Total station multidirectional coordinate measuring method

Abstract

The invention discloses a multi-azimuth coordinate measuring method for a total station, and relates to the technical field of surveying and mapping, if offset and inclination exist in the results of a horizontal offset P and an inclination angle A, the offset and inclination are transmitted to a data processing and correcting module for calculation and correction, otherwise, transmission and correction are not needed; sequentially calculating and outputting a horizontal distance L1, a vertical angle theta1, a corrected horizontal distance L2, a corrected vertical angle theta2 and a correction error value X based on the coordinates of the total station, the coordinates of the target point, the coordinates of the reference point, the horizontal offset P and the inclination angle A, and correcting the horizontal distance L1 and the vertical angle theta1 by using the correction error value X to obtain a corrected horizontal distance L2 and a corrected vertical angle theta2; according to the method, the measurement result is accurately corrected by considering the influence of inclination and offset, so that the measurement result is more reliable and accurate, meanwhile, continuous optimization and improvement of the measurement result are realized by forming a closed-loop system, and the measurement precision and efficiency are further improved.

Description

Technical Field

[0001] The present invention relates to the field of surveying and mapping technology, and in particular to a multi-azimuth coordinate measurement method using a total station. Background Art

[0002] As an important tool in the field of modern surveying and mapping, the total station is widely used in many fields such as topographic surveying, engineering surveying, and architectural surveying. The total station has the technical characteristics of high precision, high efficiency, and high degree of automation. It uses photoelectric ranging technology to quickly and accurately measure the distance between the target point and the measuring station. At the same time, its built-in angle measurement system can accurately measure horizontal and vertical angles, thereby ensuring the accuracy of the measurement. In addition, with the development of technology, modern total stations also have the functions of automatic data recording, storage and processing, which greatly improves the efficiency and convenience of measurement.

[0003] During the measurement process, the total station will be affected by tilt and offset, resulting in inaccurate measurement results. Existing technologies often only focus on the accuracy of target measurement, but cannot timely measure and correct some irresistible errors generated by the total station itself. This will cause errors in subsequent measurements of the total station. It is precisely for this reason that the measurement method always has problems and cannot get an accurate answer. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-azimuth coordinate measurement method using a total station, which solves the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution, including a data setting and acquisition module and a data processing and correction module; The specific implementation steps are as follows: Step 1: Use the data setting and acquisition module to set coordinates, detect acquisition, and transmit: Collect the current total station coordinates, set and collect the target point coordinates according to the total station coordinates, and then set and collect the reference point parallel to the target point coordinates; Based on the offset between the current total station coordinates and the initial total station coordinates, as well as the inclination on the horizontal plane, the horizontal offset P and the inclination angle A are measured; If the results of the horizontal offset P and the tilt angle A have offset and tilt, they are transmitted to the data processing and correction module for calculation and correction; otherwise, no transmission correction is required; Step 2: The calculation correction performed by the data processing correction module is as follows: Based on the total station coordinates, target point coordinates, reference point coordinates, horizontal offset P and tilt angle A, the horizontal distance L1 and vertical angle θ1, the corrected horizontal distance L2 and the corrected vertical angle θ2, and the correction error value X are calculated and output in sequence; Use the correction error value X to correct the horizontal distance L1 and the vertical angle θ1; The data processing and correction module includes an initial position relationship determination unit, a correction unit based on tilt and angle, and an error correction unit.

[0006] Optionally, the equipment used in the data setting and acquisition module includes a total station, a tripod, a reflecting prism, a target plate, and a tilt sensor; The equipment used in the data processing and correction module includes computers and data processing equipment.

[0007] Optionally, the calculation formula for the initial determination of the position relationship unit is as follows: ; ; in: L1 is the horizontal distance, which reflects the horizontal distance from the total station to the target point; X1 is the first X coordinate point, Y1 is the first Y coordinate point; X2 is the second X coordinate point, Y2 is the second Y coordinate point; θ1 is the vertical angle, which reflects the vertical angle from the total station to the target point; Z2 is the second Z coordinate point; Z1 is the first Z coordinate point; (X1, Y1, Z1) are the coordinates of the total station; (X2, Y2, Z2) are the coordinates of the target point; arctan is the inverse tangent function.

