A method, device, equipment and medium for calibrating installation error angle of total station

Abstract

The present invention discloses a method, device, equipment and medium for calibrating the installation error angle of a total station. The method includes: collecting the attitude angle of the inertial positioning and orientation system, the total station reading value and the RTK position information under each vehicle posture; respectively calculating the azimuth side reference and the total station measurement results of the survey vehicle under different vehicle postures; respectively calculating the first intermediate variable and the second intermediate variable under each vehicle posture according to the attitude angle of the inertial positioning and orientation system, the azimuth side reference and the total station measurement results under each vehicle posture, establishing a least squares coefficient matrix, and calculating the installation error difference; when it is determined that the iteration end condition is not met according to the installation error difference, updating the installation error angle of the total station, and returning to update the first intermediate variable and the second intermediate variable, until it is determined that the iteration end condition is met, calibrating the survey vehicle according to the current installation error angle of the total station. The above technical solution can establish a high-precision measurement vehicle attitude reference.

Description

Technical Field

[0001] The present invention relates to the field of geodetic measurement technology, and in particular to a calibration method, device, equipment and medium for the installation error angle of a total station. Background Art

[0002] The high-precision survey vehicle is a special vehicle in the field of geodetic surveying, which can provide high-precision coordinate information and orientation information for the points and edges to be measured. The survey vehicle is equipped with a high-precision inertial positioning and orientation system and a total station. The inertial positioning and orientation system has autonomous positioning, orientation, and attitude determination functions, and can provide high-precision position and attitude information of the carrier in real time. The top of the inertial positioning and orientation system of the survey vehicle is equipped with an installation mechanism. After opening the vehicle-mounted skylight, the total station can be fixedly connected to the top of the inertial positioning and orientation system. After the total station is fixedly connected to the inertial positioning and orientation system as an attitude transmission device, it aims at the target point sighting mark or marker, and draws out the attitude information of the inertial positioning and orientation system, thereby realizing the high-precision orientation measurement of the edge to be measured by the survey vehicle.

[0003] In order to realize the above-mentioned high-precision azimuth measurement function, it is necessary to complete the calibration of the installation error angle between the total station's line of sight and the inertial positioning and orientation system, that is, to determine the installation error angle between the total station's coordinate system and the inertial positioning and orientation system's coordinate system, and then compensate according to the installation error angle during the measurement process.

[0004] The existing attitude reference establishment method requires the introduction of a high-precision external north reference to calibrate the installation error angle of the total station and the inertial positioning and orientation system, and requires the use of a high-precision theodolite. The survey vehicle needs to be equipped with a high-precision theodolite separately and the north reference is introduced for calibration. Therefore, it is only suitable for laboratories or test sites that have been equipped with a high-precision north reference, and cannot meet the needs of the survey vehicle to establish an attitude reference in real time in an unknown area. Summary of the invention

[0005] The present invention provides a method, device, equipment and medium for calibrating the installation error angle of a total station, which can realize autonomous establishment of a high-precision measurement vehicle attitude reference in an unknown area without the need for a test site equipped with a north reference.

[0006] According to one aspect of the present invention, a method for calibrating an installation error angle of a total station is provided, comprising:

[0007] According to the multiple parking points in the measurement and calibration site and the preset vehicle heading adjustment rules, the measurement vehicle is controlled to adjust to different vehicle postures in turn, and the inertial positioning and orientation system attitude angle, total station reading value and satellite positioning measurement system user terminal RTK (Real-Time Kinematic) position information under each vehicle posture are collected respectively;

[0008] According to the RTK position information and the total station reading value, respectively calculating the azimuth edge benchmark and the total station measurement results of the survey vehicle under different vehicle postures;

[0009] According to the attitude angle of the inertial positioning and orientation system, the azimuth edge reference and the measurement result of the total station under each vehicle attitude, respectively calculate the first intermediate variable and the second intermediate variable under each vehicle attitude;

[0010] Establishing a least squares coefficient matrix according to the first intermediate variable and the second intermediate variable, and calculating the installation error difference according to the least squares coefficient matrix;

[0011] When it is determined that the iteration end condition is not met according to the installation error difference, the total station installation error angle is updated according to the installation error difference, and the first intermediate variable and the second intermediate variable are updated according to the updated total station installation error angle, until it is determined that the iteration end condition is met, and the measuring vehicle is calibrated according to the current total station installation error angle.

[0012] According to another aspect of the present invention, a calibration device for a total station installation error angle is provided, comprising:

[0013] The information collection module is used to control the measurement vehicle to adjust to different vehicle postures in turn according to multiple parking points in the measurement and calibration site and the preset vehicle heading adjustment rules, and collect the attitude angle of the inertial positioning and orientation system, the total station reading value and the RTK position information of the satellite positioning measurement system user terminal under each vehicle posture;

[0014] An information calculation module, used to calculate the azimuth edge reference and the total station measurement results of the survey vehicle under different vehicle postures according to the RTK position information and the total station reading value;

[0015] An intermediate variable calculation module is used to calculate the first intermediate variable and the second intermediate variable under each vehicle posture according to the attitude angle of the inertial positioning and orientation system, the azimuth edge reference and the total station measurement result under each vehicle posture;

[0016] an installation error difference calculation module, used to establish a least squares coefficient matrix according to the first intermediate variable and the second intermediate variable, and calculate the installation error difference according to the least squares coefficient matrix;

[0017] The installation error iteration module updates the installation error angle of the total station according to the installation error difference when it is determined that the iteration end condition is not met according to the installation error difference, and returns to update the first intermediate variable and the second intermediate variable according to the updated total station installation error angle, until it is determined that the iteration end condition is met, and calibrates the measuring vehicle according to the current total station installation error angle.

