Method, device and equipment for calibrating eccentricity of horizontal measuring point of measuring vehicle and medium

Abstract

The invention discloses a method, a device and equipment for calibrating eccentricity of a horizontal measuring point of a measuring vehicle and a medium. Comprising the following steps: positioning a current measuring point position in a measuring vehicle, controlling the measuring vehicle to move to a target measuring point, and obtaining a relative direction and a baseline length between a total station beacon and the current measuring point position; controlling the measuring vehicle to be adjusted to each target vehicle heading in sequence, and obtaining a group of measurement data under the target vehicle heading every time the vehicle heading adjustment is completed; determining the eccentricity effectiveness of the first horizontal measuring point according to a measurement result effectiveness criterion; when the eccentricity of the first horizontal measuring point is determined to be effective, judging whether the eccentricity of the first horizontal measuring point meets a precision requirement; when it is determined that the first horizontal measuring point eccentricity does not meet the precision requirement, the second horizontal measuring point eccentricity is calculated, and the calibration method for the horizontal measuring point eccentricity of the measuring vehicle is executed again according to the second horizontal measuring point eccentricity. According to the technical scheme, the eccentricity of the horizontal measuring point of the measuring vehicle can be accurately calibrated.

Description

Technical Field

[0001] The invention relates to the technical field of geodetic surveying, and in particular to a calibration method, device, equipment and medium for calibrating the eccentricity of a horizontal measuring point of a surveying vehicle. Background Art

[0002] A high-precision survey vehicle is a special vehicle for the field of geodetic surveying, which can provide high-precision coordinate information and orientation information for the points and edges to be measured. To achieve high-precision coordinate measurement, the survey vehicle is usually equipped with a measuring point mark at the main driver's door. The driver aligns the measuring point mark of the survey vehicle with the point to be measured and then stops the vehicle to perform high-precision coordinate measurement of the point to be measured. In terms of coordinate measurement of the point to be measured, the survey vehicle can use an inertial positioning and orientation system or a satellite positioning measurement system. According to the measurement accuracy requirements, the corresponding mode is selected to measure the coordinates of the point to be measured.

[0003] In order to achieve high-precision coordinate measurement, it is necessary to accurately calibrate the horizontal measuring point eccentricity of the measuring vehicle, that is, the position relationship between the measuring point mark of the measuring vehicle and the inertial positioning and orientation system, and compensate for it in the coordinate measurement and azimuth measurement results. The traditional method usually uses a tape measure to measure the measuring point eccentricity, but due to the complex in-vehicle environment and limited measurement accuracy, while the horizontal position measurement accuracy of the measuring vehicle can reach the decimeter level or even the centimeter level, so the traditional tape measure measurement method cannot meet the requirements of high-precision coordinate measurement of the measuring vehicle. Summary of the invention

[0004] The present invention provides a method, device, equipment and medium for calibrating the eccentricity of the horizontal measuring point of a measuring vehicle, which can accurately calibrate the eccentricity of the horizontal measuring point of the measuring vehicle.

[0005] According to one aspect of the present invention, a method for calibrating the eccentricity of a horizontal measuring point of a measuring vehicle is provided, comprising:

[0006] According to the eccentricity of the first horizontal measuring point of the measuring vehicle, the current measuring point position is located in the measuring vehicle, and the measuring vehicle is controlled to move to the target measuring point to obtain the relative orientation between the total station sighting mark and the current measuring point position and the baseline length;

[0007] According to the relative orientation, the measuring vehicle is controlled to adjust to the bow direction of each target vehicle in turn, and after each vehicle bow direction adjustment is completed, a set of measurement data with the bow of the target vehicle downward is obtained;

[0008] Among them, after each movement of the measuring vehicle, the vehicle body measuring point mark is kept aligned with the target measuring point;

[0009] Calculating a measurement result validity criterion, and determining the validity of the eccentricity of the first horizontal measuring point according to the measurement result validity criterion;

[0010] When it is determined that the eccentricity of the first horizontal measuring point is valid, it is determined whether the eccentricity of the first horizontal measuring point meets the accuracy requirement;

[0011] When it is determined that the eccentricity of the first horizontal measuring point does not meet the accuracy requirement, the eccentricity of the second horizontal measuring point is calculated based on the downward measurement data of the bow of each target vehicle and the baseline length, and the calibration method of the horizontal measuring point eccentricity of the measuring vehicle is executed again based on the eccentricity of the second horizontal measuring point until the eccentricity of the second horizontal measuring point meets the accuracy requirement.

