High-precision tunnel settlement measuring and modeling method based on laser ranging and inclination angle

Abstract

The invention discloses a high-precision tunnel settlement measuring and modeling method based on laser ranging and an inclination angle. The method comprises the following steps: surveying and mapping to obtain coordinates of initial positions of laser range finders and targets in a plane T; determining a measuring laser range finder and a measured laser range finder; filtering the measurement data to obtain target measurement data of a target between the measurement laser range finder and the adjacent measured laser range finder and compensation amount measurement data of the measurement laser range finder and the measured laser range finder; and calculating the coordinates of the target in one measurement period, and comparing the difference between the coordinates of the target and the coordinates of the target at the initial position to obtain the settling volume of the target. According to the method, the high-precision tunnel section can be obtained, the more the sampling points are, the clearer the contour of the tunnel section is, and the higher the modeling precision is. A measuring instrument with higher precision is adopted, the precision of the outline of the tunnel is higher when a larger number of sampling points are arranged, and the method is suitable for various tasks such as subway tunnel construction, measurement, settlement monitoring and the like.

Description

Technical Field

[0001] The invention relates to the field of tunnel engineering construction, and in particular to a high-precision tunnel settlement measurement and modeling method based on laser ranging and inclination. Background Art

[0002] With the continuous development of my country's economy and the gradual increase in the scale of urbanization, the development and utilization of underground space has become an important direction of urban construction. Cities are not only densely populated with surface buildings, but also with various underground structures, such as underground pipelines, tunnels, subway stations, and integrated pipe galleries. Under the background of urban underground space development in my country, underground engineering construction inevitably produces settlement problems. During the tunnel excavation process, it is necessary to measure and monitor the surrounding walls of the tunnel to detect possible safety hazards as early as possible and prevent deformation, cracks, leakage, collapse and other safety accidents in the tunnel.

[0003] In the existing technology, manual monitoring is mainly carried out using surveying equipment total stations, but there are some problems with using total stations for monitoring: manual monitoring is required, and the accuracy of the monitoring data is related to the technical level of the surveying personnel; reflecting prisms need to be arranged at the reflection points of the total station, and the intervals between monitoring points are large; each test takes a long time and more time needs to be reserved; the test time is limited by the construction window, and work stoppage monitoring makes it impossible to warn of risks.

[0004] Therefore, it can be seen that during the tunnel excavation and construction process, it is necessary to continuously track and monitor the forward excavation area according to the advancement of the construction progress, and to be able to adapt to the progress of this engineering construction. The monitoring area should be able to be expanded and adjusted, the monitoring accuracy should be high, and the monitoring timeliness should be strong. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the present application provides a high-precision tunnel settlement measurement and modeling method based on laser ranging and inclination, comprising the following steps:

[0006] Step 1: Surveying and mapping to obtain the coordinates of the initial positions of each laser rangefinder and target in plane T, where plane T is a plane extending in the longitudinal direction of the tunnel and perpendicular to the horizontal plane, and a plurality of targets are arranged at intervals on a two-dimensional fold line that alternately undulates in the longitudinal direction of the tunnel in plane T, and laser rangefinders of equal height are arranged below the crest and above the trough of the two-dimensional fold line on which the targets are arranged, and the laser rangefinders are installed on an electric rotating disk and the rotating surface is parallel to plane T, and all electric rotating disks are connected to the straight side wall on the same side of the tunnel through telescopic rods, and all telescopic rods can move the laser rangefinders into plane T;

[0007] Step 2: In one measurement cycle, one laser rangefinder is used as the measuring laser rangefinder, and the other laser rangefinders are used as the measured laser rangefinders; after rotating the measuring laser rangefinder to scan the measured laser rangefinder and the target in the plane T, the measurement data is recorded, wherein the measurement data includes the distance L between the measuring laser rangefinder and the target b , measure the angle θ of the laser rangefinder when it scans the target in plane T, and measure the distance L between the laser rangefinder and the laser rangefinder being measured, and measure the angle of rotation of the laser rangefinder when it scans the laser rangefinder being measured in plane T

