A coordinate measuring method and system based on a total station

Abstract

A coordinate measurement method and system based on a total station, relating to the field of collimation measurement technology. The method includes: setting a preset number of measurement points on the device to be measured; determining the measurement range of the device based on the measurement points; determining a total station position based on the measurement range, wherein the total station position is used to set up the total station at its location so that the total station can perform angle measurements on all measurement points; determining the positional coordinates of the measurement points in the instrument coordinate system of the total station based on the calibrated coordinates of the measurement points, the azimuth angle observed by the total station, and the zenith distance; and determining the positional relationship of each measurement point based on its positional coordinates in the instrument coordinate system of the total station.

Description

Technical Field

[0001] This invention relates to the field of collimation measurement technology, specifically to a coordinate measurement method and system based on a total station. Background Technology

[0002] A total station is a large-scale measuring instrument primarily used to measure the three-dimensional coordinates and azimuth of engineering structures such as buildings, roads, bridges, and tunnels. It calculates the coordinates of a target object in three-dimensional space by measuring its angles and distances, thus enabling position measurement. Total stations are characterized by high angular accuracy but lower distance accuracy. They are equipped with a GeoCOM communication module, allowing for remote control via wired, wireless, and Bluetooth serial communication.

[0003] There are two traditional methods for total station spatial positioning measurement: the first is simultaneous observation of sides and angles from a single station, and the second is multi-station angle intersection observation. The first method works by placing a standard reflecting sphere at the point to be measured. By aiming the instrument at the center of the reflecting sphere, the horizontal angle, vertical angle, and slope distance from the instrument center to the sphere center are obtained, thus calculating the coordinates of the point. This method primarily uses a free-setting total station, placing the reflecting sphere at known control points and on the equipment to be measured. The total station is then aimed sequentially at the reflecting spheres at the known control points and the equipment points to obtain the three-dimensional coordinates of each point in the total station's coordinate system. Then, through joint adjustment and transformation using common points in the equipment coordinate system and the total station's coordinate system, the position of the reflecting sphere at the equipment point is obtained. Due to the poor distance measurement accuracy of the total station, the positional accuracy of the measurement results obtained using this method is relatively low. The second method involves multiple free station setups with the total station, similar to the first method. The total station is aimed at the center of the reflecting sphere, and the azimuth and zenith distance from the instrument center to the sphere center are obtained. All points are measured at each station, and the coordinates are obtained through angular intersection. This method uses only total station angle observations, offering improved accuracy compared to the first method. However, it is cumbersome and inefficient, and the intersection method significantly impacts the accuracy of the points.

[0004] In summary, due to the low distance measurement accuracy of total stations, high-precision measurements typically require setting up the instrument at multiple stations, all aiming at the target, and using angle intersection to achieve high-precision coordinate measurement. Total stations have optical aiming capabilities, allowing for precise angle aiming with a feature sphere. Compared to the reflective sphere of a laser tracker, the feature sphere of a total station does not require laser reflection, is cheaper, and can be deployed on multiple devices, enabling remote measurement. Current high-precision total station measurements require the instrument to be set up at at least two stations, and coordinates are obtained through intersection of at least two stations. This method is inefficient, cannot achieve automated measurement, and is cumbersome, requiring significant time for personnel. Summary of the Invention

[0005] The main technical problem solved by this invention is to provide a simpler and more accurate coordinate measurement method and system based on a total station.

[0006] According to the first aspect, one embodiment provides a coordinate measurement method based on a total station, comprising:

[0007] Set a preset number of test points on the device under test;

[0008] Determine the test range of the device under test based on the test points;

[0009] A total station point is determined based on the range to be measured. The total station point is used to set up a total station at its location so that the total station can perform angle measurements on all points to be measured.

[0010] The point coordinates of the point to be measured in the instrument coordinate system of the total station are determined based on the calibrated coordinates of the point to be measured in the equipment coordinate system of the equipment to be measured, the azimuth angle observed by the total station, and the zenith distance.

[0011] The positional relationship of each point to be measured is determined based on its positional coordinates in the instrument coordinate system of the total station.

[0012] In one embodiment, determining the position coordinates of the point to be measured in the instrument coordinate system of the total station based on the calibrated coordinates of the point to be measured in the equipment coordinate system of the device to be measured, the azimuth angle observed by the total station, and the zenith distance includes:

[0013] The calibration coordinates of the point to be measured in the equipment coordinate system of the equipment under test are transformed using a transformation matrix to determine the point coordinates of the point to be measured in the instrument coordinate system of the total station; the transformation matrix includes a translation matrix from the equipment coordinate system of the equipment under test to the instrument coordinate system of the total station and a rotation matrix from the equipment coordinate system of the equipment under test to the instrument coordinate system of the total station.

[0014] The rotation matrix is ​​determined by rotating the instrument coordinate system of the total station counterclockwise around the x-axis, y-axis, and z-axis in sequence.

[0015] Substitute the translation and rotation matrices into the transformation matrix to determine the parameter-substituted transformation matrix, and perform total differential on the parameter-substituted transformation matrix to determine the differential transformation matrix;

[0016] Obtain the approximate coordinates of the total station points in the instrument coordinate system of the total station and the approximate coordinates of any point to be measured in the instrument coordinate system of the total station;

[0017] In the instrument coordinate system of the total station, the azimuth angle between the line connecting the total station point and any point to be measured and the y-axis is determined based on the coordinates of the total station point and the coordinates of any point to be measured. The total differential of the azimuth angle is then obtained, and the total differential of the azimuth angle is rewritten as the first error equation. Furthermore, based on the coordinates of the total station point and the coordinates of any point to be measured, the zenith distance from the total station point to the point to be measured is determined. The total differential of the zenith distance is then obtained, and the total differential of the zenith distance is rewritten as the second error equation.

[0018] Substitute the differential transformation matrix into the first error equation and the second error equation to obtain the error solution equation;

[0019] The error equation is solved using the indirect adjustment method to calculate the translation and rotation matrices. The transformation matrix is ​​then determined using the translation and rotation matrices to complete the transformation from the calibration coordinates of the measured point in the equipment coordinate system of the device to the point coordinates of the measured point in the instrument coordinate system of the total station.