[0012] According to another aspect of the present invention, there is provided a device for calibrating the eccentricity of a horizontal measuring point of a measuring vehicle, comprising:

[0013] The survey vehicle positioning module is used to locate the current measuring point position in the survey vehicle according to the eccentricity of the first horizontal measuring point of the survey vehicle, and control the survey vehicle to move to the target measuring point, and obtain the relative orientation between the total station target and the current measuring point position and the baseline length;

[0014] A measurement data acquisition module, for controlling the measurement vehicle to adjust to each target vehicle bow direction in sequence according to the relative orientation, and acquiring a set of measurement data with the target vehicle bow downward after each vehicle bow direction adjustment is completed;

[0015] Among them, after each movement of the measuring vehicle, the vehicle body measuring point mark is kept aligned with the target measuring point;

[0016] A validity detection module, used for calculating a validity criterion of a measurement result, and determining the validity of the eccentricity of the first horizontal measuring point according to the validity criterion of the measurement result;

[0017] An accuracy detection module, used for judging whether the eccentricity of the first horizontal measuring point meets the accuracy requirement when it is determined that the eccentricity of the first horizontal measuring point is valid;

[0018] The horizontal measuring point eccentricity updating module is used to calculate the second horizontal measuring point eccentricity according to the downward measurement data of each target vehicle bow and the baseline length when it is determined that the first horizontal measuring point eccentricity does not meet the accuracy requirement, and to execute the calibration method of the horizontal measuring point eccentricity of the measuring vehicle again according to the second horizontal measuring point eccentricity until the second horizontal measuring point eccentricity meets the accuracy requirement.

[0019] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for calibrating the eccentricity of the horizontal measuring point of the measuring vehicle described in any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for calibrating the eccentricity of the horizontal measuring point of a measuring vehicle described in any embodiment of the present invention when executed.

[0024] The technical solution of the embodiment of the present invention locates the current measuring point position in the measuring vehicle, controls the measuring vehicle to move to the target measuring point, obtains the relative orientation and baseline length between the total station target mark and the current measuring point position, controls the measuring vehicle to adjust to each target vehicle bow in turn, and obtains a group of measurement data downward at the target vehicle bow each time the vehicle bow adjustment is completed, and determines the validity of the first horizontal measuring point eccentricity according to the validity criterion of the measurement result; when it is determined that the first horizontal measuring point eccentricity is valid, it is judged whether the first horizontal measuring point eccentricity meets the accuracy requirement, when it is determined that the first horizontal measuring point eccentricity does not meet the accuracy requirement, calculates the second horizontal measuring point eccentricity, and executes the calibration method of the horizontal measuring point eccentricity of the measuring vehicle again according to the second horizontal measuring point eccentricity until the second horizontal measuring point eccentricity meets the accuracy requirement, so that the horizontal measuring point eccentricity of the measuring vehicle can be calibrated with high precision, without the need for known reference point information, without requiring a horizontal site, and can realize accurate calibration of the horizontal measuring point eccentricity in an unknown area, and has strong practicality and high engineering application value.

[0025] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 is a flow chart of a method for calibrating the eccentricity of a horizontal measuring point of a measuring vehicle provided in accordance with the first embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of a spatial reference plane of a measuring vehicle provided according to an embodiment of the present invention;

[0029] Figure 3 It is a schematic diagram of a plane of a measuring vehicle after binding rough measuring points eccentricity according to an embodiment of the present invention;

[0030] Figure 4 is a plan schematic diagram of an initial measurement of a total station provided according to an embodiment of the present invention;

[0031] Figure 5 It is a schematic plan view of a measuring vehicle provided by an embodiment of the present invention, in which the measuring vehicle is adjusted to different headings of target vehicles;

[0032] Figure 6 is a flow chart of a method for calibrating the eccentricity of a horizontal measuring point of a measuring vehicle provided in accordance with a second embodiment of the present invention;

[0033] Figure 7 2 is a schematic diagram of the structure of a device for calibrating the eccentricity of a horizontal measuring point of a measuring vehicle provided in accordance with a third embodiment of the present invention;

[0034] Figure 8 The present invention is a schematic diagram of the structure of an electronic device for implementing the method for calibrating the eccentricity of the horizontal measuring point of a measuring vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] Embodiment 1

[0038] Figure 1This is a flow chart of a method for calibrating the eccentricity of horizontal measuring points of a measuring vehicle provided in the first embodiment of the present invention. This embodiment is applicable to the situation of accurately calibrating the eccentricity of horizontal measuring points in unknown areas. This method can be performed by a calibration device for calibrating the eccentricity of horizontal measuring points of a measuring vehicle. The calibration device for calibrating the eccentricity of horizontal measuring points of a measuring vehicle can be implemented in the form of hardware and / or software, and can generally be configured in a vehicle computer, controller or processor on a high-precision measuring vehicle. Figure 1 As shown, the method includes:

[0039] S110, according to the eccentricity of the first horizontal measuring point of the measuring vehicle, locate the current measuring point position in the measuring vehicle, control the measuring vehicle to move to the target measuring point, and obtain the relative orientation between the total station target and the current measuring point position and the baseline length.

[0040] Figure 2 Figure 1 is a schematic diagram of an optional spatial reference plane for a measuring vehicle. Figure 2 As shown, point P can represent the measuring point mark configured at the driver's door of the measuring vehicle, but it is not limited to be configured at this position. Point O can represent the position of the inertial positioning and orientation system carried by the measuring vehicle. The inertial positioning and orientation system is generally installed at the center of the measuring vehicle. There is a three-dimensional spatial position difference between the measuring point mark and the inertial positioning and orientation system. When establishing the spatial reference of the entire vehicle, the measuring vehicle establishes the vehicle-mounted coordinate system b system. The b system uses the position of the inertial positioning and orientation system as the coordinate origin (point O), the right direction of the vehicle as the x-axis, the bow direction of the vehicle as the y-axis, and the dome direction as the z-axis. The x-axis, y-axis, and z-axis constitute a right-handed coordinate system. Figure 2 This is a plane diagram, and the z-axis is not shown yet.

