A construction engineering cost field surveying and mapping method

Abstract

The application discloses a kind of construction engineering cost field surveying and mapping methods, it is related to construction engineering cost field surveying and mapping technical field, using data measurement module, the level measurement, azimuth measurement and photogrammetry are carried out to construction engineering cost field, using data correction processing module, sequentially calculate and output corrected distance P corr , corrected azimuth θ corr , corrected three-dimensional X coordinate X corr , and again using the data correction processing module, iterative update is carried out to horizontal measurement distance P, the application combines the three kinds of measurement means of level measurement, azimuth measurement and photogrammetry, and the influence of cyclic feedback mechanism, improve the accuracy of surveying and mapping result, realize the continuous optimization and update of surveying and mapping data, this mechanism has important significance in construction engineering cost field surveying and mapping, especially in the scene needing high-precision surveying and mapping data, by constantly updating X coordinate, to further improve the accuracy and reliability of surveying and mapping result.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of construction cost site surveying and mapping technology, in particular to a construction cost site surveying and mapping method. BACKGROUND

[0002] Construction cost site surveying and mapping is an important link to ensure the accuracy of project cost, which involves the comprehensive use of various measurement techniques and methods. Traditional surveying and mapping methods mainly rely on physical measurement means such as leveling and gyroscopic measurement. Although these methods can provide reliable surveying and mapping data to some extent, they are often restricted by factors such as terrain undulations, instrument precision, 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 and mapping area and extracts three-dimensional coordinate key information through image processing technology. This method has the advantages of non-contact, high efficiency, and high precision, and is particularly suitable for complex terrain and areas that are difficult to measure directly.

[0003] However, this single surveying and mapping method of photogrammetry often cannot meet the surveying and mapping needs in different scenarios. Therefore, a comprehensive surveying and mapping method combining leveling, gyroscopic measurement, and photogrammetry has emerged. However, the precision of leveling and gyroscopic measurement instruments is limited and cannot meet the needs of high-precision surveying and mapping. Moreover, existing surveying and mapping data processing methods are complex and tedious, requiring a lot of time and effort. In addition, terrain undulations, climate changes, and environmental factors can greatly affect the surveying and mapping results, leading to unstable surveying and mapping data. SUMMARY

[0004] The present application aims to provide a construction cost site surveying and mapping method that solves the problems raised in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions, and the specific implementation steps are as follows:

[0006] Step S1: using a data measurement module to perform leveling, azimuth measurement, and photogrammetry on the surveying and mapping area of the construction cost site;

[0007] Step S2: using a data correction processing module to sequentially calculate the corrected distance P corr , the corrected azimuth angle θ corr , and the corrected three-dimensional X coordinate X corr .

[0008] The data correction processing module includes a distance correction unit based on leveling, a gyroscopic measurement azimuth correction unit, and a feedback adjustment three-dimensional coordinate unit.

[0009] Step S3: correcting the three-dimensional X coordinate X based on the corrected three-dimensional X coordinate X corr And again using the data correction processing module, the horizontal measurement distance P introduced in the distance correction unit based on leveling is iteratively updated;

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

[0011] The level is used to measure the horizontal distance and the height difference.

[0012] The gyroscope is used to measure the azimuth angle.

[0013] The photogrammetry device includes a high-definition camera carried by a drone and is used to take photos of the surveying area in the construction engineering cost site.

[0014] The equipment used by the data correction processing module includes a computer and software, which 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 is as follows:

[0016]

[0017] Δg = g end -g start ;

[0018] Wherein:

[0019] P corr is the corrected distance.

[0020] P is the horizontal measurement distance.

[0021] Δg is the height difference between the measurement points.

[0022] g start is the elevation value of the starting point of measurement, and g end is the elevation value of the end point of measurement.

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

[0024] Δθ is the horizontal angle deviation, which is specifically the horizontal angle deviation caused by the terrain and the instrument.