[0020] In one embodiment, the step of transforming the calibration coordinates of the point to be measured in the equipment coordinate system of the device under test using a transformation matrix to determine the point coordinates of the point to be measured in the instrument coordinate system of the total station includes:

[0021] The transformation matrix is ​​calculated using the following formula:

[0022]

[0023] Among them, (x i y i , z i () represents the position coordinates of the point to be measured in the instrument coordinate system of the total station. T represents the calibration coordinates of the point to be measured in the device coordinate system of the nth device under test. n R represents the translation matrix from the device coordinate system of the nth device under test to the instrument coordinate system of the total station. n This represents the rotation matrix from the device coordinate system of the nth device under test to the instrument coordinate system of the total station.

[0024] In one embodiment, determining the rotation matrix by sequentially rotating the instrument coordinate system of the total station counterclockwise around the x-axis, y-axis, and z-axis includes:

[0025] The rotation matrix is ​​determined by the following formula:

[0026]

[0027] Among them, R nLet (θ1, θ2, θ3) represent the rotation matrix from the device coordinate system of the nth device under test to the instrument coordinate system of the total station, and let (θ1, θ2, θ3) represent the rotation angle parameters of the rotation matrix of the nth device under test.

[0028] In one embodiment, substituting the translation and rotation matrices into the transformation matrix to determine the parameter replacement transformation matrix includes:

[0029] The matrix for parameter replacement is determined by the following formula:

[0030]

[0031]

[0032]

[0033] Among them, (x i y i , z i () represents the position coordinates of the point to be measured in the instrument coordinate system of the total station. The translation parameters represent the translation matrix of the nth device under test. This represents the rotation angle parameter of the rotation matrix of the nth device under test. This represents the calibration coordinates of the point to be measured in the device coordinate system of the nth device under test.

[0034] In one embodiment, the step of performing total differential on the transformation matrix of the parameter substitution to determine the differential transformation matrix includes:

[0035] The differential transformation matrix is ​​determined by the following formula:

[0036]

[0037]

[0038]

[0039] Among them, dx i Indicates x i Perform differentiation, dy i Indicates the relationship between y i Perform differentiation, dz i Indicates z i Differentiate, (x) i y i , z i () represents the coordinates of the point to be measured in the instrument coordinate system of the total station. Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, The translation parameters represent the translation matrix of the nth device under test. Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, The rotation angle parameter r represents the rotation matrix of the nth device under test. 11 The first coefficient, r, represents the total differential. 12 The second coefficient, r, represents the total differential. 13 The third coefficient, r, represents the total differential. 21 The fourth coefficient, r, represents the total differential. 22 The fifth coefficient, r, represents the total differential. 23 The sixth coefficient, r, represents the total differential. 31 The seventh coefficient, r, represents the total differential. 32 The eighth coefficient, r, represents the total differential. 33 The ninth coefficient represents the total differential.

[0040] In one embodiment, the step of determining the azimuth angle between the line connecting the total station point and the point to be measured and the y-axis based on the coordinates of the total station point and the coordinates of any point to be measured, performing total differential on the azimuth angle to obtain the total differential of the azimuth angle, and rewriting the total differential of the azimuth angle as a first error equation includes:

[0041] The azimuth angle between the line connecting the total station point and any of the points to be measured and the y-axis is calculated using the following formula:

[0042] α sj =ε s +Hz sj

[0043]

[0044] Where, α sj ε represents the azimuth angle. s This represents the positioning angle determined by the total station, in Hz. sj This represents the horizontal angle determined by the total station, (x) s y s (x) represents the coordinates of a point on the total station in the instrument coordinate system. j y j () represents the coordinates of any point to be measured in the instrument coordinate system of the total station;

[0045] The azimuth angle is totally differentialed using the following formula to obtain the total differential of the azimuth angle:

[0046]

[0047] Where, dα sj Indicates α sj Differentiate, S sj It means (x) s y s ) and (x j y j The horizontal distance value;

[0048] The total differential of the azimuth angle can be rewritten as the first error equation using the following formula:

[0049]

[0050] in, dε represents the residual of the horizontal observation. s This indicates that the orientation angle of the total station is differentiated, a sj Denotes the first error parameter, dx s Indicates x s Perform differentiation, b sj Denotes the second error parameter, dy s Indicates the relationship between y s Differentiate, dx j Indicates x j Perform differentiation, dy j Indicates the relationship between y j Perform differentiation, This represents the first error value.

[0051] In one embodiment, the step of determining the zenith distance from the total station point to the arbitrary point to be measured based on the coordinates of the total station point and the coordinates of any point to be measured, performing a total differential on the zenith distance to obtain the total differential of the zenith distance, and rewriting the total differential of the zenith distance into a second error equation includes:

[0052] The zenith distance from the total station point to any of the measured points is calculated using the following formula:

[0053]

[0054] Among them, Ze j Indicates the zenith distance, (x s y s , z s (x) represents the coordinates of the total station point. j y j , z j () represents the coordinates of any point to be measured;

[0055] The zenith distance is obtained by taking the total differential of the zenith distance using the following formula:

[0056]

[0057] Among them, dZe j S represents the differentiation of the zenith distance. sj It means (x) s y s ) and (x j y j The horizontal distance value, S sj It means (x) s y s , z s ) and (x j y j , z j The slope distance value;

[0058] The total differential of the zenith distance is rewritten as the second error equation using the following formula:

[0059]

[0060] in, f represents the zenith distance residual. sj Denotes the third error parameter, dx s Indicates x s Differentiate, g sj Denotes the fourth error parameter, dy s Indicates the relationship between y s Perform differentiation, h sj This represents the fifth error parameter, dz. s Indicates z s Differentiate, dx j Indicates x j Perform differentiation, dy j Indicates the relationship between y j Perform differentiation, dz j Indicates z j Perform differentiation, This represents the second error value.

[0061] In one embodiment, substituting the differential transformation matrix into the first error equation and the second error equation to obtain the error solution equation includes:

[0062] Based on the coordinates of the total station points in the first and second error equations as the origin, the dε is determined. s =0, the dx s =0, the dy s =0, the dz s =0;

[0063] The error solution equation is calculated using the following formula:

[0064]

[0065]

[0066] in, Represents the residuals of horizontal observations. a represents the zenith distance residual. sj b represents the first error parameter. sj f represents the second error parameter. sj G represents the third error parameter. sj The fourth error parameter, h sj Represents the fifth error parameter, r 12 The second coefficient, r, represents the total differential. 13 The third coefficient, r, represents the total differential. 21 The fourth coefficient, r, represents the total differential. 22 The fifth coefficient, r, represents the total differential. 23 The sixth coefficient, r, represents the total differential. 31 The seventh coefficient, r, represents the total differential. 32 The eighth coefficient, r, represents the total differential. 33 The ninth coefficient represents the total differential. Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, This represents the first error value. This represents the second error value.

