Construction engineering cost on-site surveying and mapping method

Abstract

The invention discloses a construction engineering cost on-site surveying and mapping method, and relates to the technical field of construction engineering cost on-site surveying and mapping. A data measurement module is used for carrying out leveling measurement, azimuth angle measurement and photogrammetry on a construction engineering cost site; and sequentially calculating and outputting a corrected distance Pcorr, a corrected azimuth angle thetacorr and a corrected three-dimensional X coordinate Xcorr, and iteratively updating the horizontal measurement distance P by using the data correction processing module again. According to the invention, three measurement means of leveling, azimuth angle measurement and photogrammetry are combined with the influence of a cyclic feedback mechanism, so that the measurement accuracy is improved, and the measurement precision is improved. According to the method, the precision of a surveying and mapping result is improved, continuous optimization and updating of surveying and mapping data are realized, the mechanism has important significance in on-site surveying and mapping of the construction engineering cost, and particularly, the precision and reliability of the surveying and mapping result are further improved by continuously updating the X coordinates in a scene needing high-precision surveying and mapping data.

Description

Technical Field

[0001] The invention relates to the technical field of on-site surveying and mapping of construction engineering costs, and in particular to an on-site surveying and mapping method of construction engineering costs. Background Art

[0002] On-site surveying and mapping of construction project cost is an important part of ensuring the accuracy of project cost. It involves the comprehensive use of multiple measurement technologies and methods. Traditional surveying and mapping methods mainly rely on physical measurement methods such as leveling and gyroscope measurement. Although these methods can provide reliable surveying and mapping data to a certain extent, they are often restricted by multiple factors such as terrain undulation, instrument accuracy, and environmental factors, resulting in limited accuracy and efficiency of surveying and mapping results. With the development of photogrammetry, image-based surveying and mapping methods have gradually emerged. Photogrammetry uses high-precision cameras to take photos of the surveying area and extracts key three-dimensional coordinate information through image processing technology. This method has the advantages of non-contact, high efficiency, and high accuracy, and is particularly suitable for complex terrain and areas that are difficult to measure directly.

[0003] However, photogrammetry, a single surveying and mapping method, is often unable to meet the surveying and mapping needs in different scenarios. Therefore, a comprehensive surveying and mapping method combining leveling, gyroscope measurement and photogrammetry has emerged. However, the accuracy of level and gyroscope measuring instruments is limited, which cannot meet the needs of high-precision surveying and mapping. The existing surveying and mapping data processing methods are complex and cumbersome, and require a lot of time and effort. In addition, terrain undulations and climate change environmental factors will have a great impact on the surveying and mapping results, resulting in instability in the surveying and mapping data. Summary of the invention

[0004] The purpose of the present invention is to provide a construction project cost on-site surveying method, which solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution, and the specific implementation steps are as follows:

[0006] Step S1: using the data measurement module, leveling, azimuth measurement and photogrammetry are performed on the surveying area of ​​the construction project cost site;

[0007] Step S2: Using the data correction processing module, calculate and output the corrected distance P in sequence corr 、Azimuth angle θ after correction corr , Corrected three-dimensional X coordinate X corr ;

[0008] The data correction processing module includes a distance correction unit based on leveling measurement, a gyroscope azimuth angle correction unit and a feedback adjustment unit for three-dimensional coordinates;

[0009] Step S3: Based on the corrected three-dimensional X coordinate X corr , and again utilize the data correction processing module to iteratively update the horizontal measurement distance P introduced into the distance correction unit based on leveling measurement;

[0010] The equipment used in the data measurement module includes a level, a gyroscope, and a photogrammetry device;

[0011] The level is used to measure horizontal distance and elevation difference;

[0012] The gyroscope is used to measure the azimuth;

[0013] The photogrammetry equipment includes a high-definition camera carried by a drone and is used to take photos of the surveying area at the construction project cost site;

[0014] The equipment used in the data correction processing module includes a computer and software, and the computer and software are used for data processing, image analysis and three-dimensional coordinate calculation.

[0015] Optionally, the calculation formula of the distance correction unit based on leveling measurement is as follows:

[0016]

[0017] Δg=g end -g start ;

[0018] in:

[0019] P corr is the distance after correction;

[0020] P is the horizontal measurement distance;

[0021] Δg is the elevation difference between the measuring points;

[0022] g start is the elevation of the measuring starting point, g end is the elevation value of the measurement end point;

[0023] g is the mean sea level, which reflects the average height of the sea surface observed over a long period of time;

[0024] Δθ is the horizontal angle deviation, Δθ is the horizontal angle deviation caused by the terrain and the instrument;

[0025] π is the ratio of a circle to a circle, which is approximately equal to 3.14159.