[0041] During the coordinate measurement process, the driver stops the vehicle after aligning the measuring point mark with the point to be measured, and then high-precision coordinate measurement of the point to be measured can be performed. The inertial positioning and orientation system measures the coordinates of point O, and the measuring vehicle needs to obtain the coordinates of the measuring point mark aligned with the point to be measured P. Therefore, in order to achieve high-precision coordinate measurement, the horizontal measuring point eccentricity of the measuring vehicle needs to be accurately calibrated. The horizontal measuring point eccentricity can refer to the position relationship of the point to be measured relative to the inertial positioning and orientation system in the vehicle-mounted coordinate system b, that is, Figure 2 The position relationship of point P relative to point O in the b system can be expressed by the formula: It means, specifically, the position relationship of point P relative to point O in the x-axis direction in the b system, and the position relationship of point P relative to point O in the y-axis direction in the b system. Furthermore, in the coordinate measurement process, the parameters measured by the inertial positioning and orientation system are compensated by the eccentricity of the horizontal measuring point to determine the precise position of the point to be measured.

[0042] Optionally, the first horizontal measuring point eccentricity may refer to the horizontal measuring point eccentricity value used in the current calibration round. In the first round of calibration, the first horizontal measuring point eccentricity may be a rough measurement value obtained by tape measure measurement. The final accurate horizontal measuring point eccentricity may be obtained through multiple rounds of iterative calibration of the horizontal measuring point eccentricity. After each round of calibration, if it is determined that the first horizontal measuring point eccentricity used in the current round meets the calibration requirements, the first horizontal measuring point eccentricity used in the current round is determined as the final calibration result. If it does not meet the calibration requirements, the first horizontal measuring point eccentricity is updated to obtain the second horizontal measuring point eccentricity, and the second horizontal measuring point eccentricity is used to continue the next round of horizontal measuring point eccentricity verification.

[0043] Figure 3 The following is a schematic diagram of the measuring vehicle plane after the optional binding of the rough measuring point eccentricity. Figure 3 As shown in the figure, P' is the rough measuring point eccentricity obtained by measurement. The rough measuring point eccentricity P' cannot completely coincide with P and has a certain deviation. Therefore, it is necessary to calibrate the relative position relationship of point P' relative to point P, that is, to calibrate the relative position relationship of the current measuring point position relative to the target measuring point, and then obtain an accurate horizontal measuring point eccentricity result.

[0044] Optionally, the technical solution of the present invention has no restrictions on the measurement site and does not require a level site. It only requires that when the user sets the measurement point, the field of view between the measurement point and the total station's target beacon setting point be clear, that is, the measurement point and the total station's target beacon setting point be two points that can see through.

[0045] Optionally, a total station can be mounted on the roof of the surveying vehicle, a total station target mark can be pre-installed in the surveying site, and the measuring point can be marked with ground nails. The distance between the measuring point and the total station target mark installation point is guaranteed to be within a first distance range. The first distance range can be a distance range specified by the user. For surveying vehicles of existing specifications, the first distance range can be between 150 meters and 300 meters.

[0046] Optionally, the target measurement point may refer to a point to be measured in the field. When the measuring vehicle moves to the target measurement point, it is ensured that the measuring point mark of the measuring vehicle is aligned with the target measurement point.

[0047] Optionally, after it is determined that the measuring point mark is aligned with the target measuring point, the movement of the measuring vehicle is stopped, and the inertial positioning and orientation system is initialized using the position information provided by the satellite positioning measurement system to obtain valid measurement data.

[0048] Optionally, the relative orientation between the total station's sighting mark and the current measuring point position and the baseline length can be obtained through total station measurement.

[0049] Figure 4 Figure 1 is a schematic diagram of an optional total station initial measurement. Figure 4As shown in the figure, the length of P'B is the baseline length, and the angle between P'B and the true north direction can be used as the relative orientation between the total station's target and the current measuring point.

[0050] S120, controlling the measuring vehicle to adjust to each target vehicle bow direction in sequence according to the relative orientation, and acquiring a set of measurement data with the target vehicle bow facing downward each time the vehicle bow direction adjustment is completed.

[0051] After each movement of the measuring vehicle, the measuring point mark of the vehicle body is kept aligned with the target measuring point.

[0052] Optionally, the heading of the target vehicle includes the direction of the line between the current measuring point position of the vehicle and the total station's target, the direction of the line rotated 90° clockwise, the direction of the line rotated 180° clockwise, and the direction of the line rotated 270° clockwise.

[0053] Figure 5 The following is a schematic diagram of an optional measuring vehicle that can be adjusted to different target vehicle headings. Figure 5 As shown, the y-axis of the measuring vehicle is also the vehicle heading position. For different target vehicle headings, the angles between the y-axis and P'B are 0°, 90°, 180° and 270° respectively.

[0054] Optionally, based on the relative orientation, the angle between the relative orientation of the measuring vehicle and the heading of the first target vehicle can be determined, and the moving mode of the measuring vehicle can be determined based on the angle.

