiple rounds at one station is less than the nominal accuracy m0 of the gyro total station;

[0021] The calculation formula for the multi-station gyro azimuth accuracy σ8 is as follows:

[0022]

[0023] In formula (10), m is the total number of directional edges, that is, the number of measuring stations; n is the number of measurements of each directional edge; T j，i is the observation value of the ith round of measurement of the jth oriented edge; is the average gyro azimuth of n measurements on the j-th orientation side;

[0024] If one or more of the gyro azimuth difference between multiple measurements at one station, the gyro azimuth mean error σ7 between multiple measurements at one station, and the gyro azimuth accuracy σ8 at multiple stations do not meet the requirements, the measurement should be repeated.

[0025] As a further improvement of the present invention: the forced centering auxiliary device comprises a gyro room capable of placing a gyro total station and a body capable of being clamped with the gyro room; the body comprises a circular ring and a chassis arranged in parallel, the central axis of the circular ring and the central axis of the chassis are located on the same straight line; the circular ring and the chassis are fixedly connected by three pillars arranged equidistantly around the central axis of the circular ring;

[0026] A centering groove for placing the gyroscope room is provided on the top of the body, the centering groove is composed of the hollow circular part of the ring and the cavity formed between the ring, the bottom plate and the three pillars, and the inner diameter of the centering groove is slightly larger than the diameter of the gyroscope room;

[0027] A reinforcement base is arranged at the bottom of the body, and three positioning screws which can be detachably connected to the base of the total station are arranged in a circumferential direction around the center point of the bottom of the reinforcement base.

[0028] Preferably, at least three locking holes are equidistantly formed on the top of the side wall of the body around its central axis, and a locking screw button capable of locking the gyroscope housing is detachably installed in the locking hole, and a thread matching the locking screw button is provided in the locking hole.

[0029] As a further improvement of the present invention: the calculation formula of the horizontal distance difference limit error σ1 is as follows:

[0030]

[0031] In formula (1), m d is the mean error of the GNSS baseline length.

[0032] As a further improvement of the present invention: the calculation formula of the angle difference limit σ2 is as follows:

[0033]

[0034] In formula (2), m0 is the nominal accuracy of the gyro total station.

[0035] As a further improvement of the present invention: the calculation formula of the horizontal distance difference limit error σ3 is as follows:

[0036]

[0037] In formula (3), d is the length of the oriented side.

[0038] As a further improvement of the present invention: the angle difference range calculated between the multi-measurement gyro total station and the horizontal observation azimuth of the first control point in the cave and the second control point in the cave must be less than the angle difference range limit σ4. When the limit is exceeded, check the bubble and 2C are poor, and calibrate the instrument;

[0039] The calculation formula of σ4 is as follows:

[0040]

[0041] In formula (4), d is the length of the directional edge in the hole.

[0042] As a further improvement of the present invention: the calculation formula of the difference limit σ5 of the average value of the two known side gyro orientations outside the cave is as follows:

[0043] σ5=2m0 (5)

[0044] In formula (5), m0 is the nominal accuracy of the gyro total station.

[0045] As a further improvement of the present invention: the calculation formula of the gyro azimuth difference limit σ6 between multiple measurement rounds at one measurement station is as follows:

[0046] σ6=int(3m0) (8)

[0047] In formula (8), int is the floor rounding function, and m0 is the nominal accuracy of the gyro total station.

[0048] As a further improvement of the present invention: the calculation formula of the azimuth error σ7 between multiple measurements of one measuring station is as follows:

[0049]

[0050] In formula (9), n is the number of measurements, not less than 3; T i is the gyro azimuth of the i-th measurement; is the average value of the gyro orientation of n measurements.