[0008] Optionally, the calculation formula for the correction unit based on the tilt and angle is as follows: ; ; in: L2 is the corrected horizontal distance; θ2 is the corrected vertical angle; A is the tilt angle, which reflects the tilt degree of the total station relative to the horizontal angle; P is the horizontal offset, which reflects the degree of horizontal offset relative to the initial position of the total station; Indicates the horizontal distance from the total station's projection on the horizontal plane to the target point; It represents the additional distance caused by the combined effect of the horizontal offset P and the tilt angle A; The arctan function is used to calculate the additional angle change caused by the horizontal offset P and the horizontal distance L1.

[0009] Optionally, the result values ​​of the horizontal offset P and the tilt angle A are analyzed as follows: 1. Tilt Angle A When the tilt angle A of the total station is positive, it means that the total station is tilted upward relative to the horizontal plane, and cos(A) is a decreasing function in the range of 0 to π / 2. L1×cos(A) is smaller than L1. In addition, the sign of P×sin(θ1-A) depends on the relative sizes of θ1 and A: If θ1 is greater than A, then sin(θ1-A) is positive, and P×sin(θ1-A) increases by L2; If θ1 is less than A, then sin(θ1-A) is negative, and P×sin(θ1-A) decreases by L2; When calculating θ2, due to the properties of the arctan function, an increase in the tilt angle A leads to an increase in θ2; When the tilt angle A of the total station is negative, it means that the total station is tilted downward relative to the horizontal plane, and cos(A) is an increasing function in the range of -π / 2 to 0. L1×cos(A) is larger than L1. When calculating θ2, the decrease in the tilt angle A leads to a decrease in θ2. 2. Horizontal offset P When the horizontal offset P is positive, it means that the total station is offset to the right in the horizontal direction, and P×sin(θ1-A) increases due to the positive value of P: If θ1 is greater than A, then sin(θ1-A) is positive, and P will increase the value of L2; If θ1 is less than A, then sin(θ1-A) is negative, and P will reduce the value of L2; When calculating θ2, P×cos(θ1-A) within the arctan function increases due to the positive value of P; When the horizontal offset P is negative, it means that the total station has a leftward offset in the horizontal direction. Then P×sin(θ1-A) decreases due to the negative value of P: If θ1 is greater than A, then sin(θ1-A) is positive, and P will reduce the value of L2; If θ1 is less than A, then sin(θ1-A) is negative, and P will increase the value of L2; When calculating θ2, since the arctan function is an increasing function, a negative value of P results in a decrease in θ2.

[0010] Optionally, the calculation formula of the error correction unit is as follows: ; in: X is the correction error value; L ref is the reference horizontal distance; θ ref is the reference vertical angle; Reference horizontal distance L ref and the reference vertical angle θ ref The reflected reference point is parallel to the target point and the parameters are known.

[0011] Optionally, a calculation formula based on the correction error value x strategy adjustment is as follows: ; ; in: L1 ’ is the horizontal distance after correction; θ1 ’ is the vertical angle after correction; L max is the maximum horizontal distance, L max Reflects the farthest horizontal distance measured by the total station; k is the angle correction coefficient.

[0012] Optionally, the angle correction coefficient k is calculated as follows: ; N is the number of detection errors, which reflects the total number of multiple measurements of the same angle when the angle was previously measured; k1 is the first error angle value, k2 is the second error angle value, k3 is the third error angle value, k N is the Nth error angle value, and the error angle value is the standard deviation of multiple measurements at the same angle.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes the automatic calculation of the measurement results of the total station by constructing an algorithm formula, which eliminates the need for manual calculation and greatly improves the measurement efficiency. The correction unit based on the tilt and angle takes into account the influence of the horizontal offset P and the tilt angle A of the total station on the measurement results, and makes precise corrections, thereby improving the measurement accuracy.

