Lofting method and measurement system

Abstract

The present disclosure provides a layout method for a measurement system, the measurement system includes a navigation module, a laser ranging module and a centering rod, the navigation module includes an inertial measurement unit and a GNSS positioning unit, the method includes: obtaining the projection coordinates of the position vector of the antenna phase center in a first coordinate system through the GNSS positioning unit; obtaining the distance information between the laser emission point and the laser irradiation point; calculating the projection coordinates of the laser emission point in the first coordinate system and the projection coordinates of the laser irradiation point in the first coordinate system based on the projection coordinates and the distance information; further calculating the corresponding layout error according to the above calculation results; and adjusting the centering rod according to the layout error. The layout method can realize long-distance non-contact layout without continuous movement and searching, and only needs to stabilize the centering rod to prevent the laser from shaking.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a layout method and a measurement system. Background Art

[0002] Engineering stakeout refers to finding the known points in the design drawings or point database in the actual environment using certain surveying equipment and methods. At present, in engineering stakeout, surveyors usually use high-precision inertial navigation RTK (Real-time kinematic, real-time dynamic carrier phase differential) receiver equipment, handbooks and centering rods to find the points by themselves. This stakeout method requires surveyors to constantly search around the stakeout point. The stakeout process is not intuitive enough, and the centering rod cannot be fixed for position sampling in some special terrains, and the work efficiency is very slow. Summary of the invention

[0003] The purpose of the present disclosure is to provide a layout method and a measurement system, which can simplify the layout steps while realizing long-distance non-contact layout by combining a laser ranging module with a centering rod, and can stabilize the laser layout by the centering rod.

[0004] At least one embodiment of the present disclosure provides a layout method for a measurement system, wherein the measurement system includes a navigation module, a laser ranging module, and a support portion, wherein the navigation module includes an inertial measurement unit and a GNSS positioning unit, and the method includes: obtaining, by the GNSS positioning unit, a projection coordinate of a position vector of an antenna phase center in a first coordinate system Get the distance information between the laser emission point and the laser irradiation point; based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; the corresponding layout error is calculated according to the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be laid out in the first coordinate system; and the support part is laid out according to the layout error to irradiate the laser irradiation point onto the point to be laid out.

[0005] For example, the lofting method provided by at least one embodiment of the present disclosure further includes: initializing a navigation module to obtain an initial value of a heading angle of the measurement system.

[0006] For example, in the lofting method provided by at least one embodiment of the present disclosure, based on the projection coordinates Calculating the projection coordinates S of the laser emission point in the first coordinate system includes: obtaining the projection coordinates of the coordinate vector from the antenna phase center to the laser emission point in the second coordinate system The projection coordinate S is calculated using the following formula: in, Represents the coordinate transformation matrix from the first coordinate system to the second coordinate system; the origin of the first coordinate system is located at the center of the inertial measurement unit, the x-axis is parallel to the local horizontal plane and points to the geographic north, the y-axis is parallel to the local horizontal plane and points to the geographic east, the z-axis, the x-axis and the y-axis form a right-handed coordinate system, and the origin of the second coordinate system is located at the center of the inertial measurement unit, the x-axis is perpendicular to the measurement system panel and points inward, the y-axis is perpendicular to the x-axis and points to the right of the measurement system, and the z-axis, the x-axis and the y-axis form a right-handed coordinate system.

[0007] For example, in the lofting method provided by at least one embodiment of the present disclosure, the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information, including: calculating the projection coordinates of the laser irradiation point in the second coordinate system according to the distance information and using the following formula: in, represents the projection coordinates of the laser irradiation point in the laser coordinate system, Indicates the spatial position relationship between the second coordinate system and the laser coordinate system. The origin of the laser coordinate system is the laser emission point. The y-axis of the laser coordinate system is the projection coordinate of the coordinate vector from the laser emission point to the laser irradiation point on the local horizontal plane. The x-axis and y-axis of the laser coordinate system form a right-handed coordinate system. The projection coordinate M is calculated using the following formula: in, Represents the coordinate transformation matrix from the first coordinate system to the second coordinate system.