[0067] According to the second aspect, one embodiment provides a coordinate measurement system based on a total station, comprising:

[0068] A total station is used to measure the azimuth and zenith distance of points on the equipment to be measured.

[0069] The remote data processing unit is used to acquire data measured by the total station and calculate the positional relationship of each point to be measured using the coordinate measurement method based on the total station described in any of the above embodiments.

[0070] According to the above embodiments, a coordinate measurement method and system based on a total station includes: setting a preset number of measurement points on the device under test; determining the measurement range of the device under test based on all the measurement points; setting up only one total station point within the measurement range; and when the total station is located at this total station point, it can perform angle measurements on all measurement points. The point coordinates of the measurement points in the instrument coordinate system of the total station are determined based on the calibrated coordinates of the measurement points in the device coordinate system, the azimuth angle observed by the total station, and the zenith distance. Finally, the positional relationship of each measurement point is determined based on the point coordinates of each measurement point in the instrument coordinate system of the total station. Compared with conventional multi-station measurement, the single-station high-precision measurement method used in this application only requires one instrument and can obtain coordinates with a single setup. Furthermore, this application can achieve remote, non-contact, real-time measurement without human intervention. Measurements can be performed at night or during equipment operation, and multiple systems can be used simultaneously for measurement. The measured coordinate results are automatically calculated through algorithms, and the results can be verified, improving the automation and accuracy of the measurement. Attached Figure Description

[0071] Figure 1 A flowchart illustrating one embodiment of a coordinate measurement method based on a total station;

[0072] Figure 2 This is a schematic diagram illustrating the positional relationship between the equipment under test and the total station in an embodiment of a coordinate measurement method based on a total station.

[0073] Figure 3 This is a flowchart of step S400 of a coordinate measurement method based on a total station according to one embodiment;

[0074] Figure 4 This is a schematic diagram of coordinate transformation in a coordinate measurement method based on a total station, according to one embodiment.

[0075] Figure 5 This is a schematic diagram of a coordinate measurement system based on a total station, according to another embodiment. Detailed Implementation

[0076] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0077] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0078] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0079] With the development of science and technology, more and more large-scale accelerator facilities are under research, construction, and operation. For example, a circular accelerator consists of hundreds or thousands of components. The accuracy of the relative positions of these components is crucial to the stable operation of the accelerator and to the successful beam output. Currently, laser trackers are commonly used to accurately measure the tunnel control points and target points of particle accelerator equipment inside the accelerator tunnel. Laser trackers have the advantages of high angular and distance measurement accuracy. Precise coordinates can be obtained by measuring the corners of the reflector sphere using a laser tracker. However, the laser tracker requires a high-precision reflector sphere target for measurement. Manually placing and adjusting the target sphere to face the laser tracker makes remote measurement impossible, and some locations are too narrow for personnel to access. Furthermore, some areas inside the accelerator tunnel have high radiation doses, which may pose serious health risks. In high-radioactive areas, operators need to be close to the equipment. If the measurement process is prolonged, a cumulative effect will occur, increasing the risk of injury. If reflective spheres are permanently placed on the device under test, this method would require a large number of spheres for measuring numerous device locations. However, reflective spheres are expensive, costing approximately 10,000 yuan each, resulting in high implementation costs. Furthermore, it's impossible to pre-deploy reflective spheres at each location; measurements would have to be taken manually after placing the targets at each point, inevitably leading to close contact with the accelerator device. Therefore, existing commonly used laser tracker measurement methods cannot meet the needs of remote measurement. In addition, in certain special environments where personnel cannot easily reach or enter, remote measurements of specific locations on the accelerator device are necessary.

[0080] A total station is a high-precision surveying instrument primarily used to measure the three-dimensional coordinates and azimuth of objects on the ground. Its principle is based on triangulation and angle measurement. By measuring the horizontal angle and zenith distance between the target point and the instrument, as well as the distance between the target point and the instrument, the three-dimensional coordinates and azimuth of the target point are calculated. Compared to a laser tracker, a total station has higher angle measurement accuracy and a longer measurement range. Laser trackers can be used to track the position and orientation of moving objects and can also measure fixed points, but the measured object requires the placement of high-precision, specialized reflective spheres or other targets, which are expensive and require manual placement, increasing measurement costs and reducing efficiency. A total station can be used for both static and dynamic measurements, enabling high-precision three-dimensional measurement and monitoring of engineering structures of various scales, such as buildings, bridges, roads, and tunnels. It has many types of targets, which are much cheaper, allowing for high-precision measurement and positioning of different target points. It is widely used in civil engineering, mining exploration, architectural surveying, and geological exploration. Furthermore, total station measurements can identify targets using only optical features without the need for specialized measuring reflectors, achieving high angular accuracy. However, total station single-station measurements have low accuracy, with an angular accuracy of 0.5″ and a distance accuracy of 0.6mm + 1ppm. Previous total station methods required multi-station angle intersection to achieve high-precision measurements, which was cumbersome and inefficient. This application, based on the high angular accuracy and remote measurement capabilities of total stations, and considering the need for remote, high-precision coordinate measurements in the highly radioactive areas of particle accelerators, proposes a coordinate measurement method and system based on a total station, which will be described in detail below.

[0081] Please refer to Figure 1 In one embodiment, the coordinate measurement method based on a total station provided in this application includes the following steps.

[0082] Step S100: Set a preset number of test points on the device under test.

[0083] In one implementation, a preset number of test points are set up on the entire device under test that needs to be measured. Please refer to [reference needed]. Figure 2 Each cuboid is a device to be tested, and a test point is set at the top corner of the top surface of each cuboid.

[0084] Step S200: Determine the test range of the device under test based on the test point.

[0085] In one embodiment, after determining the test points of each device under test, the test range is defined based on the test points of each device under test.

[0086] Step S300: Determine a total station location based on the area to be measured. This total station location is used to set up the total station at its position so that the total station can perform angle measurements on all the points to be measured.

