Local connection method for regional juxtaposition stations
By setting up a local control network in the regional co-located sites and calculating the conversion parameters using the design matrix, the problem that the coordinate conversion method in the prior art cannot effectively consider the inconsistent vertical line deviation, and the accurate connection vector between each co-located site is achieved.
Patent Information
- Application Number
- CN202411450617.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-17
- Publication Date
- 2025-02-18
AI Technical Summary
In the prior art, the coordinate conversion method is based on the quaternion method. The parameters do not have actual physical significance and have many parameters. It is impossible to effectively consider the problem of inconsistent vertical deviation between independent parks, resulting in different local systems established by different parks. .
Using a local connection method for regional co-local stations, by setting up a local control network at multiple co-local sites within a certain visible range, using observation coordinates under local systems and geocentric coordinate systems to build a design matrix, and calculate the conversion parameters and the geocentric correction amount to realize the connection between each juxtaposed site.
It effectively solves the problem of inconsistent vertical line deviation between independent parks, realizes the local connection vector between juxtaposed sites, and ensures the accurate conversion of local systems to geocentric systems.
Smart Images
Figure CN119474627A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of engineering measurement, and in particular to a local connection method of regional co-location stations. Background Art
[0002] The local connection vector is not only the basic input for establishing and maintaining TRF and spatial benchmarks, but also helps to study a certain spatial measurement technology or system difference within the measurement area, thus providing support for the refinement and upgrade of the framework. The current situation of collocated stations in some areas is that different basic equipment is located in independent parks, and establishing a local connection vector requires connecting independent collocated stations.
[0003] In the prior art, the coordinate transformation methods adopted are mostly based on the quaternion method first proposed by Hamilton. This method adopts a right-hand system to construct a coordinate transformation model from a local system to a geocentric system. The main disadvantages of this model are that the parameters have no actual physical meaning and there are many parameters. At the same time, the problem of inconsistent vertical deviations between independent parks cannot be directly considered by converting the parameters. The inconsistent vertical deviations directly lead to different local systems established in different parks, that is, the water levels of the two places are different. Therefore, a local connection method for regional co-located stations is urgently needed to solve the above problems. Summary of the invention
[0004] The purpose of the present invention is to provide a local connection method for regional co-location stations, which can effectively solve the problems existing in the above-mentioned prior art.
[0005] In order to solve the above technical problems, the present invention adopts the following technical solution: a local connection method of regional collocated stations, wherein the regional collocated stations are multiple collocated stations within a certain visible range, and a local control network composed of control piers is uniformly arranged around the telescopes of each collocated station, and the local connection method comprises the following steps:
[0006] S1. Obtain the observation coordinates of each pier point in the local system and the geocentric coordinate system;
[0007] S2. Construct a design matrix based on the observation coordinates in the local system and the geocentric coordinate system, and calculate and obtain conversion parameters and geocentric corrections; the conversion parameters include geodetic longitude λ, geodetic latitude and the orientation correction angle O of the local coordinate system A ;
[0008] According to the least squares principle, the final estimated parameter correction value X is the coordinates of the reference point and the base point in the geocentric system and the correction value of the rotation parameter:
[0009] N=A T PA;
[0010] b=A T Pl;
[0011] X=N -1 b=(A T PA) -1 A T Pl;
[0012] S3. The coordinates of the telescope reference point in the local system are obtained by the centering measurement. Based on the conversion parameters and the geocentric correction, a design matrix corresponding to the three-parameter coefficients for the conversion between the local coordinate system and the geocentric coordinates of the telescope reference point is constructed; and the coordinates of the reference point in the geocentric system are calculated and obtained;
[0013] S4, repeat S1-S4 to obtain telescope reference point data and base point data of each collocated site;
[0014] S5. Based on the telescope reference point data and the pier point data, optical measurement is used to connect the collocated sites.
[0015] Preferably, in step S1, a GNSS synchronization ring is arranged at the base point to obtain the observation coordinates of each base point in the geocentric coordinate system.
[0016] Preferably, in step S2, all coordinates are preprocessed before constructing the design matrix, including: uniformly subtracting the corresponding average coordinate from all coordinates:
[0017]
[0018] Among them, P local is the coordinate of the base point in the local system, P geo is the coordinate of the base point in the geocentric coordinate system, m local and m geo are the average coordinates in the local system and the geocentric coordinate system respectively; l k =(x k y k z k ) T (k=1,...,n), is the observation coordinate of each pier point in the local coordinate system, G k =(X k Y k Z k ) T It is the observation coordinate of each pier point in the geocentric coordinate system.