[0008] Step 3: Filter the measurement data obtained in step 2 to obtain target measurement data of the target between the measuring laser rangefinder and the adjacent measured laser rangefinder, and compensation measurement data of the measuring laser rangefinder and the measured laser rangefinder;

[0009] Step 4: Identify the mapping relationship between the target and the measured laser rangefinder and the initial positions of the target and the measured laser rangefinder from the filtered target measurement data and the compensation measurement data of the measuring laser rangefinder, and mark the mapping relationship;

[0010] Step 5: Calculate the coordinates of all the laser rangefinders under test in the measurement period according to the initial position coordinates of the measuring laser rangefinder and the compensation measurement data. If the difference between the coordinates of multiple laser rangefinders under test in the measurement period and the initial position coordinates of the laser rangefinder under test is the same and the smallest, it is marked as an unsettled laser rangefinder under test. Calculate the coordinates of the measuring laser rangefinder under test in the measurement period according to the initial position coordinates of at least one unsettled laser rangefinder under test and the corresponding compensation measurement data.

[0011] Step 6: According to the target measurement data of the measuring laser rangefinder and the coordinates of the measuring laser rangefinder in the measuring cycle obtained in step 5, the coordinates of the target in one measuring cycle are calculated, and the difference is compared with the coordinates of the target at the initial position to obtain the settlement amount of the target.

[0012] Furthermore, after step 2, the method further includes: in the next measurement cycle, the measuring laser rangefinder rotates and scans one circle each time, so that the telescopic rod of the measured laser rangefinder is retracted, and step 2 is repeated to reselect two measured laser rangefinders to move to plane T for measuring measurement data, until all measured laser rangefinders are scanned; after each measuring laser rangefinder is measured, another laser rangefinder is replaced as the measuring laser rangefinder.

[0013] Further, the step 3 comprises:

[0014] Step 31, using the measurement data to calculate the distance D between the tunnel section where the measuring laser rangefinder is located and the tunnel section where the measured laser rangefinder is located according to formula (1), and calculating the relative height h of the measured laser rangefinder according to formula (2);

[0015]

[0016] If|DD P |≤λ and β≤h≤α, the measurement data is saved as compensation measurement data, and the remaining measurement data is saved as candidate target measurement data;

[0017] Among them, D P To measure the distance between the initial position of the laser rangefinder and the initial position of the measured laser rangefinder, λ, β, α are the set thresholds, λ = 0.1 ~ 0.3m, β, α = h ± 0.1 ~ 0.2m

[0018] Step 32, using the candidate target measurement data to calculate the distance D between the tunnel section where the target is located and the tunnel section where the measuring laser rangefinder is located according to formula (1);

[0019] If DD B ≤0, the candidate target measurement data is saved as the target measurement data;

[0020] Among them, D B The distance between the initial position of the laser rangefinder and the initial position of the adjacent laser rangefinder to be measured in the scanning direction is measured.

[0021] Further, the step 4 comprises:

[0022] Step 41: The filtered target measurement data and compensation measurement data of the measuring laser rangefinder are divided into two categories according to the rotation angle θ or φ of the electric rotating disk. If θ or φ∈(0, 180], it is marked as category one, and if θ or φ∈(180, 360], it is marked as category two; the classified target measurement data and compensation measurement data are sorted in descending or ascending order of L;

[0023] The electric rotating disk drives the measuring laser rangefinder to rotate counterclockwise from the six o'clock direction of the front of the electric rotating disk and measure and record the rotation angle θ or φ. The front of the electric rotating disk faces away from the straight side wall close to the electric rotating disk. The electric rotating disk is placed so that the six o'clock direction is vertically downward, and the six o'clock direction of the electric rotating disk is the initial direction;

[0024] Step 42: the filtered measuring laser rangefinder, the measured laser rangefinder and the target within the set range are respectively classified into category one on the left side of the initial direction of the measuring laser rangefinder relative to the measuring laser rangefinder, and category two on the right side; the measured laser rangefinders around the classified measuring laser rangefinder are sorted in descending or ascending order of the distance of their initial positions relative to the initial position of the measuring laser rangefinder, and the classified measuring laser rangefinder and the target of the adjacent laser rangefinder are sorted in descending or ascending order of the distance of their initial positions relative to the initial position of the measuring laser rangefinder;

[0025] Step 43: Targets within the set range with the same classification category and the same sorting order and the target marks corresponding to the target measurement data are the same target, and the measured laser rangefinders with the same classification category and the same sorting order and the measured laser rangefinders corresponding to the compensation measurement data are the same measured laser rangefinder.