[0018] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0019] at least one processor; and

[0020] a memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed 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 calibration method of the total station installation error angle described in any embodiment of the present invention.

[0022] 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 installation error angle of the total station described in any embodiment of the present invention when executed.

[0023] The technical solution of the embodiment of the present invention collects the attitude angle of the inertial positioning and orientation system, the total station reading value and the RTK position information under each vehicle posture, respectively calculates the azimuth side reference and the total station measurement results of the survey vehicle under different vehicle postures, respectively calculates the first intermediate variable and the second intermediate variable under each vehicle posture according to the attitude angle of the inertial positioning and orientation system, the azimuth side reference and the total station measurement results under each vehicle posture, establishes a least squares coefficient matrix, and calculates the installation error difference; when it is determined that the iteration end condition is not met according to the installation error difference, the total station installation error angle is updated, and the first intermediate variable and the second intermediate variable are returned to update until it is determined that the iteration end condition is met, and the survey vehicle is calibrated according to the current total station installation error angle. This method can realize the autonomous establishment of the attitude reference of the high-precision survey vehicle in an unknown area without the aid of a test site equipped with a north reference, has strong practicality and high engineering application value, and has high calibration precision and accuracy, and the accuracy can reach ten arc seconds.

[0024] 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

[0025] 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.

[0026] Figure 1 This is a flow chart of a method for calibrating a total station installation error angle provided according to Embodiment 1 of the present invention;

[0027] Figure 2 A measurement vehicle posture reference relationship diagram provided according to an embodiment of the present invention;

[0028] Figure 3 is a plan view of a measurement and calibration site provided according to an embodiment of the present invention;

[0029] Figure 4 is a flow chart of another method for calibrating the installation error angle of a total station provided according to the second embodiment of the present invention;

[0030] Figure 5 It is a structural schematic diagram of a calibration device for a total station installation error angle provided in accordance with a third embodiment of the present invention;

[0031] Figure 6 It is a structural schematic diagram of an electronic device for implementing a calibration method for a total station installation error angle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] Embodiment 1

[0035] Figure 1This is a flow chart of a method for calibrating the installation error angle of a total station provided in the first embodiment of the present invention. This embodiment is applicable to the situation where the installation error angle of a total station of a survey vehicle is calibrated in a test site that is not equipped with a north reference. The method can be executed by a calibration device for the installation error angle of a total station. The calibration device for the installation error angle of a total station can be implemented in the form of hardware and / or software, and does not require the use of a test site equipped with a north reference. It can realize the autonomous establishment of a high-precision survey vehicle attitude reference in an unknown area. Figure 1 As shown, the method includes:

[0036] S110, according to multiple parking points in the measurement and calibration site and preset vehicle heading adjustment rules, control the measurement vehicle to adjust to different vehicle postures in turn, and respectively collect the attitude angle of the inertial positioning and orientation system, the total station reading value and the RTK position information of the satellite positioning measurement system user terminal under each vehicle posture.

[0037] Figure 2 is an optional measurement vehicle attitude reference diagram. Figure 2 As shown in the figure, ASV represents the survey vehicle, INS represents the inertial positioning and orientation system configured in the survey vehicle, b represents the carrier coordinate system of the inertial positioning and orientation system, TS represents the total station configured on the roof of the survey vehicle, the total station is fixedly connected to the inertial positioning and orientation system, and t represents the total station coordinate system. The calibration of the installation error angle between the total station's boresight and the inertial positioning and orientation system is actually to determine the installation error angle between the total station coordinate system t and the carrier coordinate system b of the inertial positioning and orientation system, which specifically includes the heading installation error, the pitch installation error, and the roll installation error.

[0038] Optionally, before controlling the vehicle to adjust to different vehicle postures in sequence, the method further includes:

[0039] The initial total station installation error angle of the survey vehicle is calibrated; among which, the initial heading installation error, initial pitch installation error and initial roll installation error are all calibrated to 0.

[0040] Optionally, before controlling the vehicle to adjust to different vehicle postures in sequence, the method further includes:

[0041] The satellite positioning measurement system base station and the measurement vehicle-mounted satellite measurement system user terminal are powered on and set up.

[0042] Optionally, the survey vehicle-mounted satellite measurement system user terminal is configured on the survey vehicle. After the settings are completed, the survey vehicle-mounted satellite measurement system user terminal can stably and effectively output RTK positioning results.

[0043] Optionally, a satellite positioning measurement system base station and three or four parking points are installed in the measurement and calibration site, and the line connecting each parking point and the satellite positioning measurement system base station serves as an azimuth edge. The azimuth maximum difference of each azimuth edge is greater than the first angle value, and the length of each azimuth edge is within the target distance range.