[0026] Optionally, the calculation formula of the correction gyroscope measurement azimuth angle unit is as follows:

[0027] θ corr =θ+(Pcorr / 1000)×BL-arctan{[P corr ×sin(θ-θ ref )] / [g+P corr ×cos

[0028] (θ-θ ref )]};

[0029] BL=(θ end -θ start ) / P corr ;

[0030] in:

[0031] θ corr To correct the rear azimuth;

[0032] θ is the measurement azimuth;

[0033] θ ref is the reference azimuth, θ ref Reflects the azimuth direction of the known points initially designed before surveying and mapping;

[0034] BL is the azimuth change rate, which reflects the average rate at which the azimuth changes with distance between the measurement end point and the measurement starting point;

[0035] θ end is the azimuth of the measurement starting point, θ start The azimuth of the measurement end point.

[0036] Optionally, the calculation formula for the feedback adjustment three-dimensional coordinate unit is as follows:

[0037] X corr =X+[(P corr 2 / J)×tan(φ)×cos(θ corr )]-{[P corr ×(YY ref )] / (g+P corr )}

[0038] ×π;

[0039] in:

[0040] X corr is the three-dimensional X coordinate after correction;

[0041] X is the measured X coordinate;

[0042] J is the photographic focal length;

[0043] φ is the photographic tilt angle;

[0044] Y is the measured Y coordinate;

[0045] Y ref is the reference Y coordinate, Y ref Reflects the Y coordinate of the initial design before surveying.

[0046] Optionally, the photogrammetry device converts the three-dimensional world coordinates into two-dimensional pixel coordinates using the intrinsic parameter matrix of the camera during photogrammetry. The formula for this conversion process is as follows:

[0047]

[0048] (u, v) are the two-dimensional pixel coordinates;

[0049] (J x , J y ) is the focal length of the camera in pixels;

[0050] (c x , c y ) is the coordinate of the camera optical center, and is in pixels;

[0051] R is the rotation matrix, which represents the rotation of the camera relative to the world coordinate system;

[0052] t is the translation vector, which represents the translation of the camera relative to the world coordinate system;

[0053] (X1, Y1, Z1) are the three-dimensional world coordinates;

[0054] Based on the two-dimensional pixel coordinates (u, v) and the intrinsic parameters of the camera, the distance from the object to the camera is calculated using the principle of similar triangles. For the object, the position of the point in the three-dimensional world coordinate is known to be the corrected three-dimensional X coordinate X corr , the specific calculation formula for the distance from the point to the camera is as follows:

[0055]

[0056] P new is the new distance after correction;

[0057] (X c , Y c , Z c ) is the position of the camera in 3D world coordinates;

[0058] (X corr , Y, Z) is the position of a point on the object in the three-dimensional world coordinates, that is, the corrected three-dimensional X coordinate X corr A point in .

[0059] Optionally, based on the corrected new distance P new , and the corrected new distance P newand the corrected three-dimensional X coordinate X corr Introduced and iterated to the next round of the distance correction unit based on leveling measurement and the feedback adjustment three-dimensional coordinate unit, the horizontal measurement distance P and the measurement X coordinate X are replaced respectively to perform a new round of calculation. The conditions for stopping the iteration are set as follows:

[0060] Set the difference interval where the iteration stops, that is, the three-dimensional X coordinate X after correction corr The difference interval between the measured X coordinate X;

[0061] Set the preset standard, that is, the new distance P after calibration new The standard value reached by the iteration.

[0062] Optionally, the horizontal angle deviation Δθ is specifically measured and calculated as follows:

[0063] Select n known points in the construction project cost on-site measurement area. The real coordinates and azimuths of these points are known. By measuring the horizontal angles between these points and the points to be measured and comparing them with the known azimuths, the error of the horizontal angle is calculated and the measurement results are corrected accordingly. The specific calculation formula is as follows:

[0064] Δθ=[(θ1-θ ture1 )+(θ2-θ ture2 )+(θ3-θ ture3 )+......+(θ n -θ ture，n )] / n;

[0065] n is the total number of measurement points;

[0066] θ1 is the first measured horizontal angle, θ2 is the second measured horizontal angle, θ3 is the third measured horizontal angle, θ n is the nth measured horizontal angle;

[0067] θ ture1 is the first known horizontal angle, θ ture2 is the second known horizontal angle, θ ture3 is the third known horizontal angle, θ ture，n is the nth horizontal angle.

[0068] Optionally, the calculation formula of the average sea level height g is as follows:

[0069] g=(g1+g2+g3+......+g m ) / m;

[0070] m is the total number of observation points;

[0071] g1 is the first observed sea level height, g2 is the second observed sea level height, g3 is the third observed sea level height, g m is the sea level height of the mth observation.