[0087] In one embodiment, after determining the measurement range, only one total station point is set within the entire measurement range. The principle for setting up the total station is to be able to measure all measurement points simultaneously, and it is best to set it along the length of the device being measured, as shown in the reference. Figure 2 In this method, the total station point is set on one side of the longer side of the device under test. This allows for the measurement of the angular deviation of each point and avoids overlapping angles. It is important to note that the total station point and the point under test are not on the same concentric circle.

[0088] In one embodiment, the total station is mounted on an automatic leveling platform, which has automatic leveling and height adjustment functions, ensuring the stability of the entire device during the measurement process. The total station and leveling platform are moved and positioned on an AGV (Automated Guided Vehicle) tractor. Under the control of remote software, the AGV carrying the total station platform moves to the total station's location and uses a fixed bracket to stabilize its position, ensuring the stability of the entire system structure. After the position is fixed, the total station is raised or lowered to a height where all the required measurement points can be measured. The leveling platform then automatically levels the station and further verifies with the total station's built-in leveling module whether the required levelness is met. Once the required levelness is met, the total station begins measurement.

[0089] Step S400: Determine the position coordinates of the point to be measured in the instrument coordinate system of the total station based on the calibration coordinates of the point to be measured in the equipment coordinate system of the equipment to be measured, the azimuth angle observed by the total station, and the zenith distance.

[0090] In one embodiment, after placing the total station at the total station point, the total station begins measuring the first device, sequentially aiming at the point to be measured with the smallest angle from the starting direction, and measuring the horizontal angle, zenith distance, and calibrated coordinates of the point in the device's coordinate system. Then, the next device is measured, and the above process is repeated until all target points on all devices have been observed. In another embodiment, remote control software can communicate with the total station via USB data cable, Bluetooth connection, etc., for remote measurement control of the total station, and can control the movement of an automated guided vehicle (AGV) to the total station point for leveling. This remote control software can connect to one or more total stations at a time, further enabling simultaneous measurement by multiple systems. The measured horizontal angle, zenith distance, and calibrated coordinates of the point in the device's coordinate system can be saved with one click for further data processing, which will be detailed below. The remote control software determines the coordinates of the point to be measured in the total station's instrument coordinate system within the device coordinate system of the device under test, thereby enabling further adjustments to the position and parameters of the accelerator components.

[0091] In one embodiment, please refer to Figure 3In step S400, when determining the position coordinates of the point to be measured in the instrument coordinate system of the total station based on the calibration coordinates of the point to be measured in the equipment coordinate system of the equipment to be measured, the azimuth angle observed by the total station, and the zenith distance, the following steps are also included.

[0092] Step S410: Use a transformation matrix to transform the calibration coordinates of the point to be measured in the equipment coordinate system of the device to be measured, so as to determine the point coordinates of the point to be measured in the instrument coordinate system of the total station.

[0093] In one embodiment, please refer to Figure 4 The coordinates of the device under test in the device coordinate system are O_x L y L z L The total station's instrument coordinate system is O_xyz. Since calibration measurements have already been performed, the coordinates of each point on the device under test in the device's coordinate system are known. Let t be the coordinates of the nth device under test. j There are 1 test points, named respectively. The coordinates of the point in the total station's instrument coordinate system are (x... j y i , z i ), The calibration coordinates of the device coordinate system of the device under test are as follows: The calibration coordinates of the points to be measured in the equipment coordinate system of the equipment under test are transformed using a transformation matrix.

[0094]

[0095] Among them, (x i y i , z i () represents the coordinates of the point to be measured in the instrument coordinate system of the total station. T represents the calibration coordinates of the point to be measured in the equipment coordinate system of the nth device under test. n R represents the translation matrix from the device coordinate system of the nth device under test to the instrument coordinate system of the total station. n This represents the rotation matrix from the device coordinate system of the nth device under test to the instrument coordinate system of the total station.

[0096] In one embodiment, let the rotation angles of the three directions of the rotation matrix be θ1, θ2, and θ3, and let the translation parameters of the three directions of the translation matrix be T1, T2, and T3. The rotation angle of the device under test for the nth device is... The translation parameters of the nth device under test are: Therefore, the parameters of the six transformation matrices of the nth device under test are as follows: The above six parameters are unknowns and need to be solved.

[0097] Assume there are m devices to be tested within the testing range, and each device has t. m There are 6 unknowns for each device under test (i.e., the three translation parameters and three rotation angle parameters of the transformation matrix). The horizontal angle and zenith distance of each device under test are measured separately, resulting in 2a observations. When 2a≥6, or a≥3, the system of equations can be solved. Therefore, there are at least 3 devices under test (i.e., the preset number is at least 3) to meet the degree of freedom requirement.

[0098] Step S420: Determine the rotation matrix by rotating the total station's coordinate system counterclockwise around the x-axis, y-axis, and z-axis in sequence.

[0099] In one embodiment, the rotation matrix for rotating the total station's instrument coordinate system counterclockwise around the x-axis is:

[0100]

[0101] in, The rotation matrix representing the instrument coordinate system of the total station about the x-axis. This represents the rotation angle along the x-axis.

[0102] In one embodiment, the rotation matrix for rotating the total station's instrument coordinate system counterclockwise around the y-axis is:

[0103]

[0104] in, This represents the rotation matrix of the total station's instrument coordinate system about the y-axis. This represents the rotation angle along the y-axis.

[0105] In one embodiment, the rotation matrix for the total station's instrument coordinate system rotating counterclockwise around the z-axis is:

[0106]

[0107] in, This represents the rotation matrix of the total station's instrument coordinate system about the z-axis. This represents the rotation angle along the z-axis.

[0108] Therefore, the rotation matrix is:

[0109]

[0110] Among them, R n Let represent the rotation matrix from the device coordinate system of the nth device under test to the instrument coordinate system of the total station. This represents the rotation angle parameter of the rotation matrix of the nth device under test.

[0111] Step S430: Substitute the translation and rotation matrices into the transformation matrix to determine the parameter-substituted transformation matrix, and perform total differential on the parameter-substituted transformation matrix to determine the differential transformation matrix.