[0044] Figure 3 An optional measurement is used to calibrate the site plan. Figure 3 As shown in the figure, point B is the installation point of the satellite positioning measurement system base station in the measurement and calibration site, and A1-A4 are four different parking points. Figure 3 4 parking points are shown in FIG. 1 . However, if the site conditions limit the setting of 4 parking points, 3 parking points may be set. In an optional example, the first angle value may be 120°, that is, the maximum difference of the orientation of the 3 or 4 selected parking points and the 3 or 4 orientation edges formed by point B needs to be greater than 120°. For example, if 3 parking points are assumed, such as Figure 3 A1-A3 in the figure, then the maximum difference of the orientation of each edge can be calculated between BA1 and BA3. Figure 3 The difference between BA1 and BA3 is 180°, which meets the above first angle value requirement.

[0045] Optionally, each time the survey vehicle arrives at a parking point, it is necessary to adjust the vehicle heading three times at each parking point, and after each vehicle heading adjustment, collect the attitude angle of the inertial positioning and orientation system, the total station reading value and the RTK position information of the satellite positioning measurement system user terminal under the current vehicle attitude.

[0046] Optionally, the current vehicle posture of the measuring vehicle may be determined according to the parking point where the measuring vehicle is currently parked and the current heading of the vehicle.

[0047] Optionally, the vehicle heading adjustment rule may include: adjusting the vehicle heading three times at each parking point, and the maximum difference of the vehicle headings at each parking point is greater than the second angle value.

[0048] In an optional implementation, the second angle value may be 90°, that is, the angle difference between the minimum vehicle heading and the maximum vehicle heading needs to be greater than the second angle value of 90°.

[0049] Optionally, the vehicle heading may refer to the angle between the front direction of the measuring vehicle and the north direction. However, in the embodiments of the present application, there is no need to equip the measurement and calibration site with a high-precision north direction reference. It is only necessary to determine the vehicle heading difference for each adjustment by the sensor configured on the measuring vehicle itself. It is not necessary to accurately measure the specific vehicle heading. Moreover, for different parking points, it is only necessary to ensure that the maximum difference of each vehicle heading is greater than the second angle value. It is not required that the vehicle heading is the same as that at the previous parking point.

[0050] Optionally, after each change of parking point, the vehicle bow direction may be measured once at the first vehicle bow direction when arriving at the next parking point, and then the vehicle bow direction may be adjusted based on the first vehicle bow direction to a second vehicle bow direction, and then measurement may be performed again, and then based on the first vehicle bow direction or the second vehicle bow direction, the vehicle bow direction may be adjusted to a third vehicle bow direction for measurement. In this way, the vehicle bow direction is actually adjusted only twice at each parking point, thereby improving measurement efficiency.

[0051] Optionally, the attitude angle of the inertial positioning and orientation system includes a heading angle of the inertial positioning and orientation system, a pitch angle of the inertial positioning and orientation system, and a roll angle of the inertial positioning and orientation system.

[0052] Optionally, the attitude angle of the inertial positioning and orientation system can be output by the inertial positioning and orientation system, and the output time of the attitude angle of the inertial positioning and orientation system can be synchronized with the time when the total station on the roof of the measuring vehicle aims at the lower left corner of the antenna of the satellite positioning measurement system base station.

[0053] Optionally, the total station readings include a left horizontal angle, a left vertical angle, a right horizontal angle, and a right vertical angle.

[0054] Optionally, the left horizontal angle and the left vertical angle can be obtained by aiming the total station on the roof of the measuring vehicle at the lower left corner of the antenna of the satellite positioning measurement system base station installed in the measurement and calibration site. The right horizontal angle and the right vertical angle can also be obtained by aiming the total station on the roof of the measuring vehicle at the lower right corner of the antenna of the satellite positioning measurement system base station installed in the measurement and calibration site. The values ​​can be obtained by directly reading the total station.

[0055] Optionally, the RTK position information can be acquired by the satellite measurement system user terminal configured in the survey vehicle. The RTK position information can be expressed as ,RTK position information can represent the axial coordinate positions of the survey vehicle in the geodetic coordinate system, and is the measurement value directly output by satellite positioning.

[0056] S120, calculating the azimuth edge benchmarks of the survey vehicle under different vehicle postures and the total station measurement results respectively according to the RTK position information and the total station readings.

[0057] Optionally, according to the RTK position information and the total station reading value, the azimuth edge reference and the total station measurement result of the survey vehicle under different vehicle postures are calculated respectively, including:

[0058] According to the following formula, calculate the total station position information at the i-th vehicle heading of the measuring vehicle at parking point j: :

[0059] ;

[0060] in, is the RTK position information, is the transfer matrix from the carrier coordinate system of the inertial positioning and orientation system to the geographic coordinate system, r b is the position information of the vehicle-mounted guard rail arm, r b is the pre-calibrated value;

[0061] According to the total station position information and the satellite positioning measurement system base station position information, the azimuth edge reference of the measuring vehicle at the i-th vehicle heading at the parking point j is calculated; wherein the azimuth edge reference includes the azimuth angle And the pitch angle ;

[0062] According to the following formula, calculate the total station measurement result of the i-th vehicle heading of the measuring vehicle at the parking point j:

[0063] ;

[0064] in, is the horizontal angle of the total station, is the vertical angle of the total station, as well as are the left horizontal angle and the right horizontal angle respectively. as well as They are the left vertical angle and the right vertical angle respectively.

[0065] Optionally, calculating the azimuth side reference based on the total station position information and the satellite positioning measurement system base station position information is a commonly used technical means and an existing azimuth side reference calculation method, which will not be elaborated here.