[0072] Compared with the prior art, the present invention has the following beneficial effects:

[0073] 1. The present invention combines three measurement methods of leveling, azimuth measurement and photogrammetry, and integrates and corrects them through mathematical models, thereby significantly improving the accuracy of surveying and mapping results. Among them, the mathematical calculation formulas in the distance correction unit based on leveling, the azimuth measurement unit for correcting the gyroscope, and the feedback adjustment three-dimensional coordinate unit introduce factors including elevation difference, horizontal angle deviation, and terrain undulation, and perform corresponding compensation, thereby achieving accurate correction of surveying and mapping data and improving the stability of surveying and mapping data.

[0074] 2. The application of photogrammetry in the present invention greatly shortens the surveying and mapping cycle and improves the surveying and mapping efficiency. At the same time, the mathematical model in the formula also simplifies the calculation process, making the processing of surveying and mapping data faster and more convenient.

[0075] 3. The comprehensive surveying and mapping method of the present invention is suitable for different terrains and measurement conditions and has strong applicability. Accurate surveying and mapping results can be obtained regardless of whether it is a flat area or a complex mountainous area. In addition, the use of high-precision cameras and measuring instruments and the volume utilization of computer technology and image processing technology not only improves the accuracy and reliability of surveying and mapping data, but also realizes the automatic processing of surveying and mapping data, thereby greatly simplifying the data processing process.

[0076] Fourth, the present invention promotes the innovation and development of surveying and mapping technology by continuously studying and improving surveying and mapping methods and mathematical models. In particular, the feedback adjustment of the reverse calculation method substituted into the cyclic influence mechanism of the three-dimensional coordinate unit makes the corrected three-dimensional X coordinate X corr The corrected new distance P after iterative update new , which more accurately improves the measurement accuracy and provides a basis for further optimization and updating of surveying and mapping methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 This is the method flow chart of the on-site surveying and mapping method for construction project cost;

[0078] Figure 2 It is a structural schematic diagram of the data correction processing module of the present invention;

[0079] Figure 3 It is a schematic diagram of the overall structure of iterative update in the loop feedback of the present invention. DETAILED DESCRIPTION

[0080] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0081] Regarding the on-site surveying and mapping method of construction engineering cost, it is different from the existing surveying and mapping methods. The existing surveying and mapping methods are often difficult to meet the surveying and mapping needs in different scenarios and the needs of high-precision surveying and mapping, and the existing surveying and mapping data processing methods are complex and cumbersome, and there is also the situation of unstable surveying and mapping data. The algorithm unit combines the three measurement methods of leveling, azimuth measurement and photogrammetry, as well as the influence of the loop feedback mechanism, improves the accuracy of the surveying and mapping results, and realizes the continuous optimization and updating of the surveying and mapping data. This mechanism is of great significance in the on-site surveying and mapping of construction engineering cost, especially in the scenario where high-precision surveying and mapping data is required. By continuously updating the X coordinate, the accuracy and reliability of the surveying and mapping results are further improved, providing strong support for the accurate evaluation of engineering cost.

[0082] For example, see Figures 1 to 3 This implementation provides a construction project cost on-site surveying method, and the specific implementation steps are as follows:

[0083] Step S1: using the data measurement module, leveling, azimuth measurement and photogrammetry are performed on the surveying area of ​​the construction project cost site;

[0084] Step S2: Using the data correction processing module, calculate and output the corrected distance P in sequence corr 、Azimuth angle θ after correction corr , Corrected three-dimensional X coordinate X corr ;

[0085] The data correction processing module includes a distance correction unit based on leveling measurement, a gyroscope azimuth angle correction unit and a feedback adjustment unit for three-dimensional coordinates;

[0086] Step S3: Based on the corrected three-dimensional X coordinate X corr , and again utilize the data correction processing module to iteratively update the horizontal measurement distance P introduced into the distance correction unit based on leveling measurement;

[0087] The equipment used in the data measurement module includes levels, gyroscopes, and photogrammetry equipment;

[0088] Levels are used to measure horizontal distances and elevation differences;

[0089] Gyroscopes are used to measure azimuth;

[0090] Photogrammetry equipment includes high-definition cameras mounted on drones and used to take photos of the survey area at the construction cost site;

[0091] The equipment used in the data correction processing module includes computers and software, which are used for data processing, image analysis and three-dimensional coordinate calculation.

[0092] In this embodiment, the system combines the methods of leveling, gyroscope measurement and photogrammetry through the cooperation of three algorithm units to achieve accurate calculation of on-site surveying and mapping of construction project costs. corr ,θ corr and X corr Three operation results, P corr The corrected distance is calculated to correct the distance measurement error caused by the elevation difference and the horizontal angle deviation. corr To correct the rear azimuth, this value corrects the azimuth measured by the gyroscope based on the influence of distance and terrain factors on the azimuth. corr The X coordinate is the corrected 3D coordinate. The purpose of calculating this value is to calculate a more accurate 3D coordinate by combining the corrected distance and azimuth through the principles of photogrammetry. corr The calculation results can also be used to directly iterate the calculation of P corr The input value of P, which in turn affects the feedback to P corr and θ corr The calculation makes the three algorithms of this system respectively undertake different calculation purposes and tasks in the on-site surveying and mapping of construction project cost, and through mutual correlation and feedback adjustment mechanism, they jointly achieve the goal of accurate measurement and calculation.