[0008] For example, in the lofting method provided in at least one embodiment of the present disclosure, the lofting error includes a first lofting error and a second lofting error, and the corresponding lofting error is calculated according to the projection coordinates S, the projection coordinates M and the position information of the point to be lofted, including: calculating the vector according to the projection coordinates M and the projection coordinates P Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinates S and M Establish the user's perspective coordinate system based on the heading angle and heading angle The first lofting error and the second lofting error in the user view coordinate system are calculated, wherein the origin of the user view coordinate system is the laser irradiation point, the positive direction of the x-axis coincides with the direction of the laser beam, and the y-axis is perpendicular to the x-axis to form a right-handed coordinate system.

[0009] For example, in the lofting method provided in at least one embodiment of the present disclosure, the lofting error includes the rotation angle and the shaking angle of the measurement system, and the corresponding lofting error is calculated according to the projection coordinate S, the projection coordinate M, and the projection coordinate P of the point to be lofted in the first coordinate system, including: calculating the vector according to the projection coordinate M and the projection coordinate P Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinates S and M The rotation angle of the measuring system is calculated according to the following formula: Calculate the angle α1 between the projection coordinate P and the horizontal plane of the first coordinate system; calculate the angle α2 between the projection coordinate M and the horizontal plane of the first coordinate system; calculate the shaking angle of the measurement system according to the following formula: △α=α1-α2.

[0010] For example, in the lofting method provided in at least one embodiment of the present disclosure, the vector is calculated based on the projection coordinates M and the projection coordinates P. Heading angle Includes: Calculate the heading angle according to the following formula Calculate the heading angle of the laser beam direction according to the projection coordinates S and M Includes: Calculate the heading angle according to the following formula The subscript E represents the coordinate component of the geographic east direction in the first coordinate system, and the subscript N represents the coordinate component of the geographic north direction in the first coordinate system.

[0011] For example, in the lofting method provided by at least one embodiment of the present disclosure, calculating the first lofting error and the second lofting error in the user viewing angle coordinate system includes: calculating the first lofting error according to the following formula: The second stakeout error is calculated according to the following formula:

[0012] For example, in the lofting method provided in at least one embodiment of the present disclosure, calculating the angle α1 between the projection coordinate P and the horizontal plane of the first coordinate system includes: calculating the angle α1 according to the following formula: Calculating the angle α2 between the projection coordinate M and the horizontal plane of the first coordinate system includes: calculating the angle α2 according to the following formula: Among them, the subscript E represents the coordinate component of the geographic east direction in the first coordinate system, the subscript N represents the coordinate component of the geographic north direction in the first coordinate system, and the subscript U represents the coordinate component of the elevation direction in the first coordinate system.

[0013] For example, the staking out method provided by at least one embodiment of the present disclosure further includes: in the event of an obstacle blocking the staking out process, prompting the surveyor to move to the other side of the obstacle to perform the staking out operation.

[0014] At least one embodiment of the present disclosure further provides a measurement system for implementing the layout method provided by at least one embodiment of the present disclosure, the measurement system comprising: a navigation module, a laser ranging module, a support part and a calculation module, the calculation module being configured to The projection coordinates S of the laser emission point in the first coordinate system are calculated based on the distance information; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; and the corresponding layout error is calculated based on the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be laid out in the first coordinate system.

[0015] At least one embodiment of the present disclosure further provides a computer-readable medium having executable instructions stored thereon, and when the instructions are executed by one or more processors, the following steps in the lofting method provided by at least one embodiment of the present disclosure are performed: based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; the corresponding layout error is calculated according to the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be laid out in the first coordinate system.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0017] The lofting method disclosed in the present invention has the following beneficial effects:

[0018] This layout method combines the laser ranging module and the centering rod to achieve long-distance non-contact layout without the user having to move and search continuously. The laser can be prevented from shaking by simply stabilizing the centering rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features, objects and advantages of the present disclosure will become more apparent from a reading of the detailed description of non-limiting embodiments made with reference to the following accompanying drawings.

[0020] Figure 1 A schematic flow chart of a lofting method provided for at least one embodiment of the present disclosure;

[0021] Figure 2 A schematic diagram of an example of a measurement system provided for at least one embodiment of the present disclosure;

[0022] Figure 3 A schematic diagram of laser lofting is shown;

[0023] Figure 4 A schematic diagram showing the situation where there are obstacles blocking the layout process;

[0024] Figure 5 A schematic block diagram of a measurement system provided by at least one embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0026] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one", "one" or "the" do not indicate quantitative restrictions, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and other similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0027] In order to solve the above technical problems, at least one embodiment of the present disclosure provides a layout method for a measurement system, wherein the measurement system includes a navigation module, a laser ranging module and a support part. In the embodiment, the support part is a centering rod as an example, and the navigation module includes an inertial measurement unit and a GNSS positioning unit. The method includes: obtaining a projection coordinate r of a position vector of an antenna phase center in a first coordinate system through the GNSS positioning unit. I n ; Obtain the distance information between the laser emission point and the laser irradiation point; Based on the projection coordinate r I n The projection coordinates S of the laser emission point in the first coordinate system are calculated; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; the corresponding layout error is calculated according to the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be laid out in the first coordinate system; and the centering rod is laid out according to the layout error to irradiate the laser irradiation point onto the point to be laid out.

