Auxiliary point-based vertical line deviation measurement method, product, medium and equipment

Abstract

The invention discloses a vertical line deviation measurement method based on auxiliary points, a product, a medium and equipment, and relates to the field of vertical line deviation measurement. Measuring the height difference from the observation station to each auxiliary point by using a level gauge, and observing GNSS data of the observation station and each auxiliary point by using a GNSS receiver; calculating a projection baseline vector of each auxiliary point based on the height difference and the GNSS data; based on the projection baseline vector of each auxiliary point, obtaining a vertical line vector at the observation station point by using a least square method; single-point positioning is carried out by using GNSS data of the observation station, geodetic coordinates of the observation station are obtained, and then an ellipsoid normal vector at the observation station is obtained; the normal vector and the vertical line vector of the ellipsoid at the observation station are utilized to calculate the vertical line deviation at the observation station and the orientation of the maximum vertical line deviation, and low-cost, high-precision and real-time rapid measurement of the vertical line deviation at the observation station can be realized.

Description

Technical Field

[0001] The present application relates to the technical field of vertical line deviation measurement, and in particular to a vertical line deviation measurement method, product, medium and equipment based on auxiliary points. Background Art

[0002] Plumb deviation refers to the angle between the vertical direction of a point on the ground and the ellipsoid normal. Plumb deviation has very important applications in geodesy, geophysical inversion, resource exploration, earthquake and volcano monitoring, satellite launch and precise orbit determination, and assisted navigation.

[0003] The existing methods for measuring vertical deviation mainly include astronomical geodesy, digital zenith photography, GNSS leveling, gravity measurement, earth gravity field model, and joint adjustment of GNSS network and conventional network. Among them, astronomical geodesy obtains the coordinates of the same point through astronomical measurement and geodetic measurement, and calculates it through the vertical deviation formula. It is a direct measurement method. This method has a large workload, complex operation, and many inconveniences in practical application. GNSS leveling is affected by the density of leveling points and terrain undulations, and has low accuracy. Gravity measurement is greatly affected by the accuracy and resolution of gravity anomaly data. The earth gravity field model directly uses the gravity potential coefficient to determine the vertical deviation. This method is greatly affected by the accuracy of the gravity field model and terrain undulations. The joint adjustment of GNSS network and conventional network has low accuracy. Summary of the invention

[0004] The purpose of this application is to provide a method, product, medium and equipment for measuring the vertical deviation based on auxiliary points, so as to realize low-cost, high-precision and real-time rapid measurement of the vertical deviation at the measuring station.

[0005] To achieve the above objectives, this application provides the following solutions.

[0006] On the one hand, the present application provides a method for measuring a vertical line deviation based on auxiliary points, comprising:

[0007] n auxiliary points are evenly arranged around the measuring station; where n≥3;

[0008] Use a level to measure the height difference between the measuring station and each auxiliary point, and use a GNSS receiver to observe the GNSS data of the measuring station and each auxiliary point;

[0009] Calculate the projection baseline vector of each auxiliary point based on the height difference and GNSS data;

[0010] Based on the projection baseline vector of each auxiliary point, the perpendicular vector at the station point is obtained using the least square method;

[0011] Use the GNSS data of the measuring station to perform single-point positioning, obtain the geodetic coordinates of the measuring station, and then obtain the ellipsoid normal vector at the measuring station;

[0012] The ellipsoid normal vector and the perpendicular vector at the measuring station are used to calculate the perpendicular deviation at the measuring station and the azimuth of the maximum perpendicular deviation.

[0013] Optionally, evenly distributing n auxiliary points around the measuring station specifically includes:

[0014] n auxiliary points are evenly distributed around the measuring station. The distance between each auxiliary point and the measuring station is as equal as possible, and the angles formed by adjacent auxiliary points and the measuring station are as similar as possible.