[0066] Optional, transfer matrix from the inertial positioning and orientation system carrier coordinate system to the geographic coordinate system , can be calculated by the following formula:

[0067] ;

[0068] in, is the heading angle of the inertial positioning and orientation system, is the pitch angle of the inertial positioning and orientation system, is the roll angle of the inertial positioning and orientation system, which can be calculated by the attitude angle of the inertial positioning and orientation system obtained in step S110.

[0069] S130, respectively calculating the first intermediate variable and the second intermediate variable under each vehicle posture according to the posture angle of the inertial positioning and orientation system, the azimuth edge reference and the measurement result of the total station under each vehicle posture.

[0070] Optionally, calculate the total station attitude matrix based on the total station installation error angle currently calibrated by the survey vehicle and the following formula: :

[0071] ;

[0072] in, is the transfer matrix from the total station coordinate system to the inertial positioning and orientation system carrier coordinate system at the kth iteration of the total station installation error angle, Determined by the installation error angle of the total station calibrated before the kth iteration.

[0073] Optional, transfer matrix from total station coordinate system to inertial positioning and orientation system carrier coordinate system It can be calculated by the following formula:

[0074] ;

[0075] in, , as well as They are the total station heading installation error angle, pitch installation error angle, and roll installation error angle calculated after the previous iteration. If it is the first iteration, , as well as is the pre-calibrated initial heading installation error angle, initial pitch installation error angle, and initial roll installation error angle. That is, the first round of iteration error can be calibrated to 0. In the first round of iteration, the transfer matrix from the inertial positioning and orientation system carrier coordinate system to the geographic coordinate system is That is the total station attitude matrix .

[0076] Optionally, the projection of the total station measurement result of the measuring vehicle at the i-th vehicle bow direction at the parking point j can be calculated based on the total station measurement result of the measuring vehicle at the i-th vehicle bow direction at the parking point j and the following formula: :

[0077] .

[0078] Optionally, the azimuth edge reference projection of the measuring vehicle at the i-th vehicle bow direction at the parking point j can be calculated based on the azimuth edge reference at the i-th vehicle bow direction of the measuring vehicle at the parking point j and the following formula: :

[0079] ;

[0080] in, is the azimuth in the azimuth edge datum, is the pitch angle in the azimuth edge reference.

[0081] Optionally, the first intermediate variable A can be calculated according to the total station attitude matrix, the total station measurement result projection and the following formula: i,j :

[0082] ;

[0083] When 4 parking points are set, the maximum value of j can be 4, and when 3 parking points are set, the maximum value of j is 3. k represents the kth iteration. Represents the total station attitude matrix The first row and second column of Represents the projection of total station measurement results The first row of , and so on.

[0084] Optionally, the second intermediate variable B can be calculated based on the total station attitude matrix, the total station measurement result projection, the azimuth edge reference projection and the following formula: i,j :

[0085] ;

[0086] in, Represents the projection of total station measurement results The first row of , and so on.

[0087] S140. Establish a least squares coefficient matrix according to the first intermediate variable and the second intermediate variable, and calculate the installation error difference according to the least squares coefficient matrix.

[0088] Optionally, the least squares coefficient matrix may include A k With B k :

[0089] ;

[0090] ;

[0091] When 4 parking spots are set, the maximum value of j can be 4, and when 3 parking spots are set, the maximum value of j can be 3. k And two B k Describe the least squares coefficient matrices corresponding to different numbers of parking points respectively; k represents the kth iteration.

[0092] Optionally, the installation error difference after the kth iteration can be calculated according to the following formula: :

[0093] ;

[0094] Among them, A kWith B k is the least squares coefficient matrix after the kth iteration, A k The transposed matrix of The installation error difference of the heading angle of the inertial positioning and orientation system after the kth iteration, is the installation error difference of the pitch angle of the inertial positioning and orientation system after the kth iteration, It is the installation error difference of the roll angle of the inertial positioning and orientation system after the kth iteration.

[0095] S150. When it is determined that the iteration end condition is not met according to the installation error difference, the total station installation error angle is updated according to the installation error difference, and the first intermediate variable and the second intermediate variable are updated according to the updated total station installation error angle, until it is determined that the iteration end condition is met, and the measuring vehicle is calibrated according to the current total station installation error angle.

[0096] Optionally, determining whether the modulus of the installation error difference is less than a preset reference value;

[0097] If so, it is determined that the iteration end condition is met, and the installation error angle of the total station calibrated in the current round is determined as the final calibration result;

[0098] If not, it is determined that the iteration end condition is not met, and the total station installation error angle is iteratively updated according to the following formula, and the updated result is applied to the next round of iteration to calculate the total station attitude matrix of the next round of iteration:

[0099] ;

[0100] in, is the installation error angle of the total station after the kth iteration.

[0101] In an optional embodiment, the preset reference value can be set to 2 arc seconds. In angle calculation, 1 degree is equal to 60 arc minutes, and 1 arc minute is equal to 60 arc seconds. That is, when , it can be determined that the iteration end condition is met, and the total station installation error angle calculated in the previous round is used as the final calibrated installation error angle.