[0028] The layout method provided by the embodiment of the present disclosure combines the laser ranging module and the centering rod, so that the operating radius of the measurement system can reach tens of meters. The user can achieve long-distance non-contact layout without constant movement and searching, and only needs to stabilize the centering rod to prevent the laser from shaking.

[0029] At least one embodiment of the present disclosure also provides a measurement system using the above-mentioned layout method.

[0030] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, but the present disclosure is not limited to these specific embodiments.

[0031] Figure 1 A schematic flow chart of a lofting method provided for at least one embodiment of the present disclosure.

[0032] For example, the staking method is used in a surveying system, for example, the surveying system may be an RTK receiver. An example structure of a surveying system is shown in Figure 2 Shown in.

[0033] like Figure 2 As shown, the measurement system includes a navigation module 1, a laser ranging module 2, a processing module 3, a transmission module 4, an electronic notebook and a bracket 5, and a centering rod 6. 7 is the point to be staked out.

[0034] The navigation module 1 is mainly composed of an inertial measurement unit, a GNSS (Global Navigation Satellite System) positioning unit, and a Kalman filter. The GNSS positioning unit can obtain high-precision position information of the measurement system, and the Kalman filter can fuse the position information with the angular rate and specific force information from the inertial measurement unit to obtain high-frequency position and attitude information of the inertial measurement unit.

[0035] The laser distance measurement module 2 is installed at the front end of the measurement system, including a single-line laser distance meter and a CPU processor. The laser distance meter irradiates a laser to a point in space, obtains the phase observation value, and obtains the distance information between the point and the laser emission point through processing by the CPU processor.

[0036] The processing module 3 calculates and obtains the position information of the laser emission point and the laser irradiation point, and then processes the position information and the position information of the point to be laid out to obtain the required laying out error.

[0037] The transmission module 4 is mainly used to obtain the position information of the points to be staked out from the electronic notebook 5 , and to transmit the stakeout errors obtained by the processing module 3 to the electronic notebook 5 .

[0038] like Figure 1 As shown, the layout method includes the following steps S101 to S106.

[0039] Step S101: Obtain the projection coordinates of the position vector of the antenna phase center in the first coordinate system through the GNSS positioning unit

[0040] For example, the origin of the first coordinate system is located at the center of the inertial measurement unit, the x-axis is parallel to the local horizontal plane and points to the geographic north, the y-axis is parallel to the local horizontal plane and points to the geographic east, and the z-axis, the x-axis, and the y-axis form a right-handed coordinate system.

[0041] For example, connect the base of the measurement system to the centering pole on the open surface of the area to be staked out, turn on the measurement system, configure the measurement system and access the differential data (for example, network differential data, which usually includes the coordinates of the base station, original observation information, differential correction numbers, etc.), and obtain the projection coordinates of the antenna phase center.

[0042] For example, manually input the coordinates of the point to be staked out in the electronic notebook, or select the point to be staked out from the point database, and transmit the position information of the point to be staked out to the measurement system through the transmission module, for example, through wired, wireless or other communication means. The position information of the tip of the centering rod is obtained through the tilt compensation of the centering rod, and compared with the position information of the point to be staked out. If the point to be staked out is near the tip of the rod and can be easily moved to the point, the tip of the rod can be directly moved to the position of the point to be staked out to complete the stakeout. If the stakeout point is far away or it is inconvenient to move due to obstacles, turn on the laser ranging module and continue with steps S102 to S106.

[0043] Step S102: Acquire the distance information between the laser emission point and the laser irradiation point.

[0044] For example, the distance information between the laser emission point and the laser irradiation point is obtained through the laser ranging module.

[0045] Step S103: Based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated.

[0046] Step S104: Calculate the projection coordinates M of the laser irradiation point in the first coordinate system based on the projection coordinates S and the distance information.