[0025] π is the circular constant, 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) x BL - arctan{[P corr x sin(θ - θ ref )] / (g + P corr x cos

[0028] (θ - θ ref )]} ;

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

[0030] wherein:

[0031] θ corr is the corrected azimuth angle;

[0032] θ is the measured azimuth angle;

[0033] θ ref is the reference azimuth angle, θ ref reflects the azimuth angle direction of the known point before surveying and designing;

[0034] BL is the azimuth angle change rate, BL reflects the average rate of the azimuth angle change with the distance between the measuring end point and the measuring start point;

[0035] θ end is the measuring start point azimuth angle, θ start is the measuring end point azimuth angle.

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

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

[0038] x π;

[0039] wherein:

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

[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 coordinate Y of the initial design before mapping.

[0046] Optionally, the photogrammetric device converts the three-dimensional world coordinates into two-dimensional pixel coordinates by using the internal parameter matrix of the camera in the photogrammetry, and the conversion formula is as follows:

[0047]

[0048] (u, v) is the two-dimensional pixel coordinate;

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

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

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

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

[0053] (X1, Y1, Z1) is the three-dimensional world coordinate;

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

[0055]

[0056] P new is the corrected new distance;

[0057] (X c , Y c , Z c ) is the position of the camera in the three-dimensional world coordinate;

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

[0059] Optionally, based on the corrected new distance P new , and the corrected new distance P newX corr The distance correction unit based on leveling and the feedback adjustment three-dimensional coordinate unit are introduced and iterated to the next round, and the leveling distance P and the measured X coordinate X are replaced respectively to calculate a new round, and the iteration stopping condition is set as follows:

[0060] The difference interval of iteration stopping is set, that is, the corrected three-dimensional X coordinate X corr The difference interval between the measured X coordinate X

[0061] The preset standard is set, that is, the corrected new distance P new The standard value reached by iteration.

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

[0063] In the construction engineering cost field measurement area, n known points are selected, the true coordinates and azimuth angles of which are known, the horizontal angles between the points and the to-be-measured points are measured, compared with the known azimuth angles, the error of the horizontal angle is calculated, and the measurement result is corrected according to the error, and 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 amount 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, and 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, and 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 amount 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 mth observed sea level height.

[0072] Compared with the prior art, the present application has the following advantages:

[0073] Firstly, the present application combines three measurement methods of leveling, azimuth measurement and photogrammetry, and fuses and corrects through mathematical models, which significantly improves the accuracy of surveying and mapping results.

[0074] Secondly, the application of photogrammetry in the present application greatly shortens the surveying and mapping period and improves the surveying and mapping efficiency.

[0075] Thirdly, the comprehensive surveying and mapping method of the present application is suitable for different terrains and measurement conditions, has strong applicability, and can obtain accurate surveying and mapping results in both flat areas and complex mountainous areas.

[0076] Fourthly, the present application continuously researches and improves the surveying and mapping method and mathematical model, promotes the innovation and development of surveying and mapping technology, and improves the measurement accuracy through the back calculation method in the feedback adjustment three-dimensional coordinate unit cycle influence mechanism. corr The corrected new distance P new is iteratively updated, which more accurately improves the measurement accuracy and provides a basis for further optimization and updating of the surveying and mapping method. BRIEF DESCRIPTION OF DRAWINGS

[0077] Fig. 1 is the method flowchart of the building engineering cost site surveying and mapping method;

[0078] Fig. 2 is the structural schematic diagram of the data correction processing module of the present application;

[0079] Fig. 3 is the overall structure schematic diagram of the iterative update in the cycle feedback of the present application. DETAILED DESCRIPTION

[0080] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0081] The building engineering cost field mapping method is different from the existing mapping method. The existing mapping method often cannot meet the mapping needs in different scenarios and the high-precision mapping needs. The existing mapping data processing method is complex and tedious, and the mapping data is unstable. The algorithm unit combines three measurement methods of leveling, azimuth measurement and photogrammetry, and the influence of the cyclic feedback mechanism, improves the accuracy of the mapping result, realizes the continuous optimization and updating of the mapping data, and has important significance in the building engineering cost field mapping. Especially in the scene where high-precision mapping data is needed, the X coordinate is updated continuously, so as to further improve the accuracy and reliability of the mapping result, and provide strong support for accurate evaluation of engineering cost.