[0014] 2. The error correction unit of the present invention introduces the concept of error and performs comprehensive correction. By calculating the error, the initial horizontal distance L1 and vertical angle θ1 are corrected, effectively eliminating the influence of various factors on the measurement results and further improving the measurement accuracy.

[0015] In addition, the three formulas are logically clear and interrelated, forming a closed-loop system. The corrected horizontal distance L1 ’ and the corrected vertical angle θ1 ’ It will be used as a new input value in the next measurement calculation, thereby achieving continuous optimization and improvement of the measurement results. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flow chart of the method for multi-azimuth coordinate measurement using a total station; Figure 2 Schematic diagram of the structure of the data processing and correction module of the present invention; Figure 3 Schematic diagram of the distribution of total station coordinates, target point coordinates and reference point coordinates in the present invention. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0018] Regarding this total station multi-azimuth coordinate measurement method, it is different from the existing total station measurement method. The existing total station measurement method does not consider the influence of the tilt and offset of the total station itself, and introduces the influence for measurement correction, which makes the measurement results and methods have the limitation of one-way verification accuracy. This algorithm unit takes into account the influence of tilt and offset and accurately corrects the measurement results, making the measurement results more reliable and accurate. At the same time, by forming a closed-loop system, it realizes continuous optimization and improvement of the measurement results, further improving the measurement accuracy and efficiency.

[0019] For example 1, please refer to Figures 1 to 3 ,This implementation provides a total station multi-azimuth coordinate measurement method, including a data setting and ,acquisition module and a data processing and correction module; The specific implementation steps are as follows: Step 1: Use the data setting and acquisition module to set coordinates, detect acquisition, and transmit: Collect the current total station coordinates, set and collect the target point coordinates according to the total station coordinates, and then set and collect the reference point parallel to the target point coordinates; Based on the offset between the current total station coordinates and the initial total station coordinates, as well as the inclination on the horizontal plane, the horizontal offset P and the inclination angle A are measured; If the results of the horizontal offset P and the tilt angle A have offset and tilt, they are transmitted to the data processing and correction module for calculation and correction; otherwise, no transmission correction is required; Step 2: The calculation correction performed by the data processing correction module is as follows: Based on the total station coordinates, target point coordinates, reference point coordinates, horizontal offset P and tilt angle A, the horizontal distance L1 and vertical angle θ1, the corrected horizontal distance L2 and the corrected vertical angle θ2, and the correction error value X are calculated and output in sequence; Use the correction error value X to correct the horizontal distance L1 and the vertical angle θ1; The data processing and correction module includes an initial position relationship determination unit, a correction unit based on tilt and angle, and an error correction unit; The equipment used in the data setting and acquisition module includes a total station, a tripod, a reflective prism, a target plate, and a tilt sensor; The equipment used in the data processing and correction module includes computers and data processing equipment.

[0020] In this embodiment, the system, through the above-mentioned method steps, modules and units, and the equipment used, enables the total station multi-azimuth coordinate measurement method to provide a logically clear, interconnected, and high-precision measurement system that is applicable to various complex measurement scenarios; Among them, the initial position relationship unit in this system calculates the horizontal distance L1 and the vertical angle θ1, the corrected horizontal distance L2 and the corrected vertical angle θ2, and the correction error value X based on the three calculation formulas formed by the tilt and angle correction unit and the error correction unit. Specifically, the initial position relationship unit calculates and outputs the horizontal distance L1 and the vertical angle θ1 of the current total station. Based on the tilt and angle correction unit, the horizontal offset P and the tilt angle A of the total station are introduced on the basis of the horizontal distance L1 and the vertical angle θ1, and the corrected horizontal distance L2 and the corrected vertical angle θ2 are calculated and output. The error correction unit introduces the reference point coordinates to correct the error of the current total station, and calculates the corrected horizontal distance L1 ’ and the corrected vertical angle θ1 ’ It will be used as a new input value in the next measurement calculation, thereby further improving the accuracy of the measurement results and forming a closed-loop system so that the measurement results can be continuously optimized.