[0047] Step S105: Calculate the corresponding layout error according to the projection coordinate S, the projection coordinate M and the projection coordinate P of the point to be laid out in the first coordinate system.

[0048] Step S106: performing a stakeout operation on the centering rod according to the stakeout error to irradiate the laser irradiation point onto the point to be staked out.

[0049] For example, the lofting method provided by the embodiment of the present disclosure may further include initializing a navigation module to obtain an initial value of a heading angle of the measurement system.

[0050] For example, first hold the centering rod of the measurement system, keep the measurement system still for a few seconds, obtain the initial values ​​of the roll angle and pitch angle of the second coordinate system relative to the first coordinate system, and then continuously shake the centering rod to obtain the initial value of the heading angle of the second coordinate system relative to the first coordinate system and make the Kalman filter converge, thus completing the initialization of the navigation module.

[0051] For example, the origin of the second coordinate system is located at the center of the inertial measurement unit, the x-axis is perpendicular to the measurement system panel and points inward, the y-axis is perpendicular to the x-axis and points to the right of the measurement system, and the z-axis, x-axis, and y-axis form a right-handed coordinate system.

[0052] For example, in some embodiments of the present disclosure, step S103 may include: obtaining the projection coordinates of the coordinate vector from the antenna phase center to the laser emission point in the second coordinate system The projection coordinate S is calculated using the following formula: in, Represents the coordinate transformation matrix from the first coordinate system to the second coordinate system.

[0053] For example, the projected coordinates It can be obtained by actual measurement with a ruler or by measuring the structural design drawings of the system.

[0054] For example, in some embodiments of the present disclosure, step S104 may include: calculating the projection coordinates of the laser irradiation point in the second coordinate system according to the distance information and using the following formula: The projection coordinates M are calculated using the following formula:

[0055] in, represents the spatial position relationship between the second coordinate system and the laser coordinate system, Represents the coordinate transformation matrix from the first coordinate system to the second coordinate system.

[0056] For example, the origin of the laser coordinate system is the laser emission point, the y-axis of the laser coordinate system is the projection coordinate of the coordinate vector from the laser emission point to the laser irradiation point on the local horizontal plane, and the x-axis and y-axis of the laser coordinate system constitute a right-handed coordinate system.

[0057] For example, Including rotational and translational relationships, they can be obtained through the structural design drawings of the measurement system.

[0058] Figure 3 A schematic diagram of laser lofting is shown. Figure 3As shown in the figure, M and P are the projection coordinates mentioned above, and the direction of MF represents the direction of the user's line of sight, which can also represent the direction of the laser beam. FMR represents the user's perspective coordinate system established with the laser irradiation point as the origin. The coordinate axis MF coincides with the positive direction of the user's line of sight, and the coordinate axis MR is perpendicular to MF to form a right-handed coordinate system. The layout error and layout operation in the user's perspective coordinate system are more intuitive.

[0059] Combine the following Figure 3 Describe two methods for calculating stakeout errors.

[0060] The first method to calculate the stakeout error:

[0061] For example, in some embodiments of the present disclosure, the lofting error includes a first lofting error and a second lofting error, and step S105 may include the following steps S301 to S303.

[0062] Step S301: Calculate the vector according to the projection coordinates M and P Heading angle

[0063] For example, the heading angle can be calculated according to the following formula

[0064] Where arctan2() represents the inverse tangent function, the heading angle range is (-π,π], the angle is positive if it rotates counterclockwise from the geographic north, and negative if it rotates clockwise; the subscript E represents the coordinate component of the geographic east direction in the first coordinate system, and the subscript N represents the coordinate component of the geographic north direction in the first coordinate system.

[0065] Step S302: Calculate the heading angle of the laser beam direction according to the projection coordinates S and M

[0066] For example, the heading angle can be calculated according to the following formula

[0067] Step S303: Based on the heading angle and heading angle Calculate the first lofting error and the second lofting error in the user's viewing angle coordinate system.

[0068] For example, the first stakeout error and the second stakeout error can be calculated according to the following formula:

[0069]

[0070]

[0071] The user can move the measurement system according to the first and second lofting errors, thereby moving the laser irradiation point to complete the lofting.

[0072] The second method to calculate the stakeout error:

[0073] For example, in some embodiments of the present disclosure, the lofting error includes the rotation angle and the shake angle of the measurement system. Step S105 may include the following steps S311 to S314.