[0082] Embodiment one, please refer to Figs. 1-3 The embodiment provides a building engineering cost field mapping method, and the specific implementation steps are as follows:

[0083] Step S1: using a data measurement module, leveling, azimuth measurement and photogrammetry are performed on the mapping area of the building engineering cost field;

[0084] Step S2: using a data correction processing module, the corrected distance P corr , the corrected azimuth angle θ corr and the corrected three-dimensional X coordinate X corr are calculated in sequence;

[0085] The data correction processing module includes a distance correction unit based on leveling, a gyroscopic measurement azimuth correction unit and a feedback adjustment three-dimensional coordinate unit.

[0086] Step S3: based on the corrected three-dimensional X coordinate X corr , the leveling distance P calculated in the distance correction unit based on leveling is iteratively updated again by using the data correction processing module;

[0087] The devices used by the data measurement module include a level, a gyroscope and a photogrammetry device.

[0088] The level is used to measure the horizontal distance and the elevation difference.

[0089] The gyroscope is used to measure the azimuth angle.

[0090] The photogrammetry device includes a high-definition camera carried by the unmanned aerial vehicle and is used for photographing a photo of a surveying area in the construction cost site;

[0091] The device used by the data correction processing module includes a computer and software, which are used for data processing, image analysis and three-dimensional coordinate calculation.

[0092] In the embodiment, the system combines the methods of leveling, gyro measurement and photogrammetry through the cooperation of the three algorithm units, realizes the accurate calculation of the construction cost site surveying, and combines the P corr , θ corr and X corr three operation results, P corr is the corrected distance, the value calculation purpose is to correct the distance measurement error caused by the deviation of the height difference and the horizontal angle, θ corr is the corrected azimuth, the value is corrected on the basis of considering the influence of distance and terrain factors on the azimuth, X corr is the corrected three-dimensional X coordinate, the value calculation purpose is to calculate more accurate three-dimensional coordinates through the principle of photogrammetry and combined with the corrected distance and azimuth, and the calculation result of X corr can directly iterate the input value of P in P corr , and further affect the calculation of P corr and θ corr , so that the three algorithms of the system bear different calculation purposes and tasks in the construction cost site surveying, and through the mutual correlation and feedback adjustment mechanism, the accurate measurement and calculation target is realized.

[0093] Please refer to Figs. 1-3 , the calculation formula of the distance correction unit based on leveling is as follows:

[0094]

[0095] Δg=g end -g start ;

[0096] Wherein:

[0097] P corr is the corrected distance;

[0098] P is the horizontal measurement distance;

[0099] Δg is the height difference between the measurement points;

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

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

[0102] Δθ represents the horizontal angular deviation, which is specifically caused by the terrain and the instrument.

[0103] π is the mathematical constant of a circle, approximately equal to 3.14159.

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

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

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

[0107] g1 represents the first observed sea level height, g2 represents the second observed sea level height, and g3 represents the third observed sea level height. m The m-th observed sea level height;

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

[0109] In the on-site measurement area for construction project cost estimation, n known points are selected. The true coordinates and azimuths of these points are known. By measuring the horizontal angles between these points and the point to be measured, and comparing them with the known azimuths, the error of the horizontal angles 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 represents the total number of measurement points;

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

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

[0114] In this embodiment: First, in this algorithm unit The calculation part takes into account the impact of the height difference Δg between the measurement points on the horizontal measurement distance P. As the measurement distance increases and the height difference increases, the actual value of the horizontal distance will be biased due to the curvature of the earth. This calculation corrects the horizontal distance by introducing the square term of the height difference Δg between the measurement points and the horizontal measurement distance P to reflect the effect of the curvature of the earth. This calculation provides a key component of the formula for the distance correction unit based on leveling, ensuring the accuracy of distance measurement when the height difference is large and the measurement distance is long.