[0102] The technical solution of the embodiment of the present invention collects the attitude angle of the inertial positioning and orientation system, the total station reading value and the RTK position information under each vehicle posture, respectively calculates the azimuth side reference and the total station measurement results of the survey vehicle under different vehicle postures, respectively calculates the first intermediate variable and the second intermediate variable under each vehicle posture according to the attitude angle of the inertial positioning and orientation system, the azimuth side reference and the total station measurement results under each vehicle posture, establishes a least squares coefficient matrix, and calculates the installation error difference; when it is determined that the iteration end condition is not met according to the installation error difference, the total station installation error angle is updated, and the first intermediate variable and the second intermediate variable are returned to update until it is determined that the iteration end condition is met, and the survey vehicle is calibrated according to the current total station installation error angle. This method can realize the autonomous establishment of the attitude reference of the high-precision survey vehicle in an unknown area without the aid of a test site equipped with a north reference, has strong practicality and high engineering application value, and has high calibration precision and accuracy, and the accuracy can reach ten arc seconds.

[0103] Embodiment 2

[0104] Figure 4 This is a flow chart of a method for calibrating the installation error angle of a total station provided in the second embodiment of the present invention. This embodiment specifically describes the method for calibrating the installation error angle of a total station based on the above embodiment. Figure 4 As shown, the method includes:

[0105] S210, according to multiple parking points in the measurement and calibration site and preset vehicle heading adjustment rules, control the measurement vehicle to adjust to different vehicle postures in turn, and respectively collect the attitude angle of the inertial positioning and orientation system, the total station reading value and the RTK position information of the satellite positioning measurement system user terminal under each vehicle posture.

[0106] S220, respectively calculating the azimuth edge benchmarks of the survey vehicle under different vehicle postures and the total station measurement results according to the RTK position information and the total station readings.

[0107] Optionally, according to the RTK position information and the total station reading value, the azimuth edge reference and the total station measurement result of the survey vehicle under different vehicle postures are calculated respectively, including:

[0108] According to the following formula, calculate the total station position information at the i-th vehicle heading of the measuring vehicle at parking point j: :

[0109] ;

[0110] in, is the RTK position information, is the transfer matrix from the carrier coordinate system of the inertial positioning and orientation system to the geographic coordinate system, rb It is the position information of the vehicle-mounted guard rail arm;

[0111] Calculate the azimuth edge reference under each vehicle posture according to the total station position information and the satellite positioning measurement system reference station position information; wherein the azimuth edge reference includes the azimuth angle and the pitch angle;

[0112] According to the following formula, calculate the total station measurement result of the i-th vehicle heading of the measuring vehicle at the parking point j:

[0113] ;

[0114] in, is the horizontal angle of the total station, is the vertical angle of the total station, as well as are the left horizontal angle and the right horizontal angle respectively. as well as They are the left vertical angle and the right vertical angle respectively.

[0115] Optionally, the total station position information of the measuring vehicle under each vehicle posture is calculated according to the following formula, which also includes:

[0116] According to the following formula and the attitude angle of the inertial positioning and orientation system under each vehicle attitude, calculate the transfer matrix from the inertial positioning and orientation system carrier coordinate system to the geographic coordinate system at the i-th vehicle heading of the measurement vehicle at parking point j: :

[0117] ;

[0118] in, is the heading angle of the inertial positioning and orientation system, is the pitch angle of the inertial positioning and orientation system, It is the roll angle of the inertial positioning and orientation system.

[0119] S230, calculating the total station attitude matrix.

[0120] Optionally, the total station attitude matrix is ​​calculated based on the total station installation error angle currently calibrated by the survey vehicle and the following formula: ;

[0121] in, is the transfer matrix from the total station coordinate system to the inertial positioning and orientation system carrier coordinate system at the kth iteration of the total station installation error angle, Determined by the installation error angle of the total station calibrated before the kth iteration.

[0122] S240, calculating the total station measurement result projection according to the total station measurement result, and calculating the azimuth side reference projection according to the azimuth side reference.

[0123] S250, calculating a first intermediate variable according to the total station attitude matrix and the total station measurement result projection, and calculating a second intermediate variable according to the total station attitude matrix, the total station measurement result projection and the azimuth edge reference projection.

[0124] S260: Establish a least squares coefficient matrix according to the first intermediate variable and the second intermediate variable.

[0125] S270. Calculate the installation error difference according to the least squares coefficient matrix.

[0126] Optionally, the installation error difference after the kth iteration is calculated according to the following formula: :

[0127] ;

[0128] Among them, A k With B k is the least squares coefficient matrix after the kth iteration.

[0129] S280, determine whether the modulus of the installation error difference is less than a preset reference value; if so, execute step S290; if not, execute step S2100.

[0130] S290, determining that an iteration end condition is met, and determining the installation error angle of the total station calibrated in the current round as the final calibration result.

[0131] S2100, determining that the iteration end condition is not met, iteratively updating the total station installation error angle according to the following formula, and returning to execute step S230.

[0132] Optionally, the update formula for the total station installation error angle is:

[0133] ;

[0134] in, is the installation error angle of the total station after the kth iteration.

[0135] The technical solution of the embodiment of the present invention collects the attitude angle of the inertial positioning and orientation system, the total station reading value and the RTK position information under each vehicle posture, respectively calculates the azimuth side reference and the total station measurement results of the survey vehicle under different vehicle postures, respectively calculates the first intermediate variable and the second intermediate variable under each vehicle posture according to the attitude angle of the inertial positioning and orientation system, the azimuth side reference and the total station measurement results under each vehicle posture, establishes a least squares coefficient matrix, and calculates the installation error difference; when it is determined that the iteration end condition is not met according to the installation error difference, the total station installation error angle is updated, and the first intermediate variable and the second intermediate variable are returned to update until it is determined that the iteration end condition is met, and the survey vehicle is calibrated according to the current total station installation error angle. This method can realize the autonomous establishment of the attitude reference of the high-precision survey vehicle in an unknown area without the aid of a test site equipped with a north reference, has strong practicality and high engineering application value, and has high calibration precision and accuracy, and the accuracy can reach ten arc seconds.