[0093] See also Figures 1 to 3 , the calculation formula of the distance correction unit based on leveling is as follows:

[0094]

[0095] Δg=g end -g start ;

[0096] in:

[0097] P corr is the distance after correction;

[0098] P is the horizontal measurement distance;

[0099] Δg is the elevation difference between the measuring points;

[0100] g start is the elevation of the measuring starting point, g end is the elevation value of the measurement end point;

[0101] g is the mean sea level, which reflects the average height of the sea surface observed over a long period of time;

[0102] Δθ is the horizontal angle deviation, Δθ is the horizontal angle deviation caused by the terrain and the instrument;

[0103] π is the ratio of the circumference of a circle to its circumference, which is approximately equal to 3.14159;

[0104] The calculation formula for the mean sea level height g is as follows:

[0105] g=(g1+g2+g3+......+g m ) / m;

[0106] m is the total number of observation points;

[0107] g1 is the first observed sea level height, g2 is the second observed sea level height, g3 is the third observed sea level height, g m is the mth observed sea level height;

[0108] The specific measurement and calculation of the horizontal angle deviation Δθ is as follows:

[0109] Select n known points in the construction project cost on-site measurement area. The real coordinates and azimuths of these points are known. By measuring the horizontal angles between these points and the points to be measured and comparing them with the known azimuths, the error of the horizontal angle is calculated and the measurement results are corrected accordingly. The specific calculation formula is as follows:

[0110] Δθ=[(θ1-θ ture1 )+(θ2-θ ture2 )+(θ3-θ ture3 )+......+(θ n -θ ture，n )] / n;

[0111] n is the total number of measurement points;

[0112] θ1 is the first measured horizontal angle, θ2 is the second measured horizontal angle, θ3 is the third measured horizontal angle, θ n is the nth measured horizontal angle;

[0113] θ ture1 is the first known horizontal angle, θ ture2 is the second known horizontal angle, θ ture3 is the third known horizontal angle, θ ture，n is the nth horizontal angle.

[0114] In this embodiment: First, in this algorithm unit The calculation part takes into account the influence of the elevation difference Δg between the measuring points on the horizontal measuring distance P. As the measuring distance increases and the elevation difference increases, the actual value of the horizontal distance will deviate due to the curvature of the earth. This calculation introduces the square term of the elevation difference Δg between the measuring points on the horizontal measuring distance P to correct the horizontal distance to reflect the effect of the earth's curvature. This calculation part provides a key component in the calculation formula of the distance correction unit based on leveling measurement, ensuring the accuracy of distance measurement when the elevation difference is large and the measuring distance is long;

[0115] The calculation part takes into account the influence of horizontal angle deviation Δθ on distance measurement. The deviation of horizontal angle is caused by terrain undulation and instrument error. This calculation further corrects the distance by introducing horizontal angle deviation Δθ and the square of measured distance to reflect the influence of this angle deviation on distance measurement. This calculation provides another key component in the calculation formula of distance correction unit based on leveling measurement, ensuring the accuracy of distance measurement when horizontal angle deviation exists. It is a form of sum of squares, which is used to express the combined effect of measured distance and elevation difference. The multiplication by 2 is used to compare these two quantities on the same order of magnitude, and to emphasize the influence of the two quantities on the corrected distance through the square term. In addition, this form of calculation is also common in mathematics, and is used to deal with geometric problems involving distance and height.

[0116] The distance correction unit based on leveling in this algorithm takes into account the two often-ignored factors, the elevation difference Δg and the horizontal angle deviation Δθ, between the measuring points through complex mathematical operations, thereby significantly improving the accuracy of the measurement results. This accuracy is crucial for the cost assessment of construction projects, because any small measurement error will lead to significant deviations in the cost. In practical applications, this means that the key parameters of earthwork volume and material consumption can be calculated more accurately, thereby optimizing resource allocation and reducing costs.

[0117] Corrected distance P corr Not only is it closer to the true value, but it also reduces the cost assessment deviation caused by measurement errors. This improved reliability helps to enhance the overall quality and safety of construction projects, because accurate measurement results are the basis for ensuring structural stability and safety.

[0118] Although the calculation process of the distance correction unit based on leveling measurement is relatively complicated, the corrected distance can be obtained through one measurement without multiple measurements and calibrations, which not only improves work efficiency but also reduces measurement costs.