[0115] The calculation part takes into account the impact of the horizontal angle deviation Δθ on the distance measurement. The deviation of the horizontal angle is caused by the terrain undulations and instrument error factors. This calculation further corrects the distance by introducing the square term of the horizontal angle deviation Δθ and the measurement distance to reflect the impact of the angle deviation on the distance measurement. This calculation provides another key component of the formula for the distance correction unit based on leveling, ensuring the accuracy of distance measurement when the horizontal angle deviation exists, wherein, is in the form of a square sum, used to represent the combined impact of the measurement distance and the height difference. The multiplication by 2 is to place the two quantities on the same order of magnitude for comparison, and the square term is to emphasize the impact of the two quantities on the corrected distance. In addition, this form of calculation is commonly used in mathematics to handle geometric problems involving distance and height.

[0116] The distance correction unit based on leveling in this algorithm takes into account the two often overlooked factors of height difference Δg between measurement points and horizontal angle deviation Δθ through complex mathematical operations, thereby significantly improving the accuracy of the measurement results. This accuracy is crucial for construction cost assessment, as any small measurement error can lead to significant deviations in cost. In practical applications, this means that the key parameters such as earthwork volume and material usage 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 reliability improvement helps to enhance the overall quality and safety of construction projects, as accurate measurement results are the foundation for ensuring structural stability and safety.

[0118] Although the calculation process of the distance correction unit based on leveling is relatively complex, it can obtain the corrected distance through a single measurement without the need for multiple measurements and verifications. This not only improves work efficiency but also reduces measurement costs.

[0119] Please refer to Figs. 1-3 , the calculation formula of the correction gyroscope measurement azimuth unit is as follows:

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

[0121] (θ - θ ref )]} ;

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

[0123] wherein:

[0124] θ corr is the corrected azimuth angle;

[0125] θ is the measured azimuth angle;

[0126] θ ref is the reference azimuth angle, θ ref reflects the azimuth angle direction of the known point in the initial design before surveying;

[0127] BL is the azimuth angle variation rate, BL reflects the average rate of variation of the azimuth angle with distance between the end point of measurement and the start point of measurement;

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

[0129] In the present embodiment, firstly, the "(P corr / 1000) x BL" calculation part takes into account the influence of the azimuth angle variation rate BL on the corrected azimuth angle θ corr , which is caused by the earth rotation and the terrain undulation factor, and this calculation corrects the azimuth angle by introducing the product of the azimuth angle variation rate BL and the corrected distance P corr to reflect the influence of this variation rate on the azimuth angle measurement, which provides a key component in the calculation formula of the gyro measurement azimuth angle unit, and ensures the accuracy of the azimuth angle measurement when the azimuth angle variation rate BL exists, and the "1000" in it is actually a scaling factor for matching the azimuth angle variation rate BL with the corrected distance P corr , since the azimuth angle variation rate BL is the variation rate in kilometers, and the corrected distance P corr is in kilometers.is in meters, so a scaling factor is needed to convert both to the same order of magnitude for calculation, here "1000" is chosen because 1 kilometer equals 1000 meters, so "1000" as the denominator can convert the unit of bearing rate BL from "degree / kilometer" to "degree / meter", which matches the unit of corrected distance P corr .

[0130] The "arctan{[P corr × sin(θ-θ ref )] / [g+P corr × cos(θ-θ ref )]} " calculation part takes into account the influence of average sea level height g and corrected distance P corr on the bearing angle, the average sea level height g is caused by the sea level topographic relief, and the corrected distance P corr reflects the actual distance between the measurement point and the reference point, this calculation further corrects the bearing angle by introducing the trigonometric relationship of the average sea level height g and the corrected distance P corr , to reflect the influence of such topographic relief on bearing angle measurement, this calculation part provides another key component in the correction of the gyroscopic measurement bearing angle unit calculation formula, ensuring the accuracy of bearing angle measurement in the presence of topographic relief, at the same time, this calculation also takes into account the influence of corrected distance P corr , making the corrected bearing angle more accurate;

[0131] The correction of the gyroscopic measurement bearing angle unit of this algorithm significantly improves the accuracy of bearing angle measurement by considering the influence of distance and topographic factors on bearing angle, which is crucial for determining the direction, layout and positioning of buildings, because any slight deviation in bearing angle will cause the building to be offset and the layout to be unreasonable, in practical application, accurate bearing 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 bearing angle combined with the corrected distance can construct a more complete survey result, this completeness not only reflects in the comprehensiveness of data, but also in the accuracy and reliability of data, complete survey results help to smoothly carry out the planning, design and construction stages of building engineering projects;

[0133] The corrected bearing angle unit of the gyroscopic measurement bearing angle can be obtained by one measurement without additional measurement and verification work, which not only improves the survey efficiency, but also reduces the survey cost.