[0019] Preferably, in step S2, ΔP is established local and ΔP geo The conversion function F between the two coordinate systems:
[0020]
[0021] And construct the design matrix based on the conversion function F:
[0022]
[0023] Among them, A pillar is the coefficient of the partial derivative of the component coordinates of the pier point with respect to the conversion function; is the coefficient of the partial derivative of the conversion function of the three parameters of the conversion from the local system coordinates of the pier point to the geocentric system; X is the correction value of the parameter to be estimated, including the coordinates of each pier point in the geocentric system and the three conversion parameters from the local system to the geocentric system; I is the observation value of each pier point in the local system and the geocentric system; V is the correction vector of the observation value, which is the difference between the final adjustment value and the initial value.
[0024] Preferably, the design matrix is processed in blocks to obtain the Jacobian matrix of the three parameters converted between the local system of the pier point and the center of the earth:
[0025] Preferably, in step S3, the coordinates of the telescope reference point in the local system obtained by the centering measurement are Unify the coordinates with the base point coordinates and input the base point design matrix to obtain:
[0026]
[0027] Construct the design matrix corresponding to the three-parameter coefficients for the conversion between the local coordinate system of the telescope reference point and the geocentric coordinate system: Calculate the coordinates of the reference point in the geocentric system.
[0028] Preferably, GNSS synchronous ring observation is introduced to obtain the coordinates of the pier points calculated by the GNSS synchronous rings in the collocated sites: Calculate the slant distance between two points of the pairwise juxtaposed stations and construct the functional relationship between the pairwise juxtaposed stations:
[0029]
[0030] F = S-CS = 0;
[0031] Construct the design matrix for the observations with added line of sight:
[0032]
[0033] Among them, I is after adding A single *m geo The observed values.
[0034] Beneficial effect: In the present invention, by converting the coordinates of a single juxtaposed station reference point from a local system to a geocentric system, λ, φ and OA are iteratively calculated, and the coordinate correction value of the reference point of the SLR telescope or VGOS telescope in the geocentric system is further calculated, and the conversion matrix of the telescope reference point coordinates or connection vector from the local coordinate system to the geocentric coordinate system is determined, and the local connection vector established in the independent park is realized. In the algorithm for connecting two independent parks, the ranging value of the base pier point pair that simulates the line of sight of the two parks is added, and combined with optical direct connection measurement and GNSS technical analysis, the conversion from the local system to the geocentric system is realized in one step. BRIEF DESCRIPTION OF THE DRAWINGS
[0035] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.
[0036] In the attached picture:
[0037] Figure 1 It is a schematic diagram of the park location of the present invention;
[0038] Figure 2 It is a schematic diagram of the foundation points of the two parks involved in the solution of the present invention;
[0039] Figure 3 It is a flow chart of the local connection method of the present invention. DETAILED DESCRIPTION
[0040] The embodiments of the present invention are described below in conjunction with the drawings in the embodiments of the present invention. The terms used in the implementation mode of the present invention are only used to explain the specific embodiments of the present invention, and are not intended to limit the present invention. The embodiments of the present application are described below in conjunction with the drawings.
[0041] Embodiment: A local connection method for regional collocated stations, wherein the regional collocated stations are multiple collocated stations within a certain visible range, and a local control network composed of control piers is uniformly arranged around the telescopes of each collocated station, and the conversion of the local system to the geocentric system is achieved in one step by combining the local connection vector established in the independent park with the optical direct connection measurement and GNSS technology analysis;
[0042] Single collocated site:
[0043] In order to determine the reference point of the telescope, a local control network consisting of control piers is evenly distributed around the telescope. Here, a total of n pier point coordinates constitute a local system, where the pier point coordinates are P local , deploy GNSS synchronization rings at the base points to obtain the coordinates P of each base point in the geocentric coordinate system geo .
[0044] Observation coordinates (xyz) of each pier point in the local coordinate system, l k =(x k y k z k ) T (k=1,...,n), the observation coordinates (XYZ) of each pier point in the geocentric coordinate system, G k =(X k Y k Z k ) T , to facilitate the calculation of decimals, the station coordinates are uniformly subtracted from the average coordinates, m local =(x m y m z m ) T ,m geo =(X m Y m Z m ) T .
