Methods, media, and equipment for deviation correction under non-perpendicular laser incident prism conditions

Abstract

This invention discloses a method, medium, and device for correcting deviations under conditions of non-perpendicular laser incidence prism. The method includes the following steps: measuring distance and angle data of multiple measurements at different distances and laser incidence angles with different deflections of the prism; calculating the angular deviation measurement error; fitting the calculation parameters using the least squares method to obtain a continuous three-dimensional error surface; using the observation distance and observation angle as inputs to the continuous three-dimensional surface model to calculate the angle measurement correction number under this condition; and correcting the total station measurement error based on the angle measurement correction number. Compared to the original observation data before correction, this invention can calculate the angle measurement correction number under different distances and laser incidence angles based on the observation data and the incident prism angle, overcoming the problem of measurement errors caused by non-perpendicular laser incidence prisms in total stations due to the inability to guarantee that the incident laser is perpendicular to the prism.

Description

Technical Field

[0001] This invention relates to the field of engineering measurement technology, and in particular to a method, medium, and device for deviation correction under non-perpendicular laser incident prism conditions. Background Technology

[0002] In social development, the construction of integrated urban and rural areas and new smart cities cannot be separated from surveying and mapping data. Total station surveying has become a solid foundation for urban upgrading and social progress. A total station is an optical, mechanical, and electrical integrated device with automatic distance and angle measurement, automatic data recording, transmission, and calculation. Its accuracy is easily affected by many factors, and the theoretical work related to reducing engineering measurement errors has always been a major issue in the field of engineering surveying. Over time, the overall trend of engineering measurement errors has been gradually decreasing, but the methods of conducting engineering surveys are still mainly traditional.

[0003] In the field of engineering surveying, the application of total stations is a crucial step in construction and project operation. Total station operations typically involve using factory-produced standard prism reflectors for high-precision measurements of engineering structures. The nominal accuracy of these prisms is obtained under experimental conditions. During total station surveying, the prism is positioned near the target point, with its face as perpendicular as possible to the incident laser. The distance and angle between the station and the target point are determined by measuring the distance and angle between the station and the prism. However, for certain special conditions, such as deformation monitoring of high-speed railway bridges and high slopes, multiple measurements of the prism are required, and its orientation is difficult to manually correct in real time. In these cases, the laser from the total station may not be perpendicular to the prism, leading to measurement errors and making it difficult to meet the millimeter-level accuracy requirements of high-speed railways. Furthermore, in some engineering structures, such as the arches of underground caverns and deep foundation pits, the prism often needs to be placed at a high position. This makes it impossible to ensure that the incident laser is perpendicular to the prism, resulting in measurement errors due to the angle of the prism reflector. Currently, the above problems urgently need to be solved. Summary of the Invention

[0004] The present invention aims to solve the problem that the existing technology cannot guarantee that the incident laser is perpendicular to the incident prism, resulting in measurement errors caused by the non-perpendicular incident laser prism in the total station. It provides a deviation correction method, medium and equipment for the non-perpendicular incident laser prism state.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A deviation correction method for a laser non-perpendicular incident prism includes the following steps: S1: Using a total station as a reference, measure the distance and angle data of the prism at different distances and different incident laser angles; S2: Calculate the angular deviation measurement error based on the angle data; S3: Fit the calculation parameters using the least squares method based on the fitted surface Γ model to obtain a continuous three-dimensional error surface of the angular deviation measurement error with respect to the measurement distance and incident angle; S4: Using the observation distance and observation angle as inputs to the continuous three-dimensional error surface model, calculate the angle measurement correction number for this state, and correct the total station measurement error based on the angle measurement correction number. This deviation correction method for a laser non-perpendicular incident prism, compared to the original observation data before correction, can calculate the angle measurement correction number for different distances and different incident laser angles based on the observation data and the incident prism angle, overcoming the problem of measurement error caused by the total station's laser non-perpendicular incident prism due to the inability to guarantee that the incident laser is perpendicular to the prism.