[0134] Please refer to Figs. 1-3The calculation formula of the feedback adjustment three-dimensional coordinate unit is as follows:

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

[0136] × π;

[0137] Wherein:

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

[0139] X is the measured X coordinate;

[0140] J is the camera focal length;

[0141] φ is the camera tilt angle;

[0142] Y is the measured Y coordinate;

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

[0144] In the embodiment, the algorithm unit first calculates the measured X coordinate X and the measured Y coordinate Y based on the measured X coordinate X and the measured Y coordinate Y, which are the preliminary X and Y coordinates obtained by photographic surveying. The preliminary coordinates are calculated based on the image captured by the camera and the known camera parameters, and provide a basis for subsequent more accurate calculation. The measured X coordinate X and the measured Y coordinate Y are the basic data in the formula, which are used to calculate the final three-dimensional coordinate X component together with the focal length and tilt angle parameters of the camera.

[0145] “(P corr 2 / J) × tan(φ) × cos(θ corr )” calculation part considers the influence of the camera tilt angle φ on coordinate calculation. Since the camera has a certain tilt angle when shooting, it will cause a certain geometric distortion 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 obtained by this part of calculation is used to adjust the preliminary measured X coordinate X. corr × (Y - Y ref )] / (g + P corrThe feedback adjustment three-dimensional coordinate unit can accurately calculate the corrected three-dimensional X coordinate X

[0146] The feedback adjustment three-dimensional coordinate unit can accurately calculate the corrected three-dimensional X coordinate X corr This accuracy is crucial for three-dimensional modeling and visualization of construction projects, and precise three-dimensional coordinate calculation helps optimize building structure design, improve structural stability and safety, and the corrected three-dimensional coordinates are closer to the true value, reducing cost estimation deviation caused by measurement error. This precision and reliability improvement further helps improve the overall quality and safety of construction projects.

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

[0148] Please refer to Figs. 1-3 In photogrammetry, the internal parameter matrix of the camera is used to convert three-dimensional world coordinates into two-dimensional pixel coordinates. The conversion formula is as follows:

[0149]

[0150] (u, v) is the two-dimensional pixel coordinate;

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

[0152] (c x , c y ) is the camera optical center coordinate, 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) is the three-dimensional world coordinate;

[0156] Based on the two-dimensional pixel coordinates (u, v) and the internal parameters of the camera, the principle of similar triangles is used to calculate the distance from the object to the camera. For the object, the position in the three-dimensional world coordinate is the corrected three-dimensional X coordinate X corr The calculation formula for calculating 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 three-dimensional world coordinates;

[0160] (X corr , Y, Z) is the position of a point on the object in three-dimensional world coordinates, i.e. the three-dimensional X coordinate X corr after correction;

[0161] based on the new distance P new after correction, and the new distance P new after correction and the three-dimensional X coordinate X corr after correction are introduced and iterated into the distance correction unit based on leveling and the feedback adjustment three-dimensional coordinate unit, respectively replacing the leveling distance P and the measured X coordinate X to perform a new round of calculation.

[0162] In this embodiment, the feedback adjustment three-dimensional coordinate unit of the algorithm unit forms a closed-loop feedback system by combining the three-dimensional X coordinate X corr after correction with the input leveling distance P, which not only improves the accuracy and reliability of the surveying 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 results. This system can also provide real-time measurement feedback and guidance. Through the cyclic influence mechanism, the measurement process and method can be continuously optimized. Specifically, during the measurement process, the measurement parameters and methods can be adjusted according to the accuracy improvement of the three-dimensional X coordinate X corr after correction, thereby further improving the accuracy of the measurement results. In addition, the cyclic influence mechanism can help identify and solve potential problems in the measurement process. If the accuracy improvement of the three-dimensional X coordinate X corr after correction is not obvious or there are abnormal fluctuations, the system can promptly check whether there are problems with the measurement equipment and method, and take appropriate measures to correct and improve them;

[0163] The circulation influence mechanism provides new power and direction for the development and innovation of surveying technology. Through continuous exploration and practice, more efficient, accurate and reliable surveying 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 the leveling measurement and the inverse projection model, the three-dimensional information of the object can be accurately extracted from the two-dimensional image. These information includes the accurate 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 correction gyroscope measurement azimuth angle unit can significantly improve the accuracy of distance measurement.