[0015] Optionally, the step of measuring the height difference between the measuring station and each auxiliary point by using a level, and observing GNSS data of the measuring station and each auxiliary point by using a GNSS receiver specifically includes:

[0016] Use a precision level or a static level to measure the height difference h from the measuring station O to each auxiliary point i. Oi ; i = 1, 2, ... n;

[0017] GNSS receivers are placed at the measuring station O and each auxiliary point i. Each point is observed for at least two periods, and each period is observed for at least 1 hour to obtain the GNSS data of each point.

[0018] Optionally, the calculating the projection baseline vector of each auxiliary point based on the height difference and the GNSS data specifically includes:

[0019] The GNSS data of each point is subjected to baseline solution and three-dimensional unconstrained adjustment of the baseline vector network to obtain the three-dimensional direct coordinates (X O , Y O , Z O ) and the geodetic coordinates (L i , B i , H i );

[0020] Calculate the geodetic coordinates of the projection points of each auxiliary point in the horizontal plane where the measuring station is located Where R is the average radius of the Earth, S i is the horizontal distance from each auxiliary point i to the measuring station O;

[0021] The geodetic coordinates of the projection points of each auxiliary point i Convert to 3D rectangular coordinates

[0022] According to the formula The three-dimensional baseline vector after projection of each auxiliary point i is obtained, which is referred to as the projection baseline vector.

[0023] Optionally, the method of obtaining the perpendicular vector at the station point by using the least square method based on the projected baseline vector of each auxiliary point specifically includes:

[0024] Assume that the vertical vector at the measuring station is Since the vertical vector is theoretically orthogonal to the projection baseline vectors on the horizontal plane where the measuring station is located, ΔX Oi′ ×a+ΔY Oi′ ×b-ΔZ Oi′ =0; a and b are perpendicular vectors Components in the X and Y directions;

[0025] ΔX Oi′ ×a+ΔY Oi′ ×b-ΔZ Oi′ =0 is transformed into the equation ΔZ Oi′ =ΔX Oi′ ×a+ΔY Oi′ ×b;

[0026] Use the least squares method to solve the n equations corresponding to the n projection baseline vectors and calculate the vertical line vector at the measuring station.

[0027] Optionally, the single-point positioning is performed using the GNSS data of the measuring station to obtain the geodetic coordinates of the measuring station, and then obtain the ellipsoid normal vector at the measuring station, specifically including:

[0028] Use the GNSS data of the measuring station to perform single-point positioning and obtain the geodetic coordinates of the measuring station (B O , L O , H O );

[0029] Establish an earth ellipsoid model, where the ellipsoid axis is represented by A1A2, the ellipsoid normal at the measuring station O is OO3, the intersection point of OO3 and the ellipsoid surface is O1, and A1A2⊥A1O1;

[0030] Suppose the three-dimensional rectangular coordinates of point O1 are The three-dimensional rectangular coordinates of point O3 are (0, 0, -O3A2), and the normal vector of the ellipsoid at the measuring station is obtained.

[0031] Optionally, the calculating of the vertical deviation at the measuring station and the azimuth of the maximum vertical deviation using the ellipsoid normal vector and the vertical vector at the measuring station specifically includes:

[0032] Using the ellipsoid normal vector at the station With perpendicular vector According to the formula Calculate the vertical deviation θ at the measuring station;

[0033] Let CO be the vertical line at the measuring station, and use Gauss projection to project the geodetic coordinates of points O and C, and obtain their plane rectangular coordinates (x O ,y O )、(x C ,y C );

[0034] According to the formula Calculate the azimuth α of the maximum vertical deviation.