[0007] As a preferred embodiment of the present invention, S1 specifically involves: using a total station as a reference, taking several distances between d1 meters and d2 meters at intervals of Δd meters, and forming several incident angles between θ1° and θ2° at intervals of Δθ° under the conditions of the laser incident angle being left and right deflection of the prism device, respectively. The total station is then used to acquire distance and angle data for three measurements under each condition. The values ​​of d1 and d2 are 10 and 90, respectively, and the values ​​of θ1 and θ2 are 0 and 40, respectively. The data obtained in this invention is distance data within a certain range over multiple measurement periods. Compared to single-period data, using multi-period data to support and fit a three-dimensional surface can overcome the random errors of single-period data. In this invention, the distance data observation range is 10m-90m, which can meet the operational requirements of most total stations. Within the distance range of 10m to 90m, the angle measurement correction values ​​at each observation distance can be accurately extracted, solving the problem of measurement errors caused by the non-perpendicular incident prism of the laser. In this invention, the observation range of incident angle data is 0°-40°. When the laser incident prism angle of the total station is greater than 40°, it is impossible to obtain reflection information. Therefore, in actual operation, the incident prism angle of 0°-40° can almost meet all the requirements of total station operation.

[0008] As a preferred embodiment of the present invention, the calculation process of the angle deviation measurement error in S2 is as follows: Record the three horizontal angle measurements as β1, β2, and β3 when the prism is deflected to the right at a certain distance and at a certain laser incident angle, and γ1, γ2, and γ3 when the prism is deflected to the left at a certain laser incident angle. Calculate the average horizontal angle measurements when the prism is deflected to the right and to the left, and record them as μ1 and μ2 respectively. Calculate the angle deviation σ1 and σ2 as the angle deviation measurement error. The calculation methods for σ1 and σ2 are as follows:

[0009]

[0010] As a preferred embodiment of the present invention, the fitted surface Γ model in S3 is as follows:

[0011] Γ=p1X 2 +p2X+p3Y 2 +p4Y+p5XY+p6

[0012] Where X is the measurement distance, Y is the incident angle, and p1, p2, p3, p4, p5, and p6 are six parameters. The six-parameter fitting three-dimensional surface method is used to obtain a continuous three-dimensional error surface of measurement distance-incident angle-measurement error under the observation state.

[0013] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the deviation correction method for a laser non-perpendicular incident prism state as described in any of the preceding claims.

[0014] The present invention also provides a computer device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the steps of the deviation correction method for a laser non-perpendicular incident prism state as described in any of the preceding claims.

[0015] Therefore, the present invention has the following beneficial effects:

[0016] (1) The data obtained in this invention is distance data in the range of 10m to 90m under multiple measurement periods. Compared with single-period data, using multi-period data to support the fitting of three-dimensional curved surfaces can overcome the random errors of single-period data.

[0017] (2) The distance data observation range in this invention is 10m-90m, which can meet the operation requirements of most total stations. Within the distance range of 10m to 90m, the angle measurement corrections at each observation distance can be accurately extracted, solving the problem of measurement error caused by non-perpendicular laser incident prism.

[0018] (3) The observation range of incident angle data in this invention is 0°-40°. When the laser incident prism angle of the total station is greater than 40°, it is impossible to obtain reflection information. Therefore, in actual operation, the incident prism angle of 0°-40° can almost meet all the requirements of total station operation.

[0019] (4) Compared with the original observation data before correction, the present invention can calculate and extract the angle measurement correction value at any distance in the range of 10m-90m and at any deflection angle in the range of 0°-40° based on the observation data and the angle of the incident prism, thus overcoming the problem of the prism being placed in the existing high-speed railway line where the orientation is difficult to correct. Attached Figure Description

[0020] Figure 1 This is a flowchart of the method of the present invention;

[0021] Figure 2 This is a diagram showing the effect of the prism deflecting to the left, based on the fundamental experimental data used in this embodiment of the invention.

[0022] Figure 3 This is a diagram showing the effect of the prism deflecting to the right, based on the fundamental experimental data used in this embodiment of the invention.