[0026] Further, the step 5 comprises:

[0027] Step 51: Assume that the initial position coordinates of the laser rangefinder are (x n ,y n ), the initial position coordinates of the laser rangefinder to be measured are (x1, y1) and (x2, y2) and ... and (x m ,y m ), the measuring laser rangefinder observed that the compensation measurement data of these measured laser rangefinders are and and...and

[0028] Step 52: Calculate the coordinates of all the laser rangefinders being measured in the measurement cycle according to the initial position coordinates of the laser rangefinder and the compensation measurement data: and and...and

[0029] Step 53: If the difference between the coordinates of multiple laser rangefinders under test in the measurement period and the initial position coordinates of the laser rangefinder under test is the same and the smallest, it is marked as an unsettled laser rangefinder under test, and the coordinates of the measuring laser rangefinder in the measurement period and the coordinates of the target in the measurement period are calculated based on the initial position coordinates of at least one unsettled laser rangefinder under test and the corresponding compensation measurement data.

[0030] The beneficial effects of the present invention are: it can adapt to any tunnel cross-section shape, and can calculate multiple sampling points according to the basic distance value and angle value obtained by measurement, and the tunnel cross-section can be obtained by connecting them, and it is suitable for tunnels of any shape, and can obtain a high-precision tunnel cross-section. The more the number of sampling points, the clearer the contour of the tunnel cross-section, and the higher the modeling accuracy. When a higher-precision measuring instrument is used and a larger number of sampling points are used, the accuracy of the tunnel contour is higher, and it is suitable for various tasks such as subway tunnel construction, measurement, and settlement monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of main equipment and its structure;

[0032] Figure 2 Schematic diagram of the installation layout of settlement monitoring points. DETAILED DESCRIPTION

[0033] 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.

[0034] Example 1

[0035] A high-precision tunnel settlement measurement method based on laser ranging and inclination measurement, using a high-precision tunnel settlement measurement system for measurement, the high-precision tunnel settlement measurement system includes: Figure 1 As shown, there are multiple electric rotating disks 1 and laser rangefinders, and several targets 2. A laser rangefinder is set on each electric rotating disk 1. The electric rotating disk 1 is used to drive the laser rangefinder to rotate to different directions and return the rotation angle of the laser rangefinder relative to the initial direction. Every time the electric rotating disk 1 rotates one circle, the rotation angle returns to zero, so as to measure the relative position of the laser rangefinder 3 and other laser rangefinders 4 or targets.

[0036] The measuring laser rangefinder 3 is a laser rangefinder selected from all laser rangefinders, and one of the other laser rangefinders located on both sides of the measuring laser rangefinder 3 is used as the measured laser rangefinder 4.

[0037] The initial positions of the above-mentioned multiple electric rotating disks 1 in the tunnel are arranged in the following manner:

[0038] The backs of all the electric rotating disks 1 are connected to the straight side wall on the same side of the tunnel through telescopic rods 5, and all the telescopic rods 5 are arranged at intervals along the length direction of the tunnel;

[0039] All electric rotating disks 1 are arranged at the same height, and the rotating surfaces of all electric rotating disks 1 are perpendicular to the horizontal plane. After all telescopic rods 5 are extended to a predetermined length, the rotating surfaces of all electric rotating disks 1 are aligned to the same plane T extending along the length direction of the tunnel, and all telescopic rods 1 can be extended and retracted perpendicular to the plane T.