[0035] On the other hand, the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements a method for measuring a vertical line deviation based on auxiliary points, the method for measuring a vertical line deviation based on auxiliary points comprising:

[0036] Obtain the height difference between the measuring station and each auxiliary point measured by the level instrument and the GNSS data of the measuring station and each auxiliary point observed by the GNSS receiver; there are n auxiliary points arranged around the measuring station; n ≥ 3;

[0037] Calculate the projection baseline vector of each auxiliary point based on the height difference and GNSS data;

[0038] Based on the projection baseline vector of each auxiliary point, the perpendicular vector at the station point is obtained using the least square method;

[0039] Use the GNSS data of the measuring station to perform single-point positioning, obtain the geodetic coordinates of the measuring station, and then obtain the ellipsoid normal vector at the measuring station;

[0040] The ellipsoid normal vector and the perpendicular vector at the measuring station are used to calculate the perpendicular deviation at the measuring station and the azimuth of the maximum perpendicular deviation.

[0041] On the other hand, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, a method for measuring a vertical line deviation based on auxiliary points is implemented, and the method for measuring a vertical line deviation based on auxiliary points includes:

[0042] Obtain the height difference between the measuring station and each auxiliary point measured by the level instrument and the GNSS data of the measuring station and each auxiliary point observed by the GNSS receiver; there are n auxiliary points arranged around the measuring station; n ≥ 3;

[0043] Calculate the projection baseline vector of each auxiliary point based on the height difference and GNSS data;

[0044] Based on the projection baseline vector of each auxiliary point, the perpendicular vector at the station point is obtained using the least square method;

[0045] Use the GNSS data of the measuring station to perform single-point positioning, obtain the geodetic coordinates of the measuring station, and then obtain the ellipsoid normal vector at the measuring station;

[0046] The ellipsoid normal vector and the perpendicular vector at the measuring station are used to calculate the perpendicular deviation at the measuring station and the azimuth of the maximum perpendicular deviation.

[0047] On the other hand, the present application further provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a method for measuring a vertical deviation based on auxiliary points, wherein the method for measuring a vertical deviation based on auxiliary points includes:

[0048] Obtain the height difference between the measuring station and each auxiliary point measured by the level instrument and the GNSS data of the measuring station and each auxiliary point observed by the GNSS receiver; there are n auxiliary points arranged around the measuring station; n ≥ 3;

[0049] Calculate the projection baseline vector of each auxiliary point based on the height difference and GNSS data;

[0050] Based on the projection baseline vector of each auxiliary point, the perpendicular vector at the station point is obtained using the least square method;

[0051] Use the GNSS data of the measuring station to perform single-point positioning, obtain the geodetic coordinates of the measuring station, and then obtain the ellipsoid normal vector at the measuring station;

[0052] The ellipsoid normal vector and the perpendicular vector at the measuring station are used to calculate the perpendicular deviation at the measuring station and the azimuth of the maximum perpendicular deviation.

[0053] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0054] The present application provides a method, product, medium and equipment for measuring the vertical deviation based on auxiliary points. By arranging 3 or more auxiliary points around a measuring station, using a level to measure the height difference from the measuring station to each auxiliary point, and using a GNSS receiver to observe the GNSS data of the measuring station and each auxiliary point, conventional measuring instruments are used to achieve accurate measurement of basic data, which is simple to operate and low in cost. Subsequently, the projection baseline vector of each auxiliary point is calculated based on the height difference and GNSS data, and the vertical vector at the measuring station is obtained by the least squares method, and the ellipsoid normal vector at the measuring station is obtained by using the geodetic coordinates of the measuring station, so that the vertical deviation at the measuring station and the azimuth of the maximum vertical deviation can be calculated in real time, quickly and accurately, thereby achieving high-precision measurement of the vertical deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 A schematic diagram of a flow chart of a method for measuring a vertical line deviation based on auxiliary points in this application;

[0057] Figure 2 This is a schematic diagram of vertical line deviation measurement;

[0058] Figure 3 Schematic diagram of ellipsoid normal vector solution. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0060] The purpose of this application is to provide a method, product, medium and equipment for measuring the vertical deviation based on auxiliary points, and to use GNSS and precision leveling to measure the vertical deviation in combination with auxiliary points, so as to achieve low-cost, high-precision and real-time rapid measurement of the vertical deviation at the measuring station.

