A zero-position direction calibration method, system, computer and readable storage medium

Abstract

The application provides a zero position direction calibration method, system, computer and readable storage medium, which comprises the following steps: obtaining a first slant distance parameter and a first horizontal angle parameter between a total station and a prism at a first preset position of a track; obtaining a second slant distance parameter and a second horizontal angle parameter between the total station and the prism at a second preset position of the track; obtaining a zero position horizontal direction angle parameter according to the first slant distance parameter, the second slant distance parameter, the first horizontal angle parameter and the second horizontal angle parameter, and adjusting the zero position direction of the total station based on the zero position horizontal direction angle parameter. The horizontal angle parameter and the slant distance parameter of the total station at the first preset position and the second preset position are measured respectively, the deviation angle between the zero position horizontal direction and the original measurement direction of the total station is obtained through the horizontal angle parameter and the slant distance parameter, and the total station is corrected based on the deviation angle, so that the zero position direction is quickly and accurately set.

Description

Technical Field

[0001] This invention relates to the field of track detection technology, and in particular to a zero-position orientation calibration method, system, computer, and readable storage medium. Background Technology

[0002] As an important part of the complete set of ballastless track technology introduced to my country, the idea of ​​controlling absolute position and track shape through absolute measurement methods has been deeply rooted in the track measurement instrument for passenger dedicated lines. However, with the increasing role of relative measurement technology in track adjustment, and the emergence of total station-based non-leveling measurement methods, "relative measurement as the main method + track deviation / coordinate constraints" has become an inevitable trend.

[0003] In the single-point constraint measurement mode of track inspection instruments, zero-position orientation calibration of the total station without leveling is an indispensable and crucial step. In existing technologies, since the instrument requires total station zero-position orientation calibration before each line measurement, the efficiency and ease of operation of the total station zero-position orientation calibration are important aspects of evaluating the instrument's applicability. Simultaneously, the accuracy of the total station zero-position orientation calibration directly affects the accuracy of subsequent single-point constraint measurements. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide a zero-position orientation calibration method, system, computer and readable storage medium, which aims to improve the efficiency and ease of operation of zero-position orientation calibration of a total station without leveling.

[0005] To achieve the above objectives, the present invention provides a zero-position orientation calibration method, comprising the following steps:

[0006] Obtain the first slope distance parameter and the first horizontal angle parameter between the total station and the prism at the first preset position on the track;

[0007] Obtain the second slope distance parameter and the second horizontal angle parameter between the total station and the prism at the second preset position of the track, wherein the prism is located between the first preset position and the second preset position;

[0008] The zero-position horizontal direction angle parameter is obtained based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter, and the second horizontal angle parameter, and the zero-position direction of the total station is obtained by adjusting the zero-position horizontal direction angle parameter.

[0009] According to one aspect of the above technical solution, a first distance parameter between the first preset position and the second preset position is obtained based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter, and the second horizontal angle parameter;

[0010] A second distance parameter between a third preset position and the prism is obtained based on the first distance parameter, the first slope distance parameter, and the second slope distance parameter, wherein the third preset position is the position in the track closest to the prism;

[0011] The third horizontal angle parameter between the prism and the first preset position and the third preset position is obtained based on the second distance parameter and the first slope distance parameter.

[0012] The zero-position horizontal direction angle parameter of the total station is obtained based on the third horizontal angle parameter and the first horizontal angle parameter.

[0013] According to one aspect of the above technical solution, the step of obtaining the first distance parameter between the first preset position and the second preset position based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter, and the second horizontal angle parameter specifically includes:

[0014] The first distance parameter between the first preset position and the second preset position is obtained according to the following formula:

[0015] ;

[0016] In the formula, The first distance parameter is the distance between the first preset position and the second preset position; The distance between the prism and the first preset position; The distance between the prism and the second preset position is α; the first horizontal angle parameter is α. This is the second horizontal angle parameter.

[0017] According to one aspect of the above technical solution, the step of obtaining the second distance parameter between the third preset position and the prism based on the first distance parameter, the first slope distance parameter, and the second slope distance parameter specifically includes:

[0018] A first triangular region is constructed based on the first preset position, the second preset position, and the projection of the prism onto the horizontal plane;

[0019] The area S of the first triangular region satisfies the following formula:

[0020] ;

[0021] The second distance parameter h between the third preset position and the prism is obtained in the first triangular region according to the following formula:

[0022] .

