Three-dimensional geomagnetic space information measuring total station

Abstract

The application discloses a three-dimensional geomagnetic space information measuring total station, which comprises physical sensors, magnetic flux gate sensors, optical telescopes and a host computer, wherein the physical sensors and the magnetic flux gate sensors are connected with the host computer, the physical sensors comprise magnetic sensor probes, horizontal angle sensors, vertical angle sensors and distance measuring sensors; the host computer is composed of a WINCE system, the magnetic flux gate sensors convert analog signals into digital signals through AD converters, the physical sensors, the magnetic flux gate sensors and a single-chip microcomputer in the host computer communicate through a 6-pin RS-232 interface, and the application can utilize multidisciplinary comprehensive magnetic force sensors and electronic angle measuring total stations to integrate, establish a data calculation relationship model of three-dimensional geomagnetic space magnetic declination, magnetic inclination, magnetic north azimuth and magnetic north direction angle and develop a geomagnetic space information one-station automatic measuring instrument, i.e., a total station, on the basis of a geomagnetic space information measuring principle, considering a geodetic survey geometric element measuring method and an environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of geophysical survey, in particular to a three-dimensional geomagnetic space information surveying total station. BACKGROUND

[0002] In the field of ship offshore survey, offshore construction, port, offshore geophysical exploration, offshore oil platform survey, airport navigation, etc., geomagnetic space information is often needed. For example, a magnetic compass is configured on an airplane, when an electronic navigation device (such as GPS, VOR, etc.) malfunctions, the magnetic compass is the most basic navigation device, and plays an important role in ensuring flight safety; in addition, in the military field, modern electronic warfare may pre-arrange electromagnetic interference devices or directly block radio waves in the combat area and predicted submarine movement path to interfere with normal navigation and positioning, and the magnetic compass is still the most basic navigation facility. Since the direction pointer of the magnetic compass is affected by various ferromagnetic components on the airplane or moving platform, to reduce the navigation deviation caused by the influence, the magnetic compass on the airplane or moving platform must be checked regularly, and the compensation magnet on the magnetic compass must be adjusted to be accurate. This work in the aviation industry is called magnetic compass rotation calibration. In order to enhance the flight safety of the airplane, accurate magnetic declination measurement must be carried out regularly, and the airport needs to build a special magnetic compass calibration field to enable the airplane to complete the accuracy determination of the magnetic compass. That is, the airplane can obtain the geomagnetic azimuth angle in each direction by rotating the airplane in the airport calibration field. Therefore, the construction of the airport calibration field needs the three-dimensional geomagnetic field space information of the airport. Other military equipment also has a magnetic compass, and the magnetic compass on the platform also needs to be checked regularly to provide three-dimensional geomagnetic field space information for the calibration field. Therefore, it is imperative to invent a one-piece total station directly using a magnetic sensor and an optical-electric sensor, which is portable, efficient and automatic for three-dimensional geomagnetic field space information measurement; the three-dimensional geomagnetic space information surveying total station can measure the horizontal and vertical angles, the distance, and has data calculation function, which meets the requirements of the magnetic measurement. The magnetic sensor can measure real-time magnetic force data; after they are combined, a three-dimensional geomagnetic space magnetic declination angle, azimuth angle data and other calculation relationship models can be established to realize one-stop geomagnetic field element and space information acquisition and processing. The advantage lies in the simplicity of operation, the convenience of carrying the one-piece total factor one-stop measurement and calculation instrument, and the high integration and magnetic-space data fusion, which provides a special type of three-dimensional geomagnetic space information surveying total station. SUMMARY

[0003] The present application aims at the defects of the prior art, and provides a three-dimensional geomagnetic space information surveying total station to solve the problems in the background art.