[0136] Embodiment 3

[0137] Figure 5 This is a schematic diagram of the structure of a calibration device for the installation error angle of a total station provided in the third embodiment of the present invention. Figure 5 As shown, the device includes: an information collection module 310, an information calculation module 320, an intermediate variable calculation module 330, an installation error difference calculation module 340 and an installation error iteration module 350.

[0138] The information collection module 310 is used to control the measurement vehicle to adjust to different vehicle postures in turn according to multiple parking points in the measurement and calibration site and preset vehicle heading adjustment rules, and to collect the attitude angle of the inertial positioning and orientation system, the total station reading value and the RTK position information of the satellite positioning measurement system user terminal under each vehicle posture.

[0139] The information calculation module 320 is used to calculate the azimuth edge reference and the total station measurement results of the survey vehicle under different vehicle postures according to the RTK position information and the total station reading value.

[0140] The intermediate variable calculation module 330 is used to calculate the first intermediate variable and the second intermediate variable under each vehicle posture according to the inertial positioning and orientation system attitude angle, azimuth edge reference and total station measurement results under each vehicle posture.

[0141] The installation error difference calculation module 340 is used to establish a least squares coefficient matrix according to the first intermediate variable and the second intermediate variable, and calculate the installation error difference according to the least squares coefficient matrix.

[0142] The installation error iteration module 350 updates the total station installation error angle according to the installation error difference when it is determined that the iteration end condition is not met according to the installation error difference, and returns to update the first intermediate variable and the second intermediate variable according to the updated total station installation error angle, until it is determined that the iteration end condition is met, and calibrates the measuring vehicle according to the current total station installation error angle.

[0143] The technical solution of the embodiment of the present invention collects the attitude angle of the inertial positioning and orientation system, the total station reading value and the RTK position information under each vehicle posture, respectively calculates the azimuth side reference and the total station measurement results of the survey vehicle under different vehicle postures, respectively calculates the first intermediate variable and the second intermediate variable under each vehicle posture according to the attitude angle of the inertial positioning and orientation system, the azimuth side reference and the total station measurement results under each vehicle posture, establishes a least squares coefficient matrix, and calculates the installation error difference; when it is determined that the iteration end condition is not met according to the installation error difference, the total station installation error angle is updated, and the first intermediate variable and the second intermediate variable are returned to update until it is determined that the iteration end condition is met, and the survey vehicle is calibrated according to the current total station installation error angle. This method can realize the autonomous establishment of the attitude reference of the high-precision survey vehicle in an unknown area without the aid of a test site equipped with a north reference, has strong practicality and high engineering application value, and has high calibration precision and accuracy, and the accuracy can reach ten arc seconds.

[0144] On the basis of the above embodiments, a satellite positioning measurement system base station and three or four parking points are installed in the measurement and calibration site, and the line connecting each parking point and the satellite positioning measurement system base station is used as an azimuth edge, the azimuth maximum difference of each azimuth edge is greater than the first angle value, and the length of each azimuth edge is within the target distance range;

[0145] The vehicle heading adjustment rule includes: adjusting the vehicle heading three times at each parking point, and the maximum difference of each vehicle heading at each parking point is greater than the second angle value;

[0146] The inertial positioning and orientation system attitude angle includes the inertial positioning and orientation system heading angle, the inertial positioning and orientation system pitch angle and the inertial positioning and orientation system roll angle;

[0147] The total station readings include a left horizontal angle, a left vertical angle, a right horizontal angle, and a right vertical angle.

[0148] Based on the above embodiments, the information calculation module 320 may include:

[0149] The total station position information calculation unit is used to calculate the total station position information of the measuring vehicle at the i-th vehicle bow direction at the parking point j according to the following formula: :

[0150] ;

[0151] in, is the RTK position information, is the transfer matrix from the inertial positioning and orientation system carrier coordinate system to the geographic coordinate system, r b It is the position information of the vehicle-mounted guard rail arm;

[0152] An azimuth edge reference calculation unit, used to calculate the azimuth edge reference under each vehicle posture according to the total station position information and the satellite positioning measurement system reference station position information; wherein the azimuth edge reference includes an azimuth angle and a pitch angle;

[0153] The total station measurement result calculation unit is used to calculate the total station measurement result of the measuring vehicle at the i-th vehicle bow direction at the parking point j according to the following formula:

[0154] ;

[0155] in, is the horizontal angle of the total station, is the vertical angle of the total station, as well as are the left horizontal angle and the right horizontal angle respectively. as well as They are the left vertical angle and the right vertical angle respectively.

[0156] On the basis of the above embodiments, the total station position information calculation unit can be further used for:

[0157] According to the following formula and the attitude angle of the inertial positioning and orientation system under each vehicle attitude, calculate the transfer matrix from the inertial positioning and orientation system carrier coordinate system to the geographic coordinate system at the i-th vehicle heading of the measurement vehicle at parking point j: :

[0158] ;

[0159] in, is the heading angle of the inertial positioning and orientation system, is the pitch angle of the inertial positioning and orientation system, It is the roll angle of the inertial positioning and orientation system.