[0074] The vector is calculated based on the projection coordinates M and P. Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinates S and M The rotation angle of the measuring system is calculated according to the following formula: Calculate the angle α1 between the projection coordinate P and the horizontal plane of the first coordinate system; calculate the angle α2 between the projection coordinate M and the horizontal plane of the first coordinate system; calculate the shaking angle of the measurement system according to the following formula: △α=α1-α2.

[0075] Step S311: Calculate the vector according to the projection coordinates M and P Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinates S and M

[0076] Vector Heading angle and the heading angle of the laser beam direction The calculation can be performed by referring to the above steps S301 and S302, which will not be described in detail here.

[0077] Step S312: Determine the direction and angle of rotation of the measurement system according to the following formula, so that the user's line of sight and coordinate vector on the local horizontal plane projection are coincide:

[0078] in, The positive and negative signs represent the direction of the rotation angle, positive means counterclockwise rotation, and negative means clockwise rotation. The absolute value of indicates the specific angle to be rotated. In particular, if When the absolute value of is greater than π, it is necessary to convert it to rotate in the opposite direction for the sake of simplicity. angle.

[0079] Step S313: Calculate the angle α1 between the projection coordinate P and the horizontal plane of the first coordinate system; Calculate the angle α2 between the projection coordinate M and the horizontal plane of the first coordinate system.

[0080] For example, the angle α1 can be calculated according to the following formula: For example, the angle α2 can be calculated according to the following formula:

[0081] Wherein, the subscript U represents the coordinate component of the elevation direction in the first coordinate system; the value range of the angle α1 and the angle α2 is The positive direction of the U axis is positive, and the negative direction is negative.

[0082] Step S314: Calculate the shake angle of the measurement system according to the following formula: Δα=α1-α2.

[0083] Among them, the positive and negative signs of Δα indicate the direction of the front and rear shaking of the centering pole, a positive sign indicates shaking toward the rear of the user, and a negative sign indicates shaking toward the front of the user. The absolute value of Δα indicates the specific angle of the front and rear shaking.

[0084] For example, after obtaining the stakeout error through step S105, the stakeout error is sent to the electronic notebook through the transmission module and displayed in real time. The user rotates and shakes the centering rod back and forth according to the stakeout error to perform the stakeout operation, or moves the laser irradiation point to perform the stakeout according to the first stakeout error and the second stakeout error in the user's perspective coordinate system. In this process, the coordinate difference between the laser irradiation point and the point to be staked out in the first coordinate system is continuously compared. If the difference meets the accuracy required for stakeout, the user can be reminded of the success of the stakeout through voice, vibration, etc. By combining the centering rod and the laser ranging module, it is possible to achieve long-distance stakeout while stabilizing the centering rod to prevent jitter during the stakeout process. In addition, the stakeout steps are simplified. It is only necessary to rotate the centering rod in place and shake it back and forth to move the laser irradiation point to quickly find the point to be staked out.

[0085] It should be noted that, in this embodiment, using the antenna phase center to calculate the position of the laser irradiation point is a preferred embodiment. If the position of any element in the measurement system is known, the positions of the remaining elements can also be known.

[0086] For example, the layout method provided by the embodiment of the present disclosure further includes: in the case of an obstacle blocking the layout process, prompting the surveyor to move to the other side of the obstacle to perform the layout operation, such as Figure 4 shown.

[0087] exist Figure 4 In the process, the centering rod is adjusted to a suitable state, and the laser emitting point A of the laser ranging module emits laser. Under normal circumstances, the laser irradiates the point C to be staked out to complete the stakeout. However, due to the obstruction of obstacles (for example, sand dunes, rocks, etc.), the laser irradiates the obstacle, and the actual laser irradiation point is the laser irradiation point B instead of the point C to be staked out. At this time, the coordinate difference of the geographic coordinate system cannot be less than the stakeout accuracy. In the above situation, the measurement system can prompt the surveyor to move to the other side of the obstacle to perform the stakeout operation.

[0088] Figure 5 A measurement system 500 provided by at least one embodiment of the present disclosure is shown. The measurement system 500 can be used to perform Figure 1 The lofting method shown.

[0089] like Figure 5 As shown, the measurement system 500 may include a navigation module 501 , a laser ranging module 502 , a centering rod 503 , and a calculation module 504 .