[0023] Figure 4 This is a diagram of the initial software interface according to an embodiment of the present invention;

[0024] Figures 5-9 This is a diagram of the software operation process interface according to an embodiment of the present invention;

[0025] Figure 10 This is a graph showing the angle measurement correction results obtained by the software in an embodiment of the present invention. Detailed Implementation

[0026] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0027] like Figure 1 As shown, a deviation correction method for a laser non-perpendicular incident prism includes the following steps: S1: Using a total station as a reference, measure the distance and angle data of the prism at different distances and different laser incident angles.

[0028] S1 specifically involves: using a total station as a reference, taking several distances between d1 meters and d2 meters at intervals of Δd meters, and forming several incident angles between θ1° and θ2° at intervals of Δθ°, respectively, under the conditions of the laser incident angle being left and right deflection of the prism device. The total station is then used to acquire distance and angle data from multiple measurements under each condition. The values ​​of d1 and d2 are 10 and 90, respectively, and the values ​​of θ1 and θ2 are 0 and 40, respectively. The data obtained in this invention is distance data within a certain range over multiple measurement periods. Compared to single-period data, using multi-period data to support the fitting of a three-dimensional surface can overcome the random errors of single-period data. The distance data observation range in this invention is 10m-90m, which can meet the operational requirements of most total stations. Within the distance range of 10m to 90m, the angle measurement correction values ​​at each observation distance can be accurately extracted, solving the problem of measurement errors caused by the non-perpendicular incident laser prism. In this invention, the observation range of incident angle data is 0°-40°. When the laser incident prism angle of the total station is greater than 40°, it is impossible to obtain reflection information. Therefore, in actual operation, the incident prism angle of 0°-40° can almost meet all the requirements of total station operation.

[0029] S2: The angle deviation measurement error is calculated based on the angle data.

[0030] The calculation process for the angle deviation measurement error in S2 is as follows: Record the three horizontal angle measurements as β1, β2, and β3 when the prism is deflected to the right at a certain distance and at a certain laser incident angle, and γ1, γ2, and γ3 when the prism is deflected to the left at a certain laser incident angle. Calculate the average horizontal angle measurements for the right and left deflections of the prism, denoted as μ1 and μ2 respectively. Calculate the angle deviations σ1 and σ2 as the angle deviation measurement error. The calculation methods for σ1 and σ2 are as follows:

[0031]

[0032] S3: Based on the fitted surface Γ model, the least squares method is used to fit and calculate the parameters, thereby obtaining a continuous three-dimensional error surface of the angular deviation measurement error with respect to the measurement distance and the incident angle.

[0033] The fitted surface Γ model in S3 is as follows:

[0034] Γ=p1X 2 +p2X+p3Y 2 +p4Y+p5XY+p6

[0035] Where X is the measurement distance, Y is the incident angle, and p1, p2, p3, p4, p5, and p6 are six parameters. The six-parameter fitting three-dimensional surface method is used to obtain a continuous three-dimensional error surface of measurement distance-incident angle-measurement error under the observation state.

[0036] S4: Using the observation distance and observation angle as inputs to the continuous three-dimensional error surface model, calculate the angle measurement correction number under this state, and correct the total station measurement error based on the angle measurement correction number.

[0037] The present invention provides a deviation correction method for laser non-perpendicular incident prism states. Compared with the original observation data before correction, it can calculate the angle measurement correction number under different distances and different laser incident angle states based on the observation data and the incident prism angle. This overcomes the problem of measurement error caused by the total station laser non-perpendicular incident prism due to the inability to guarantee that the incident laser is perpendicular to the incident prism.

[0038] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the deviation correction method for a laser non-perpendicular incident prism state described above.

[0039] This invention also provides a computer device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the steps of the deviation correction method for a laser non-perpendicular incident prism state as described above.

[0040] In this embodiment, a deviation correction method, medium, and device for a laser non-perpendicular incident prism state according to the present invention are described in further detail.

[0041] To address the issue of measurement errors caused by non-perpendicular laser incidence prisms during total station surveying operations, where the prism device is placed at a high position, inaccessible to operators, or at angles that are difficult to correct, an experimental study was designed to investigate the error patterns and error analysis methods of total station measurements related to the prism deflection angle. The study extracted the correction values ​​for each measurement distance and the laser incidence prism deflection angle, thereby improving the measurement accuracy of the total station.