[0055] Optionally, measurement data is collected once for each target vehicle bow downward, and the measurement data may include the pitch attitude of the vehicle at each target vehicle bow downward and the azimuth between the total station target mark and the current measuring point position; when the target vehicle bow direction is the direction of the line between the current measuring point position and the total station target mark and the direction of the line rotated 180° clockwise, the measurement data also includes a roll attitude.

[0056] Optionally, if the measuring vehicle cannot be accurately adjusted to the target vehicle heading, it is necessary to ensure that the angle difference between the actual vehicle heading and the target vehicle heading is less than a preset target angle value, and the target angle value can be a smaller angle value, such as 5°, and the angle difference between the actual vehicle heading and the target vehicle heading adjusted each time does not exceed the target angle value.

[0057] S130, calculating a measurement result validity criterion, and determining the validity of the eccentricity of the first horizontal measuring point according to the measurement result validity criterion.

[0058] Optionally, the validity criterion dH of the measurement result can be calculated according to the following formula mean :

[0059] ;

[0060] Determine whether the absolute value of the validity criterion of the measurement result is less than a preset first arc;

[0061] If so, it is determined that the eccentricity of the first horizontal measuring point is valid;

[0062] If not, the measuring vehicle is controlled to start with initializing the inertial positioning and orientation system, and sequentially execute the calibration method of the eccentricity of the horizontal measuring point of the measuring vehicle.

[0063] in, , , as well as They are the azimuths between the total station's target beacon pointing downward at the bow of each target vehicle and the current measuring point position.

[0064] Optionally, the azimuth between the total station's target and the current measuring point position can be Figure 2-5 The angle between P'B in and due north.

[0065] In an optional embodiment, when determining It can be determined that the eccentricity of the first horizontal measuring point is valid, but the first arc is not limited. In the angle calculation, 1 degree is equal to 60 arc minutes, and 1 arc minute is equal to 60 arc seconds. Therefore, in this optional implementation, the first arc is 30 arc seconds, which is 0.5 arc minutes.

[0066] It can be understood that the validity judgment can be used to determine whether the current measuring point position calibrated in the measuring vehicle has a large deviation, and whether the measurement results obtained are accurate and valid measurement results. If so, only when it is determined that the eccentricity of the first horizontal measuring point is valid, the accuracy of the collected data can be guaranteed, and the data can be used in the subsequent update calculation of the eccentricity of the horizontal measuring point.

[0067] S140: When it is determined that the eccentricity of the first horizontal measuring point is valid, determine whether the eccentricity of the first horizontal measuring point meets the accuracy requirement.

[0068] Optionally, it is possible to determine whether the maximum difference of each azimuth angle is less than a preset second arc based on the azimuth angle between the total station target mark facing downward from the bow of each target vehicle measured in each round and the current measuring point position. If so, it is determined that the accuracy requirement is met; if not, it is determined that the accuracy requirement is not met.

[0069] Taking the above formula as an example, when , , as well as When the difference between the maximum value and the minimum value is less than a preset second arc, for example, 30 arc seconds, it is determined that the accuracy requirement is met. This means that the azimuth errors measured by the measuring vehicle at multiple bow-down positions all meet the requirements.

[0070] Optionally, when the accuracy requirement is met, the first horizontal measuring point eccentricity calculated in this round is calibrated as the final horizontal measuring point eccentricity of the measuring vehicle. If the accuracy requirement is not met, the second horizontal measuring point eccentricity is calculated based on the measurement data and the baseline length, and the second horizontal measuring point eccentricity is used to start from step S110 and repeat the calibration method of the horizontal measuring point eccentricity of the measuring vehicle.

[0071] S150. When it is determined that the eccentricity of the first horizontal measuring point does not meet the accuracy requirement, the eccentricity of the second horizontal measuring point is calculated according to the downward measurement data of the bow of each target vehicle and the baseline length, and the calibration method of the horizontal measuring point eccentricity of the measuring vehicle is executed again according to the eccentricity of the second horizontal measuring point until the eccentricity of the second horizontal measuring point meets the accuracy requirement.

[0072] Optionally, calculate the eccentricity of the second horizontal measuring point according to the following formula: :

[0073] ;

[0074] in, , , as well as are the pitch attitudes of each target vehicle with its bow facing downward, , , as well as are the azimuths between the total station beacon pointing downward at the bow of each target vehicle and the current measuring point position, as well as They are respectively the rolling attitude when the heading of the target vehicle is the direction of the line between the current measuring point position and the total station's sighting mark and the direction of the line rotated 180° clockwise, The eccentricity of the horizontal measuring point currently calibrated by the measuring vehicle, that is, the eccentricity of the first horizontal measuring point. is the relative position relationship between the current measuring point position and the measuring point mark, is the baseline length.

[0075] Optionally, the pitch attitude may refer to the angle between the heading of the measuring vehicle and the horizontal plane, i.e. Figure 2-5 The angle between the y-axis and the horizontal plane, the rolling attitude can be referred to as Figure 2-5 The angle of rotation of the x-axis around the y-axis.