[0040] The initial positions of the above-mentioned several targets 2 in the tunnel are arranged in the plane T where all the electric rotating disks are located in the following manner:

[0041] Several targets between adjacent electric rotating disks are arranged at intervals along a straight line inclined relative to the horizontal plane in plane T starting from above one electric rotating disk, until the last target is arranged below another electric rotating disk;

[0042] All targets should not block the path of a laser rangefinder on an electric rotating disk to observe its adjacent laser rangefinder.

[0043] Step 1: Surveying and mapping to obtain the coordinates of the initial positions of each laser rangefinder and target in plane T, where plane T is a plane extending in the longitudinal direction of the tunnel and perpendicular to the horizontal plane, and a plurality of targets are arranged at intervals on a two-dimensional fold line that alternately undulates in the longitudinal direction of the tunnel in plane T, and laser rangefinders of equal height are arranged below the crest and above the trough of the two-dimensional fold line on which the targets are arranged, and the laser rangefinders are installed on an electric rotating disk and the rotating surface is parallel to plane T, and all electric rotating disks are connected to the straight side wall on the same side of the tunnel through telescopic rods, and all telescopic rods can move the laser rangefinders into plane T;

[0044] Step 2: In one measurement cycle, one laser rangefinder is used as the measuring laser rangefinder 3, and one of the other laser rangefinders located on both sides of the measuring laser rangefinder 3 is used as the measured laser rangefinder 4; after rotating the measuring laser rangefinder 3 to scan the measured laser rangefinder and the target in the plane T, the measurement data is recorded, wherein the measurement data includes the distance L between the measuring laser rangefinder 3 and the target 2 b , and measure the angle θ of rotation of the laser rangefinder 3 when scanning the target 2 in the plane T, or measure the distance L between the laser rangefinder 3 and the laser rangefinder being measured, and measure the angle of rotation of the laser rangefinder 3 when scanning the laser rangefinder 4 being measured in the plane T

[0045] It should be noted that step 2 includes:

[0046] Step 21: In the measurement cycle, a laser rangefinder is selected as the measuring laser rangefinder, and one laser rangefinder located on the left and right sides of the initial direction of the measuring laser rangefinder is selected from other laser rangefinders as the laser rangefinder to be measured, and the telescopic rods of the measuring laser rangefinder and the laser rangefinder to be measured are driven to move the measuring laser rangefinder and the laser rangefinder to be measured into the plane T, and the measuring laser rangefinder is rotated by the electric rotating disk in the plane T according to the step angle, so that the measuring laser rangefinder rotates to scan the laser rangefinder to be measured and the target in the plane T, and the measuring laser rangefinder records the measurement data after scanning the target or the laser rangefinder to be measured, and the measurement data includes the distance L between the measuring laser rangefinder and the target. b , and the angle θ of the electric rotating disk rotating in plane T. Or measure the distance L between the laser rangefinder and the laser rangefinder being measured, and the angle θ of the electric rotating disk rotating in plane T

[0047] Plane T is a plane extending in the longitudinal direction of the tunnel and perpendicular to the horizontal plane. The target has different heights in plane T and different distances from the tunnel section where the laser rangefinder is located.

[0048] Step 22, every time the measuring laser rangefinder rotates and scans one circle, the telescopic rod of the measured laser rangefinder is retracted, and step 21 is repeated to reselect two measured laser rangefinders and move them to plane T for measuring measurement data until all measured laser rangefinders are scanned.

[0049] Step 3: Filter the measurement data obtained in step 2 to obtain target measurement data of the target between the measuring laser rangefinder and the adjacent measured laser rangefinder, and compensation measurement data of the measuring laser rangefinder and the measured laser rangefinder;

[0050] It should be noted that the compensation measurement data and target measurement data of the laser rangefinder obtained by filtering the measurement data of the laser rangefinder include:

[0051] Step 31, using the measurement data to calculate the distance D between the tunnel section where the measuring laser rangefinder is located and the tunnel section where the measured laser rangefinder is located according to formula (1), and calculating the relative height h of the measured laser rangefinder according to formula (2);

[0052]

[0053] If|DD P |≤λ and β≤h≤α, the measurement data is saved as compensation measurement data, and the remaining measurement data is saved as candidate target measurement data;