[0045]
[0046] The above observed value ΔP geo is the coordinate of the base point in the geocentric coordinate system, ΔP local and ΔP geo The conversion function F between the two coordinate systems is as follows:
[0047]
[0048] Find the partial derivative of a function
[0049]
[0050] The design matrix is constructed as follows:
[0051]
[0052] Among them, A pillar is the coefficient of the partial derivative of the component coordinates of the pier point with respect to the conversion function; is the coefficient of the partial derivative of the conversion function of the three parameters of the conversion from the local system coordinates of the pier point to the geocentric system; X is the correction value of the parameter to be estimated, including the coordinates of each pier point in the geocentric system and the three conversion parameters from the local system to the geocentric system; I is the observation value of each pier point in the local system and the geocentric system; V is the correction vector of the observation value, which is the difference between the final adjustment value and the initial value;
[0053] The matrix A can be divided into blocks according to the actual parameter type to be estimated. In this embodiment, the matrix of each base point is: The matrix for transforming three parameters between the local system of the pier point and the center of the earth is:
[0054] The coordinates of the telescope reference point in the local system obtained by the centring measurement Unify with the base point coordinates and incorporate into the above formula to obtain:
[0055]
[0056] Among them, the design matrix related to the telescope reference point is The design matrix corresponding to the three-parameter coefficients for the conversion between the local coordinate system of the telescope reference point and the geocentric coordinate system is:
[0057]
[0058] Solving the above equations, we can obtain the coordinates of the reference point in the geocentric system. Here, the overall coefficient matrix is denoted by A single :
[0059]
[0060] Two-by-two co-located site connections:
[0061] A certain area of collocated stations is composed of multiple independent collocated station parks, such as p1, p2, p3, etc. Now, taking two independent parks with mutual visibility as an example, GNSS technology and optical measurement technology are used to achieve the connection of two collocated station parks with close distances;
[0062] Assume that the observed value ΔP geo is the coordinate of the base point in the geocentric system. Now we convert it to the local system by calculation to get the coordinate of the base point in the local system.
[0063] Since the vertical deviations of the two locations are different, the conversion matrices of the two collocated stations are also different. The conversion matrices of the two stations can be constructed as follows:
[0064]
[0065] The connection vector between two collocated stations satisfies the following relationship:
[0066] F = F1 - F2 = 0;
[0067] Find the partial derivative of the above function:
[0068]
[0069] in:
[0070]
[0071] From the above derivation formula, we can know that:
[0072]
[0073] That is A j,pillar Only with λ, and O A If there are multiple devices in the station, and O A If the values of the two coordinates of the measuring station are approximately the same, or the vertical deviations are approximately equal, then the values of the two coordinates of the measuring station after partial derivative are the same.
[0074]
[0075] From the above partial derivative formula, we can know that That is A j,rotate It is related to the coordinates and average coordinates of the pier point under the geocentric system.
[0076] Finally, the connection between the two parks can be made using optical measurement. The design matrix A includes the direct conversion of the reference point and the pier point in the local coordinate system to the geocentric coordinate system. Here, the vertical deviation of an independent park is considered to be consistent. By introducing GNSS synchronous ring observation, the rotation matrix of a single park can be obtained. and is the coordinate of the base point calculated by the GNSS synchronization loop in the first park and the second park, CS is the distance between the two points calculated by the coordinate of the base point calculated by the GNSS synchronization loop in the two parks, S is the slant distance data measured by the base point pair in the two parks, and the two parks build a functional relationship:
[0077]
[0078] F = S-CS = 0;
[0079] For the added observations, a design matrix needs to be created. Then the partial derivative of the equation is taken, and the added design matrix Aadd is as follows:
[0080]
[0081] The design matrix is as follows:
[0082]
[0083] The I is added with A single *m geoThe observation values constituted by the total station observation values and the GNSS observation values are uniformly centered, so the obtained parameter correction value X is the correction value of all coordinates and rotation parameters. The data needs to be restored to obtain the geocentric value of the coordinates, which is the inverse process of data centering. The distance measurement data is added, that is, the observation value S of the line of sight is added to the above formula, which is the distance between a pair of line of sight points in the actual two parks. Therefore, in order to connect the independent parks with different local coordinate systems, the observation value I is readjusted so that all coordinates in the re-calculated X' value are true values in the geocentric system. The final X is the coordinates of the reference point and the base point in the two parks in the geocentric system and the correction value of the rotation parameters:
[0084] Δp1RPX,Δp1RPY,Δp1RPZ,Δp1X1,Δp1Y1,Δp1Z1,…,Δp1X n ,Δp1Y n ,Δp1Z n ,Δλ1,Δφ1,ΔO A 1,Δp2RPX,Δp2RPY,Δp2RPZ,Δp2X1,Δp2Y1,Δp2Z1,…,Δp2X n ,Δp2Y n ,Δp2Z n ,Δλ2,Δφ2,ΔO A 2.