[0021] See also Figures 1 to 3 , the calculation formula for initially determining the position relationship unit is as follows: ; ; in: L1 is the horizontal distance, which reflects the horizontal distance from the total station to the target point; X1 is the first X coordinate point, Y1 is the first Y coordinate point; X2 is the second X coordinate point, Y2 is the second Y coordinate point; θ1 is the vertical angle, which reflects the vertical angle from the total station to the target point; Z2 is the second Z coordinate point; Z1 is the first Z coordinate point; (X1, Y1, Z1) are the coordinates of the total station; (X2, Y2, Z2) are the coordinates of the target point; arctan is the inverse tangent function.

[0022] In this embodiment: First, in this algorithm unit The calculation part is based on the application of the distance formula between two points in plane geometry. The straight-line distance between two points can be calculated by taking the square root of the sum of the squares of their coordinate differences. Here, (X1, Y1) and (X2, Y2) are the coordinates of the total station and the target point on the horizontal plane, respectively. This distance value is the basis for subsequent calculations and is used to evaluate the relative position of the target point and as the starting point for tilt and offset corrections. The calculation part uses the inverse tangent function to calculate the vertical angle θ1, which is used to describe the vertical position of the target point relative to the total station. It is an important parameter in tilt and offset correction and comprehensive error correction. This algorithm unit obtains the horizontal and vertical position information of the target point relative to the total station by calculating the horizontal distance L1 and the vertical angle θ1. These data are the basis for subsequent tilt, offset and error correction, ensuring the accuracy and reliability of subsequent steps. These basic data are also used to establish the measurement coordinate system, providing the necessary reference for subsequent multi-point measurement and coordinate transformation. The initial determination of the positional relationship unit uses a simple geometric formula, avoiding complex mathematical transformations and calculations. This improves calculation efficiency and enables the total station to provide measurement results in real time or near real time. The simplified calculation process also reduces calculation errors, further improving measurement accuracy. The initial position relationship determination unit does not rely on specific measurement environments and conditions. As long as the coordinate information of the total station and the target point can be obtained, calculations can be performed even in the presence of obstructions or complex terrain. This adaptability enables the initial position relationship determination unit to be widely used in various measurement scenarios, including topographic measurement, engineering measurement, and architectural measurement.

[0023] See also Figures 1 to 3 , the calculation formula for correcting the unit based on tilt and angle is as follows: ; ; in: L2 is the corrected horizontal distance; θ2 is the corrected vertical angle; A is the tilt angle, which reflects the tilt degree of the total station relative to the horizontal angle; P is the horizontal offset, which reflects the degree of horizontal offset relative to the initial position of the total station; Indicates the horizontal distance from the total station's projection on the horizontal plane to the target point; It represents the additional distance caused by the combined effect of the horizontal offset P and the tilt angle A; The arctan function is used to calculate the additional angle change caused by the horizontal offset P and the horizontal distance L1; The resulting values ​​of the horizontal offset P and the tilt angle A are analyzed as follows: 1. Tilt Angle A When the tilt angle A of the total station is positive, it means that the total station is tilted upward relative to the horizontal plane, and cos(A) is a decreasing function in the range of 0 to π / 2. L1×cos(A) is smaller than L1. In addition, the sign of P×sin(θ1-A) depends on the relative sizes of θ1 and A: If θ1 is greater than A, then sin(θ1-A) is positive, and P×sin(θ1-A) increases by L2; If θ1 is less than A, then sin(θ1-A) is negative, and P×sin(θ1-A) decreases by L2; When calculating θ2, due to the properties of the arctan function, an increase in the tilt angle A leads to an increase in θ2; When the tilt angle A of the total station is negative, it means that the total station is tilted downward relative to the horizontal plane, and cos(A) is an increasing function in the range of -π / 2 to 0. L1×cos(A) is larger than L1. When calculating θ2, the decrease in the tilt angle A leads to a decrease in θ2. 2. Horizontal offset P When the horizontal offset P is positive, it means that the total station is offset to the right in the horizontal direction, and P×sin(θ1-A) increases due to the positive value of P: If θ1 is greater than A, then sin(θ1-A) is positive, and P will increase the value of L2; If θ1 is less than A, then sin(θ1-A) is negative, and P will reduce the value of L2; When calculating θ2, P×cos(θ1-A) within the arctan function increases due to the positive value of P; When the horizontal offset P is negative, it means that the total station has a leftward offset in the horizontal direction. Then P×sin(θ1-A) decreases due to the negative value of P: If θ1 is greater than A, then sin(θ1-A) is positive, and P will reduce the value of L2; If θ1 is less than A, then sin(θ1-A) is negative, and P will increase the value of L2; When calculating θ2, since the arctan function is an increasing function, a negative value of P results in a decrease in θ2.