[0004] In order to achieve the above object, the present application provides the following technical scheme: a three-dimensional geomagnetic space information measuring total station, comprising a physical sensor, a fluxgate sensor, an optical telescope and a host computer, characterized in that the physical sensor and the fluxgate sensor are connected with the host computer, the physical sensor comprises a magnetic sensor probe, a horizontal angle sensor, a vertical angle sensor and a distance measuring sensor; the host computer is composed of a WINCE system, the fluxgate sensor converts the voltage signal into a digital signal through an AD converter, the physical sensor and the fluxgate sensor communicate with a single-chip microcomputer in the host computer through a 6-pin RS-232 interface, and the RS-232 interface communicates with the single-chip microcomputer through level conversion for adjustment.

[0005] As a preferred technical scheme of the present application, the total station is designed as a photoelectric geodetic instrument structure type, comprising an instrument base, an aiming part capable of horizontally and vertically aiming at an observation target, a telescope installed on the aiming part, an integrated physical sensor, a single-chip microcomputer and a power supply, and the instrument structure is 3D printed from a non-magnetic metal or non-metal material.

[0006] As a preferred technical scheme of the present application, the magnetic sensor probe is integrated and packaged and installed on the optical telescope of the total station or integrated in the telescope support of the aiming part.

[0007] As a preferred technical scheme of the present application, the single-chip microcomputer selects an 8-bit AD conversion function STC12C5202, a 3.5-inch color high-definition display screen, a power level conversion chip MAX232 and a fluxgate sensor circuit LM358.

[0008] As a preferred technical scheme of the present application, the WINCE system comprises a serial / parallel port data receiving program and an observation data processing and calculation main program.

[0009] A measuring method of a three-dimensional geomagnetic space information measuring total station, comprising the following specific steps:

[0010] S1: measuring the magnetic sensor calibration of the total station and charging the power supply;

[0011] S2: observing site selection; when selecting a site, an open site, no buildings around and no obvious power lines and pipelines should be selected in priority;

[0012] S3: instrument installation (leveling and centering);

[0013] Firstly, a tripod is erected on a to-be-measured point, and an instrument base is installed on the tripod;

[0014] Then, the geometric center of the instrument base is centered with the to-be-measured point through an optical or laser point finder installed on the instrument base;

[0015] Secondly, on the instrument base, install the instrument aiming part;

[0016] Finally, through the optical or electronic level bubble installed on the instrument aiming part, level the instrument, and ensure that the geometric center line of the instrument is in a vertical state;

[0017] S4: The measurer prepares;

[0018] S41, remove all metals on the body, such as glasses, belts, clothes with metal buckles, and shoes;

[0019] S42, the measurer starts the machine, first tests the magnetic north direction angle and other values to see if there is a dramatic change, and waits for the instrument to stabilize;

[0020] S43, the measurer sets the instrument parameters, and sets the horizontal angle sensor and vertical angle sensor to zero or configuration;

[0021] S5: formal measurement;

[0022] S51: the measurer rotates the instrument telescope to aim at the target point, through the magnetic sensor probe, horizontal angle sensor and vertical angle sensor, the instrument automatically measures the physical space geomagnetic data of the target point to the target point direction-magnetic declination D and the geographical space geometric data-horizontal angle B, vertical angle A, automatically records the magnetic field intensity and the horizontal angle, inclination angle and distance of the target direction line;

[0023] S52: each measurement needs to be observed more than twice and recorded;

[0024] S53: the magnetic flux gate sensor is connected with the single-chip microcomputer in the host computer to calculate the magnetic declination, magnetic inclination, magnetic north direction angle, and other three-dimensional geomagnetic space data according to the geomagnetic space data model.

[0025] As a preferred technical solution of the present application, the magnetic declination D is measured: first, complete the measurement of the geomagnetic data of the measured point and the geographical space geometric data of the measured point to the target point direction line, obtain the sensor data recorded by the total station, and then calculate according to the model; B1, B2, a1

[0026] B2-90°=B4

[0027] B1-a1=B3

[0028] B1-B4=a2

[0029] D=a2-a1=B3-B4

[0030] D=B1-B4-a1=B1-B2-a1+90°

[0031] In the formula: B1: the horizontal angle of the target point mark direction measured by the total station; B2: the measured magnetic north horizontal angle; B3: the calculated true north horizontal angle; B4: the calculated magnetic north horizontal angle; a1: the coordinate azimuth angle of the target point mark direction measured by GPS (or); a2: the azimuth angle between the magnetic north and the target point mark; D: the magnetic declination angle.