[0076] The technical solution of the embodiment of the present invention locates the current measuring point position in the measuring vehicle, controls the measuring vehicle to move to the target measuring point, obtains the relative orientation and baseline length between the total station target mark and the current measuring point position, controls the measuring vehicle to adjust to each target vehicle bow in turn, and obtains a group of measurement data downward at the target vehicle bow each time the vehicle bow adjustment is completed, and determines the validity of the first horizontal measuring point eccentricity according to the validity criterion of the measurement result; when it is determined that the first horizontal measuring point eccentricity is valid, it is judged whether the first horizontal measuring point eccentricity meets the accuracy requirement, when it is determined that the first horizontal measuring point eccentricity does not meet the accuracy requirement, calculates the second horizontal measuring point eccentricity, and executes the calibration method of the horizontal measuring point eccentricity of the measuring vehicle again according to the second horizontal measuring point eccentricity until the second horizontal measuring point eccentricity meets the accuracy requirement, so that the horizontal measuring point eccentricity of the measuring vehicle can be calibrated with high precision, without the need for known reference point information, without requiring a horizontal site, and can realize accurate calibration of the horizontal measuring point eccentricity in an unknown area, and has strong practicality and high engineering application value.

[0077] Embodiment 2

[0078] Figure 6 This is a flow chart of a method for calibrating the eccentricity of a horizontal measuring point of a measuring vehicle provided in the second embodiment of the present invention. This embodiment specifically describes the method for calibrating the eccentricity of a horizontal measuring point of a measuring vehicle based on the above embodiments. Figure 6 As shown, the method includes:

[0079] S210 , locating the current measuring point position in the measuring vehicle according to the eccentricity of the first horizontal measuring point of the measuring vehicle, and controlling the measuring vehicle to move to the target measuring point.

[0080] S220: Initialize the inertial positioning and orientation system using the position information provided by the satellite positioning measurement system to obtain valid measurement data.

[0081] Optionally, after the measuring vehicle moves to the target measuring point and stops, the position information provided by the satellite positioning measurement system can be used to complete the initial alignment of the inertial positioning and orientation system. After the initial alignment is completed, the inertial positioning and orientation system enters the navigation state. At this time, the attitude information provided by the inertial positioning and orientation system is valid, that is, the initialization of the inertial positioning and orientation system is completed.

[0082] S230, obtaining the relative orientation between the total station's sighting mark and the current measuring point position and the baseline length.

[0083] S240, controlling the measuring vehicle to adjust to the bow direction of each target vehicle in sequence according to the relative orientation, and acquiring a set of measurement data with the bow of the target vehicle downward after each vehicle bow direction adjustment is completed.

[0084] Optionally, the heading of the target vehicle includes the direction of the line between the current measuring point position of the vehicle and the total station's target, the direction of the line rotated 90° clockwise, the direction of the line rotated 180° clockwise, and the direction of the line rotated 270° clockwise.

[0085] Optionally, the measurement data includes the pitch attitude of the vehicle with the bow facing downward at each target and the azimuth angle between the total station's target and the current measurement point position;

[0086] When the heading of the target vehicle is the direction of the line between the current measuring point position and the total station's target mark and the direction of the line rotated 180° clockwise, the measurement data also includes a rolling attitude.

[0087] Optionally, the azimuth between the total station's target mark and the current measuring point position can be obtained by aiming the total station at the target mark and using the on-vehicle operation mode of the survey vehicle.

[0088] S250, calculating the validity criterion of the measurement result, and determining whether the absolute value of the validity criterion of the measurement result is less than a preset first arc; if so, executing step S260; if not, returning to executing step S220.

[0089] Optionally, the validity criterion dH of the measurement result is calculated according to the following formula mean :

[0090] ;

[0091] in, , , as well as They are the azimuths between the total station's target beacon pointing downward at the bow of each target vehicle and the current measuring point position.

[0092] S260, calculate the maximum difference of the azimuth according to the azimuth between the total station's downward-pointing beacon of each target vehicle's bow and the current measuring point position, and determine whether the maximum difference is less than a preset second arc; if so, execute step S270; if not, execute step S280.

[0093] S270, determining that the eccentricity of the first horizontal measuring point meets the accuracy requirement, and determining the eccentricity of the first horizontal measuring point as the eccentricity of the finally calibrated horizontal measuring point.

[0094] S280, calculating the eccentricity of the second horizontal measuring point according to the downward measurement data of each target vehicle bow and the baseline length, and returning to execute step S210 according to the eccentricity of the second horizontal measuring point.

[0095] Optionally, the eccentricity of the second horizontal measuring point is calculated according to the following formula:

[0096] ;

[0097] in, , , as well as are the pitch attitudes of each target vehicle with its bow facing downward, , , as well as are the azimuths between the total station beacon pointing downward at the bow of each target vehicle and the current measuring point position, as well as They are respectively the rolling attitude when the heading of the target vehicle is the direction of the line between the current measuring point position and the total station's sighting mark and the direction of the line rotated 180° clockwise, The eccentricity of the horizontal measuring point currently calibrated by the measuring vehicle. is the baseline length.