[0112] In one embodiment, the translation and rotation matrices are substituted into the transformation matrix to determine the transformation matrix for parameter replacement, specifically:

[0113]

[0114]

[0115]

[0116] Among them, (x i y i , z i () represents the coordinates of the point to be measured in the instrument coordinate system of the total station. The translation parameters represent the translation matrix of the nth device under test. This represents the rotation angle parameter of the rotation matrix of the nth device under test. This represents the calibration coordinates of the point to be measured in the equipment coordinate system of the nth device under test.

[0117] Taking the total differential of the transformation matrix with parameter substitution yields the differential transformation matrix:

[0118]

[0119]

[0120]

[0121] The coefficient for each term is:

[0122] r 11 =0

[0123]

[0124]

[0125]

[0126]

[0127]

[0128]

[0129]

[0130]

[0131] Among them, dx i Indicates x i Perform differentiation, dy i Indicates the relationship between y i Perform differentiation, dz i Indicates z i Differentiate, (x) i y i , z i ( ) represents the coordinates of the point to be measured in the instrument coordinate system of the total station. Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, The translation parameters represent the translation matrix of the nth device under test. Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, The rotation angle parameter r represents the rotation matrix of the nth device under test. 11 The first coefficient, r, represents the total differential. 12 The second coefficient, r, represents the total differential. 13 The third coefficient, r, represents the total differential. 21 The fourth coefficient, r, represents the total differential. 22 The fifth coefficient, r, represents the total differential. 23 The sixth coefficient, r, represents the total differential. 31 The seventh coefficient, r, represents the total differential. 32 The eighth coefficient, r, represents the total differential. 33 The ninth coefficient represents the total differential.

[0132] Step S440: Determine the azimuth angle between the line connecting the total station point and any point to be measured and the y-axis based on the coordinates of the total station point and the coordinates of any point to be measured. Perform total differential on the azimuth angle to obtain the total differential of the azimuth angle, and rewrite the total differential of the azimuth angle as the first error equation.

[0133] In one embodiment, when the total station is used for measurement, the horizontal angle (Hz) from the total station point to any point to be measured can be directly obtained. sj Orientation angle ε of the total station's horizontal circle at zero direction s Calculate the azimuth angle between the line connecting the total station point and any point to be measured and the y-axis using the following formula:

[0134] α sj =ε s +Hz sj

[0135]

[0136] Where, α sj Indicates azimuth, (x s y s (x) represents the coordinates of the total station point. j y j ) represents the coordinates of any point to be measured.

[0137] The total differential of the azimuth angle is obtained by taking the total differential of the azimuth angle using the following formula:

[0138]

[0139] Where, dα sj Indicates α sj Perform differentiation, S sj It means (x) s y s ) and (x j y j The horizontal distance can be calculated using the following formula:

[0140]

[0141] The total differential of the azimuth angle is rewritten using the following formula to generate the first error equation:

[0142]

[0143]

[0144]

[0145]

[0146] in, dε represents the residual of the horizontal observation. s This indicates that the orientation angle of the total station is differentiated, a sj Denotes the first error parameter, dx s Indicates x s Perform differentiation, b sj Denotes the second error parameter, dy s Indicates the relationship between y s Differentiate, dx j Indicates x j Perform differentiation, dy j Indicates the relationship between yj Perform differentiation, ε represents the first error value. s This indicates the orientation angle of the total station's horizontal circle at the zero direction.

[0147] It should be noted that when the exact coordinates of a point cannot be obtained through surveying, mapping, or observation, an estimated approximate coordinate can be provided based on the surrounding environment. Therefore, obtaining the approximate coordinates of a total station point in the total station's instrument coordinate system is crucial. Approximate coordinates of any point to be measured in the instrument coordinate system of the total station To represent the first error parameter and the second error parameter of the first error equation, that is, using and Corresponding calculation and The orientation angle ε here s Also utilize its approximation value To perform the calculations.

[0148] Step S450: Based on the coordinates of the total station point and the coordinates of any point to be measured, determine the zenith distance from the total station point to any point to be measured. Perform total differential on the zenith distance to obtain the total differential of the zenith distance, and rewrite the total differential of the zenith distance as the second error equation.

[0149] The zenith distance from the coordinates of the total station point to any of the points to be measured is calculated using the following formula:

[0150]

[0151] Among them, Ze j Indicates the zenith distance, (x s y s , z s (x) represents the coordinates of the total station point. j y j , z j ) represents the coordinates of any point to be measured.

[0152] The total differential of the zenith distance is obtained by taking the total differential of the zenith distance using the following formula:

[0153]

[0154] Among them, dZe j This indicates that the zenith distance is differentiated. S sj It means (x) s y s ) and (x j y j The horizontal distance value, S sj It means (x) sy s , z s ) and (x j y j , z j The slope distance value.

[0155] The total differential of the zenith distance is rewritten into the second error equation using the following formula:

[0156]

[0157]

[0158]

[0159]

[0160]

[0161] in, f represents the zenith distance residual. sj Denotes the third error parameter, dx s Indicates x s Differentiate, g sj Denotes the fourth error parameter, dy s Indicates the relationship between y s Perform differentiation, h sj This represents the fifth error parameter, dz. s Indicates z s Differentiate, dx j Indicates x j Perform differentiation, dy j Indicates the relationship between y j Perform differentiation, dz j Indicates z j Perform differentiation, This represents the second error value. This represents an approximate value for the zenith distance.

[0162] It should be noted that when the exact coordinates of a point cannot be obtained through surveying, mapping, or observation, an estimated approximate coordinate can be provided based on the surrounding environment. Therefore, obtaining the approximate coordinates of a total station point in the total station's instrument coordinate system is crucial. Approximate coordinates of any point to be measured in the instrument coordinate system of the total station To represent the third, fourth, and fifth error parameters of the second error equation, that is, using and Corresponding calculation and

[0163] Step S460: Substitute the differential transformation matrix into the first error equation and the second error equation to obtain the error solution equation.

[0164] In one embodiment, since the coordinates of the total station points in the first and second error equations are at the origin, and the instrument orientation angle measurement process remains unchanged, therefore dε s =0, dx s =0,dy s =0,dz s =0. Therefore, the first error equation and the second error equation become:

[0165]

[0166]

[0167] Substitute the differential transformation matrix into the first and second error equations to obtain the error solution equation, which is to solve for dx in step S430. i dy i dz i Substitute the expression into dx j dy j dz j In the middle. Because (x i y i , z i Let represent the coordinates of the point to be measured in the instrument coordinate system of the total station. Therefore, the differential transformation matrix of the coordinates of the j-th point to be measured is the same as that in step S430. The error solution equation is then rearranged to obtain:

[0168]

[0169]

[0170] Step S460: Solve the error equation using the indirect adjustment method to calculate the translation matrix and rotation matrix. Use the translation matrix and rotation matrix to determine the transformation matrix to complete the transformation from the calibration coordinates of the test point in the equipment coordinate system of the test equipment to the point coordinates of the test point in the instrument coordinate system of the total station.