[0054] Among them, D PTo measure the distance between the initial position of the laser rangefinder and the initial position of the measured laser rangefinder, λ, β, α are the set thresholds, λ = 0.1 ~ 0.3m, β, α = h ± 0.1 ~ 0.2m

[0055] Step 32, using the candidate target measurement data to calculate the distance D between the tunnel section where the target is located and the tunnel section where the measuring laser rangefinder is located according to formula (1);

[0056] If DD B ≤0, the candidate target measurement data is saved as the target measurement data;

[0057] Among them, D B The distance between the initial position of the laser rangefinder and the initial position of the adjacent laser rangefinder to be measured in the scanning direction is measured.

[0058] Step 4: Identify the mapping relationship between the target and the measured laser rangefinder and the initial positions of the target and the measured laser rangefinder from the filtered target measurement data and the compensation measurement data of the measuring laser rangefinder, and mark the mapping relationship;

[0059] Specifically, step 4 includes:

[0060] Step 41: The filtered target measurement data and compensation measurement data of the measuring laser rangefinder are divided into two categories according to the rotation angle θ or φ of the electric rotating disk. If θ or φ∈(0, 180], it is marked as category one, and if θ or φ∈(180, 360], it is marked as category two; the classified target measurement data and compensation measurement data are sorted in descending or ascending order of L; the measured laser rangefinders around the measuring laser rangefinder and the targets within the set range are respectively divided into category one and category two according to the left and right position relationship relative to the initial direction of the measuring laser rangefinder, and the classified measuring laser rangefinders and targets are respectively sorted according to the distance relative to the initial position of the measuring laser rangefinder, and the targets with the same classification category and the same sorting order are marked as the same target, and the measured laser rangefinders with the same classification category and the same sorting order are marked as the same measured laser rangefinder.

[0061] It should be noted that the target measurement data and compensation measurement data of the filtered laser rangefinder are based on the rotation angle θ or Divided into two categories, if θ or Marked as category one, if θ or Marked as category 2, the classified target measurement data is sorted in descending or ascending order of L. The classified compensation measurement data is sorted in descending or ascending order of L.

[0062] The measured laser rangefinders around the measuring laser rangefinder and the targets within the set range are respectively divided into category one and category two according to the left-right position relationship relative to the initial direction of the measuring laser rangefinder. The ones located on the left side of the initial direction of the measuring laser rangefinder are category one, and the ones located on the right side are category two. The measured laser rangefinders around the classified measuring laser rangefinder are sorted in descending or ascending order of the distances of their initial positions relative to the initial position of the measuring laser rangefinder. The targets within the set range around the classified measuring laser rangefinder are sorted in descending or ascending order of the distances of their initial positions relative to the initial position of the measuring laser rangefinder.

[0063] Targets within a set range with the same classification category and the same sorting order and target marks corresponding to target measurement data are the same target, and measured laser rangefinders with the same classification category and the same sorting order and measured laser rangefinder marks corresponding to compensation measurement data are the same measured laser rangefinder.

[0064] Step 5: Calculate the coordinates of all the laser rangefinders under test in the measurement period according to the initial position coordinates of the measuring laser rangefinder and the compensation measurement data. If the difference between the coordinates of multiple laser rangefinders under test in the measurement period and the initial position coordinates of the laser rangefinder under test is the same and the smallest, it is marked as an unsettled laser rangefinder under test. Calculate the coordinates of the measuring laser rangefinder under test in the measurement period according to the initial position coordinates of at least one unsettled laser rangefinder under test and the corresponding compensation measurement data.