[0023] According to one aspect of the above technical solution, the step of obtaining the third horizontal angle parameter between the prism and the first preset position and the third preset position based on the second distance parameter and the first slope distance parameter specifically includes:

[0024] A second triangular region is constructed based on the first preset position, the third preset position, and the projection of the prism onto the horizontal plane;

[0025] In the second triangular region, the third horizontal angle parameter Φ between the prism and the first preset position and the third preset position is obtained according to the following formula:

[0026] .

[0027] According to one aspect of the above technical solution, the step of obtaining the zero-position horizontal direction angle parameter of the total station based on the third horizontal angle parameter and the first horizontal angle parameter specifically includes:

[0028] The zero-position horizontal direction angle parameter of the total station is obtained according to the following formula. :

[0029] =α-Φ;

[0030] In the formula, α is the first horizontal angle parameter.

[0031] According to one aspect of the above technical solution, the step of obtaining the zero-position direction of the total station based on the zero-position horizontal direction angle parameter specifically includes:

[0032] The total station is rotated based on the horizontal direction angle parameter, so that the total station is rotated to be perpendicular to the track direction, and the rotated direction is set as the zero position direction of the total station.

[0033] Another aspect of the present invention provides a zero-position orientation calibration system, comprising:

[0034] The first measurement module is used to obtain the first slope distance parameter and the first horizontal angle parameter between the total station and the prism at the first preset position on the track.

[0035] The second measurement module is used to obtain the second slope distance parameter and the second horizontal angle parameter between the total station and the prism at the second preset position of the track, wherein the prism is located between the first preset position and the second preset position;

[0036] The output module is used to obtain the zero-position horizontal direction angle parameter based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter and the second horizontal angle parameter, and to adjust the zero-position direction of the total station based on the zero-position horizontal direction angle parameter.

[0037] According to one aspect of the above technical solution, the output module specifically includes:

[0038] The first acquisition unit is configured to obtain a first distance parameter between the first preset position and the second preset position based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter and the second horizontal angle parameter;

[0039] The second acquisition unit is used to obtain a second distance parameter between a third preset position and the prism based on the first distance parameter, the first slope distance parameter and the second slope distance parameter, wherein the third preset position is the position in the track closest to the prism;

[0040] The third acquisition unit is used to obtain the third horizontal angle parameter between the prism and the first preset position and the third preset position based on the second distance parameter and the first slope distance parameter.

[0041] The fourth acquisition unit is used to obtain the zero-position horizontal direction angle parameter of the total station based on the third horizontal angle parameter and the first horizontal angle parameter.

[0042] According to one aspect of the above technical solution, the first acquisition unit is specifically used for:

[0043] The first distance parameter between the first preset position and the second preset position is obtained according to the following formula:

[0044] ;

[0045] In the formula, The first distance parameter is the distance between the first preset position and the second preset position; The distance between the prism and the first preset position; The distance between the prism and the second preset position is α; the first horizontal angle parameter is α. This is the second horizontal angle parameter.

[0046] According to one aspect of the above technical solution, the second acquisition unit is specifically used to: construct a first triangular region based on the first preset position, the second preset position, and the projection of the prism onto the horizontal plane;

[0047] The area S of the first triangular region satisfies the following formula:

[0048] ;

[0049] The second distance parameter h between the third preset position and the prism is obtained in the first triangular region according to the following formula:

[0050] .

[0051] According to one aspect of the above technical solution, the third acquisition unit is specifically used to: construct a second triangular region based on the first preset position, the third preset position, and the projection of the prism onto the horizontal plane;

[0052] In the second triangular region, the third horizontal angle parameter Φ between the prism and the first preset position and the third preset position is obtained according to the following formula:

[0053] .

[0054] According to one aspect of the above technical solution, the fourth acquisition unit is specifically used to: obtain the zero-position horizontal direction angle parameter of the total station according to the following formula. :

[0055] =α-Φ;

[0056] In the formula, α is the first horizontal angle parameter.