[0032] As a preferred technical scheme of the present application, the magnetic inclination I is measured after the magnetic declination angle is measured, and the magnetic inclination I data can be recorded and displayed by sequentially clicking the keys according to the software program flow.

[0033] As a preferred technical scheme of the present application, the magnetic north azimuth angle is calculated and measured after the magnetic declination angle is measured and calculated, and the magnetic north direction angle reading can be directly calculated at this time, and the angle is locked and zeroed, and the geomagnetic azimuth angle can be obtained by rotating the horizontal degree disc to the measured position.

[0034] The present application has the following beneficial effects:

[0035] 1. The present application completes the integration of the optical measurement sensor and the magnetic flux gate sensor on the total station and the development of the three-dimensional geomagnetic space information solution program, and can independently complete a complete magnetic measurement engineering, and a physical geodetic total station instrument for directly obtaining the three-dimensional geomagnetic space information by using one instrument to draw a survey line at a measurement point is invented. The instrument structure is scientific and reasonable, and the operation is simple and convenient.

[0036] 2. The present application can measure the magnetic azimuth angle and the traverse coordinate measurement based on the magnetic azimuth angle, so the present application can be applied to the coordinates of the control points in the underground space, large indoor space and the like, and the workload and difficulty of completing special engineering measurement are greatly simplified.

[0037] 3. The present application develops the embedded magnetic declination angle and azimuth angle parameter estimation program, ①realizes the digital estimation of the magnetic declination angle and azimuth angle parameters, and constructs a new three-dimensional magnetic declination angle, azimuth angle and other parameter expression model; ②performs statistical adjustment on the magnetic force sensor data and the geometric sensor data, estimates the measurement results with high accuracy and good reliability, and visually expresses the measurement results.

[0038] 4. The software of the present application can realize the following functions: ①the program realizes the calling of the horizontal, vertical and distance measurement sensors of the total station; ②the program realizes the calling of the magnetic flux gate sensor; ③the program realizes the measurement and calculation functions of the basic magnetic declination angle and magnetic inclination; ④the program realizes the expansion functions of the geomagnetic azimuth angle and coordinate calculation; and ⑤the program realizes the visual expression. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 The figure is a component module diagram of the present application.

[0040] Figure 2Structure diagram of the present application;

[0041] 1. Magnetic sensor probe; 2. Horizontal angle sensor; 3. Vertical angle sensor; 4. Distance sensor; 5. Fluxgate sensor; 6. Main machine, display and operation keyboard; 7. Optical telescope; 8. Instrument base; 9. Power supply; 10. Tripod.

[0042] Figure 3 Measurement method diagram of the present application;

[0043] Figure 4 Magnetic declination measurement principle diagram of the present application;

[0044] Figure 5 Magnetic declination measurement flow chart of the present application;

[0045] Figure 6 Magnetic inclination I measurement flow chart of the present application;

[0046] Figure 7 Magnetic fluxgate sensor non-magnetic theodolite magnetic declination and inclination measurement record table of the present application;

[0047] Figure 8 Three-dimensional geomagnetic space information measurement total station instrument magnetic declination and inclination calculation result diagram of the present application;

[0048] Figure 9 Magnetic fluxgate sensor non-magnetic theodolite magnetic declination and inclination actual measurement record table of the present application;

[0049] Figure 10 Geomagnetic space information measurement total station instrument magnetic declination and inclination actual measurement record table of the present application;

[0050] Figure 11 Part of the code for measuring magnetic declination and inclination of the present application;

[0051] Figure 12 8-bit AD conversion circuit diagram of the present application. DETAILED DESCRIPTION

[0052] The preferred embodiments of the present application are described in detail below with reference to the accompanying drawings, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and the scope of protection of the present application is more clearly defined.