[0119] See also Figures 1 to 3 , the calculation formula for correcting the gyro measurement azimuth unit is as follows:

[0120] θ corr =θ+(P corr / 1000)×BL-arctan{[P corr ×sin(θ-θ ref )] / [g+P corr ×cos

[0121] (θ-θ ref )]};

[0122] BL=(θ end -θ start ) / P corr ;

[0123] in:

[0124] θ corr To correct the rear azimuth;

[0125] θ is the measurement azimuth;

[0126] θ ref is the reference azimuth, θ ref Reflects the azimuth direction of the known points initially designed before surveying and mapping;

[0127] BL is the azimuth change rate, which reflects the average rate at which the azimuth changes with distance between the measurement end point and the measurement starting point;

[0128] θ end is the azimuth of the measurement starting point, θ start The azimuth of the measurement end point.

[0129] In this embodiment, first, "(P corr / 1000)×BL” calculation part takes into account the effect of azimuth angle change rate BL on the corrected azimuth angle θ corr The azimuth change rate BL is caused by the rotation of the earth and the terrain undulation. This calculation is done by introducing the azimuth change rate BL and the corrected distance P corr The product of azimuth angle is corrected to reflect the influence of this change rate on azimuth angle measurement. This calculation part provides a key component in the calculation formula of azimuth angle unit for correcting gyro measurement, ensuring the accuracy of azimuth angle measurement when azimuth angle change rate BL exists. The "1000" is actually a scaling factor used to convert azimuth angle change rate BL to the corrected distance P. corr Matching is performed. Since the azimuth change rate BL is the change rate in kilometers, and the corrected distance P corrThe distance is in meters, so a scaling factor is needed to convert the two to the same order of magnitude for calculation. Here, "1000" is chosen because 1 kilometer is equal to 1000 meters, so "1000" as the denominator can convert the unit of the azimuth change rate BL from "degrees / kilometer" to "degrees / meter", which is consistent with the corrected distance P corr The units match.

[0130] "arctan{[P corr ×sin(θ-θ ref )] / [g+P corr ×cos(θ-θ ref The calculation part takes into account the mean sea level g and the corrected distance P corr The influence of azimuth, the mean sea level height g is caused by the sea level topography, and the corrected distance P corr It reflects the actual distance between the measurement point and the reference point. This calculation is done by introducing the mean sea level height g and the corrected distance P corr The trigonometric function relationship is used to further correct the azimuth to reflect the influence of the terrain undulation on the azimuth measurement. This calculation part provides another key component in the calculation formula of the azimuth unit for correcting the gyroscope measurement, ensuring the accuracy of the azimuth measurement when the terrain undulation exists. At the same time, this calculation also takes into account the distance P after correction. corr The influence of makes the corrected azimuth more accurate;

[0131] The azimuth angle measurement unit of the algorithm significantly improves the accuracy of azimuth angle measurement by comprehensively considering the influence of distance and terrain factors on azimuth angle. This accuracy is crucial for determining the direction, layout and positioning of buildings, because any slight azimuth angle deviation will lead to the displacement of the building position and unreasonable layout. In practical applications, accurate azimuth angle measurement helps to ensure that the orientation of the building meets the design requirements, and also helps to optimize the building layout and improve space utilization.

[0132] The corrected azimuth angle combined with the corrected distance can construct a more complete surveying and mapping result. This completeness is not only reflected in the comprehensiveness of the data, but also in the accuracy and reliability of the data. The complete surveying and mapping result helps the smooth progress of the planning, design and construction stages of the construction project.

[0133] The azimuth angle measurement unit of the gyroscope can obtain the corrected azimuth angle through one measurement without the need for additional measurement and verification work, which not only improves the surveying and mapping efficiency but also reduces the surveying and mapping cost.

[0134] See also Figures 1 to 3, the calculation formula for feedback adjustment of the three-dimensional coordinate unit is as follows:

[0135] X corr =X+[(P corr 2 / J)×tan(φ)×cos(θ corr )]-{[P corr ×(YY ref )] / (g+P corr )}

[0136] ×π;

[0137] in:

[0138] X corr is the three-dimensional X coordinate after correction;

[0139] X is the measured X coordinate;

[0140] J is the photographic focal length;

[0141] φ is the photographic tilt angle;

[0142] Y is the measured Y coordinate;

[0143] Y ref is the reference Y coordinate, Y ref Reflects the Y coordinate of the initial design before surveying.

[0144] In this embodiment, the algorithm unit is first based on measuring X coordinate X and measuring Y coordinate Y. The measuring X coordinate X and measuring Y coordinate Y are preliminary X and Y coordinates obtained by photogrammetry. These coordinates are calculated based on the image taken by the camera and the known camera parameters. The calculation of the preliminary coordinates provides a basis for subsequent more accurate calculations. The measuring X coordinate X and measuring Y coordinate Y are basic data in the formula. They are used together with the focal length and tilt angle parameters of the camera to calculate the final three-dimensional coordinate X component.