[0061] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0062] See also Figure 1 The present application provides a method for measuring vertical deviation based on auxiliary points, including the following steps 1 to 6.

[0063] Step 1: Evenly distribute n auxiliary points around the measuring station.

[0064] The inventive concept of this application is to combine auxiliary points and use GNSS and precision leveling to measure the vertical deviation. Therefore, 3 or more auxiliary points need to be evenly arranged around the measuring station, the distance between the auxiliary points and the measuring station should be as equal as possible, and the angle between two adjacent auxiliary points and the measuring station should be as equal as possible.

[0065] like Figure 2As shown in the figure, O is the station point, FO is the ellipsoid normal at the station point, and CO is the vertical line at the station point. Three or more auxiliary points are evenly arranged around the station point O. Let the auxiliary point be i, and i=1, 2, ...n. n is the number of auxiliary points, and n is a positive integer greater than or equal to 3. i' is the projection point of the auxiliary point i in the horizontal plane where the station point is located. Figure 2 In the embodiment shown, n=4, that is, 4 auxiliary points are evenly arranged around the measuring station O, which are respectively denoted as auxiliary points 1, 2, 3, and 4, and their projection points in the horizontal plane where the measuring station is located are respectively denoted as 1′, 2′, 3′, and 4′.

[0066] Step 2: Use a level to measure the height difference between the station point and each auxiliary point, and use a GNSS receiver to observe the GNSS data of the station point and each auxiliary point.

[0067] Use a conventional level such as a precision level or a static level to measure the height difference h from the measuring station O to each auxiliary point i. Oi When using a level to measure the height difference between two points, place the level between the measuring station O and the auxiliary point i to be measured.

[0068] GNSS receivers are placed at the station O and each auxiliary point i. Each point (including the station and the auxiliary point) is observed for at least two periods, and each period is observed for at least 1 hour to obtain the corresponding observation data, that is, the GNSS data of each point.

[0069] Step 3: Calculate the projection baseline vector of each auxiliary point based on the height difference and GNSS data.

[0070] The GNSS data of each point is processed by baseline solution and three-dimensional unconstrained adjustment of baseline vector network, and the three-dimensional direct coordinates (X O , Y O , Z O ) and the geodetic coordinates (L i , B i , H i ).

[0071] Then the geodetic coordinates of the projection points of each auxiliary point in the horizontal plane where the measuring station is located are (L i , B i , H i - Where R is the average radius of the Earth, S i is the horizontal distance from each auxiliary point i to the measuring station O. That is the geodetic coordinate of i′.

[0072] According to formula (1), the geodetic coordinates of the projection point of each auxiliary point i are converted into three-dimensional rectangular coordinates:

[0073]

[0074] Where N i is the radius of curvature of the triangle at auxiliary point i, and its calculation formula is: l is the major radius of the Earth's ellipsoid, and e is the first eccentricity of the ellipsoid.

[0075] The three-dimensional baseline vector after projection of each auxiliary point i (referred to as the projection baseline vector) can be obtained from formula (2):

[0076]

[0077] In the formula, i′=1′, 2′, …n′.

[0078] Step 4: Based on the projection baseline vector of each auxiliary point, use the least squares method to obtain the vertical line vector at the survey station.

[0079] The vertical vector at the measuring station is assumed to be:

[0080]

[0081] Where a and b are perpendicular vectors Components in the X and Y directions; The component in the Z direction is -1.

[0082] Since the direction of the vertical line is theoretically orthogonal to the projection baseline vectors on the horizontal plane where the measuring station is located, we have:

[0083] ΔX Ol ′×a+ΔY Oi ′×b-ΔZ Oi ′=0(4)

[0084] Transforming formula (4) yields formula (5):

[0085] ΔZ Oi ′=ΔX Oi ′×a+ΔY Oi ′×b(5)

[0086] There are n projection baseline vectors, and n equations (5) can be written. By solving these n equations (5) using the least squares method, the vertical line vector at the measuring station can be calculated.