[0051] The beneficial effects of the present invention are as follows: the high-precision gyro orientation measurement method provided by the present invention has high measurement accuracy and strong applicability. The method clearly stipulates various tolerance indicators and accuracy assessment methods in the gyro measurement process, thereby improving the measurement accuracy of the gyro orientation azimuth and reducing the lateral penetration error of the tunnel. The method also provides a forced centering auxiliary device, which solves the problem that the forced observation pier cannot be equipped with a gyro total station, improves the applicability of the method, ensures the coaxiality of the gyro total station and the forced centering pile, and reduces the centering error. At the same time, when the gyro total station cannot be set up on the directional side in the tunnel, the gyro coordinate azimuth of the directional side cannot be measured, and the control point needs to be re-buried, which costs a lot. The method provides a method for indirectly calculating the gyro coordinate azimuth of the directional side when the gyro total station cannot be set up at the control point in the tunnel, so the gyro coordinate azimuth of the directional side can be obtained without re-burying the control point, which greatly saves the project cost and reduces the cost consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a flow chart of the method of the present invention;

[0053] Figure 2 It is a schematic diagram of the installation position of the directional edge gyroscope in the present invention;

[0054] Figure 3 It is a side view of the forced centering auxiliary device of the present invention;

[0055] Figure 4 A top view of the forced centering auxiliary device of the present invention;

[0056] The various reference numerals in the above drawings respectively represent: 1. main body; 2. locking hole; 3. locking screw button; 6. reinforcement base; 7. positioning screw; 10. centering groove; 11. pillar; 12. control point in the first hole; 13. control point in the second hole; 14. first gyroscope installation position; 15. second gyroscope installation position. DETAILED DESCRIPTION

[0057] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many details are described to enable the present application to be better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, which is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0058] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a necessary sequence, unless otherwise specified that a certain sequence must be followed.

[0059] The serial numbers assigned to the components herein, such as "S1", are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application include direct and indirect connections (couplings) unless otherwise specified.

[0060] Definitions of relevant terms involved in this invention:

[0061] (1) Gyro total station: A directional instrument used for azimuth measurement that combines a gyroscope with a total station.

[0062] (2) Gyroscopic orientation measurement: Use a gyroscopic total station to measure the gyroscopic azimuth of a certain control network edge, and obtain the coordinate azimuth of this edge through conversion. Gyroscopic orientation measurement follows the observation sequence of "known edge outside the cave - unknown edge inside the cave - known edge outside the cave".

[0063] (3) Gyro azimuth: The horizontal angle measured clockwise from the north direction of the gyro meridian (the meridian plane passing through the imaginary stable position of the gyro axis at the measuring station, that is, the intersection of the gyro meridian plane and the horizon) to a certain directional edge.

[0064] (4) Round-trip measurement difference: The difference between the results of round-trip measurements of the same target under the same conditions. This difference is usually caused by a variety of factors, including instrument errors, environmental factors, and the operator's technical level. By analyzing the size of the difference, the reliability of the measurement result can be judged. The smaller the difference, the more accurate the measurement result.

[0065] like Figure 1 As shown, a high-precision gyro orientation measurement method provided by the present invention comprises:

[0066] S1. Measurement of known side gyro azimuth outside the cave:

[0067] S101, determining whether the control points outside the tunnel of two known edges outside the tunnel in the GNSS control network can be used to set up gyro total stations. If the gyro total station can be directly set up, then the gyro total station is directly set up. If the control point outside the tunnel is a forced centering observation pier, then the gyro total station is set up using a forced centering auxiliary device. The gyro azimuth of the known edge outside the tunnel is measured by the gyro total station, and the instrument constant E0 is calculated in combination with the coordinate azimuth of the known edge outside the tunnel.