[0053] Embodiment: Please refer to Figure 1 、 Figure 2 The present application provides a technical solution: a three-dimensional geomagnetic space information measurement total station instrument,

[0054] The experiment in the measurement adopts a physical sensor, a fluxgate sensor, an optical telescope and a total station integrated with a host computer. The host computer of the total station adopts a Windows CE Chinese operating system, and a 3.5-inch liquid crystal display screen is used as a display screen, which can be operated through a touch pad.

[0055] 1. Observation and site selection: when selecting a site, an open site should be selected in priority, and there should be no buildings, obvious electric wires or pipelines around the site.

[0056] 2. Instrument setting (leveling and centering);

[0057] (1) First, set up a tripod 10 at a point to be measured, and install an instrument base 8 on the tripod;

[0058] (2) Center the geometric center of the instrument base 8 with the point to be measured through an optical or laser point finder installed on the instrument base 8;

[0059] (3) Install an instrument collimating part on the instrument base 8;

[0060] (4) Level the instrument through an optical or electronic level bubble installed on the instrument collimating part, and ensure that the geometric center line of the instrument is in a plumb state;

[0061] 3. Measurement personnel preparation;

[0062] (1) Remove all metals on the body, such as glasses, belts, clothes with metal buckles and shoes, etc.;

[0063] (2) The measurement personnel turn on the instrument, and first test and check whether the magnetic north azimuth value has a sharp change, and wait for the instrument to be stable;

[0064] (3) The measurement personnel set the instrument parameters, and set the horizontal angle sensor and the vertical angle sensor to zero or configure them.

[0065] 4. Formal measurement;

[0066] (1) The measurement personnel rotate the instrument telescope to aim at a target point, and through a magnetic sensor probe 1, a horizontal angle sensor 2 and a vertical angle sensor 3, the instrument automatically measures physical space geomagnetic data-magnetic declination D and geographical space geometric data-horizontal angle B and vertical angle A of the target point, and automatically records the magnetic field intensity, the horizontal angle, the inclination angle and the distance of the target direction line; (as shown in Figure 3

[0067] (2) Each measurement needs to be performed twice or more than twice, and the observation process is recorded;

[0068] (3) The fluxgate sensor 5 is connected with a single-chip microcomputer in the host computer to calculate three-dimensional geomagnetic space data such as magnetic declination, magnetic inclination, magnetic north azimuth and magnetic north direction angle according to a geomagnetic space data model.​

[0069] (4) Each instrument needs to be measured twice, start and shut down;

[0070] (5) Magnetic declination D measurement. First complete the measured point magnetic data measurement and measured point to the target point direction line geographic space geometry data measurement, get the sensor data recorded by total station, calculate according to the model.

[0071] The measurement of magnetic declination should be carried out according to the steps, and the magnetic declination data can be obtained by clicking the measurement key in turn. The following provides the measurement steps (as shown in Figure 5 ) and part of the code (as shown in Figure 11 );

[0072] As shown in Figure 4 , B1, B2, a1

[0073] B2-90°=B4 (5-1)

[0074] B1-a1=B3 (5-2)

[0075] B1-B4=a2 (5-3)

[0076] D=a2-a1=B3-B4 (5-4)

[0077] D=B1-B4-a1=B1-B2-a1+90° (5-5)

[0078] In the formula: B1: the sign horizontal angle measured by total station;

[0079] B2: the measured magnetic north horizontal angle;

[0080] B3: true north horizontal angle;

[0081] B4: the calculated magnetic north horizontal angle;

[0082] a1: the azimuth angle measured by GPS;

[0083] a2: the azimuth angle between magnetic north and sign;

[0084] D: magnetic declination.

[0085] The calculation of magnetic inclination I is as shown in Figure 6 : only after the measurement of magnetic declination, the measurement of magnetic inclination can be carried out, and then the magnetic declination data can be obtained by clicking the keys in turn according to the measurement steps.