[0087] Step 5: Use the GNSS data of the measuring station to perform single-point positioning, obtain the geodetic coordinates of the measuring station, and then obtain the ellipsoid normal vector at the measuring station.

[0088] Using the GNSS data obtained by the GNSS receiver installed at the measuring station for single-point positioning, the geodetic coordinates of the measuring station can be obtained (BO , L O , H O ).

[0089] Establish Figure 3 The earth ellipsoid model is shown in the figure, where the ellipsoid axis is represented by A1A2, the ellipsoid normal at the measuring station O is OO3, the intersection of OO3 and the ellipsoid surface is O1, and A1A2⊥A1O1. Point O2 is the intersection of the ellipsoid normal OO3 passing through point O and the earth's equatorial plane. The coordinates of the measuring station O in the geocentric three-dimensional rectangular coordinate system are (X O , Y O , Z O ), the geodetic coordinates are (B O , L O , H O ). Then the geodetic coordinates of the projection point O1 of point O on the ellipsoid are (B O , L O , 0), let its three-dimensional rectangular coordinates be Assume that the unitary curvature radius of the ellipsoid at the measuring station is N, then:

[0090] A1O3=Nsln(B O ) (6)

[0091] We can also know that:

[0092]

[0093] but:

[0094] O3A2=A1O3-A1A2(8)

[0095] Therefore, the three-dimensional rectangular coordinates of point O3 are (0, 0, -O3A2), and the normal vector of the ellipsoid at the measuring station is:

[0096]

[0097] Step 6: Use the ellipsoid normal vector and the perpendicular vector at the measuring station to calculate the perpendicular deviation at the measuring station and the position of the maximum perpendicular deviation.

[0098] The vertical vector at the known station and the ellipsoid normal vector The following formula holds true:

[0099]

[0100] The calculation formula of the vertical line deviation θ is:

[0101]

[0102] like Figure 2As shown in the figure, CO is the vertical line at the measuring station, and the three-dimensional rectangular coordinates of the measuring station are known to be (X O , Y O , Z O ), then the three-dimensional rectangular coordinates of point C are:

[0103]

[0104] Convert the three-dimensional rectangular coordinates of point C into geodetic coordinates Then the geodetic coordinates of points O and C are projected by Gauss to obtain their plane rectangular coordinates (x O ,y O )、(x C ,y C ), then the local azimuth from point O to point C can be obtained:

[0105]

[0106] α is the azimuth at which the vertical deviation has the maximum value, that is, when the azimuth of the measuring station is α, the maximum vertical deviation is θ.

[0107] The method for measuring the vertical deviation based on auxiliary points proposed in the present application is to arrange 3 or more auxiliary points around the survey station, use a level to measure the height difference between each auxiliary point and the survey station, and use a GNSS receiver to measure the baseline vector from the survey station to each auxiliary point, and then project it onto the same horizontal plane. Because each projected baseline vector is orthogonal to the vertical direction at the survey station, the vertical vector at the survey station can be obtained using the least squares principle. Further, the GNSS data of the survey station is used for single-point positioning to obtain the geodetic coordinates of the survey station, and then the ellipsoid normal vector at the survey station is obtained. Finally, the ellipsoid normal vector and the vertical vector at the survey station can be used to obtain the vertical deviation at the survey station and the azimuth of the maximum vertical deviation. The method of the present application can be implemented using conventional surveying instruments, GNSS receivers and levels. The surveying instruments also use conventional measurement methods. The auxiliary point can be tens of meters away from the survey station, and there are no special requirements for the terrain. Therefore, the workload is small, the operation is simple, it is very easy to implement and the cost is low. The three important steps of solving the vertical vector at the measuring station, solving the ellipsoid normal at the measuring station and calculating the vertical deviation can be realized by using conventional computing equipment, thus ensuring the real-time, fast and high-precision measurement of the vertical deviation.