[0057] According to one aspect of the above technical solution, the output module further includes:

[0058] The control unit is used to control the rotation of the total station based on the horizontal direction angle parameter, so that the total station rotates to be perpendicular to the line direction of the track, and sets the rotated direction as the zero position direction of the total station.

[0059] Another aspect of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the zero-position orientation calibration method as described in the above technical solutions.

[0060] Another aspect of the present invention provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the zero-position orientation calibration method as described in the above technical solutions.

[0061] Compared with the prior art, the beneficial effects of the present invention are as follows: by measuring the horizontal angle parameters and slope distance parameters of the total station at the first preset position and the second preset position respectively, the above-mentioned horizontal angle parameters are the angle between the original measurement direction of the total station and the direction from the total station to the prism. This is equivalent to constructing a triangular region in the coordinate system through the first preset position, the second preset position and the prism position. The angle between the perpendicular line between the prism and the track (i.e., the zero horizontal direction) in the triangular region and the original measurement direction of the total station is calculated through the above-mentioned horizontal angle parameters and slope distance parameters. This is the deviation angle between the original measurement direction and the zero horizontal direction, which makes it convenient to correct the total station based on the above-mentioned deviation angle and quickly and accurately set the zero direction. Attached Figure Description

[0062] Figure 1 This is a flowchart of the zero-position direction calibration method in the first embodiment of the present invention;

[0063] Figure 2 This is a schematic diagram of the zero-position direction calibration of the total station in the first embodiment of the present invention;

[0064] Figure 3 This is a flowchart of the zero-position direction calibration method in the second embodiment of the present invention;

[0065] Figure 4 This is a structural block diagram of the zero-position orientation calibration system in the third embodiment of the present invention;

[0066] Explanation of key component symbols:

[0067]

[0068] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0069] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0070] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0071] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0072] Please see Figure 1 The diagram shows a flowchart of the zero-position orientation calibration method in the first embodiment of the present invention, which includes the following steps:

[0073] Step S100: Obtain the first slope distance parameter and the first horizontal angle parameter between the total station and the prism at the first preset position on the track. Specifically, in this step, the first slope distance parameter is the distance between two projection points of the total station and the prism on the horizontal plane, and the first horizontal angle parameter is the horizontal angle obtained by using the total station as the measurement point, the initial measurement direction point of the total station as the first measurement target, and the prism as the second measurement target.

[0074] Step S200: Obtain the second slope distance parameter and the second horizontal angle parameter between the total station and the prism at the second preset position of the track, wherein the prism is located between the first preset position and the second preset position.

[0075] Step S300: The zero-position horizontal direction angle parameter is obtained based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter, and the second horizontal angle parameter. The zero-position direction of the total station is then adjusted based on this zero-position horizontal direction angle parameter. Specifically, in this step, the zero-position direction of the total station should be set perpendicular to the track direction. The aforementioned zero-position horizontal direction angle parameter is the deviation angle between the initial measurement direction and the zero-position direction. By rotating the total station to calibrate it using this deviation angle, the zero-position direction of the total station can be quickly set.

[0076] Specifically, in this embodiment, step S300 includes:

[0077] Step S310: Obtain a first distance parameter between the first preset position and the second preset position based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter, and the second horizontal angle parameter. Specifically, the aforementioned first distance parameter is the distance the trolley pushes during the second measurement.

[0078] Step S320: Obtain a second distance parameter between a third preset position and the prism based on the first distance parameter, the first slope distance parameter, and the second slope distance parameter, wherein the third preset position is the position in the track closest to the prism.

[0079] Step S330: Obtain the third horizontal angle parameter between the prism and the first preset position and the third preset position based on the second distance parameter and the first slope distance parameter.

[0080] Step S340: Obtain the zero-position horizontal direction angle parameter of the total station based on the third horizontal angle parameter and the first horizontal angle parameter.

[0081] For ease of understanding, such as Figure 2 As shown in the figure, G1 is a straight line parallel to the track. Points M and N are the projections of the total station onto the horizontal plane when the track inspection trolley is in the first and second preset positions, respectively. Straight lines L1 and L2 are the zero-position horizontal direction angles (initial measurement directions) in the total station coordinate system. L1∥L2, but the directions of straight lines L1 and L2 are unknown. Point P is the projection of the foundation pile control point (prism) onto the horizontal plane. Point O is the aforementioned third preset position. OP⊥MN. Line segment MP (L3) is the aforementioned first slope distance parameter. The angle α between MP and straight line L1 is the aforementioned first horizontal angle parameter. Line segment NP (L4) is the aforementioned second slope distance parameter. The angle between NP and straight line L1 is... That is, the second horizontal angle parameter mentioned above.