[0068] like Figure 3 , Figure 4 As shown, the forced centering auxiliary device includes a body 1 capable of placing a gyro room for a gyro total station and being capable of being snap-connected with the gyro room; the body 1 includes a circular ring and a chassis arranged in parallel, and the central axis of the circular ring and the central axis of the chassis are located on the same straight line; the circular ring and the chassis are fixedly connected by three pillars 11 arranged circumferentially and equidistantly around the central axis of the circular ring; a centering groove 10 for placing the gyro room is provided on the top of the body 1, and the centering groove 10 is composed of a hollow circular portion of the circular ring and a cavity formed between the circular ring, the chassis and the three pillars 11, and the inner diameter of the centering groove 10 is slightly larger than the diameter of the gyro room; a reinforcement base 6 is provided at the bottom of the body 1, and three positioning screws 7 capable of being detachably connected to the base of the total station are provided circumferentially around the center point of the reinforcement base 6. At least three locking holes 2 are equidistantly formed on the top of the side wall of the body 1 around its central axis, and a locking spiral button 3 capable of locking the gyroscope room is detachably installed in the locking hole 2, and a thread matching the locking spiral button 3 is provided in the locking hole 2.

[0069] S102, during the measurement process, the horizontal distance difference limit error between the distance measured by the gyro total station and the horizontal distance difference limit error calculated by the two GNSS control points is σ1, and the calculation formula of the horizontal distance difference limit error σ1 is as follows:

[0070]

[0071] In formula (1), m d is the mean error of the GNSS baseline length, unit: mm. d When it is 2mm, the horizontal distance difference limit is 5.6mm.

[0072] After the measurement is completed, the gyro azimuth angles of the two known sides outside the hole are compared with the angles calculated by the two GNSS sides. The angle difference limit is σ2. The calculation formula of the angle difference limit σ2 is as follows:

[0073]

[0074] In formula (2), m0 is the nominal accuracy of the gyro total station, unit: ". When the nominal azimuth accuracy of the gyro m0 is 2.6", the angle error limit is 3.7".

[0075] S2. Orienteering gyro azimuth measurement in the cave:

[0076] S201, select a time period with a small temperature difference with the outside of the cave, determine whether a gyro total station can be set up at the control point in the cave, if the gyro total station can be set up at the control point in the cave, set up gyro total stations at the first control point 12 in the cave and the second control point 13 in the cave respectively, perform gyro round-trip measurement, record the distance of the round-trip measurement, and set the horizontal distance difference limit as σ3 during the round-trip measurement. When the round-trip distance measurement exceeds the limit, it means that the centering and leveling may be inaccurate, affecting the azimuth measurement accuracy, and the centering and leveling need to be checked;

[0077] The calculation formula of the horizontal distance difference limit σ3 is as follows:

[0078]

[0079] In formula (3), d is the length of the oriented side, unit: km. When the length of the oriented side d in the tunnel is 0.3 km, the horizontal distance difference limit σ3 of the round-trip measurement is 2.2 mm.

[0080] If the gyro total station cannot be set up at the control point in the tunnel, that is, the control point in the tunnel is a side wall tray type forced centering method or the forced observation pier is too high, the gyro is heavy and the gyro is not safe to set up, so the gyro does not need to be set up at the control point, and there is no need to re-bury the control point, such as Figure 2As shown, gyro total stations are respectively set up at the first gyro setting position 14 and the second gyro setting position 15 to represent round-trip observation. The first gyro setting position 14 is located at one-third of the length of the orientation side formed by the first control point 12 in the hole and the second control point 13 in the hole, and the second gyro setting position 15 is located at two-thirds of the length of the orientation side formed by the first control point 12 in the hole and the second control point 13 in the hole. After completing each gyro measurement, the plane distance and horizontal azimuth between the current gyro total station and the first control point 12 and the second control point 13 in the hole are recorded respectively. Each gyro measurement corresponds to at least two total station observation values ​​of the measurement to reduce the measurement error. The gyro installation position and the orientation edge connecting the first control point 12 and the second control point 13 in the hole are as straight as possible, that is, the angle between the gyro and the line connecting the first control point 12 and the second control point 13 in the hole is as small as possible. The angle mutual difference range calculated between the horizontal observation azimuths of the gyro total station and the first control point 12 and the second control point 13 in the hole between the multiple measurement rounds must be less than the angle mutual difference range limit σ4. When the limit is exceeded, check the bubble and 2C is poor, and calibrate the instrument.