[0160] Based on the above embodiments, the intermediate variable calculation module 330 can be specifically used for:

[0161] According to the total station installation error angle currently calibrated by the survey vehicle and the following formula, calculate the total station attitude matrix :

[0162] ;

[0163] in, is the transfer matrix from the total station coordinate system to the inertial positioning and orientation system carrier coordinate system at the kth iteration of the total station installation error angle, Determined by the installation error angle of the total station calibrated before the kth iteration;

[0164] Calculating the total station measurement result projection according to the total station measurement result, and calculating the azimuth side reference projection according to the azimuth side reference;

[0165] A first intermediate variable is calculated according to the total station attitude matrix and the total station measurement result projection, and a second intermediate variable is calculated according to the total station attitude matrix, the total station measurement result projection and the azimuth edge reference projection.

[0166] Based on the above embodiments, the error difference calculation module 340 is installed, which can be specifically used for:

[0167] According to the following formula, calculate the installation error difference after the kth iteration :

[0168] ;

[0169] Among them, A k With B k is the least squares coefficient matrix after the kth iteration.

[0170] Based on the above embodiments, the error iteration module 340 is installed, which can be specifically used for:

[0171] Determining whether the modulus of the installation error difference is less than a preset reference value;

[0172] If so, it is determined that the iteration end condition is met, and the installation error angle of the total station calibrated in the current round is determined as the final calibration result;

[0173] If not, it is determined that the iteration end condition is not met, and the total station installation error angle is iteratively updated according to the following formula, and the updated result is applied to the next round of iteration to calculate the total station attitude matrix of the next round of iteration:

[0174] ;

[0175] in, is the installation error angle of the total station after the kth iteration.

[0176] The device for calibrating the installation error angle of a total station provided in an embodiment of the present invention can execute the calibration method for the installation error angle of a total station provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0177] Embodiment 4

[0178] Figure 6 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.

[0179] like Figure 6 As 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.

[0180] 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.

[0181] 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 installation error angle of the total station as described in an embodiment of the present invention. That is:

[0182] According to the multiple parking points in the measurement and calibration site and the preset vehicle heading adjustment rules, the measurement vehicle is controlled to adjust to different vehicle postures in turn, and the inertial positioning and orientation system attitude angle, total station reading value and satellite positioning measurement system user terminal RTK position information under each vehicle posture are collected respectively;

[0183] According to the RTK position information and the total station reading value, respectively calculating the azimuth edge benchmark and the total station measurement results of the survey vehicle under different vehicle postures;

[0184] According to the attitude angle of the inertial positioning and orientation system, the azimuth edge reference and the measurement result of the total station under each vehicle attitude, respectively calculate the first intermediate variable and the second intermediate variable under each vehicle attitude;

[0185] Establishing a least squares coefficient matrix according to the first intermediate variable and the second intermediate variable, and calculating the installation error difference according to the least squares coefficient matrix;

[0186] When it is determined that the iteration end condition is not met according to the installation error difference, the total station installation error angle is updated according to the installation error difference, and the first intermediate variable and the second intermediate variable are updated according to the updated total station installation error angle, until it is determined that the iteration end condition is met, and the measuring vehicle is calibrated according to the current total station installation error angle.

[0187] In some embodiments, the calibration method of the total station installation error angle 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 total station installation error angle described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the calibration method of the total station installation error angle in any other appropriate manner (for example, by means of firmware).

[0188] 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.

[0189] 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.

[0190] 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.

[0191] 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).

[0192] 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.

[0193] 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.

[0194] 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.

[0195] 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 installation error angle of a total station, characterized in that: include: According to the multiple parking points in the measurement and calibration site and the preset vehicle heading adjustment rules, the measurement vehicle is controlled to adjust to different vehicle postures in turn, and the inertial positioning and orientation system attitude angle, total station reading value and satellite positioning measurement system user terminal real-time dynamic RTK position information under each vehicle posture are collected respectively; According to the RTK position information and the total station reading value, respectively calculating the azimuth edge benchmark and the total station measurement results of the survey vehicle under different vehicle postures; According to the attitude angle of the inertial positioning and orientation system, the azimuth edge reference and the measurement result of the total station under each vehicle attitude, respectively calculate the first intermediate variable and the second intermediate variable under each vehicle attitude; Establishing a least squares coefficient matrix according to the first intermediate variable and the second intermediate variable, and calculating the installation error difference according to the least squares coefficient matrix; When it is determined that the iteration end condition is not met according to the installation error difference, the total station installation error angle is updated according to the installation error difference, and the first intermediate variable and the second intermediate variable are updated according to the updated total station installation error angle, until it is determined that the iteration end condition is met, and the measuring vehicle is calibrated according to the current total station installation error angle.

2. The method according to claim 1, characterized in that A satellite positioning measurement system base station and three or four parking points are installed in the measurement and calibration site, and the line connecting each parking point and the satellite positioning measurement system base station is used as an azimuth edge, the azimuth maximum difference of each azimuth edge is greater than the first angle value, and the length of each azimuth edge is within the target distance range; The vehicle heading adjustment rule includes: adjusting the vehicle heading three times at each parking point, and the maximum difference of each vehicle heading at each parking point is greater than the second angle value; The inertial positioning and orientation system attitude angle includes the inertial positioning and orientation system heading angle, the inertial positioning and orientation system pitch angle and the inertial positioning and orientation system roll angle; The total station readings include a left horizontal angle, a left vertical angle, a right horizontal angle, and a right vertical angle.