[0145] “(P corr 2 / J)×tan(φ)×cos(θ corr )” The calculation part takes into account the influence of the photographic tilt angle φ on the coordinate calculation. Since the camera has a certain tilt angle when shooting, this will cause a certain geometric deformation between the captured image and the actual object. By calculating the coordinate offset caused by the tilt angle, the preliminary coordinates can be corrected, thereby improving the accuracy of the three-dimensional coordinates. The offset calculated in this part is used to adjust the preliminary measurement X coordinate X, “{[P corr ×(YY ref )] / (g+P corrThe calculation part of )}×π” further corrects the preliminary measured Y coordinate Y to eliminate and reduce the influence of the error on the measurement result. These parameters work together in the formula to achieve accurate adjustment of the preliminary coordinates;

[0146] The feedback adjustment 3D coordinate unit of this algorithm can accurately calculate the corrected 3D X coordinate X by considering the focal length and tilt angle factors. corr This accuracy is crucial for 3D modeling and visualization of construction projects. Accurate 3D coordinate calculation can also help optimize building structure design and improve structural stability and safety. The corrected 3D coordinates are closer to the true value, reducing cost assessment deviations caused by measurement errors. This improvement in accuracy and reliability can further help improve the overall quality and safety of construction projects.

[0147] The feedback adjustment three-dimensional coordinate unit combines a variety of surveying and mapping methods and technologies to achieve accurate calculation and feedback adjustment of surveying and mapping results. This innovative method not only improves the efficiency and quality of surveying and mapping, but also provides new ideas and methods for the further development of surveying and mapping technology.

[0148] See also Figures 1 to 3 In photogrammetry, the photogrammetry equipment uses the camera's intrinsic parameter matrix to convert three-dimensional world coordinates into two-dimensional pixel coordinates. The formula for this conversion process is as follows:

[0149]

[0150] (u, v) are the two-dimensional pixel coordinates;

[0151] (J x , J y ) is the focal length of the camera in pixels;

[0152] (c x , c y ) is the coordinate of the camera optical center, and is in pixels;

[0153] R is the rotation matrix, which represents the rotation of the camera relative to the world coordinate system;

[0154] t is the translation vector, which represents the translation of the camera relative to the world coordinate system;

[0155] (X1, Y1, Z1) are the three-dimensional world coordinates;

[0156] Based on the two-dimensional pixel coordinates (u, v) and the intrinsic parameters of the camera, the distance from the object to the camera is calculated using the principle of similar triangles. For the object, the position of the point in the three-dimensional world coordinate is known to be the corrected three-dimensional X coordinate X corr , the specific calculation formula for the distance from the point to the camera is as follows:

[0157]

[0158] P new is the new distance after correction;

[0159] (X c , Y c , Z c ) is the position of the camera in 3D world coordinates;

[0160] (X corr , Y, Z) is the position of a point on the object in the three-dimensional world coordinates, that is, the corrected three-dimensional X coordinate X corr A point in

[0161] Based on the corrected new distance P new , and the corrected new distance P new and the corrected three-dimensional X coordinate X corr It is introduced and iterated into the next round of the distance correction unit based on leveling measurement and the feedback adjustment three-dimensional coordinate unit, and the horizontal measurement distance P and the measurement X coordinate X are replaced respectively to perform a new round of calculation.

[0162] In this embodiment, the algorithm unit feedback adjusts the three-dimensional coordinates through the feedback adjustment mechanism to adjust the corrected three-dimensional X coordinates X corr Combined with the horizontal measurement distance P of the measurement input, a closed-loop feedback system is formed. This system not only improves the accuracy and reliability of the surveying and mapping results, but also optimizes the measurement process and method. In practical applications, the closed-loop feedback system can continuously correct measurement errors and uncertainties, thereby improving the accuracy and reliability of the surveying and mapping results. This system can also provide real-time measurement feedback and guidance. Through the circular influence mechanism, the measurement process and method can be continuously optimized. Specifically, during the measurement process, the three-dimensional X coordinate X after correction can be used to calculate the X coordinate of the object. corr The accuracy improvement can be used to adjust the measurement parameters and methods to further improve the accuracy of the measurement results. In addition, the loop impact mechanism can also help identify and solve potential problems in the measurement process, including if the three-dimensional X coordinates X corr If the accuracy improvement is not obvious or there are abnormal fluctuations, the system can promptly check whether there are problems with the measurement equipment and methods, and take corresponding measures to correct and improve them;

[0163] The circular influence mechanism provides new impetus and direction for the development and innovation of surveying and mapping technology. Through continuous exploration and practice, more efficient, accurate and reliable surveying and mapping methods and technologies can be developed. Through the conversion of three-dimensional coordinates to two-dimensional pixel coordinates based on the distance correction unit of leveling measurement and the inverse projection model, the three-dimensional information of the object can be accurately extracted from the two-dimensional image. This information includes the precise position, shape and size of the object, which is the basis for subsequent distance calculation. When the three-dimensional information is accurately extracted, the distance formula in the azimuth unit measured by the correction gyroscope can be used to significantly improve the accuracy of the measured distance.