[0090] The calculation module 504 is configured to calculate the projection coordinates based on the projection coordinates. The projection coordinates S of the laser emission point in the first coordinate system are calculated based on the distance information; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; and the corresponding layout error is calculated based on the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be laid out in the first coordinate system.

[0091] For example, the measurement system 500 may be implemented using hardware, software, firmware, or any feasible combination thereof, and the present disclosure is not limited thereto.

[0092] The functions of each module in the measurement system 500 can be implemented by using the specific implementation methods of the corresponding steps in the above-mentioned lofting method, which will not be described in detail here.

[0093] The technical effect of the measurement system 500 is the same as that of the above-mentioned lofting method, which will not be described in detail here.

[0094] At least one embodiment of the present disclosure further provides a computer-readable medium having executable instructions stored thereon, and when the instructions are executed by one or more processors, the following steps in the lofting method provided by at least one embodiment of the present disclosure are performed: based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; the corresponding layout error is calculated according to the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be laid out in the first coordinate system.

[0095] There are a few points to note:

[0096] (1) The drawings of the embodiments of the present disclosure only relate to the structures involved in the embodiments of the present disclosure, and other structures may refer to the general design.

[0097] (2) In the absence of conflict, the embodiments of the present disclosure and the features therein may be combined with each other to obtain new embodiments.

[0098] The above description is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. The protection scope of the present disclosure shall be based on the protection scope of the claims.

Claims

1. A layout method for a measurement system, wherein the measurement system comprises a navigation module, a laser ranging module and a support, wherein the navigation module comprises an inertial measurement unit and a GNSS positioning unit, wherein: The lofting method comprises: Get the coordinates P of the point to be staked out in the first coordinate system; Acquire, by the navigation module, a first coordinate of the navigation module in the first coordinate system; Acquiring the distance information between the laser emission point and the laser irradiation point by means of the laser ranging module; Acquire first vector information between the navigation module and the laser emission point; Acquire a second coordinate of the laser irradiation point in the first coordinate system according to the first coordinate, the first vector information and the distance information; Obtaining a corresponding lofting error according to the coordinate P and the second coordinate; and Adjusting the support portion according to the layout error so as to irradiate the laser irradiation point onto the point to be layout; in, Acquiring, by the navigation module, a first coordinate of the navigation module in the first coordinate system, includes: The projection coordinates of the antenna phase center in the first coordinate system are obtained by the GNSS positioning unit. as the first coordinate; Acquiring a second coordinate of the laser irradiation point in the first coordinate system according to the first coordinate, the first vector information, and the distance information includes: Based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated using the first vector information; Calculate the second coordinate M based on the projection coordinate S and the distance information; Based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated by using the first vector information, including: Obtain the projection coordinates of the vector from the antenna phase center to the laser emission point in the second coordinate system as the first vector information; The projection coordinate S is calculated using the following formula: in, A coordinate transformation matrix representing the coordinate transformation from the first coordinate system to the second coordinate system; The origin of the first coordinate system is located at the center of the inertial measurement unit, the x-axis is parallel to the local horizontal plane and points to the geographic north, the y-axis is parallel to the local horizontal plane and points to the geographic east, and the z-axis, the x-axis, and the y-axis form a right-handed coordinate system; the origin of the second coordinate system is located at the center of the inertial measurement unit, the x-axis is perpendicular to the measurement system panel and points to the inside, the y-axis is perpendicular to the x-axis and points to the right side of the measurement system, and the z-axis, the x-axis, and the y-axis form a right-handed coordinate system; The lofting error includes a first lofting error and a second lofting error, and the corresponding lofting error is obtained according to the coordinate P and the second coordinate, including: The vector is calculated based on the second coordinate M and the coordinate P. Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinate S and the second coordinate M Establish the user perspective coordinate system based on the heading angle and the heading angle Calculating the first lofting error and the second lofting error in the user viewing angle coordinate system, wherein the origin of the user viewing angle coordinate system is the laser irradiation point, the positive direction of the x-axis coincides with the direction of the laser ray, and the y-axis is perpendicular to the x-axis to form a right-handed coordinate system; or, The lofting error includes the rotation angle and the shaking angle of the measurement system, and the corresponding lofting error is obtained according to the coordinate P and the second coordinate, including: The vector is calculated based on the second coordinate M and the coordinate P. Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinate S and the second coordinate M The rotation angle of the measuring system is calculated according to the following formula: Calculate the angle α1 between the coordinate P and the horizontal plane of the first coordinate system; Calculate the angle α2 between the second coordinate M and the horizontal plane of the first coordinate system; The roll angle of the measuring system is calculated according to the following formula: Δα=α1-α2.