[0085] Data Recovery and Extraction:
[0086] The parameters to be evaluated include the three-dimensional coordinates of the telescope reference point in the geocentric coordinate system, the three-dimensional coordinates of each control point in the local control network, and the three parameters of the coordinate transformation of each pair of coordinates. However, in the previous data processing, we subtracted the average coordinates from all coordinates, so the parameter values of the coordinates need to be added with the average coordinates for data restoration:
[0087]
[0088] The final output normal equation and right-hand vector are:
[0089]
[0090] In addition, the determination of the local connection vector ultimately requires the coordinates of the telescope reference point, so this article needs to extract the coordinates of the telescope reference point. Referring to the reduction algorithm in the VLBI technology, the reference point needs to be subtracted to achieve the extraction of the reference point coordinates.
[0091]
[0092] Now we only need the parameters in x1, excluding the parameters in x2, and do the following:
[0093]
[0094] The above parameter values, normal equations and corresponding right-hand vectors will be output to the SINEX file.
[0095] In a specific embodiment, taking the Shanghai area co-location station as an example, the Sheshan SLR1.56m park and the Sheshan VGOS13m park are connected. The locations of the two parks are as follows: Figure 1 As shown, Figure 2 The positions of the pier points of the two parks participating in this adjustment and solution test were displayed; the input quantities of this test included the local coordinates of the pier points O1, O2, O3, S1, S2, and S3 and the local coordinates of the reference points of the VGOS telescope and SLR telescope after the centroid solution, the geocentric coordinates of each pier point solved by the GNSS synchronization ring, and the observation accuracy of various observation values;
[0096] Based on the above, reference Figure 3 As shown:
[0097] Step 1: Prepare a series of observation data park1.txt, park2.txt, ..., parkn.txt and the viewpoint data file link.txt for the park connection;
[0098] Step 2. By calling the function read_park_dat.m, the data of each park can be read: the local coordinates L of the pier point observed by the total station; the observation accuracy EL of the total station; the geocentric coordinates GL of the pier point solved by the GNSS synchronization ring; the observation accuracy EGL of the GNSS synchronization ring; the local coordinates RP of the reference point; the centering measurement accuracy ERP of the reference point; the height correction value H of the pier point; the number of reference points numRP and the number of pier points numP in each park, and the conversion parameters λ, φ and OA between the local system and the geocentric system;
[0099] Step 3: Call the iterative function process_park_data.m to correct the three parameters λ, φ and OA of the rotation matrix, and obtain a series of correction values of the parameters to be estimated, namely, the correction value X of the reference point and the base point;
[0100] Step 4: Prepare to read the link.txt data, use the geocentric coordinates of the visible base pier points in the independent park to calculate the slant distance between the two points, and then perform noise processing on the data;
[0101] Step 5: Reconstruct the design matrix A, observation value l and weight matrix P;
[0102] Step 6: Input the iteratively obtained parameter correction value X to be estimated, and obtain a set of geocentric coordinates including two park reference points and the base pier point as well as conversion parameters λ, φ and OA;
[0103] Step 7: Using the reconstructed design matrix A, the observation value l and the weight matrix P, a new set of geocentric coordinates of the two park reference points and the pier point as well as the transformation parameters λ, φ and OA can be obtained.
[0104] Step 8. Compare the adjustment results of the independent park and the results of joining the independent park data.
[0105] Table 1 Adjustment results of independent parks
[0106]
[0107] Table 2 Adjustment results of adding independent park connection data
[0108]
[0109]
[0110] Table 3 Comparison of the adjustment results of the independent park and the adjustment results of the independent park connection data
[0111]
[0112]
[0113] As shown in Table 1, the coordinates of the reference points of the SLR and VGOS telescopes in the geocentric system and the values of the three conversion parameters in the two parks are calculated using the measurement data in the local systems of the two parks.