[0082] Therefore, in this embodiment, step S310 specifically includes:

[0083] Step S311: Based on the law of cosines, the first distance parameter between the first preset position and the second preset position is obtained according to the following formula:

[0084] (2.5-1);

[0085] In the formula, The first distance parameter is the distance between the first preset position and the second preset position; The distance between the prism and the first preset position; The distance between the prism and the second preset position is α; the first horizontal angle parameter is α. This is the second horizontal angle parameter.

[0086] Furthermore, in this embodiment, step S320 specifically includes:

[0087] Step S321: Construct a first triangular region (i.e., based on the first preset position, the second preset position, and the projection of the prism onto the horizontal plane) Figure 2 (ΔMNP in the middle).

[0088] The perimeter of the above ΔMNP satisfies: (2.5-2)

[0089] The area S of the first triangular region satisfies the following formula:

[0090] (2.5-3);

[0091] The second distance parameter h between the third preset position and the prism is obtained in the first triangular region according to the following formula:

[0092] (2.5-4).

[0093] Furthermore, in this embodiment, step S330 specifically includes:

[0094] Step S331: Construct a second triangular region (i.e., based on the first preset position, the third preset position, and the projection of the prism onto the horizontal plane) Figure 2 (ΔMOP in the middle).

[0095] In the second triangular region, the third horizontal angle parameter Φ between the prism and the first and third preset positions is obtained according to the following formula (i.e., Figure 2 (∠MPO in the middle)

[0096] (2.5-5).

[0097] Furthermore, in this embodiment, step S340 specifically includes:

[0098] Step S341: Obtain the zero-position horizontal direction angle parameter of the total station according to the following formula. :

[0099] =α-Φ(2.5-6);

[0100] In the formula, α is the first horizontal angle parameter. It should be noted that, from... Figure 2 It can be seen that, =α -Φ, since L1 / / L2, therefore ∠α = ∠α That is, we get the above formula. =α-Φ. In some application scenarios of this embodiment, when the above-mentioned zero-position horizontal direction angle parameter is obtained... Then, by controlling the total station to rotate an angle toward the OP direction. Make L1 or L2 parallel to line segment OP, that is, perpendicular to the direction of the track line, and set it to the zero position direction.

[0101] In summary, the zero-position orientation calibration method in the above embodiments of the present invention measures the horizontal angle parameter and slope distance parameter of the total station at the first preset position and the second preset position respectively. The horizontal angle parameter is the angle between the initial measurement direction of the total station and the direction from the total station to the prism. This is equivalent to constructing a triangular region in the coordinate system through the first preset position, the second preset position and the prism position. The angle between the perpendicular line between the prism and the track (i.e., the zero-position horizontal direction) in the triangular region and the initial measurement direction of the total station is calculated using the horizontal angle parameter and the slope distance parameter. This is the deviation angle between the initial measurement direction and the zero-position horizontal direction, which facilitates the correction of the total station based on the deviation angle and enables the rapid and accurate setting of the zero-position orientation.

[0102] Please refer to Figure 3 The diagram shows a flowchart of the zero-position orientation calibration method in the second embodiment of the present invention, which includes the following steps:

[0103] Step S400: Obtain the first slope distance parameter and the first horizontal angle parameter between the total station and the prism at the first preset position on the track.

[0104] Step S410: Obtain the second slope distance parameter and the second horizontal angle parameter between the total station and the prism at the second preset position of the track.

[0105] Step S420: Obtain the first distance parameter between the first preset position and the second preset position based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter, and the second horizontal angle parameter.

[0106] Step S430: Obtain the zero-position horizontal direction angle parameter according to the following formula. :

[0107] (2.5-7);

[0108] The zero-position direction of the total station is obtained by adjusting the zero-position horizontal direction angle parameter.