[0164] In photogrammetry, it is usually necessary to process a large amount of image data. By substituting inverse calculation, these data can be processed automatically, reducing manual intervention and improving data processing efficiency. At the same time, accurate distance measurement can also provide a reliable basis for subsequent image matching and three-dimensional reconstruction steps, further optimizing the entire data processing process. Photogrammetry technology is widely used in various fields, and in different application scenarios, the requirements for measurement accuracy are also different. By substituting inverse calculation to improve the accuracy of horizontal measurement distance P, the needs of these application scenarios can be better met, thereby improving the adaptability and practicality of photogrammetry technology.

[0165] In summary, the distance correction unit based on leveling measurement, the gyroscope measurement azimuth correction unit and the feedback adjustment three-dimensional coordinate unit each have significant beneficial effects in the on-site surveying and mapping of construction project cost, and the feedback adjustment three-dimensional coordinate unit further optimizes the measurement process and method through the circular influence mechanism, and uses the substitution back calculation to make the horizontal measurement distance P more accurate, thereby achieving the purpose of improving measurement accuracy, optimizing data processing flow, enhancing the adaptability of application scenarios, reducing measurement costs and promoting technological development. These effects will enable photogrammetry technology to be widely used and promoted in more fields.

[0166] For example 2, please refer to Figures 1 to 3 , the conditions for stopping the iteration are set as follows:

[0167] Set the difference interval where the iteration stops, that is, the three-dimensional X coordinate X after correction corr The difference interval between the measured X coordinate X;

[0168] Set the preset standard, that is, the new distance P after calibration new The standard value reached by the iteration.

[0169] In this embodiment, the need to continuously update the measured X coordinate X mainly stems from the pursuit of high accuracy and reliability of surveying and mapping data, including complex terrain areas, large-scale construction projects, precision engineering surveys, and geological exploration;

[0170] As the iterative update proceeds, the accuracy of the surveying and mapping data will gradually improve. When the new distance P new Iterate to set the preset standard and the corrected three-dimensional X coordinate X corr When the difference interval between the measured X coordinate X and the measured X coordinate X is within the difference interval set for iterative stop, it can be considered that the iterative update process has converged, and the iterative update can be stopped at this time. The preset standard and the difference interval set for iterative stop are determined according to the specific needs and specifications of the project. The convergence judgment standard usually involves multiple aspects, including the three-dimensional X coordinate X after correction. corr And the new distance P after correction new The stability and change trend of the three-dimensional X coordinates after correction corr And the new distance P after correction new When the update process becomes stable after multiple iterations and the change trend is no longer significant, it can be considered that the update process has converged.

[0171] To sum up, the scope of architectural surveying errors and when to stop iterative updates is a complex issue, which requires comprehensive consideration of practical applications and the determination of the allowable range of surveying errors and convergence judgment criteria based on the specific needs and specifications of the project, and based on this, a decision should be made as to whether to stop iterative updates. At the same time, attention should also be paid to selecting advanced surveying techniques and equipment, and improving the professional level of surveying personnel to reduce surveying errors and improve the accuracy of surveying results.

[0172] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A construction project cost on-site surveying method, characterized in that: The specific implementation steps are as follows: Step S1: using the data measurement module, leveling, azimuth measurement and photogrammetry are performed on the surveying area of ​​the construction project cost site; Step S2: Using the data correction processing module, calculate and output the corrected distance P in sequence corr 、Azimuth angle θ after correction corr , Corrected three-dimensional X coordinate X corr ; The data correction processing module includes a distance correction unit based on leveling measurement, a gyroscope azimuth angle correction unit and a feedback adjustment unit for three-dimensional coordinates; Step S3: Based on the corrected three-dimensional X coordinate X corr , and again utilize the data correction processing module to iteratively update the horizontal measurement distance P introduced into the distance correction unit based on leveling measurement.

2. A construction project cost on-site surveying method according to claim 1, characterized in that: The equipment used in the data measurement module includes a level, a gyroscope, and a photogrammetry device; The level is used to measure horizontal distance and elevation difference; The gyroscope is used to measure the azimuth; The photogrammetry equipment includes a high-definition camera carried by a drone and is used to take photos of the surveying area at the construction project cost site; The equipment used by the data correction processing module includes computers and software, and the computers and software are used for data processing, image analysis and three-dimensional coordinate calculation.

3. A construction project cost on-site surveying method according to claim 2, characterized in that: The calculation formula of the distance correction unit based on leveling measurement is as follows: Δg=g end -g start ; in: P corr is the distance after correction; P is the horizontal measurement distance; Δg is the elevation difference between the measuring points; g start is the elevation of the measuring starting point, g end is the elevation value of the measurement end point; g is the mean sea level, which reflects the average height of the sea surface observed over a long period of time; Δθ is the horizontal angle deviation, Δθ is the horizontal angle deviation caused by the terrain and the instrument; π is the ratio of a circle to a circle, which is approximately equal to 3.14159.