[0171] In one embodiment, the calibration coordinates are introduced as known observations, and observations at the same angle are processed together using indirect adjustment. The position coordinates of the test points of each group of test devices in the instrument coordinate system of the total station relative to the calibration coordinates are unknowns, and the parameters are solved using the indirect adjustment method.

[0172] Assume there are m devices under test, and each device has t test points. j There are , then there are a total of For each set of measurement points, there are six unknowns for each group of measurement equipment, which are the six parameters of the transformation matrix. Therefore, the following indirect adjustment model can be established (using the total station points as the coordinate origin):

[0173]

[0174] in,

[0175]

[0176]

[0177]

[0178] Let P be the weight matrix of the observations, then the least squares solution to the above equation is:

[0179] X = (A T PA) -1 A T PL

[0180] Where V represents the observation residual matrix, A represents the coefficient matrix, X represents the correction matrix, and L represents the constant term matrix.

[0181] Substitute the adjustment results into the transformation matrix to obtain the transformation matrix form for each device, and use the calibration coordinate values ​​for calculation. That is, use the transformation matrix and the calibration coordinates of the point to be measured in the device coordinate system of the device to be measured to calculate the point coordinates of the point to be measured in the instrument coordinate system of the total station.

[0182] Please refer to Figure 5 This application also provides a coordinate measurement system 10 based on a total station, including a total station 11 and a remote data processing unit 12. The total station is used to measure the azimuth and zenith distance of the points to be measured on the device to be measured. The remote data processing unit is used to acquire the data measured by the total station and to use a coordinate measurement method based on a total station as described in any of the above embodiments. Since a coordinate measurement method based on a total station has been clearly described in the above embodiments, it will not be repeated here.

[0183] In one embodiment, the total station 10 in the coordinate measurement system 10 of the total station provided in this application is a Leica TM50 image total station. The coordinate measurement system 10 of the total station also includes an automatic leveling platform, an AGV automatic traction remote control robot, an industrial control computer that runs LabVIEW software and sets the serial port, and an RS232 data cable.

[0184] In one embodiment, the industrial control computer includes the following configuration: an Intel CPU; at least two USB 2.0 ports, a Bluetooth 4.0 module, an NVIDIA RTX 2000 GPU; at least two serial ports and an Ethernet port; 512MB or more of memory; 128GB or more of storage space; and LabVIEW software. The automatic leveling platform includes the following configuration: a 2-meter height-adjustable stable support; an electrically driven negative feedback leveling support frame for quick setup and dismantling; and a level gauge. After moving and determining the instrument's station position, high-speed leveling can be achieved within 2 minutes, with a locking function to ensure the leveled state remains unchanged for a sufficient time. After automatic leveling, level information can be extracted through the level gauge. In case of a malfunction, the three support frames can be manually adjusted. The level gauge monitors the level data in real time to ensure level stability during operation. The AGV automatic traction remote control robot is model LXCE-FR3600L manufactured by Bluecore Technology. It has a navigation accuracy of ±20mm, a rated load of 600kg, and can move on surfaces with a maximum slope of 3°. It also has position feedback and monitoring functions.

[0185] In one embodiment, the industrial control computer's automatic control software can remotely send measurement commands to the total station. The total station collects measurement information of the target according to the measurement commands. The measurement information includes the target's azimuth, coordinates, prism height, slope distance, station coordinates, instrument height, etc. After the total station performs the measurement, it can transmit the measurement results back to the industrial control computer for recording. The automatic control software comprises three parts: remote control, data acquisition, and data processing. Its main functions include: controlling the total station trolley to reach the designated station position and setting station position parameters; connecting and communicating between the industrial control computer and the total station; reading the current total station status information, setting serial communication parameters, observation point information, turntable count, and reading meteorological information; automatically starting the measurement task according to the set measurement plan; measuring each point individually based on the observation point information, estimating the coordinates of the measuring points based on known point information, and sending commands to the total station via communication to control its automatic rotation and target recognition for angle and distance measurements; controlling the total station's power on / off and setting meteorological parameters such as temperature, air pressure, and humidity via the serial communication port; saving the measurement results with one click after the measurement task is completed; generating an integrated file by combining the theoretical position relationship of the equipment with the observed values, performing adjustment calculations on the observed measurements, and obtaining the equipment point coordinates in the equipment coordinate system.

[0186] The coordinate measurement system of the total station and its working method are described in detail below with reference to specific embodiments.

[0187] The relative positions of two adjacent magnets inside the storage ring magnet unit are pre-collimated using a coordinate measurement system. Each magnet has four target seats above it, and the calibration values ​​are known. The specific implementation is as follows:

[0188] The leveling platform features a 2-meter adjustable and stable support bracket, three automatic lifting and leveling support feet, and a level gauge for high-precision leveling. After determining the instrument's location, it can achieve high-speed leveling within 2 minutes and has a locking function to ensure the leveled state remains stable for a sufficient time. After automatic leveling, the level information can be extracted using the level gauge. In case of malfunction, the three support brackets can be manually adjusted. The level gauge monitors the level data in real time to ensure level stability during operation. The total station is used to measure the positional relationship of various points on the equipment under test. It employs a forward measurement method and allows for free station setup. After determining the orientation angle, the horizontal angle and zenith distance of each point are measured. This total station is a Leica TM50, equipped with a CCD camera and telescope, achieving an angle measurement accuracy of 0.5 seconds. The total station can be remotely controlled via serial communication to determine communication parameters. A mobile AGV (Automated Guided Vehicle) is used in the mobile total station automatic measurement system. Its maximum moving speed is 1 m / s. The mobile AGV is a model LXCE-FR3600L manufactured by Bluecore Technology, with a navigation accuracy of ±20 mm, a rated load of 600 kg, and a maximum road surface slope of 3°. It also features position feedback and monitoring functions.