[0098] Optionally, during the first round of calculations, The initial horizontal measuring point of the tape measurement can be eccentric. In the subsequent iteration process, It can be the iterative result of the measuring point eccentricity of the previous round, that is, the eccentricity of the second horizontal measuring point calculated in the previous round.

[0099] The technical solution of the embodiment of the present invention locates the current measuring point position in the measuring vehicle, controls the measuring vehicle to move to the target measuring point, obtains the relative orientation and baseline length between the total station target mark and the current measuring point position, controls the measuring vehicle to adjust to each target vehicle bow in turn, and obtains a group of measurement data downward at the target vehicle bow each time the vehicle bow adjustment is completed, and determines the validity of the first horizontal measuring point eccentricity according to the validity criterion of the measurement result; when it is determined that the first horizontal measuring point eccentricity is valid, it is judged whether the first horizontal measuring point eccentricity meets the accuracy requirement, when it is determined that the first horizontal measuring point eccentricity does not meet the accuracy requirement, calculates the second horizontal measuring point eccentricity, and executes the calibration method of the horizontal measuring point eccentricity of the measuring vehicle again according to the second horizontal measuring point eccentricity until the second horizontal measuring point eccentricity meets the accuracy requirement, so that the horizontal measuring point eccentricity of the measuring vehicle can be calibrated with high precision, without the need for known reference point information, without requiring a horizontal site, and can realize accurate calibration of the horizontal measuring point eccentricity in an unknown area, and has strong practicality and high engineering application value.

[0100] Embodiment 3

[0101] Figure 7 This is a schematic diagram of the structure of a device for calibrating the eccentricity of a horizontal measuring point of a measuring vehicle provided in the third embodiment of the present invention. Figure 7 As shown, the device includes: a measuring vehicle positioning module 310 , a measuring data acquisition module 320 , a validity detection module 330 , an accuracy detection module 340 and a horizontal measuring point eccentricity updating module 350 .

[0102] The survey vehicle positioning module 310 is used to locate the current measuring point position in the survey vehicle according to the eccentricity of the first horizontal measuring point of the survey vehicle, and control the survey vehicle to move to the target measuring point to obtain the relative orientation between the total station target and the current measuring point position and the baseline length.

[0103] The measurement data acquisition module 320 is used to control the measurement vehicle to adjust to each target vehicle bow direction in sequence according to the relative orientation, and to acquire a set of measurement data with the target vehicle bow downward after each vehicle bow direction adjustment is completed.

[0104] After each movement of the measuring vehicle, the measuring point mark of the vehicle body is kept aligned with the target measuring point.

[0105] The validity detection module 330 is used to calculate the validity criterion of the measurement result, and determine the validity of the eccentricity of the first horizontal measuring point according to the validity criterion of the measurement result.

[0106] The accuracy detection module 340 is used to determine whether the eccentricity of the first horizontal measuring point meets the accuracy requirement when it is determined that the eccentricity of the first horizontal measuring point is valid.

[0107] The horizontal measuring point eccentricity updating module 350 is used to calculate the second horizontal measuring point eccentricity according to the downward measurement data of each target vehicle bow and the baseline length when it is determined that the first horizontal measuring point eccentricity does not meet the accuracy requirement, and to re-execute the calibration method of the horizontal measuring point eccentricity of the measuring vehicle according to the second horizontal measuring point eccentricity until the second horizontal measuring point eccentricity meets the accuracy requirement.

[0108] The technical solution of the embodiment of the present invention locates the current measuring point position in the measuring vehicle, controls the measuring vehicle to move to the target measuring point, obtains the relative orientation and baseline length between the total station target mark and the current measuring point position, controls the measuring vehicle to adjust to each target vehicle bow in turn, and obtains a group of measurement data downward at the target vehicle bow each time the vehicle bow adjustment is completed, and determines the validity of the first horizontal measuring point eccentricity according to the validity criterion of the measurement result; when it is determined that the first horizontal measuring point eccentricity is valid, it is judged whether the first horizontal measuring point eccentricity meets the accuracy requirement, when it is determined that the first horizontal measuring point eccentricity does not meet the accuracy requirement, calculates the second horizontal measuring point eccentricity, and executes the calibration method of the horizontal measuring point eccentricity of the measuring vehicle again according to the second horizontal measuring point eccentricity until the second horizontal measuring point eccentricity meets the accuracy requirement, so that the horizontal measuring point eccentricity of the measuring vehicle can be calibrated with high precision, without the need for known reference point information, without requiring a horizontal site, and can realize accurate calibration of the horizontal measuring point eccentricity in an unknown area, and has strong practicality and high engineering application value.

[0109] Based on the above embodiments, the target vehicle heading includes the direction of the line between the current measuring point position of the vehicle and the total station's target, the direction of the line rotated 90° clockwise, the direction of the line rotated 180° clockwise, and the direction of the line rotated 270° clockwise.

[0110] On the basis of the above embodiments, the measurement data includes the pitch attitude of the vehicle with the bow facing downward at each target and the azimuth angle between the total station's target and the current measuring point position;

[0111] When the heading of the target vehicle is the direction of the line between the current measuring point position and the total station's target mark and the direction of the line rotated 180° clockwise, the measurement data also includes a rolling attitude.