[0081] The calculation formula of σ4 is as follows:

[0082]

[0083] In formula (4), d is the length of the oriented side in the tunnel. When the length of the oriented side d in the tunnel is 0.3 km, the angle difference limit σ4 is 8.2″.

[0084] A smaller temperature difference can reduce the measurement error caused by temperature influence, and it is necessary to check the internal temperature of the gyro total station to ensure that the gyro total station is adapted to the external temperature.

[0085] S202, after completing the gyro azimuth measurement of the directional side in the cave, perform the second gyro azimuth measurement of the known side outside the cave according to the method of S1. In order to reduce the calibration error of the instrument constant, the interval between the two gyro azimuth measurements outside the cave should be within 24 hours. The average difference of the gyro azimuth of the two known side measurements outside the cave must be less than the tolerance σ5 of the average difference of the two known side gyro azimuths outside the cave; the calculation formula of the tolerance σ5 of the average difference of the two known side gyro azimuths outside the cave is as follows:

[0086] σ5=2m0 (5)

[0087] In formula (5), m0 is the nominal accuracy of the gyro total station. When the nominal accuracy of the gyro azimuth m0 is 2.6″, σ5 is 5.2″.

[0088] S3, directional side gyro coordinate azimuth calculation:

[0089] S301, if the gyro total station is respectively set up on the first hole control point (12) and the second hole control point (13) to directly measure the orientation edge, the calculation formula of the gyro coordinate azimuth T is as follows:

[0090] T=N+A-γ+E0 (6)

[0091] E0=α0-(N0+A0-γ0) (7)

[0092] In formula (6) and formula (7), T is the gyro coordinate azimuth of the oriented edge in the cave; N is the north deviation of the gyro azimuth measurement in the cave, which is obtained by the north-seeking measurement of the gyro measurement equipment; A is the average value of the horizontal reading of the gyro total station in the cave, which is obtained by placing a prism on the control point; γ is the meridian convergence angle of the gyro stand station in the cave; E0 is the instrument constant calculated for the known edge outside the cave; α0 is the coordinate azimuth of the known edge outside the cave; N0 is the north deviation of the gyro azimuth measurement outside the cave, which is obtained by the north-seeking measurement of the gyro measurement equipment; A0 is the average value of the horizontal reading of the gyro total station outside the cave; γ0 is the meridian convergence angle of the gyro stand station outside the cave;

[0093] As shown in Table 1, the known edge coordinate azimuth α0 outside the cave is 67°23′04.16″; through gyroscopic orientation measurement outside and inside the cave, the north deviation value of the gyroscopic azimuth measurement outside and inside the cave and the horizontal readings of the left and right disks of the gyroscopic total station can be obtained, and the meridian convergence angle is calculated according to the station coordinates. The average values ​​of the horizontal readings of the left and right disks outside and inside the cave are calculated, and the results are: A0=311°04′58.0″, A=143°55′14 .1″; according to formula (6) and formula (7), the instrument constant E0 is calculated as 67°23′04.16″-(116°16′32.2″+311°04′58.0″+123.3″)=-0°0′29.34″, and the azimuth of the gyro coordinate of the orientation edge in the cave is T=116°15′34.8″+143°55′14.1″+124.2″-0°0′29.34″=260°12′23.75″.