4. A construction project cost on-site surveying method according to claim 3, characterized in that: The calculation formula of the correction gyro measurement azimuth angle unit is as follows: θ corr =θ+(P corr / 1000)×BL-arctan{[P corr ×sin(θ-θ ref )] / [g+P corr ×cos (θ-θ ref )]}; BL=(θ end -θ start ) / P corr ; in: θ corr To correct the rear azimuth; θ is the measurement azimuth; θ ref is the reference azimuth, θ ref Reflects the azimuth direction of the known points initially designed before surveying and mapping; BL is the azimuth change rate, which reflects the average rate at which the azimuth changes with distance between the measurement end point and the measurement starting point; θ end is the azimuth of the measurement starting point, θ start The azimuth of the measurement end point.

5. A construction engineering cost on-site surveying method according to claim 4, characterized in that: The calculation formula for the feedback adjustment three-dimensional coordinate unit is as follows: X corr =X+[(P corr 2 / J ) × tan ( φ ) × cos ( θ corr )]-{[P corr ×(YY ref )] / (g+P corr )} ×π； in: X corr is the three-dimensional X coordinate after correction; X is the measured X coordinate; J is the photographic focal length; φ is the photographic tilt angle; Y is the measured Y coordinate; Y ref is the reference Y coordinate, Y ref Reflects the Y coordinate of the initial design before surveying.

6. A construction project cost on-site surveying method according to claim 5, characterized in that: The photogrammetry device converts the three-dimensional world coordinates into two-dimensional pixel coordinates using the camera's intrinsic parameter matrix during photogrammetry. The formula for this conversion process is as follows: (u, v) are the two-dimensional pixel coordinates; (J x , J y ) is the focal length of the camera in pixels; (c x , c y ) is the coordinate of the camera optical center, and is in pixels; R is the rotation matrix, which represents the rotation of the camera relative to the world coordinate system; t is the translation vector, which represents the translation of the camera relative to the world coordinate system; (X1, Y1, Z1) are the three-dimensional world coordinates; Based on the two-dimensional pixel coordinates (u, v) and the intrinsic parameters of the camera, the distance from the object to the camera is calculated using the principle of similar triangles. For the object, the position of the point in the three-dimensional world coordinate is known to be the corrected three-dimensional X coordinate X corr , the specific calculation formula for the distance from the point to the camera is as follows: P new is the new distance after correction; (X c , Y c , Z c ) is the position of the camera in 3D world coordinates; (X corr , Y, Z) is the position of a point on the object in the three-dimensional world coordinates, that is, the corrected three-dimensional X coordinate X corr A point in .

7. A construction project cost on-site surveying method according to claim 6, characterized in that: Based on the corrected new distance P new , and the corrected new distance P new and the corrected three-dimensional X coordinate X corr Introduced and iterated to the next round of the distance correction unit based on leveling measurement and the feedback adjustment three-dimensional coordinate unit, the horizontal measurement distance P and the measurement X coordinate X are replaced respectively to perform a new round of calculation. The conditions for stopping the iteration are set as follows: Set the difference interval where the iteration stops, that is, the three-dimensional X coordinate X after correction corr The difference interval between the measured X coordinate X; Set the preset standard, that is, the new distance P after calibration new The standard value reached by the iteration.

8. A construction project cost on-site surveying method according to claim 5, characterized in that: The specific measurement and calculation of the horizontal angle deviation Δθ is as follows: Select n known points in the construction project cost on-site measurement area. The real coordinates and azimuths of these points are known. By measuring the horizontal angles between these points and the points to be measured and comparing them with the known azimuths, the error of the horizontal angle is calculated and the measurement results are corrected accordingly. The specific calculation formula is as follows: Δθ=[(θ1-θ ture1 )+(θ2-θ ture2 )+(θ3-θ ture3 )+......+(θ n -θ ture，n )] / n; n is the total number of measurement points; θ1 is the first measured horizontal angle, θ2 is the second measured horizontal angle, θ3 is the third measured horizontal angle, θ n is the nth measured horizontal angle; θ ture1 is the first known horizontal angle, θ ture2 is the second known horizontal angle, θ ture3 is the third known horizontal angle, θ ture，n is the nth horizontal angle.

9. A construction engineering cost on-site surveying and mapping method according to claim 3, characterized in that: The calculation formula of the mean sea level height g is as follows: g=(g1+g2+g3+......+g m ) / m; m is the total number of observation points; g1 is the first observed sea level height, g2 is the second observed sea level height, g3 is the third observed sea level height, g m is the sea level height of the mth observation.

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