[0065] It should be noted that if the straight side wall connected to the electric rotating disk of the measuring laser rangefinder sinks during the measurement period, while the straight side walls connected to the electric rotating disks of other measured laser rangefinders do not sink during the measurement period, that is, the measuring laser rangefinder sinks during the measurement period, while the other measured laser rangefinders are still at the initial position, the initial position coordinates of the measuring laser rangefinder are (x n ,y n ), the initial position coordinates of the laser rangefinder to be measured are (x1, y1) and (x2, y2) and ... and (x m ,y m ), the measuring laser rangefinder observed that the compensation measurement data of these measured laser rangefinders are and and...and The coordinates of all the laser rangefinders under test in the measurement cycle are calculated based on the initial position coordinates of the laser rangefinder and the compensation measurement data: and and...and If the difference between the coordinates of the multiple laser rangefinders under test in the measurement period and the initial position coordinates of the laser rangefinder under test is the same and the smallest, it is marked as an unsettled laser rangefinder under test. The coordinates of the measuring laser rangefinder under test in the measurement period are calculated based on the initial position coordinates of at least one unsettled laser rangefinder under test and the corresponding compensation measurement data.

[0066] Step 6: According to the target measurement data of the measuring laser rangefinder and the coordinates of the measuring laser rangefinder in the measuring cycle obtained in step 5, the coordinates of the target in one measuring cycle are calculated, and the difference is compared with the coordinates of the target at the initial position to obtain the settlement amount of the target.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision tunnel settlement measurement and modeling method based on laser ranging and inclination, characterized in that: The following steps are involved: Step 1: Surveying and mapping to obtain the coordinates of the initial positions of each laser rangefinder and target in plane T, where plane T is a plane extending in the longitudinal direction of the tunnel and perpendicular to the horizontal plane, and a plurality of targets are arranged at intervals on a two-dimensional fold line that alternately undulates in the longitudinal direction of the tunnel in plane T, and laser rangefinders of equal height are arranged below the crest and above the trough of the two-dimensional fold line on which the targets are arranged, and the laser rangefinders are installed on an electric rotating disk and the rotating surface is parallel to plane T, and all electric rotating disks are connected to the straight side wall on the same side of the tunnel through telescopic rods, and all telescopic rods can move the laser rangefinders into plane T; Step 2: In one measurement cycle, one laser rangefinder is used as the measuring laser rangefinder, and the other laser rangefinders are used as the measured laser rangefinders; after rotating the measuring laser rangefinder to scan the measured laser rangefinder and the target in the plane T, the measurement data is recorded, wherein the measurement data includes the distance L between the measuring laser rangefinder and the target b , measuring the angle θ of rotation of the laser rangefinder when scanning the target in plane T, measuring the distance L between the laser rangefinder and the laser rangefinder being measured, and measuring the angle φ of rotation of the laser rangefinder when scanning the laser rangefinder being measured in plane T; Step 3: Filter the measurement data obtained in step 2 to obtain target measurement data of the target between the measuring laser rangefinder and the adjacent measured laser rangefinder, and compensation measurement data of the measuring laser rangefinder and the measured laser rangefinder; Step 4: Identify the mapping relationship between the target and the measured laser rangefinder and the initial positions of the target and the measured laser rangefinder from the filtered target measurement data and the compensation measurement data of the measuring laser rangefinder, and mark the mapping relationship; Step 5: Calculate the coordinates of all the laser rangefinders under test in the measurement period according to the initial position coordinates of the measuring laser rangefinder and the compensation measurement data. If the difference between the coordinates of multiple laser rangefinders under test in the measurement period and the initial position coordinates of the laser rangefinder under test is the same and the smallest, it is marked as an unsettled laser rangefinder under test. Calculate the coordinates of the measuring laser rangefinder under test in the measurement period according to the initial position coordinates of at least one unsettled laser rangefinder under test and the corresponding compensation measurement data. Step 6: According to the target measurement data of the measuring laser rangefinder and the coordinates of the measuring laser rangefinder in the measuring cycle obtained in step 5, the coordinates of the target in one measuring cycle are calculated, and the difference is compared with the coordinates of the target at the initial position to obtain the settlement amount of the target.

2. The method according to claim 1, characterized in that After step 2, the method further includes: in the next measurement cycle, the measuring laser rangefinder rotates and scans one circle each time, so that the telescopic rod of the measured laser rangefinder is retracted, and step 2 is repeated to reselect two measured laser rangefinders to move to plane T for measuring measurement data, until all measured laser rangefinders are scanned; after each measuring laser rangefinder is measured, another laser rangefinder is replaced as the measuring laser rangefinder.