[0094]

[0095] Table 1

[0096] If the gyro total station is respectively set up at the first gyro setting position 14 and the second gyro setting position 15, the coordinates of the first gyro setting position 14 and the second gyro setting position 15 are respectively calculated according to the recorded plane distance and the horizontal azimuth, the meridian convergence angle of the gyro station is calculated by the cosine function, the gyro coordinate azimuth of the gyro orientation edge is calculated by equations (6) and (7), and then the three-side angles between the first gyro setting position 14, the second gyro setting position 15 and the first in-hole control point 12 and the second in-hole control point 13 are calculated according to the cosine function, and the gyro coordinate azimuth of the first in-hole control point 12 and the second in-hole control point 13 are indirectly calculated; Figure 2 As shown, the gyro coordinate orientation from the first gyro installation position 14 to the first control point 12 in the hole is calculated to be 260°12′23.82″; and the angle between the gyro installation station and one of the control points and the orientation edge calculated by the cosine function is 2°54′16.21″, and the gyro coordinate orientation of the two control points on the orientation edge can be indirectly deduced to be 259°06′40.03″.

[0097] S4. Gyro orientation azimuth accuracy assessment:

[0098] S401, the gyro azimuth measurement of the known side outside the cave and the gyro azimuth measurement of the directional side inside the cave are both observed for at least 3 rounds, the gyro azimuth difference range between multiple rounds at one station must be less than the gyro azimuth difference range limit σ6 between multiple rounds at one station, and the gyro azimuth mean error σ7 between multiple rounds at one station is less than the nominal accuracy m0 of the gyro total station; the calculation formula of the gyro azimuth difference range limit σ6 between multiple rounds at one station is as follows:

[0099] σ6=int(3m0) (8)

[0100] In formula (8), int is the floor rounding function, and m0 is the nominal accuracy of the gyro total station.

[0101] The calculation formula of the azimuth error σ7 between multiple measurements at one station is as follows:

[0102]

[0103] In formula (9), n is the number of measurements, not less than 3; T i is the gyro azimuth of the i-th measurement; is the average gyro azimuth of n rounds. When the nominal gyro azimuth accuracy m0 is 2.6″, the gyro azimuth range error σ6 between multiple rounds at one station is 7″, and the mean error σ7 is less than the nominal accuracy of 2.6″.

[0104] S402. The calculation formula for the multi-station gyro azimuth accuracy σ8 is as follows:

[0105]

[0106] In formula (10), m is the total number of directional edges, that is, the number of measuring stations; n is the number of measurements of each directional edge; T j，i is the observation value of the ith round of measurement of the jth oriented edge; is the average gyro azimuth of the n surveys of the jth oriented side. The multi-station gyro azimuth accuracy σ8 is used to evaluate the comprehensive accuracy of gyro measurement, which can be used to analyze the weighting of gyro and traverse fusion adjustment and the actual impact of gyro measurement error on the lateral penetration error of the tunnel.

[0107] As shown in Table 2, station 1 is the gyro azimuth observation value outside the cave for 4 rounds of measurement, and stations 2 and 3 are the gyro azimuth observation values ​​of 2 directional edges in the cave, and each of them also observes 4 rounds. Taking the gyro azimuth observation values ​​of the three stations as an example, the gyro azimuth mean error of each station is calculated using formula (9), and the results are 0.6", 0.9", and 1.3", respectively; and the gyro mean error of multiple stations is calculated using formula (10), and the result is 0.9".

[0108] The gyro mean error of multiple measuring stations can be used to evaluate the comprehensive accuracy of gyro measurement, and the subsequent calculation and analysis of the weighting of gyro and traverse fusion adjustment, as well as the actual impact of gyro measurement error on the lateral penetration error of the tunnel, etc.

[0109]

[0110] Table 2

[0111] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the idea of ​​the present invention, several simple deductions, modifications or substitutions can be made.