[0042] This invention discloses a deviation correction method for laser non-perpendicular incident prism conditions, and designs a total station measurement experiment to obtain basic experimental data. Based on the observation data and the incident prism angle, this invention can extract angle measurement correction values ​​for any distance within the range of 10m-90m and any deflection angle within the range of 0°-40°.

[0043] like Figure 2 , Figure 3 This invention is based on a total station prism measurement experiment. The experiment was designed with nine distances from 10m to 90m, spaced 10m apart. Using a total station as the reference, the laser incident angle was divided into left and right deflections of the prism device, forming 18 different incident angles from 0° to 40° at 5° intervals: 0°, 5°, 10°, 15°, 20°, 25°, 30°, 35°, and 40°. For each observation distance and prism deflection state, the total station was used to acquire angle data from three measurements under that state. The mean value was used as the measured angle value under that deflection state. The median of the measured angle values ​​when the left and right deflections were the same degree was calculated, and the difference between the measured angle value and the median was recorded as the angular measurement error.

[0044] Based on the measured angular deviation error values ​​of prism at distances of 10-90m and angular deviations of 0°, 5°, 10°, 15°, 20°, 25°, 30°, 35°, and 40° to the left and right, a continuous three-dimensional surface can be fitted to obtain the correction values ​​of prism observations at any distance within the range of 10-90m and at any angle within the range of 0°-40°.

[0045] Let μ1 be the average of three horizontal angle measurements taken when the prism is deflected to the right (relative to the total station), and μ2 be the average of three horizontal angle measurements taken when the prism is deflected to the left (relative to the total station). The terms "right deflection" and "left deflection" used below refer to the total station. μ1 and μ2 are given by the following formula:

[0046]

[0047]

[0048] In the formula, β1, β2, and β3 are the three horizontal angle measurements when the prism is deflected to the right, and γ1, γ2, and γ3 are the three horizontal angle measurements when the prism is deflected to the left.

[0049] The horizontal angle deviation is referred to as angular deflection. σ1 is defined as the difference between the average of three horizontal angle measurements (μ1) and the average of six horizontal angle measurements when the prism is deflected to the right (relative to the total station); σ2 is defined as the difference between the average of three horizontal angle measurements (μ2) and the average of six horizontal angle measurements when the prism is deflected to the left (relative to the total station). Angular deflections σ1 and σ2 are intended to be used as the errors in the horizontal angle observed by the total station, and the two are inversely related. See the following formula:

[0050]

[0051]

[0052] Fitted surface Γ model:

[0053] Γ=p1X 2 +p2X+p3Y 2 +p4Y+p5XY+p6

[0054] Where X represents the measurement distance, Y represents the incident angle, and p1, p2, p3, p4, p5, and p6 are six parameters. The six-parameter fitting three-dimensional surface method is used to obtain the measurement distance-incident angle-measurement error surface under the observation state.

[0055] Number of corrections:

[0056]

[0057] This invention provides a feasible and reproducible method for angular deflection correction when there is a deviation between the incident direction of the prism and the instrument. The model function of this invention is not unique; different power function models can be selected according to different levels of accuracy. Similarly, if the function model of this invention is selected, its undetermined coefficients (six parameters) are not fixed. Even instruments of the same model have certain differences, so real experimental observation data are needed to determine and calculate the undetermined coefficients during application.

[0058] The method of this invention is edited and designed into software in code form. The software can automatically calculate the angle measurement correction value for any distance within the range of 10m-90m and any deflection angle within the range of 0°-40° by inputting observation data and incident prism angle.

[0059] like Figure 4 The software has an interface diagram containing two coordinate systems. One coordinate system displays the measurement error of the basic data, and the other coordinate system displays the fitted three-dimensional surface model.

[0060] like Figure 5 Clicking the "Measurement Error" button will display the angle measurement error in the first coordinate system and connect the scattered points in a grid manner.

[0061] like Figure 6 Clicking the "Surface Fitting" button will display the three-dimensional surface model fitted based on the angle error data in the second coordinate system.

[0062] like Figure 7 Enter 91 in the "Enter Observation Distance" field, leave the "Enter Prism Deflection Angle" field blank, and click the "Calculate Correction" button. An input error message will appear: "Distance Exceeds Limit" or "Please enter an angle within the range of 0-40°".