[0112] On the basis of the above embodiments, a system initialization module may also be included, which is specifically used to:

[0113] The position information provided by the satellite positioning measurement system is used to initialize the inertial positioning and orientation system to obtain valid measurement data.

[0114] Based on the above embodiments, the validity detection module 330 can be specifically used for:

[0115] The validity criterion dHmean of the measurement result is calculated according to the following formula:

[0116] ;

[0117] in, , , as well as are the azimuths between the total station's target beacon with the bow of each target vehicle pointing downward and the current measuring point;

[0118] Determine whether the absolute value of the validity criterion of the measurement result is less than a preset first arc;

[0119] If so, it is determined that the eccentricity of the first horizontal measuring point is valid;

[0120] If not, the measuring vehicle is controlled to start with initializing the inertial positioning and orientation system, and sequentially execute the calibration method of the eccentricity of the horizontal measuring point of the measuring vehicle.

[0121] Based on the above embodiments, the accuracy detection module 340 can be specifically used for:

[0122] Calculate the maximum difference of the azimuth according to the azimuth between the total station sighting mark of each target vehicle and the current measuring point position, and determine whether the maximum difference is less than a preset second arc;

[0123] If so, it is determined that the eccentricity of the first horizontal measuring point meets the accuracy requirement, and the eccentricity of the first horizontal measuring point is determined as the final calibrated horizontal measuring point eccentricity; if not, it is determined that the eccentricity of the first horizontal measuring point does not meet the accuracy requirement.

[0124] Based on the above embodiments, the horizontal measuring point eccentricity updating module 350 can be specifically used for:

[0125] According to the following formula, calculate the eccentricity of the second horizontal measuring point:

[0126] ;

[0127] in, , , as well as are the pitch attitudes of each target vehicle with its bow facing downward, , , as well as are the azimuths between the total station beacon pointing downward at the bow of each target vehicle and the current measuring point position, as well as They are respectively the rolling attitude when the heading of the target vehicle is the direction of the line between the current measuring point position and the total station's sighting mark and the direction of the line rotated 180° clockwise, The eccentricity of the horizontal measuring point currently calibrated by the measuring vehicle. is the baseline length, is the eccentricity of the second horizontal measuring point.

[0128] The device for calibrating the eccentricity of the horizontal measuring point of a measuring vehicle provided in an embodiment of the present invention can execute the method for calibrating the eccentricity of the horizontal measuring point of a measuring vehicle provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0129] Embodiment 4

[0130] Figure 8 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0131] like Figure 8As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0132] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0133] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as the calibration method for the eccentricity of the horizontal measuring point of the measuring vehicle as described in an embodiment of the present invention. That is:

[0134] According to the eccentricity of the first horizontal measuring point of the measuring vehicle, the current measuring point position is located in the measuring vehicle, and the measuring vehicle is controlled to move to the target measuring point to obtain the relative orientation between the total station sighting mark and the current measuring point position and the baseline length;

[0135] According to the relative orientation, the measuring vehicle is controlled to adjust to the bow direction of each target vehicle in turn, and after each vehicle bow direction adjustment is completed, a set of measurement data with the bow of the target vehicle downward is obtained;

[0136] Among them, after each movement of the measuring vehicle, the vehicle body measuring point mark is kept aligned with the target measuring point;

[0137] Calculating a measurement result validity criterion, and determining the validity of the eccentricity of the first horizontal measuring point according to the measurement result validity criterion;

[0138] When it is determined that the eccentricity of the first horizontal measuring point is valid, it is determined whether the eccentricity of the first horizontal measuring point meets the accuracy requirement;

[0139] When it is determined that the eccentricity of the first horizontal measuring point does not meet the accuracy requirement, the eccentricity of the second horizontal measuring point is calculated based on the downward measurement data of the bow of each target vehicle and the baseline length, and the calibration method of the horizontal measuring point eccentricity of the measuring vehicle is executed again based on the eccentricity of the second horizontal measuring point until the eccentricity of the second horizontal measuring point meets the accuracy requirement.

[0140] In some embodiments, the calibration method of the horizontal measuring point eccentricity of the measuring vehicle can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the calibration method of the horizontal measuring point eccentricity of the measuring vehicle described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the calibration method of the horizontal measuring point eccentricity of the measuring vehicle in any other appropriate manner (for example, by means of firmware).

[0141] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0142] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0143] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0144] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0145] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0146] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0147] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0148] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calibrating the eccentricity of a horizontal measuring point of a measuring vehicle, characterized in that: include: According to the eccentricity of the first horizontal measuring point of the measuring vehicle, the current measuring point position is located in the measuring vehicle, and the measuring vehicle is controlled to move to the target measuring point to obtain the relative orientation between the total station sighting mark and the current measuring point position and the baseline length; According to the relative orientation, the measuring vehicle is controlled to adjust to the bow direction of each target vehicle in turn, and after each vehicle bow direction adjustment is completed, a set of measurement data with the bow of the target vehicle downward is obtained; Among them, after each movement of the measuring vehicle, the vehicle body measuring point mark is kept aligned with the target measuring point; Calculating a measurement result validity criterion, and determining the validity of the eccentricity of the first horizontal measuring point according to the measurement result validity criterion; When it is determined that the eccentricity of the first horizontal measuring point is valid, it is determined whether the eccentricity of the first horizontal measuring point meets the accuracy requirement; When it is determined that the eccentricity of the first horizontal measuring point does not meet the accuracy requirement, the eccentricity of the second horizontal measuring point is calculated based on the downward measurement data of the bow of each target vehicle and the baseline length, and the calibration method of the horizontal measuring point eccentricity of the measuring vehicle is executed again based on the eccentricity of the second horizontal measuring point until the eccentricity of the second horizontal measuring point meets the accuracy requirement.