Claims

1. A high-precision gyro orientation measurement method, characterized in that: include: Gyro azimuth measurement of known edge outside the cave: Determine whether the two known edges outside the tunnel in the GNSS control network can be used to set up a gyro total station. If the gyro total station can be directly set up, then set up the gyro total station directly. If the control point outside the tunnel is a forced centering observation pier, use the forced centering auxiliary device to set up the gyro total station, measure the gyro azimuth of the known edge outside the tunnel by the gyro total station, and calculate the instrument constant E0 in combination with the coordinate azimuth of the known edge outside the tunnel; During the measurement process, the difference between the distance measured by the gyro total station and the horizontal distance calculated by the two GNSS control points is σ1. After the measurement is completed, the gyro azimuth angle of the two known edges outside the hole is compared with the angle calculated by the two GNSS edges, and the difference between the angles is σ2. In-hole directional gyro azimuth measurement: Select a time period with a small temperature difference with the outside of the cave to determine whether a gyro total station can be set up at the control point inside the cave. If a gyro total station can be set up at the control point inside the cave, set up a gyro total station at the first control point (12) inside the cave and the second control point (13) inside the cave respectively, and perform gyro round-trip measurement to obtain the gyro azimuth of the directional edge inside the cave. When performing round-trip measurement, the horizontal distance difference limit is set to σ3. When the round-trip distance measurement exceeds the limit, check the centering and leveling. If a gyro total station cannot be set up at the control point inside the cave, set up a gyro total station at the first gyro setting position ( 14), a gyro total station is set up at the second gyro setting position (15) to conduct round-trip observation, and the gyro orientation from the first gyro setting position (14) to the second control point (13) in the hole and the gyro orientation from the second gyro setting position (15) to the first control point (12) in the hole are obtained, and each gyro measurement round records the plane distance and horizontal orientation of the gyro total station and the first control point (12) in the hole and the second control point (13) in the hole, and each gyro measurement round corresponds to at least two total station observation values; After completing the gyro azimuth measurement of the directional side in the cave, perform a second gyro azimuth measurement of the known side outside the cave according to the method of measuring the gyro azimuth of the known side outside the cave to obtain the gyro azimuth of the known side outside the cave. The average difference of the gyro azimuths of the two known side measurements outside the cave must be less than the limit difference of the average difference of the gyro azimuths of the two known side measurements outside the cave σ5; Orienting side gyro coordinate azimuth calculation: If the gyro total station is respectively set up at the first hole control point (12) and the second hole control point (13) to directly measure the orientation edge, the gyro coordinate azimuth T is calculated. The calculation formula of the gyro coordinate azimuth T is as follows: T=N+A-γ+E0 (6) E0=α0-(N0+A0-γ0) (7) In formula (6) and formula (7), T is the gyro coordinate azimuth of the oriented edge in the cave; N is the north deviation of the gyro azimuth measurement in the cave, A is the average value of the horizontal readings of the gyro total station in the cave; γ is the meridian convergence angle of the gyro stand station in the cave; E0 is the instrument constant calculated for the known edge outside the cave; α0 is the coordinate azimuth of the known edge outside the cave; N0 is the north deviation of the gyro azimuth measurement outside the cave; A0 is the average value of the horizontal readings of the gyro total station outside the cave; γ0 is the meridian convergence angle of the gyro stand station outside the cave; If the gyro total station is respectively installed at the first gyro installation position (14) and the second gyro installation position (15), the coordinates of the first gyro installation position (14) and the second gyro installation position (15) are respectively calculated according to the recorded plane distance and the horizontal orientation, the meridian convergence angle of the gyro station is calculated, the gyro coordinate orientation of the gyro orientation edge is calculated by equations (6) and (7), and then the three-side angles of the first gyro installation position (14), the second gyro installation position (15) and the first in-hole control point (12) and the second in-hole control point (13) are calculated according to the cosine function, and the gyro coordinate orientation data of the first in-hole control point (12) and the second in-hole control point (13) are indirectly calculated; Gyro orientation azimuth accuracy assessment: The gyro azimuth measurement of the known side outside the cave and the gyro azimuth measurement of the directional side inside the cave are both observed for at least 3 rounds, and the gyro azimuth difference between multiple rounds at one station must be less than the gyro azimuth difference limit σ6 between multiple rounds at one station, and the gyro azimuth mean error σ7 between multiple rounds at one station is less than the nominal accuracy m0 of the gyro total station; The calculation formula for the multi-station gyro azimuth accuracy σ8 is as follows: In formula (10), m is the total number of directional edges, that is, the number of measuring stations; n is the number of measurements of each directional edge; T j,i is the observation value of the i-th round of the j-th oriented edge; is the average gyro azimuth of n measurements on the j-th orientation side; If one or more of the gyro azimuth difference between multiple measurements at one station, the gyro azimuth mean error σ7 between multiple measurements at one station, and the gyro azimuth accuracy σ8 at multiple stations do not meet the requirements, the measurement should be repeated.