[0108] The vertical deviation at the measuring station and the azimuth of the maximum vertical deviation calculated by the vertical deviation measurement method of the present application can be widely used in the fields of geodesy, geophysical inversion, resource exploration, earthquake and volcano monitoring, satellite launch and precise orbit determination, and auxiliary navigation. The following are several application examples of the vertical deviation measurement method of the present application.

[0109] Application Example 1: In current engineering construction, the elevation system commonly used is the normal height system (based on the quasi-geoid). The transmission of normal height is currently mainly carried out by leveling instruments from station to station, which is very inefficient. If the vertical deviation of two points and the azimuth of the maximum vertical deviation can be accurately obtained (it is necessary to obtain the vertical deviation component of the vertical deviation of the two points in the direction of the line connecting the two points), and the geodetic height difference of the two points has been accurately measured using GNSS (based on the ellipsoid), the normal height difference of the two points can be accurately obtained, thereby realizing the long-distance, cross-line-of-sight, and high-precision transmission of elevation using GNSS technology. For example, in the construction of a tunnel, elevation reference points must be arranged near the excavation surfaces on both sides of the tunnel, and the height difference between the reference points must be obtained through leveling. In the construction of long and large tunnels, this work is very time-consuming and laborious. If the vertical deviation at the excavation surface can be directly measured using the method of this application, the geodetic height difference obtained by GNSS measurement can be converted into the normal height difference, which will greatly improve work efficiency and reduce the workload of field surveyors.

[0110] Application Example 2: This application states that the height difference between the measuring station and the auxiliary point is observed using a level. However, if it is necessary to observe the change of the vertical deviation at the measuring station in a long-term and dynamic manner, a static level can be used to automatically observe the height difference between the measuring station and the auxiliary point. Because the change of the vertical deviation is often closely related to earthquakes, the method of this application can realize low-cost, high-precision, and automated continuous observation of the change of the vertical deviation at the station, which can be applied to earthquake research. However, among the existing methods for measuring vertical deviation, there is no method that can dynamically and continuously observe the vertical deviation.

[0111] In some embodiments, the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements a method for measuring a vertical deviation based on auxiliary points, including: obtaining the height difference from the survey station measured by the level to each auxiliary point and the GNSS data of the survey station and each auxiliary point observed by the GNSS receiver; wherein n auxiliary points are arranged around the survey station; n≥3; calculating the projection baseline vector of each auxiliary point based on the height difference and GNSS data; obtaining the vertical vector at the survey station based on the projection baseline vector of each auxiliary point using the least squares method; performing single-point positioning using the GNSS data of the survey station to obtain the geodetic coordinates of the survey station, and then obtaining the ellipsoid normal vector at the survey station; using the ellipsoid normal vector and the vertical vector at the survey station to calculate the vertical deviation at the survey station and the position of the maximum vertical deviation. The above method steps are similar to Figure 1 The difference in the process steps is that the height difference from the measuring station to each auxiliary point and the GNSS data of the measuring station and each auxiliary point are directly obtained by the processor, and the other calculation processes are the same.

[0112] In some embodiments, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for measuring the vertical deviation based on auxiliary points, wherein the method steps are similar to Figure 1 The difference in the process steps is that the height difference from the measuring station to each auxiliary point and the GNSS data of the measuring station and each auxiliary point are directly obtained by the processor, and the other calculation processes are the same.

[0113] In some embodiments, the present application also provides a computer device, which includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store pending transactions. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it can implement the vertical deviation measurement method based on auxiliary points, and the method steps are the same as those in the embodiment of the present invention. Figure 1 The difference in the process steps is that the height difference from the measuring station to each auxiliary point and the GNSS data of the measuring station and each auxiliary point are directly obtained by the processor, and the other calculation processes are the same.