[0189] The total station is placed on an automatic leveling platform, which is fixed to the platform via a base. The position of the automatic platform is moved and determined by an AGV-traction remote-controlled robot. After reaching the designated station location, the traction robot lowers the platform to the ground. The platform then undergoes height and automatic leveling adjustments. The automatic leveling is achieved through the lifting and lowering of a 16-18 telescopic support frame. The electric drive system provides feedback adjustment via a level gauge displaying the levelness. Once leveled and stable, measurements begin. During measurement, only the horizontal angle and zenith distance are recorded. The distance measurement results can be used as initial approximations in the adjustment calculation process. The equipment coordinate calculation process is given later; from the results, we can obtain the relative positional relationships between the magnets. Simultaneously, the instrument's position and orientation must remain unchanged during each automatic measurement experiment to ensure that the directional relationships corresponding to the angle observations obtained at each measurement point are definite and unique. Each device requires a constant orientation angle during total station measurements to obtain a definite angular relationship (direction determination) between the device's measurement points, thereby calculating the positional relationships and performing adjustment solutions.

[0190] After installing the total station onto the leveling platform, adjust the three bolts to ensure the total station's level is aligned with the leveling gauge on the trolley, and that the vertical axis of the total station is perpendicular to the plane of the trolley. Before each single-station measurement, set the total station's measurement point as the coordinate origin, and the vertical direction as the z-axis. In actual measurements, to avoid multiple solutions, it is recommended that the instrument and the measurement point not lie on the same plane circle. Install the target ball of the total station on each device beforehand, and ensure the position of the target balls on each device is determined, as each device has corresponding factory calibration values, i.e., the coordinate information of the target position at each measurement point.

[0191] The specific working methods during each measurement process include:

[0192] STEP 1: Remotely start the total station automatic measurement system. Use serial port control or timed finger remote switch controller to turn on the total station. Move the control platform to the designated position near the device to be measured, adjust the height, and the pre-collimation position is generally within 5 meters. All points to be measured can be measured as the standard.

[0193] STEP 2: Raise the three support frames of the leveling platform and automatically level the total station to ensure the levelness is less than 1″.

[0194] STEP3: Initialize the total station, perform automatic compensation, and input the meteorological parameters obtained from the meteorological meter.

[0195] STEP4: Start measurement, select target type, and provide instructions via remote serial port to rotate the total station's azimuth to the specified position, point to the starting orientation angle point, and record it;

[0196] STEP 5: Measure the first device with known calibration values. After determining the starting direction, measure the angles between each target point and the starting point in a clockwise order. Measure the horizontal angle and zenith distance respectively, and select the number of times the turntable is measured. Only record the horizontal angle and zenith distance in the observations, and save the observation data.

[0197] STEP 6: Measure the second device. The test mode is the same as the first device, and the orientation angle remains unchanged. Perform angle measurement. The measurement results include the horizontal angle and the zenith distance. Save the observation data.

[0198] STEP7: Input all the observations and the relationship between known points into the adjustment application for solution. Finally, calculate the equipment point coordinates in the total station coordinate system and compare the results with the theoretical calibration coordinates of the equipment. If there is a large deviation, perform automatic measurement again.

[0199] STEP 8: Once the measurement adjustment results meet the expected accuracy, save the process and results files. Remotely shut down the total station's automatic angle measurement system, raise the leveling platform support to mount the AGV robot, and return the AGV robot to its original position for charging and maintenance.

[0200] Compared to conventional multi-station measurements, this application employs single-station high-precision measurement, requiring only one instrument and a single station setup to obtain coordinates. This application pre-places the target sphere on the device under test and performs automatic measurement, avoiding manual operation of the reflector sphere near highly radioactive or activated equipment areas, thus ensuring personnel safety. Furthermore, since the target reflector sphere is significantly cheaper than the reflector sphere used in laser trackers, costs are greatly reduced, the amount of manual work is decreased, and measurement efficiency is improved. The total station single-station high-precision automatic remote measurement designed in this invention enables remote, non-contact, real-time measurement without manual operation. Measurements can be performed at night or during equipment operation, and multiple systems can be used simultaneously for measurement. The algorithm automatically calculates the measured coordinate results and allows for verification, improving the automation and accuracy of the measurement.

[0201] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A coordinate measurement method based on a total station, characterized in that, include: Set a preset number of test points on the device under test; Determine the test range of the device under test based on the test points; A total station point is determined based on the range to be measured. The total station point is used to set up a total station at its location so that the total station can perform angle measurements on all points to be measured. The calibration coordinates of the point to be measured in the equipment coordinate system of the equipment under test are transformed using a transformation matrix to determine the point coordinates of the point to be measured in the instrument coordinate system of the total station; the transformation matrix includes a translation matrix from the equipment coordinate system of the equipment under test to the instrument coordinate system of the total station and a rotation matrix from the equipment coordinate system of the equipment under test to the instrument coordinate system of the total station. The rotation matrix is ​​determined by rotating the instrument coordinate system of the total station counterclockwise around the x-axis, y-axis, and z-axis in sequence. Substitute the translation and rotation matrices into the transformation matrix to determine the parameter-substituted transformation matrix, and perform total differential on the parameter-substituted transformation matrix to determine the differential transformation matrix; Obtain the coordinates of the total station points in the total station's instrument coordinate system and the coordinates of any point to be measured in the total station's instrument coordinate system; In the instrument coordinate system of the total station, the azimuth angle between the line connecting the total station point and the point to be measured and the y-axis is determined according to the coordinates of the total station point and the coordinates of any point to be measured. The azimuth angle is then subjected to total differential to obtain the azimuth angle total differential, and the azimuth angle total differential is rewritten as the first error equation. Based on the coordinates of the total station point and the coordinates of any point to be measured, the zenith distance from the total station point to any point to be measured is determined. The total differential of the zenith distance is then obtained, and the total differential of the zenith distance is rewritten as the second error equation. Substitute the differential transformation matrix into the first error equation and the second error equation to obtain the error solution equation; The error equations are solved using the indirect adjustment method to calculate the translation and rotation matrices. The transformation matrix is ​​determined using the translation and rotation matrices to complete the transformation from the calibration coordinates of the point to be measured in the equipment coordinate system of the device to be measured to the point coordinates of the point to be measured in the instrument coordinate system of the total station. The positional relationship of each point to be measured is determined based on its positional coordinates in the instrument coordinate system of the total station.