2. A high-precision gyro orientation measurement method according to claim 1, characterized in that: The forced centering auxiliary device comprises a body (1) capable of placing a gyro room for a gyro total station and capable of being connected to the gyro room; the body (1) comprises a circular ring and a chassis arranged in parallel, the central axis of the circular ring and the central axis of the chassis being located on the same straight line; the circular ring and the chassis are fixedly connected by three pillars (11) arranged equidistantly around the central axis of the circular ring; A centering groove (10) for placing the gyroscope room is formed on the top of the body (1), the centering groove (10) being composed of a hollow circular portion of the ring and a cavity formed between the ring, the bottom plate and three pillars (11), and the inner diameter of the centering groove (10) being slightly larger than the diameter of the gyroscope room; A reinforcement base (6) is arranged at the bottom of the body (1), and three positioning screws (7) which can be detachably connected to the base of the total station are arranged in a circumferential direction around the center point of the bottom of the reinforcement base (6).

3. A high-precision gyro orientation measurement method according to claim 2, characterized in that: At least three locking holes (2) are equidistantly formed at the top of the side wall of the body (1) around its central axis, and a locking spiral button (3) capable of locking the gyroscope housing is detachably installed in the locking hole (2), and a thread matching the locking spiral button (3) is provided in the locking hole (2).

4. A high-precision gyro orientation measurement method according to any one of claims 1 to 3, characterized in that: The calculation formula of the horizontal distance difference limit σ1 is as follows: In formula (1), m d is the mean error of the GNSS baseline length.

5. A high-precision gyro orientation measurement method according to any one of claims 1 to 3, characterized in that: The calculation formula of the angle difference limit σ2 is as follows: In formula (2), m0 is the nominal accuracy of the gyro total station.

6. A high-precision gyro orientation measurement method according to any one of claims 1 to 3, characterized in that: The calculation formula of the horizontal distance difference limit σ3 is as follows: In formula (3), d is the length of the oriented side.

7. A high-precision gyro orientation measurement method according to any one of claims 1 to 3, characterized in that: The angle difference range calculated between the multi-measurement gyro total station and the first control point (12) in the cave and the second control point (13) in the cave must be less than the angle difference range limit σ4. If the limit is exceeded, check the bubble and 2C are poor, and calibrate the instrument; The calculation formula of σ4 is as follows: In formula (4), d is the length of the directional edge in the hole.

8. A high-precision gyro orientation measurement method according to any one of claims 1 to 3, characterized in that: The calculation formula of the difference limit σ5 of the average value of the two known side gyro orientations outside the cave is as follows: σ5=2m0 (5) In formula (5), m0 is the nominal accuracy of the gyro total station.

9. A high-precision gyroscopic orientation measurement method according to any one of claims 1 to 3, characterized in that: The calculation formula of the gyro azimuth difference limit σ6 between multiple measurement rounds at one measuring station is as follows: σ6=int(3m0) (8) In formula (8), int is the floor rounding function, and m0 is the nominal accuracy of the gyro total station.

10. A high-precision gyroscopic orientation measurement method according to any one of claims 1 to 3, characterized in that: The calculation formula of the azimuth error σ7 between multiple measurements at one station is as follows: In formula (9), n is the number of measurements, not less than 3; T i is the gyro azimuth of the i-th measurement; is the average value of the gyro orientation of n measurements.

Images