[0086] Calculation of magnetic north azimuth angle: after the measurement of magnetic declination, the reading of magnetic north azimuth angle can be calculated directly, at this time, the angle is locked, zero, and the horizontal degree disc is rotated to the measured position to obtain the geomagnetic azimuth angle.

[0087] Experimental verification:

[0088] The experimental verification is mainly carried out from four aspects: actual measurement and comparative verification, reliability analysis, function evaluation and data verification.

[0089] The following mainly introduces the actual measurement and comparative verification and data verification.

[0090] Data verification:

[0091] This data verification is completed before the actual instrument test, and the purpose is to verify the feasibility of the designed program and algorithm.

[0092] 1. The data used for testing is the true value of magnetic declination and inclination measured by the DI non-magnetic theodolite in the past data;

[0093] 2. The calculated value is obtained by inputting the data into the measurement program;

[0094] 3. The error of the calculated values of the two is shown in Table 6.

[0095] As shown in Figure 7 , the errors are 5" and 13", respectively. Since the DI non-magnetic theodolite is used for measurement, it is concluded that the recording uses the hundred-level calculation, and the seconds are not calculated, while the total station calculates to the second level. Therefore, the degree level and the minute level are equal, which has basically achieved the initial design intention.

[0096] Actual measurement and comparative verification:

[0097] The three-dimensional geomagnetic space information measurement total station made by the present application was compared with the JHC-01 DI magnetometer at the same point from 3:20 pm to 5:50 pm on June 3, 2017 in Beijing. After recording and calculating the measurement data, the comparison results are shown in Figure 8 and Figure 9 ; the measurement data difference is 1°10'09" and 0°34'48", respectively. The main error sources are the magnetic interference of the total station, the precision error of the analog-to-digital (AD) conversion, and the irregular magnetic interference in the surrounding area. Since it is a preliminary test, the error does not exceed 1.5°, which can be considered as basically achieving the design goal.

[0098] The conclusion obtained above is:

[0099] Firstly, the data processing and formula method required by the set are determined, and the parameter analysis algorithm of the magnetic declination and azimuth in the three-dimensional geomagnetic space based on the three-dimensional geomagnetic space total station base station geometric data is researched. Then, the I / O interface connection is completed through the programming of the single-chip microcomputer. Next, the data transmission, data import, data processing and other modules are completed in the WIN CE environment by using the EVC software programming referring to the existing geodetic survey software program, and finally integrated. Finally, the experimental collection of geomagnetic space information measurement total station data is completed, the existing instrument data is compared, and the data verification, function evaluation, precision statistics and reliability analysis are carried out.

[0100] From the results, the instrument design and program development fully achieve the expected effect, mainly the following five points: (1) the program realizes the calling of the horizontal, vertical and distance measuring sensors of the total station; (2) the program of calling the magnetic flux gate sensor through the serial port is completed; (3) the measurement and calculation functions of the basic magnetic declination and inclination are completed; (4) the expansion function of the geomagnetic azimuth calculation is completed; (5) the visual expression of the program is completed.

[0101] The above examples only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as the limitation of the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which belong to the protection scope of the present application.