[0109] For ease of understanding, in this embodiment, based on the above equations (2.5-2), (2.5-3), (2.5-4), (2.5-5), and (2.5-6), equation (2.5-7) can be obtained. That is, after obtaining the above first slope distance parameter, second slope distance parameter, first horizontal angle parameter, and first distance parameter, the above zero-position horizontal direction angle parameter can be obtained through the above equation (2.5-7). .

[0110] like Figure 4 As shown, the third embodiment of the present invention provides a zero-position orientation calibration system, comprising:

[0111] The first measurement module 10 is used to obtain the first slope distance parameter and the first horizontal angle parameter between the total station and the prism at the first preset position of the track.

[0112] The second measurement module 20 is used to obtain the second slope distance parameter and the second horizontal angle parameter between the total station and the prism at the second preset position of the track, wherein the third preset position closest to the prism in the track is located between the first preset position and the second preset position;

[0113] The output module 30 is used to obtain the zero-position horizontal direction angle parameter based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter and the second horizontal angle parameter, and set the zero-position horizontal direction angle parameter as the zero-position direction of the total station.

[0114] In this embodiment, the output module 30 specifically includes:

[0115] The first acquisition unit 31 is used to obtain a first distance parameter between the first preset position and the second preset position based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter and the second horizontal angle parameter;

[0116] The second acquisition unit 32 is used to obtain a second distance parameter between a third preset position and the prism based on the first distance parameter, the first slope distance parameter and the second slope distance parameter, wherein the third preset position is the position in the track closest to the prism;

[0117] The third acquisition unit 33 is used to obtain the third horizontal angle parameter between the prism and the first preset position and the third preset position based on the second distance parameter and the first slope distance parameter.

[0118] The fourth acquisition unit 34 is used to obtain the zero-position horizontal direction angle parameter of the total station based on the third horizontal angle parameter and the first horizontal angle parameter.

[0119] Furthermore, in this embodiment, the first acquisition unit 31 is specifically used for:

[0120] The first distance parameter between the first preset position and the second preset position is obtained according to the following formula:

[0121] ;

[0122] In the formula, The first distance parameter is the distance between the first preset position and the second preset position; The distance between the prism and the first preset position; The distance between the prism and the second preset position is α; the first horizontal angle parameter is α. This is the second horizontal angle parameter.

[0123] Furthermore, the second acquisition unit 32 is specifically used to: construct a first triangular region based on the first preset position, the second preset position, and the projection of the prism onto the horizontal plane;

[0124] The area S of the first triangular region satisfies the following formula:

[0125] ;

[0126] The second distance parameter h between the third preset position and the prism is obtained in the first triangular region according to the following formula:

[0127] .

[0128] In this embodiment, the third acquisition unit 33 is specifically used to: construct a second triangular region based on the first preset position, the third preset position, and the projection of the prism onto the horizontal plane;

[0129] In the second triangular region, the third horizontal angle parameter Φ between the prism and the first preset position and the third preset position is obtained according to the following formula:

[0130] .

[0131] The fourth acquisition unit 34 mentioned above is specifically used to: obtain the zero-position horizontal direction angle parameter of the total station according to the following formula. :

[0132] =α-Φ;

[0133] In the formula, α is the first horizontal angle parameter.

[0134] Furthermore, in this embodiment, the output module 30 further includes:

[0135] The control unit 35 is used to control the rotation of the total station based on the horizontal direction angle parameter, so that the total station rotates to be perpendicular to the line direction of the track, and sets the rotated direction as the zero position direction of the total station.

[0136] In summary, the zero-position orientation calibration system in this embodiment measures and obtains the horizontal angle parameters and slope distance parameters of the total station at the first preset position and the second preset position through the first measurement module 10 and the second measurement module 20, respectively. The aforementioned horizontal angle parameter is the angle between the initial measurement direction of the total station and the direction from the total station to the prism. This is equivalent to constructing a triangular region in the coordinate system through the first preset position, the second preset position, and the prism position. The angle between the perpendicular line between the prism and the track (i.e., the zero-position horizontal direction) in the triangular region and the initial measurement direction of the total station is calculated through the aforementioned horizontal angle parameters and slope distance parameters. This is the deviation angle between the initial measurement direction and the zero-position horizontal direction. This allows the output module 30 to correct the total station based on the aforementioned deviation angle, enabling quick and accurate setting of the zero-position orientation.