[0024] In this embodiment, first The calculation part calculates the effect of the total station tilt on the horizontal distance and obtains a part of the corrected horizontal distance. When the total station is tilted, the horizontal distance to the target point will be affected. By multiplying , the horizontal distance component in the tilt direction can be calculated, and this value is used to add the distance component generated by the offset to obtain the corrected horizontal distance L2; The calculation part calculates the effect of the horizontal offset P on the horizontal distance, the difference between the horizontal offset P and the tilt angle A and the initial vertical angle θ1 of the target point relative to the total station The distance component generated by the offset in the horizontal direction can be obtained by multiplying the sine value of the offset. This value is used to add the distance component generated by the tilt effect to obtain the corrected horizontal distance L2. The calculation part calculates the corrected vertical angle θ2, and the inverse tangent function is used here to calculate the vertical angle after tilt and offset correction. The purpose is to try to approximate the corrected vertical angle by the ratio between the distance components generated by tilt and offset. The corrected vertical angle is used for comprehensive error correction and as a reference for subsequent measurements. This algorithm unit introduces the correction of the tilt angle A and the horizontal offset P, so that the correction unit based on the tilt and angle can more accurately reflect the actual distance and angle between the total station and the target point. This correction reduces the measurement error caused by the tilt and offset of the total station, thereby improving the measurement accuracy. Tilt and offset are common sources of error in total station measurements. By directly correcting these two factors with a correction unit based on tilt and angle, the uncertainty of the measurement results is reduced. This method of reducing error sources improves the reliability of the measurement and makes the measurement results closer to the true value. The tilt and angle correction unit is suitable for measurements under various tilt and offset conditions. No matter what attitude or position the total station is in, correction can be made as long as the information of the tilt angle and horizontal offset can be obtained. This applicability enables the tilt and angle correction unit to cope with complex measurement environments and improves the flexibility of the total station's multi-azimuth coordinate measurement method.

[0025] See also Figures 1 to 3 , the calculation formula of the error correction unit is as follows: ; in: X is the correction error value; L ref is the reference horizontal distance; θ ref is the reference vertical angle; Reference horizontal distance L ref and the reference vertical angle θ ref The reflected reference point is parallel to the target point and the parameters are known.

[0026] In this embodiment, the algorithm unit first The calculation part calculates the corrected horizontal distance L2 and the corrected vertical angle θ2 and the reference horizontal distance L ref and the reference vertical angle θ ref The sum of the squares of the differences between the two can be used to obtain an indicator of measurement accuracy - the correction error value X, which is used to evaluate the accuracy of the measurement and serve as the basis for subsequent corrections. The error correction unit of this algorithm can completely eliminate the influence of various factors on the measurement results by calculating the correction error value X and correcting the initial distance and angle. This comprehensive error correction method further improves the measurement accuracy and makes the measurement results more accurate and reliable. The error correction unit feeds the correction results back to the initial position relationship determination unit, forming a closed-loop system. This system can continuously optimize the measurement results and continuously improve the measurement accuracy. The formation of the closed-loop system enables the total station multi-azimuth coordinate measurement method to have the ability of self-correction and self-improvement, thereby improving the stability and reliability of the measurement. Through cyclic influence, the error correction unit can reduce the number of repeated measurements. Once the correction result is determined, it can be used for subsequent multi-point measurement and coordinate transformation. This method of improving measurement efficiency reduces the time and cost of measurement work and improves the economic benefits of measurement.