2. The lofting method according to claim 1, characterized in that: The lofting method further includes: initializing the navigation module to obtain an initial value of the measurement system.

3. The lofting method according to claim 1, characterized in that: The projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information, including: The projection coordinates of the laser irradiation point in the second coordinate system are calculated according to the distance information and using the following formula: As the second coordinate: in, represents the projection coordinates of the laser irradiation point in the laser coordinate system, represents the spatial position relationship between the second coordinate system and the laser coordinate system, the origin of the laser coordinate system is the laser emission point, the y-axis of the laser coordinate system is the projection coordinate of the coordinate vector from the laser emission point to the laser irradiation point on the local horizontal plane, and the x-axis and y-axis of the laser coordinate system form a right-handed coordinate system; The projection coordinates M are calculated using the following formula: in, A coordinate transformation matrix from the first coordinate system to the second coordinate system is represented.

4. The lofting method according to claim 1, characterized in that: The vector is calculated based on the second coordinate M and the coordinate P. Heading angle include: The heading angle is calculated according to the following formula Calculate the heading angle of the laser beam direction according to the projection coordinate S and the second coordinate M include: The heading angle is calculated according to the following formula The subscript E represents the coordinate component of the geographic east direction in the first coordinate system, and the subscript N represents the coordinate component of the geographic north direction in the first coordinate system.

5. The lofting method according to claim 1, characterized in that: When the lofting error includes a first lofting error and a second lofting error, calculating the first lofting error and the second lofting error in the user viewing angle coordinate system includes: The first lofting error is calculated according to the following formula: The second lofting error is calculated according to the following formula:

6. The lofting method according to claim 1, characterized in that: When the lofting error includes the rotation angle and the shaking angle of the measurement system, calculating the angle α1 between the coordinate P and the horizontal plane of the first coordinate system includes: The angle α1 is calculated according to the following formula: Calculating the angle α2 between the second coordinate M and the horizontal plane of the first coordinate system includes: The angle α2 is calculated according to the following formula: Among them, the subscript E represents the coordinate component of the geographic east direction in the first coordinate system, the subscript N represents the coordinate component of the geographic north direction in the first coordinate system, and the subscript U represents the coordinate component of the elevation direction in the first coordinate system.

7. The lofting method according to claim 1, characterized in that: The layout method further includes: in the event of an obstacle blocking the layout process, prompting a surveyor to move to the other side of the obstacle to perform a layout operation.

8. A measurement system for implementing the lofting method according to any one of claims 1 to 7, characterized in that: The measurement system includes a navigation module, a laser ranging module, a support part and a calculation module, wherein the calculation module is configured to obtain a coordinate P of the point to be staked out in a first coordinate system; obtain a first coordinate of the navigation module in the first coordinate system through the navigation module; obtain distance information between a laser emission point and a laser irradiation point through the laser ranging module; obtain first vector information between the navigation module and the laser emission point; obtain a second coordinate of the laser irradiation point in the first coordinate system according to the first coordinate, the first vector information and the distance information; and obtain a corresponding stakeout error according to the coordinate P and the second coordinate. in, Acquiring, by the navigation module, a first coordinate of the navigation module in the first coordinate system, includes: The projection coordinates of the antenna phase center in the first coordinate system are obtained by the GNSS positioning unit. as the first coordinate; Acquiring a second coordinate of the laser irradiation point in the first coordinate system according to the first coordinate, the first vector information, and the distance information includes: Based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated using the first vector information; Calculate the second coordinate M based on the projection coordinate S and the distance information; Based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated by using the first vector information, including: Obtain the projection coordinates of the vector from the antenna phase center to the laser emission point in the second coordinate system as the first vector information; The projection coordinate S is calculated using the following formula: in, A coordinate transformation matrix representing the coordinate transformation from the first coordinate system to the second coordinate system; The origin of the first coordinate system is located at the center of the inertial measurement unit, the x-axis is parallel to the local horizontal plane and points to the geographic north, the y-axis is parallel to the local horizontal plane and points to the geographic east, and the z-axis, the x-axis, and the y-axis form a right-handed coordinate system; the origin of the second coordinate system is located at the center of the inertial measurement unit, the x-axis is perpendicular to the measurement system panel and points to the inside, the y-axis is perpendicular to the x-axis and points to the right side of the measurement system, and the z-axis, the x-axis, and the y-axis form a right-handed coordinate system; The lofting error includes a first lofting error and a second lofting error, and the corresponding lofting error is obtained according to the coordinate P and the second coordinate, including: The vector is calculated based on the second coordinate M and the coordinate P. Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinate S and the second coordinate M Establish the user perspective coordinate system based on the heading angle and the heading angle Calculating the first lofting error and the second lofting error in the user viewing angle coordinate system, wherein the origin of the user viewing angle coordinate system is the laser irradiation point, the positive direction of the x-axis coincides with the direction of the laser ray, and the y-axis is perpendicular to the x-axis to form a right-handed coordinate system; or, The lofting error includes the rotation angle and the shaking angle of the measurement system, and the corresponding lofting error is obtained according to the coordinate P and the second coordinate, including: The vector is calculated based on the second coordinate M and the coordinate P. Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinate S and the second coordinate M The rotation angle of the measuring system is calculated according to the following formula: Calculate the angle α1 between the coordinate P and the horizontal plane of the first coordinate system; Calculate the angle α2 between the second coordinate M and the horizontal plane of the first coordinate system; The roll angle of the measuring system is calculated according to the following formula: Δα=α1-α2.