[0137] A fourth embodiment of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the zero-position orientation calibration method as described in the above embodiments.

[0138] The fifth embodiment of the present invention provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the zero-position orientation calibration method as described in the above embodiments.

[0139] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0140] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A method for zero-position orientation calibration, characterized in that, Includes the following steps: Obtain the first slope distance parameter and the first horizontal angle parameter between the total station and the prism at the first preset position on the track; Obtain the second slope distance parameter and the second horizontal angle parameter between the total station and the prism at the second preset position of the track, wherein the prism is located between the first preset position and the second preset position; The zero-position horizontal direction angle parameter is obtained based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter, and the second horizontal angle parameter, and the zero-position direction of the total station is obtained by adjusting the zero-position horizontal direction angle parameter. The step of obtaining the zero-position horizontal direction angle parameter based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter, and the second horizontal angle parameter specifically includes: The first distance parameter between the first preset position and the second preset position is obtained based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter, and the second horizontal angle parameter. A second distance parameter between a third preset position and the prism is obtained based on the first distance parameter, the first slope distance parameter, and the second slope distance parameter, wherein the third preset position is the position in the track closest to the prism; The third horizontal angle parameter between the prism and the first preset position and the third preset position is obtained based on the second distance parameter and the first slope distance parameter. The zero-position horizontal direction angle parameter of the total station is obtained based on the third horizontal angle parameter and the first horizontal angle parameter. The step of obtaining the first distance parameter between the first preset position and the second preset position based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter, and the second horizontal angle parameter specifically includes: The first distance parameter between the first preset position and the second preset position is obtained according to the following formula: ； In the formula, The first distance parameter is the distance between the first preset position and the second preset position; The distance between the prism and the first preset position; The distance between the prism and the second preset position is α; the first horizontal angle parameter is α. This refers to the second horizontal angle parameter; The step of obtaining the second distance parameter between the third preset position and the prism based on the first distance parameter, the first slope distance parameter, and the second slope distance parameter specifically includes: A first triangular region is constructed based on the first preset position, the second preset position, and the projection of the prism onto the horizontal plane; The area S of the first triangular region satisfies the following formula: ； ； In the formula, l is the perimeter of the first triangular region; The second distance parameter h between the third preset position and the prism is obtained in the first triangular region according to the following formula: ； The step of obtaining the third horizontal angle parameter between the prism and the first preset position and the third preset position based on the second distance parameter and the first slope distance parameter specifically includes: A second triangular region is constructed based on the first preset position, the third preset position, and the projection of the prism onto the horizontal plane; In the second triangular region, the third horizontal angle parameter Φ between the prism and the first preset position and the third preset position is obtained according to the following formula: ； The step of obtaining the zero-position horizontal direction angle parameter of the total station based on the third horizontal angle parameter and the first horizontal angle parameter specifically includes: The zero-position horizontal direction angle parameter of the total station is obtained according to the following formula. : =α-Φ; ； In the formula, α is the first horizontal angle parameter.

2. The zero-position orientation calibration method according to claim 1, characterized in that, The step of obtaining the zero-position direction of the total station based on the zero-position horizontal direction angle parameter specifically includes: The total station is rotated based on the horizontal direction angle parameter, so that the total station is rotated to be perpendicular to the track direction, and the rotated direction is set as the zero position direction of the total station.

3. A zero-position orientation calibration system for implementing the zero-position orientation calibration method according to claim 1 or 2, characterized in that, include: The first measurement module is used to obtain the first slope distance parameter and the first horizontal angle parameter between the total station and the prism at the first preset position of the track. The second measurement module is used to obtain the second slope distance parameter and the second horizontal angle parameter between the total station and the prism at the second preset position of the track, wherein the third preset position closest to the prism in the track is located between the first preset position and the second preset position; The output module is used to obtain the zero-position horizontal direction angle parameter based on the first slope distance parameter, the second slope distance parameter, the first horizontal angle parameter and the second horizontal angle parameter, and set the zero-position horizontal direction angle parameter as the zero-position direction of the total station.

4. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the zero-position orientation calibration method as described in claim 1 or 2.

5. A readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the zero-position orientation calibration method as described in claim 1 or 2.

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