[0063] like Figure 8 Enter 50 in the "Enter Observation Distance" field and 41 in the "Enter Prism Deflection" field. Click the "Calculate Correction" button, and an input error message will appear: "Angle Exceeds Limit" or "Please enter an angle within the range of 0-40′".

[0064] like Figure 9 Enter 50 in the "Enter Observation Distance" field and 20 and 61 in the "Enter Prism Deflection" field. Click the "Calculate Correction" button, and an input error message will appear: "Angle value input error".

[0065] like Figure 10 Enter 50 in the "Enter Observation Distance" field and 25 and 30 in the "Enter Prism Deflection Angle" field. Click the "Calculate Correction" button, and the program will calculate the angle measurement correction for this state based on the entered observation distance and prism deflection angle value, and correct the total station measurement error.

[0066] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions conceived without creative effort should be included within the scope of protection of the present invention.

Claims

1. A method for correcting deviations when a laser is incident on a non-perpendicular prism, characterized in that: Includes the following steps: S1: Using the total station as a reference, measure the distance and angle data of the prism at different distances and different laser incident angles; use the total station to obtain the distance and angle data of three measurements under the conditions of the laser incident angle being left and right deflection of the prism device. S2: Calculate the angle deviation measurement error based on the angle data; calculate the mean horizontal angle measurement values ​​when the prism is deflected to the right and to the left, and record them as μ1 and μ2 respectively. Calculate the angle deviation σ1 and σ2 as the angle deviation measurement error. σ1 is the difference between μ1 and the mean of μ1 and μ2, and σ2 is the difference between μ2 and the mean of μ1 and μ2. S3: Based on the fitted surface Γ model, the least squares method is used to fit and calculate the parameters. With the measured distance and incident angle as variables, the six-parameter fitting three-dimensional surface method is used to obtain the continuous three-dimensional error surface of the angle deviation measurement error with respect to the measured distance and incident angle. S4: Using the observation distance and observation angle as inputs to the continuous three-dimensional error surface model, calculate the angle measurement correction number under this state, and correct the total station measurement error based on the angle measurement correction number.

2. The deviation correction method for a laser non-perpendicular incident prism as described in claim 1, characterized in that, Specifically, S1 refers to: using the total station as a reference, taking the... d 1 meter to d Between 2 meters Δ Several distances with intervals of d meters are used to form several incident angles between θ1° and θ2°, respectively, when the laser incident angle is left and right deflected by the prism device. The distance and angle data of three measurements under each condition are obtained using a total station.

3. The deviation correction method for a laser non-perpendicular incident prism as described in claim 2, characterized in that, The d 1 and d The values ​​of 2 are 10 and 90, and the values ​​of θ1 and θ2 are 0 and 40, respectively.

4. The deviation correction method for a laser non-perpendicular incident prism state according to claim 1, 2, or 3, characterized in that, The calculation process for the angle deviation measurement error in S2 is as follows: Record the three horizontal angle measurements as β1, β2, and β3 when the prism is deflected to the right at a certain distance and at a certain laser incident angle, and the three horizontal angle measurements as У1, У2, and У3 when the prism is deflected to the left at a certain laser incident angle. Calculate the average horizontal angle measurements for the right and left deflections of the prism, denoted as μ1 and μ2 respectively. Calculate the angle deviations σ1 and σ2 as the angle deviation measurement error. The calculation methods for σ1 and σ2 are as follows: ； 。 5. The deviation correction method for a laser non-perpendicular incident prism as described in claim 1, characterized in that, The fitted surface Γ model in S3 is as follows: ； Where X is the measurement distance, Y is the incident angle, and P1, P2, P3, P4, P5, and P6 are six parameters. The six-parameter fitting three-dimensional surface method is used to obtain a continuous three-dimensional error surface of measurement distance-incident angle-measurement error under the observation state.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the deviation correction method for a laser non-perpendicular incident prism as described in any one of claims 1 to 5.

7. A device, characterized in that, Specifically, it is a computer device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the deviation correction method for a laser non-perpendicular incident prism state as described in any one of claims 1 to 5.

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