9. A computer-readable medium having executable instructions stored thereon, wherein when the instructions are executed by one or more processors, the following steps in the method according to any one of claims 1 to 7 are performed: Obtaining the coordinates P of the point to be staked out in the first coordinate system; Acquire, by the navigation module, a first coordinate of the navigation module in the first coordinate system; Acquiring the distance information between the laser emission point and the laser irradiation point by means of the laser ranging module; Acquire first vector information between the navigation module and the laser emission point; Acquire a second coordinate of the laser irradiation point in the first coordinate system according to the first coordinate, the first vector information and the distance information; Obtaining a corresponding lofting error according to the coordinate P and the second coordinate; in, Acquiring, by the navigation module, a first coordinate of the navigation module in the first coordinate system, includes: The projection coordinates of the antenna phase center in the first coordinate system are obtained by the GNSS positioning unit. as the first coordinate; Acquiring a second coordinate of the laser irradiation point in the first coordinate system according to the first coordinate, the first vector information, and the distance information includes: Based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated using the first vector information; Calculate the second coordinate M based on the projection coordinate S and the distance information; Based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated by using the first vector information, including: Obtain the projection coordinates of the vector from the antenna phase center to the laser emission point in the second coordinate system as the first vector information; The projection coordinate S is calculated using the following formula: in, A coordinate transformation matrix representing the coordinate transformation from the first coordinate system to the second coordinate system; The origin of the first coordinate system is located at the center of the inertial measurement unit, the x-axis is parallel to the local horizontal plane and points to the geographic north, the y-axis is parallel to the local horizontal plane and points to the geographic east, and the z-axis, the x-axis, and the y-axis form a right-handed coordinate system; the origin of the second coordinate system is located at the center of the inertial measurement unit, the x-axis is perpendicular to the measurement system panel and points to the inside, the y-axis is perpendicular to the x-axis and points to the right side of the measurement system, and the z-axis, the x-axis, and the y-axis form a right-handed coordinate system; The lofting error includes a first lofting error and a second lofting error, and the corresponding lofting error is obtained according to the coordinate P and the second coordinate, including: The vector is calculated based on the second coordinate M and the coordinate P. Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinate S and the second coordinate M Establish the user perspective coordinate system based on the heading angle and the heading angle Calculating the first lofting error and the second lofting error in the user viewing angle coordinate system, wherein the origin of the user viewing angle coordinate system is the laser irradiation point, the positive direction of the x-axis coincides with the direction of the laser ray, and the y-axis is perpendicular to the x-axis to form a right-handed coordinate system; or, The lofting error includes the rotation angle and the shaking angle of the measurement system, and the corresponding lofting error is obtained according to the coordinate P and the second coordinate, including: The vector is calculated based on the second coordinate M and the coordinate P. Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinate S and the second coordinate M The rotation angle of the measuring system is calculated according to the following formula: Calculate the angle α1 between the coordinate P and the horizontal plane of the first coordinate system; Calculate the angle α2 between the second coordinate M and the horizontal plane of the first coordinate system; The roll angle of the measuring system is calculated according to the following formula: Δα=α1-α2.

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