2. The coordinate measurement method based on a total station as described in claim 1, characterized in that, The process of transforming the calibration coordinates of the point to be measured in the equipment coordinate system of the device under test using a transformation matrix to determine the point's position coordinates in the instrument coordinate system of the total station includes: The transformation matrix is ​​calculated using the following formula: ， in,( , , () represents the position coordinates of the point to be measured in the instrument coordinate system of the total station. , , T represents the calibration coordinates of the point to be measured in the device coordinate system of the nth device under test. n R represents the translation matrix from the device coordinate system of the nth device under test to the instrument coordinate system of the total station. n This represents the rotation matrix from the device coordinate system of the nth device under test to the instrument coordinate system of the total station.

3. The coordinate measurement method based on a total station as described in claim 2, characterized in that, The step of determining the rotation matrix by sequentially rotating the instrument coordinate system of the total station counterclockwise around the x-axis, y-axis, and z-axis includes: The rotation matrix is ​​determined by the following formula: ， Among them, R n This represents the rotation matrix from the device coordinate system of the nth device under test to the instrument coordinate system of the total station. , , ) represents the rotation angle parameter of the rotation matrix of the nth device under test.

4. The coordinate measurement method based on a total station as described in claim 3, characterized in that, The step of substituting the translation and rotation matrices into the transformation matrix to determine the parameter replacement transformation matrix includes: The matrix for parameter replacement is determined by the following formula: ， ， ， in,( , , () represents the position coordinates of the point to be measured in the instrument coordinate system of the total station. , , ) represents the translation parameter of the translation matrix of the nth device under test, ( , , ) represents the rotation angle parameter of the rotation matrix of the nth device under test, ( , , ) represents the calibration coordinates of the point to be measured in the equipment coordinate system of the nth device under test.

5. The coordinate measurement method based on a total station as described in claim 4, characterized in that, The step of performing total differential on the transformation matrix of the parameter replacement to determine the differential transformation matrix includes: The differential transformation matrix is ​​determined by the following formula: ， ， ， in, Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, ( , , ( ) represents the coordinates of the point to be measured in the instrument coordinate system of the total station. Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, ( , , () represents the translation parameter of the translation matrix of the nth device under test. Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, ( , , () represents the rotation angle parameter of the rotation matrix of the nth device under test, r 11 The first coefficient, r, represents the total differential. 12 The second coefficient, r, represents the total differential. 13 The third coefficient, r, represents the total differential. 21 The fourth coefficient, r, represents the total differential. 22 The fifth coefficient, r, represents the total differential. 23 The sixth coefficient, r, represents the total differential. 31 The seventh coefficient, r, represents the total differential. 32 The eighth coefficient, r, represents the total differential. 33 The ninth coefficient represents the total differential.

6. The coordinate measurement method based on a total station as described in claim 5, characterized in that, The azimuth angle between the line connecting the total station point and any point to be measured and the y-axis is determined based on the coordinates of the total station point and the coordinates of any point to be measured. The azimuth angle is then subjected to total differential to obtain the total differential of the azimuth angle. This total differential of the azimuth angle is rewritten as the first error equation, including: The azimuth angle between the line connecting the total station point and any of the points to be measured and the y-axis is calculated using the following formula: ， ， in, Indicates the azimuth angle, This indicates the positioning angle determined by the total station. This represents the horizontal angle determined by the total station. , This indicates the coordinates of a point on the total station in the instrument coordinate system. , () represents the coordinates of any point to be measured in the instrument coordinate system of the total station; The azimuth angle is totally differentialed using the following formula to obtain the total differential of the azimuth angle: ， in, Indicates to Perform differentiation, express( , )and( , The horizontal distance value; The total differential of the azimuth angle is rewritten as the first error equation using the following formula: ， in, Represents the residuals of horizontal observations. This indicates that the orientation angle of the total station is differentiated. Indicates the first error parameter. Indicates to Perform differentiation, This represents the second error parameter. Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, This represents the first error value.

7. The coordinate measurement method based on a total station as described in claim 6, characterized in that, The process involves determining the zenith distance from the total station point to any point to be measured based on the coordinates of the total station point and the coordinates of any point to be measured. The zenith distance is then differentially calculated to obtain the total differential of the zenith distance. This total differential of the zenith distance is rewritten as a second error equation, including: The zenith distance from the total station point to any of the measured points is calculated using the following formula: ， in, Indicates zenith distance, ( , , ) represents the coordinates of the total station point. , , () represents the coordinates of any point to be measured; The zenith distance is obtained by taking the total differential of the zenith distance using the following formula: ， in, This indicates that the zenith distance is differentiated. express( , )and( , The horizontal distance value, express( , , )and( , , The slope distance value; The total differential of the zenith distance is rewritten as the second error equation using the following formula: ， in, This represents the zenith distance residual. This represents the third error parameter. Indicates to Perform differentiation, This represents the fourth error parameter. Indicates to Perform differentiation, This represents the fifth error parameter. Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, This represents the second error value.

8. The coordinate measurement method based on a total station as described in claim 7, characterized in that, The step of substituting the differential transformation matrix into the first error equation and the second error equation to obtain the error solution equation includes: Based on the coordinates of the total station points in the first and second error equations as the origin, determine the... =0, the =0, the =0, the =0; The error solution equation is calculated using the following formula: ， ， in, Represents the residuals of horizontal observations. This represents the zenith distance residual. Indicates the first error parameter. This represents the second error parameter. This represents the third error parameter. This represents the fourth error parameter. Represents the fifth error parameter, r 12 The second coefficient, r, represents the total differential. 13 The third coefficient, r, represents the total differential. 21 The fourth coefficient, r, represents the total differential. 22 The fifth coefficient, r, represents the total differential. 23 The sixth coefficient, r, represents the total differential. 31 The seventh coefficient, r, represents the total differential. 32 The eighth coefficient, r, represents the total differential. 33 The ninth coefficient represents the total differential. Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, Indicates to Perform differentiation, This represents the first error value. This represents the second error value.

9. A coordinate measurement system based on a total station, characterized in that, include: A total station is used to measure the azimuth and zenith distance of points on the equipment to be measured. A remote data processing unit is used to acquire data measured by a total station and to calculate the positional relationship of each point to be measured using the coordinate measurement method based on a total station as described in any one of claims 1-8.

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