[0164] In photogrammetry, a large amount of image data needs to be processed. Through the back substitution calculation, these data can be automatically processed, 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 flow. Photogrammetry technology is widely used in various fields, and the requirements for measurement accuracy are different in different application scenarios. Through the back substitution calculation to improve the accuracy of horizontal measurement distance P, the adaptability and practicality of photogrammetry technology are improved to better meet the needs of these application scenarios.

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

[0166] Embodiment two, please refer to Figs. 1-3 The condition for iteration stop is set as follows:

[0167] The difference interval of iteration stop is set, that is, the difference interval between the corrected three-dimensional X coordinate X corr and the measured X coordinate X.

[0168] The preset standard is set, that is, the standard value of the new distance P new reached by iteration.

[0169] In this embodiment, the demand for continuously updating the measured X coordinate X mainly comes from the pursuit of high precision and reliability of surveying data, including complex terrain areas, large-scale construction projects, precision engineering measurement and geological exploration.

[0170] As the survey data is iterated and updated, its accuracy will gradually improve. When the new distance P is corrected... new Iterate until the preset standard is set, and the corrected 3D X-coordinate X... corr When the difference between the measured X-coordinate and the standard X is within the set interval for stopping the iteration, the iterative update process can be considered to have converged, and the iteration can be stopped at this point. The preset standard and the set interval for stopping the iteration are determined based on the specific requirements and specifications of the project. Convergence criteria typically involve multiple aspects, including the corrected 3D X-coordinate. corr and the corrected new distance P new The stability and trend of change of the three-dimensional X-coordinate after correction corr And the corrected new distance P new When the process stabilizes after multiple iterations and the trend of change is no longer significant, it can be considered that the iterative update process has converged.

[0171] In conclusion, determining the range of errors in architectural surveying and when to stop iterative updates is a complex issue. It requires comprehensive consideration of practical applications and determination of the permissible range of surveying errors and convergence criteria based on the specific needs and specifications of the project. This will inform the decision on whether to stop iterative updates. Furthermore, it is necessary to select advanced surveying technologies and equipment, and improve the professional skills of surveyors to reduce surveying errors and enhance the accuracy of surveying results.

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

Claims

1. A method for on-site measurement of construction project costs, characterized in that, The specific implementation steps are as follows: Step S1: Using the data measurement module, perform leveling, azimuth and photogrammetry on the survey area of ​​the construction project cost site; Step S2: Using the data correction processing module, calculate and output the corrected distance P sequentially. corr Corrected azimuth angle θ corr Corrected 3D X-coordinates corr ; The data correction processing module includes a distance correction unit based on leveling, a gyroscope azimuth angle correction unit, and a feedback adjustment unit for three-dimensional coordinates. The calculation formula for the distance correction unit based on leveling is as follows: ； ； in: P corr This is the corrected distance; P represents the horizontal distance measured. Δg represents the elevation difference between the measurement points; g start To measure the starting point elevation, g end To measure the elevation of the endpoint; g represents the mean sea level height, which reflects the average height of the sea surface observed over a long period of time. Δθ represents the horizontal angular deviation, which is specifically caused by the terrain and the instrument. π is the mathematical constant of a circle, approximately equal to 3.14159. Step S3: Based on the corrected three-dimensional X coordinates X corr Then, the data correction processing module is used again to iteratively update the horizontal measurement distance P introduced into the distance correction unit based on leveling.