Claims

1. A measurement method using a total station for measuring three-dimensional geomagnetic spatial information, characterized in that: The three-dimensional geomagnetic spatial information measurement total station includes physical sensors, fluxgate sensors, an optical telescope, and a main unit. Both the physical sensors and fluxgate sensors are connected to the main unit. The physical sensors include a magnetic sensor probe, a horizontal angle sensor, a vertical angle sensor, and a distance sensor. The main unit is configured with a WIN CE system. The fluxgate sensors convert the transmitted voltage signal into a digital signal via an AD converter. Both the physical sensors and fluxgate sensors communicate with the microcontroller within the main unit via a 6-pin RS-232 interface. Level conversion is used for adjustment during communication between the RS-232 interface and the microcontroller. The specific steps are as follows: S1: Total station magnetic sensor calibration and power charging; S2: Site selection for observation; the site should be selected in an open area, with no buildings or obvious power lines and pipes around it. S3: Instrument setup, including leveling and centering; First, set up the instrument tripod at the point to be measured, and install the instrument base on the tripod; Then, the geometric center of the instrument base is aligned with the point to be measured using an optical or laser alignment device installed on the instrument base; Secondly, the instrument aiming unit is installed on the instrument base; Finally, level the instrument using the optical or electronic level bubble installed on the instrument's aiming section to ensure that the instrument's geometric center line is vertical. S4: Surveyor preparation; S41, remove all metal from the body; S42, the surveyor turns on the instrument and first performs a test to check if there is a drastic change in the magnetic north azimuth angle value, and waits for the instrument to stabilize; S43, the surveyor sets the instrument parameters, and sets the initial values ​​of the horizontal and vertical angle sensors to zero; S5: Formal Measurement; S51: The surveyor rotates the instrument's telescope to aim at the target point. Through the magnetic sensor probe, horizontal angle sensor, and vertical angle sensor, the instrument automatically measures the physical space geomagnetic data - magnetic declination D and the geographic space geometric data - horizontal angle B and vertical angle A from the point to be measured to the target point. It also automatically records the geomagnetic field strength and the horizontal angle, tilt angle, and distance of the target point's direction line. S52: Each measurement requires at least two independent observation procedures and recording. S53: The fluxgate sensors are all connected to the microcontroller in the host to calculate the magnetic declination D, magnetic inclination I, and magnetic north azimuth based on the geomagnetic spatial data model; The measurement of magnetic declination D involves: first, measuring the geomagnetic data of the point to be measured and the geospatial geometric data of the direction line from the point to the target point, obtaining the sensor data recorded by the total station, and then calculating according to the model; given B1, B2, and a1. ； ； ； ； ； In the formula: B1: the horizontal angle of the direction line from the point to be measured to the target point, measured with a total station; B2: the measured magnetic north horizontal angle; B3: Calculated true north horizontal angle; B4: Calculated magnetic north horizontal angle; a1: Coordinate azimuth of the direction line from the point to be measured to the target point measured by GPS; a2: Calculated azimuth between magnetic north and the direction line of the target point; D: Magnetic declination; The measurement of magnetic inclination angle I: After measuring the magnetic declination angle, the magnetic inclination angle can be measured. According to the software program flow, click the buttons in sequence to operate and record and display the magnetic inclination angle I data. The calculation and measurement of the magnetic north azimuth angle are as follows: After the magnetic declination angle is measured and calculated, the reading of the magnetic north direction angle can be directly calculated. At this time, the angle is locked and set to zero. Then, the magnetic north azimuth angle can be obtained by rotating the horizontal circle to the measured position.

2. The measurement method of a total station for measuring three-dimensional geomagnetic spatial information according to claim 1, characterized in that: The total station is designed as a photoelectric geodetic instrument, consisting of an instrument base, an aiming head that can be aimed at the observation target in both horizontal and vertical directions, a telescope mounted on the aiming head, and integrated physical sensors, a microcontroller, and a power supply. The instrument structure is 3D printed using non-magnetic metal or non-metal materials.

3. The measurement method of a total station for measuring three-dimensional geomagnetic spatial information according to claim 1, characterized in that: The magnetic sensor probe is integrated and packaged on the optical telescope of the total station or integrated into the telescope bracket of the aiming section.

4. The measurement method of a total station for measuring three-dimensional geomagnetic spatial information according to claim 1, characterized in that: The microcontroller used is an STC12C5202 with 8-bit AD conversion function, a 3.5-inch color high-definition display screen, a MAX232 power level conversion chip, and an LM358 fluxgate sensor circuit.

5. The measurement method of a total station for measuring three-dimensional geomagnetic spatial information according to claim 1, characterized in that: The WIN CE system includes a serial / parallel port data receiving program and a main program for processing and calculating observation data.

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