[0114] As shown in Table 2, the distance measurement data of the base pier point pairs of two independent parks are simulated, and the reference point coordinates and the three conversion parameters can be finally obtained;
[0115] As shown in Reference Table 3, the coordinates of the reference points and the conversion parameters of the two parks calculated and simulated in the geocentric system are compared to obtain the reliability of the simulation results. It can be seen that the accuracy of the coordinate components and the accuracy of the conversion parameters are small, which meets the measurement accuracy.
[0116] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. For ordinary technicians in this technical field, after knowing the contents recorded in the present invention, they can make several equivalent changes and substitutions without departing from the principle of the present invention. These equivalent changes and substitutions should also be regarded as belonging to the protection scope of the present invention.
Claims
1. A local connection method for regional collocated stations, wherein the regional collocated stations are multiple collocated sites within a certain visible range, and a local control network composed of control piers is uniformly arranged around the telescopes of each collocated site, characterized in that: The local connection method includes the following steps: S1. Obtain the observation coordinates of each pier point in the local system and the geocentric coordinate system; S2. Construct a design matrix based on the observation coordinates in the local system and the geocentric coordinate system, and calculate and obtain conversion parameters and geocentric corrections; the conversion parameters include geodetic longitude λ, geodetic latitude and the orientation correction angle O of the local coordinate system A ; S3. The coordinates of the telescope reference point in the local system are obtained by the centering measurement. Based on the conversion parameters and the geocentric correction, a design matrix corresponding to the three-parameter coefficients for the conversion between the local coordinate system and the geocentric coordinates of the telescope reference point is constructed; and the coordinates of the reference point in the geocentric system are calculated and obtained; S4, repeat S1-S4 to obtain telescope reference point data and base point data of each collocated site; S5. Based on the telescope reference point data and the pier point data, optical measurement is used to connect the collocated sites.
2. A local connection method for regional co-location stations according to claim 1, characterized in that: In step S1, a GNSS synchronization ring is deployed at the base point to obtain the observation coordinates of each base point in the geocentric coordinate system.
3. A local connection method for regional co-location stations according to claim 1 or 2, characterized in that: In step S2, all coordinates are preprocessed before constructing the design matrix, including: all coordinates are uniformly subtracted from the corresponding average coordinates: Among them, P local is the coordinate of the base point in the local system, P geo is the coordinate of the base point in the geocentric coordinate system, m local and m geo are the average coordinates in the local system and the geocentric coordinate system respectively; l k =(x k y k z k ) T (k=1,...,n), is the observation coordinate of each pier point in the local coordinate system, G k =(X k Y k Z k ) T It is the observation coordinate of each pier point in the geocentric coordinate system.
4. A local connection method for regional co-location stations according to claim 3, characterized in that: In step S2, ΔP is established local and ΔP geo The conversion function F between the two coordinate systems is: And construct the design matrix based on the conversion function F: Among them A pillar is the coefficient of the partial derivative of the component coordinates of the pier point with respect to the conversion function; is the coefficient of the partial derivative of the conversion function of the three parameters of the conversion from the local system coordinates of the pier point to the geocentric system; X is the correction value of the parameter to be estimated, including the coordinates of each pier point in the geocentric system and the three conversion parameters from the local system to the geocentric system; I is the observation value of each pier point in the local system and the geocentric system; V is the correction vector of the observation value, which is the difference between the final adjustment value and the initial value.
5. A local connection method for regional co-location stations according to claim 4, characterized in that: The design matrix is processed in blocks to obtain the Jacobian matrix of the three parameters of the transformation between the local system of the pier point and the center of the earth:
6. A local connection method for regional co-location stations according to claim 4, characterized in that: In step S3, the coordinates of the telescope reference point in the local system obtained by the centroid measurement are Unify the coordinates with the base point coordinates and input the base point design matrix to obtain: Construct the design matrix corresponding to the three-parameter coefficients for the conversion between the local coordinate system of the telescope reference point and the geocentric coordinate system: Calculate the coordinates of the reference point in the geocentric system.
7. A local connection method for regional co-location stations according to claim 1, characterized in that: GNSS synchronous ring observation is introduced to obtain the coordinates of the pier points calculated by the GNSS synchronous ring in each collocated station: Calculate the slant distance between two points of the pairwise juxtaposed stations and construct the functional relationship between the pairwise juxtaposed stations: F = S-CS = 0; Construct the design matrix for the observations with added line of sight: Among them, I is after adding A single *m geo The observed values.