[0114] The present application utilizes conventional surveying instruments such as GNSS receivers and levels and adopts conventional surveying methods to achieve low-cost, high-precision, and real-time rapid measurement of vertical line deviations at surveying stations, and has broad application prospects.

[0115] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for measuring vertical deviation based on auxiliary points, characterized in that: include: Evenly arrange n auxiliary points around the measuring station; Where n≥3; Use a level to measure the height difference between the measuring station and each auxiliary point, and use a GNSS receiver to observe the GNSS data of the measuring station and each auxiliary point; Calculate the projection baseline vector of each auxiliary point based on the height difference and GNSS data; Based on the projection baseline vector of each auxiliary point, the perpendicular vector at the station point is obtained using the least square method; Use the GNSS data of the measuring station to perform single-point positioning, obtain the geodetic coordinates of the measuring station, and then obtain the ellipsoid normal vector at the measuring station; The ellipsoid normal vector and the perpendicular vector at the measuring station are used to calculate the perpendicular deviation at the measuring station and the azimuth of the maximum perpendicular deviation.

2. The method for measuring vertical deviation based on auxiliary points according to claim 1, characterized in that: The n auxiliary points are evenly arranged around the measuring station, specifically including: n auxiliary points are evenly distributed around the measuring station. The distance between each auxiliary point and the measuring station is as equal as possible, and the angles formed by adjacent auxiliary points and the measuring station are as similar as possible.

3. The method for measuring vertical deviation based on auxiliary points according to claim 2, characterized in that: The method of measuring the height difference between the measuring station and each auxiliary point by using a level instrument and observing the GNSS data of the measuring station and each auxiliary point by using a GNSS receiver specifically includes: Use a precision level or a static level to measure the height difference h from the measuring station O to each auxiliary point i. Oi ; i = 1, 2, ... n; GNSS receivers are placed at the measuring station O and each auxiliary point i. Each point is observed for at least two periods, and each period is observed for at least 1 hour to obtain the GNSS data of each point.

4. The method for measuring vertical deviation based on auxiliary points according to claim 3 is characterized in that: The calculation of the projection baseline vector of each auxiliary point based on the height difference and GNSS data specifically includes: The GNSS data of each point is subjected to baseline solution and three-dimensional unconstrained adjustment of the baseline vector network to obtain the three-dimensional direct coordinates (X O , Y O , Z O ) and the geodetic coordinates (L i , B i , H i ); Calculate the geodetic coordinates of the projection points of each auxiliary point in the horizontal plane where the measuring station is located Where R is the average radius of the Earth, S i is the horizontal distance from each auxiliary point i to the measuring station O; The geodetic coordinates of the projection points of each auxiliary point i Convert to 3D rectangular coordinates According to the formula The three-dimensional baseline vector after projection of each auxiliary point i is obtained, which is referred to as the projection baseline vector.

5. The method for measuring vertical deviation based on auxiliary points according to claim 4, characterized in that: The method of obtaining the perpendicular vector at the measuring station by using the least square method based on the projection baseline vector of each auxiliary point specifically includes: Assume that the vertical vector at the measuring station is Since the vertical vector is theoretically orthogonal to the projection baseline vectors on the horizontal plane where the measuring station is located, ΔX Oi' ×a+ΔY Oi' ×b-ΔZ Oi' =0; a and b are perpendicular vectors Components in the X and Y directions; ΔX Oi' ×a+ΔY Oi' ×b-ΔZ Oi' =0 is transformed into the equation ΔZ Oi' =ΔX Oi' ×a+ΔY Oi' ×b; Use the least squares method to solve the n equations corresponding to the n projection baseline vectors and calculate the vertical line vector at the measuring station.