3. The method according to claim 2, characterized in that According to the RTK position information and the total station reading value, the azimuth edge benchmark and the total station measurement results of the survey vehicle under different vehicle postures are calculated respectively, including: According to the following formula, calculate the total station position information at the i-th vehicle heading of the measuring vehicle at parking point j: : ； in, is the RTK position information, is the transfer matrix from the inertial positioning and orientation system carrier coordinate system to the geographic coordinate system, r b It is the position information of the vehicle-mounted guard rail arm; Calculate the azimuth edge reference under each vehicle posture according to the total station position information and the satellite positioning measurement system reference station position information; wherein the azimuth edge reference includes the azimuth angle and the pitch angle; According to the following formula, calculate the total station measurement result of the measuring vehicle at the i-th vehicle heading at the parking point j: ； in, is the horizontal angle of the total station, is the vertical angle of the total station, as well as are the left horizontal angle and the right horizontal angle respectively. as well as They are the left vertical angle and the right vertical angle respectively.

4. The method according to claim 3, characterized in that According to the following formula, the total station position information of the survey vehicle under various vehicle postures is calculated, which also includes: According to the following formula and the attitude angle of the inertial positioning and orientation system under each vehicle attitude, calculate the transfer matrix from the inertial positioning and orientation system carrier coordinate system to the geographic coordinate system at the i-th vehicle heading of the measurement vehicle at parking point j: : ； in, is the heading angle of the inertial positioning and orientation system, is the pitch angle of the inertial positioning and orientation system, It is the roll angle of the inertial positioning and orientation system.

5. The method according to claim 4, characterized in that According to the attitude angle of the inertial positioning and orientation system, the azimuth edge reference and the total station measurement results under each vehicle attitude, the first intermediate variable and the second intermediate variable under each vehicle attitude are calculated respectively, including: According to the total station installation error angle currently calibrated by the survey vehicle and the following formula, calculate the total station attitude matrix : ； in, is the transfer matrix from the total station coordinate system to the inertial positioning and orientation system carrier coordinate system at the kth iteration of the total station installation error angle, Determined by the total station installation error angle calibrated before the kth iteration; Calculating the total station measurement result projection according to the total station measurement result, and calculating the azimuth side reference projection according to the azimuth side reference; A first intermediate variable is calculated according to the total station attitude matrix and the total station measurement result projection, and a second intermediate variable is calculated according to the total station attitude matrix, the total station measurement result projection and the azimuth edge reference projection.

6. The method according to claim 5, characterized in that Calculating the installation error difference according to the least squares coefficient matrix includes: According to the following formula, calculate the installation error difference after the kth iteration : ； Among them, A k With B k is the least squares coefficient matrix after the kth iteration, A k The transposed matrix of The installation error difference of the heading angle of the inertial positioning and orientation system after the kth iteration, is the installation error difference of the pitch angle of the inertial positioning and orientation system after the kth iteration, It is the installation error difference of the roll angle of the inertial positioning and orientation system after the kth iteration.

7. The method according to claim 6, characterized in that When it is determined according to the installation error difference that the iteration end condition is not satisfied, updating the installation error angle of the total station according to the installation error difference, including: Determining whether the modulus of the installation error difference is less than a preset reference value; If so, it is determined that the iteration end condition is met, and the installation error angle of the total station calibrated in the current round is determined as the final calibration result; If not, it is determined that the iteration end condition is not met, and the total station installation error angle is iteratively updated according to the following formula, and the updated result is applied to the next round of iteration to calculate the total station attitude matrix of the next round of iteration: ； in, is the installation error angle of the total station after the kth iteration.

8. A calibration device for the installation error angle of a total station, characterized in that: include: The information collection module is used to control the measurement vehicle to adjust to different vehicle postures in turn according to multiple parking points in the measurement and calibration site and the preset vehicle heading adjustment rules, and collect the attitude angle of the inertial positioning and orientation system, the reading value of the total station, and the real-time dynamic RTK position information of the user terminal of the satellite positioning measurement system under each vehicle posture; An information calculation module, used to calculate the azimuth edge reference and the total station measurement results of the survey vehicle under different vehicle postures according to the RTK position information and the total station reading value; An intermediate variable calculation module is used to calculate the first intermediate variable and the second intermediate variable under each vehicle posture according to the attitude angle of the inertial positioning and orientation system, the azimuth edge reference and the total station measurement result under each vehicle posture; an installation error difference calculation module, used to establish a least squares coefficient matrix according to the first intermediate variable and the second intermediate variable, and calculate the installation error difference according to the least squares coefficient matrix; The installation error iteration module updates the installation error angle of the total station according to the installation error difference when it is determined that the iteration end condition is not met according to the installation error difference, and returns to update the first intermediate variable and the second intermediate variable according to the updated total station installation error angle, until it is determined that the iteration end condition is met, and calibrates the measuring vehicle according to the current total station installation error angle.

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 installation error angle of the total station 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 installation error angle of a total station according to any one of claims 1 to 7 when executed.

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