2. The method according to claim 1, characterized in that The target vehicle heading includes the direction of the line between the current measuring point position of the vehicle and the total station's sighting mark, the direction of the line rotated 90° clockwise, the direction of the line rotated 180° clockwise, and the direction of the line rotated 270° clockwise.

3. The method according to claim 2, characterized in that The measurement data includes the pitch attitude of the vehicle with the bow facing downward at each target and the azimuth between the total station's sighting mark and the current measuring point position; When the heading of the target vehicle is the direction of the line between the current measuring point position and the total station's target mark and the direction of the line rotated 180° clockwise, the measurement data also includes a rolling attitude.

4. The method according to claim 3, characterized in that After controlling the measuring vehicle to move to the target measuring point, it also includes: The position information provided by the satellite positioning measurement system is used to initialize the inertial positioning and orientation system to obtain valid measurement data.

5. The method according to claim 4, characterized in that Calculating a measurement result validity criterion, and determining the validity of the eccentricity of the first horizontal measuring point according to the measurement result validity criterion, including: The validity criterion dH of the measurement result is calculated according to the following formula mean : ； in, , , as well as are the azimuths between the total station's target beacon with the bow of each target vehicle pointing downward and the current measuring point; Determine whether the absolute value of the validity criterion of the measurement result is less than a preset first arc; If so, it is determined that the eccentricity of the first horizontal measuring point is valid; If not, the measuring vehicle is controlled to start with initializing the inertial positioning and orientation system, and sequentially execute the calibration method of the eccentricity of the horizontal measuring point of the measuring vehicle.

6. The method according to claim 5, characterized in that Determine whether the eccentricity of the first horizontal measuring point meets the accuracy requirements, including: Calculate the maximum difference of the azimuth according to the azimuth between the total station sighting mark of each target vehicle and the current measuring point position, and determine whether the maximum difference is less than a preset second arc; If so, it is determined that the eccentricity of the first horizontal measuring point meets the accuracy requirement, and the eccentricity of the first horizontal measuring point is determined as the final calibrated horizontal measuring point eccentricity; if not, it is determined that the eccentricity of the first horizontal measuring point does not meet the accuracy requirement.

7. The method according to claim 4, characterized in that According to the downward measurement data of each target vehicle bow and the baseline length, the eccentricity of the second horizontal measuring point is calculated, including: According to the following formula, calculate the eccentricity of the second horizontal measuring point: ； in, , , as well as are the pitch attitudes of each target vehicle with its bow facing downward, , , as well as are the azimuths between the total station beacon pointing downward at the bow of each target vehicle and the current measuring point position, as well as They are respectively the rolling attitude when the heading of the target vehicle is the direction of the line between the current measuring point position and the total station's sighting mark and the direction of the line rotated 180° clockwise, The eccentricity of the horizontal measuring point currently calibrated by the measuring vehicle. is the baseline length, is the eccentricity of the second horizontal measuring point.

8. A device for calibrating the eccentricity of the horizontal measuring point of a measuring vehicle, characterized in that: include: The survey vehicle positioning module is used to locate the current measuring point position in the survey vehicle according to the eccentricity of the first horizontal measuring point of the survey vehicle, and control the survey vehicle to move to the target measuring point, and obtain the relative orientation between the total station target and the current measuring point position and the baseline length; A measurement data acquisition module, for controlling the measurement vehicle to adjust to each target vehicle bow direction in sequence according to the relative orientation, and acquiring a set of measurement data with the target vehicle bow downward after each vehicle bow direction adjustment is completed; Among them, after each movement of the measuring vehicle, the vehicle body measuring point mark is kept aligned with the target measuring point; A validity detection module, used for calculating a validity criterion of a measurement result, and determining the validity of the eccentricity of the first horizontal measuring point according to the validity criterion of the measurement result; An accuracy detection module, used for judging whether the eccentricity of the first horizontal measuring point meets the accuracy requirement when it is determined that the eccentricity of the first horizontal measuring point is valid; The horizontal measuring point eccentricity updating module is used to calculate the second horizontal measuring point eccentricity according to the downward measurement data of each target vehicle bow and the baseline length when it is determined that the first horizontal measuring point eccentricity does not meet the accuracy requirement, and to execute the calibration method of the horizontal measuring point eccentricity of the measuring vehicle again according to the second horizontal measuring point eccentricity until the second horizontal measuring point eccentricity meets the accuracy requirement.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for calibrating the eccentricity of the horizontal measuring point of the measuring vehicle according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for calibrating the eccentricity of a horizontal measuring point of a measuring vehicle according to any one of claims 1 to 7 when the processor executes the instructions.

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