2. The method for on-site cost estimation of construction projects according to claim 1, characterized in that, The equipment used in the data measurement module includes a level, a gyroscope, and photogrammetry equipment; The level instrument is used to measure horizontal distance and elevation difference; The gyroscope is used to measure the azimuth angle; The photogrammetry equipment includes a high-definition camera mounted on a drone, used to take photos of the surveyed area at the construction cost site; The data correction processing module uses a computer and software, which are used for data processing, image analysis, and three-dimensional coordinate calculation.

3. The method for on-site cost estimation of construction projects according to claim 2, characterized in that: The calculation formula for the azimuth angle measurement unit of the calibrated gyroscope is as follows: i corr =θ+(P corr / 1000)×BL-arctan{[P corr ×sin(θ-θ) ref )] / [g+P corr ×cos(θ-θ ref )]}; BL=(θ end - i start ) / P corr ; in: θ corr To correct the azimuth angle; θ is the measured azimuth angle; θ ref As the reference azimuth angle, θ ref It reflects the azimuth direction of known points in the initial design before surveying; BL is the azimuth rate of change. BL reflects the average rate at which the azimuth changes with distance between the measurement endpoint and the measurement start point. θ end To measure the azimuth angle of the starting point, θ start To measure the azimuth of the endpoint.

4. The method for on-site cost estimation of construction projects according to claim 3, characterized in that: In photogrammetry, the aforementioned photogrammetric equipment uses the camera's intrinsic parameter matrix to convert three-dimensional world coordinates into two-dimensional pixel coordinates. The formula for this conversion is as follows: ； (u, v) are two-dimensional pixel coordinates; (J) x J y () represents the camera focal length, expressed in pixels; (c) x c y () represents the camera's optical center coordinates, in pixels; R is the rotation matrix, where R represents the rotation of the camera relative to the world coordinate system; t is the translation vector, representing the translation of the camera relative to the world coordinate system; (X1, Y1, Z1) are three-dimensional world coordinates; Based on 2D pixel coordinates (u, v) and camera intrinsic parameters, the distance from the object to the camera is calculated using the principle of similar triangles. For the object, the position of a point in the 3D world coordinate system is known as the corrected 3D X-coordinate X. corr The specific formula for calculating the distance from this point to the camera is as follows: ； P new The new distance after correction; (X) c Y c Z c () represents the camera's position in three-dimensional world coordinates; (X) corr (x, y, z) represents the position of a point on the object in three-dimensional world coordinates, i.e., the corrected three-dimensional X-coordinate. corr One point in it.

5. The method for on-site cost estimation of construction projects according to claim 4, characterized in that: Based on the corrected new distance P new And the corrected new distance P new and the corrected three-dimensional X coordinates corr In the leveling-based distance correction unit and the feedback adjustment three-dimensional coordinate unit introduced and iterated to the next round, the horizontal measurement distance P and the measurement X coordinate X are replaced respectively for a new round of calculation. The conditions for stopping the iteration are set as follows: Define the interval of difference at which the iteration stops, i.e., the corrected 3D X-coordinate X. corr The range of differences between the measured X coordinate and the X-coordinate; Set a preset standard, i.e., the new distance P after correction. new The standard value reached through iteration.

6. The method for on-site cost estimation of construction projects according to claim 5, characterized in that: The specific measurement and calculation of the horizontal angular deviation Δθ is as follows: In the on-site measurement area for construction project cost estimation, n known points are selected. The true coordinates and azimuths of these points are known. By measuring the horizontal angles between these points and the point to be measured, and comparing them with the known azimuths, the error of the horizontal angles 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 represents the total number of measurement points; θ1 is the first horizontal angle measured, θ2 is the second horizontal angle measured, and θ3 is the third horizontal angle measured. n This is the nth measured horizontal angle; θ ture1 Let θ be the first known horizontal angle. ture2 The second known horizontal angle is θ. ture3 The third known horizontal angle, θ ture，n It is the nth horizontal angle.

7. The method for on-site cost estimation of construction projects according to claim 1, characterized in that: The formula for calculating the mean sea level height g is as follows: g=(g1+g2+g3+......+g m ) / m; m represents the total number of observation points; g1 represents the first observed sea level height, g2 represents the second observed sea level height, and g3 represents the third observed sea level height. m Let m be the sea level height observed.

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