6. The method for measuring vertical deviation based on auxiliary points according to claim 5, characterized in that: The method of performing single-point positioning using the GNSS data of the measuring station to obtain the geodetic coordinates of the measuring station and then obtaining the ellipsoid normal vector at the measuring station specifically includes: Use the GNSS data of the measuring station to perform single-point positioning and obtain the geodetic coordinates of the measuring station (B O , L O , H O ); Establish an earth ellipsoid model, where the ellipsoid axis is represented by A1A2, the ellipsoid normal at the measuring station O is OO3, the intersection point of OO3 and the ellipsoid surface is O1, and A1A2⊥A1O1; Suppose the three-dimensional rectangular coordinates of point O1 are The three-dimensional rectangular coordinates of point O3 are (0, 0, -O3A2), and the normal vector of the ellipsoid at the measuring station is obtained.

7. The method for measuring vertical deviation based on auxiliary points according to claim 6, characterized in that: The method of calculating the vertical deviation at the measuring station and the position of the maximum vertical deviation using the ellipsoid normal vector and the vertical vector at the measuring station specifically includes: Using the ellipsoid normal vector at the station With perpendicular vector According to the formula Calculate the vertical deviation θ at the measuring station; Let CO be the vertical line at the measuring station, and use Gauss projection to project the geodetic coordinates of points O and C, and obtain their plane rectangular coordinates (x O ,y O )、(x C ,y C ); According to the formula Calculate the azimuth α of the maximum vertical deviation.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, a method for measuring a vertical line deviation based on auxiliary points is implemented. The method for measuring a vertical line deviation based on auxiliary points includes: Obtain the height difference between the measuring station and each auxiliary point measured by the level instrument and the GNSS data of the measuring station and each auxiliary point observed by the GNSS receiver; there are n auxiliary points arranged around the measuring station; n ≥ 3; Calculate the projection baseline vector of each auxiliary point based on the height difference and GNSS data; Based on the projection baseline vector of each auxiliary point, the perpendicular vector at the station point is obtained using the least square method; Use the GNSS data of the measuring station to perform single-point positioning, obtain the geodetic coordinates of the measuring station, and then obtain the ellipsoid normal vector at the measuring station; The ellipsoid normal vector and the perpendicular vector at the measuring station are used to calculate the perpendicular deviation at the measuring station and the azimuth of the maximum perpendicular deviation.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, a method for measuring a vertical line deviation based on auxiliary points is implemented. The method for measuring a vertical line deviation based on auxiliary points includes: Obtain the height difference between the measuring station and each auxiliary point measured by the level instrument and the GNSS data of the measuring station and each auxiliary point observed by the GNSS receiver; there are n auxiliary points arranged around the measuring station; n ≥ 3; Calculate the projection baseline vector of each auxiliary point based on the height difference and GNSS data; Based on the projection baseline vector of each auxiliary point, the perpendicular vector at the station point is obtained using the least square method; Use the GNSS data of the measuring station to perform single-point positioning, obtain the geodetic coordinates of the measuring station, and then obtain the ellipsoid normal vector at the measuring station; The ellipsoid normal vector and the perpendicular vector at the measuring station are used to calculate the perpendicular deviation at the measuring station and the azimuth of the maximum perpendicular deviation.

10. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a method for measuring a vertical line deviation based on auxiliary points, the method comprising: Obtain the height difference between the measuring station and each auxiliary point measured by the level instrument and the GNSS data of the measuring station and each auxiliary point observed by the GNSS receiver; there are n auxiliary points arranged around the measuring station; n ≥ 3; Calculate the projection baseline vector of each auxiliary point based on the height difference and GNSS data; Based on the projection baseline vector of each auxiliary point, the perpendicular vector at the station point is obtained using the least square method; Use the GNSS data of the measuring station to perform single-point positioning, obtain the geodetic coordinates of the measuring station, and then obtain the ellipsoid normal vector at the measuring station; The ellipsoid normal vector and the perpendicular vector at the measuring station are used to calculate the perpendicular deviation at the measuring station and the azimuth of the maximum perpendicular deviation.

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