3. The method according to claim 1, characterized in that The step 3 comprises: Step 31, using the measurement data to calculate the distance D between the tunnel section where the measuring laser rangefinder is located and the tunnel section where the measured laser rangefinder is located according to formula (1), and calculating the relative height h of the measured laser rangefinder according to formula (2); D=L|sinφ| (1) h=L|cosφ| (2) If|DD P |≤λ and β≤h≤α, the measurement data is saved as compensation measurement data, and the remaining measurement data is saved as candidate target measurement data; Among them, D P To measure the distance between the initial position of the laser rangefinder and the initial position of the measured laser rangefinder, λ, β, α are the set thresholds, λ = 0.1 ~ 0.3m, β, α = h ± 0.1 ~ 0.2m Step 32, using the candidate target measurement data to calculate the distance D between the tunnel section where the target is located and the tunnel section where the measuring laser rangefinder is located according to formula (1); If DD B ≤0, the candidate target measurement data is saved as the target measurement data; Among them, D B The distance between the initial position of the laser rangefinder and the initial position of the adjacent laser rangefinder to be measured in the scanning direction is measured.

4. The method according to claim 1, characterized in that: The step 4 comprises: Step 41: The filtered target measurement data and compensation measurement data of the measuring laser rangefinder are divided into two categories according to the rotation angle θ or φ of the electric rotating disk. If θ or φ∈(0, 180], it is marked as category one, and if θ or φ∈(180, 360], it is marked as category two; the classified target measurement data and compensation measurement data are sorted in descending or ascending order of L; The electric rotating disk drives the measuring laser rangefinder to rotate counterclockwise from the six o'clock direction of the front of the electric rotating disk and measure and record the rotation angle θ or φ. The front of the electric rotating disk faces away from the straight side wall close to the electric rotating disk. The electric rotating disk is placed so that the six o'clock direction is vertically downward, and the six o'clock direction of the electric rotating disk is the initial direction; Step 42: the filtered measuring laser rangefinder, the measured laser rangefinder and the target within the set range are respectively classified into category one on the left side of the initial direction of the measuring laser rangefinder relative to the measuring laser rangefinder, and category two on the right side; the measured laser rangefinders around the classified measuring laser rangefinder are sorted in descending or ascending order of the distance of their initial positions relative to the initial position of the measuring laser rangefinder, and the classified measuring laser rangefinder and the target of the adjacent laser rangefinder are sorted in descending or ascending order of the distance of their initial positions relative to the initial position of the measuring laser rangefinder; Step 43: Targets within the set range with the same classification category and the same sorting order and the target marks corresponding to the target measurement data are the same target, and the measured laser rangefinders with the same classification category and the same sorting order and the measured laser rangefinders corresponding to the compensation measurement data are the same measured laser rangefinder.

5. The method according to claim 1, characterized in that The step 5 comprises: Step 51: Assume that the initial position coordinates of the laser rangefinder are (x n ,y n ), the initial position coordinates of the laser rangefinder to be measured are (x1, y1) and (x2, y2) and ... and (x m ,y m ), the measuring laser rangefinder observed that the compensation measurement data of these laser rangefinders were (L1, φ1) and (L2, φ2) and ... and (L m ,φ m ); Step 52: Calculate the coordinates of all laser rangefinders in the measurement cycle based on the initial position coordinates of the laser rangefinder and the compensation measurement data: (x n +L1sinφ1,y n -L1cosφ1) and (x n +L2sinφ2,y n -L2cosφ2) and ... and (x n +L m sinφ m ,y n -L m cosφ m ); Step 53: If the difference between the coordinates of multiple laser rangefinders under test in the measurement period and the initial position coordinates of the laser rangefinder under test is the same and the smallest, it is marked as an unsettled laser rangefinder under test, and the coordinates of the measuring laser rangefinder in the measurement period and the target in the measurement period are calculated based on the initial position coordinates of at least one unsettled laser rangefinder under test and the corresponding compensation measurement data.

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