[0027] For example 2, please refer to Figures 1 to 3 , the calculation formula based on the correction error value X strategy adjustment is as follows: ; ; in: L1 ’ is the horizontal distance after correction; θ1 ’ is the vertical angle after correction; L max is the maximum horizontal distance, L max Reflects the farthest horizontal distance measured by the total station; k is the angle correction coefficient; The calculation formula of the angle correction coefficient k is as follows: ; N is the number of detection errors, which reflects the total number of multiple measurements of the same angle when the angle was previously measured; k1 is the first error angle value, k2 is the second error angle value, k3 is the third error angle value, k N is the Nth error angle value, and the error angle value is the standard deviation of multiple measurements at the same angle.

[0028] In this embodiment, L1×(1-X / L max ) The calculation part introduces the horizontal maximum distance L max And the correction error value X is used to correct the initial horizontal distance L1, and the corrected horizontal distance L1 ’ It will be used in the next initial determination of position relationship unit calculation, forming a cyclic impact; The θ1-X×k calculation part corrects the initial vertical angle θ1 by introducing the angle correction coefficient k and the correction error value X. Here, X×k represents the angle adjustment amount calculated based on the comprehensive error and the correction coefficient, and the corrected vertical angle θ1 is calculated and outputted. ’ It will be used in the next calculation of the initial position relationship unit and the corrected horizontal distance L1 ’ Together they form a circular influence and improve the accuracy of measurement; In this embodiment, through the correction and feedback of the error correction unit, the initial position relationship determination unit can continuously receive optimized initial distance and angle values, making these optimized values ​​closer to the true values, thereby improving the accuracy of the measurement results. This method of continuously optimizing the measurement results enables the total station multi-azimuth coordinate measurement method to continuously approach the true values, thereby improving the accuracy and reliability of the measurement. Since the error correction unit forms a closed-loop system, it can continuously adjust and optimize the measurement results. Even when the external environment and the total station's posture change, it can maintain high measurement accuracy. This method of improving measurement stability makes the total station's multi-azimuth coordinate measurement method more suitable for various complex measurement environments and scenarios. The cyclic influence mechanism of the error correction unit makes the total station multi-azimuth coordinate measurement method more flexible. The reference distance and angle correction coefficient k parameters can be adjusted according to actual needs to adapt to different measurement requirements and scenarios. This enhanced flexibility makes the total station multi-azimuth coordinate measurement method widely applicable to various fields and industries, including civil engineering, geological exploration, and aerospace. In summary, the initial position relationship determination unit, the correction unit based on tilt and angle, and the error correction unit each have significant beneficial effects in the total station multi-azimuth coordinate measurement method. At the same time, the cyclic influence of the error correction unit on the initial position relationship determination unit further improves the accuracy and reliability of the measurement method. These beneficial effects together constitute the core advantages of the total station multi-azimuth coordinate measurement method, which makes this method have broad application prospects and huge development potential in the measurement field.

[0029] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A total station multi-azimuth coordinate measurement method, characterized in that: Including data setting and acquisition module and data processing and correction module; The specific implementation steps are as follows: Step 1: Use the data setting and acquisition module to set coordinates, detect acquisition, and transmit: Collect the current total station coordinates, set and collect the target point coordinates according to the total station coordinates, and then set and collect the reference point parallel to the target point coordinates; Based on the offset between the current total station coordinates and the initial total station coordinates, as well as the inclination on the horizontal plane, the horizontal offset P and the inclination angle A are measured; If the results of the horizontal offset P and the tilt angle A have offset and tilt, they are transmitted to the data processing and correction module for calculation and correction; otherwise, no transmission correction is required; Step 2: The calculation correction performed by the data processing correction module is as follows: Based on the total station coordinates, target point coordinates, reference point coordinates, horizontal offset P and tilt angle A, the horizontal distance L1 and vertical angle θ1, the corrected horizontal distance L2 and the corrected vertical angle θ2, and the correction error value X are calculated and output in sequence; Use the correction error value X to correct the horizontal distance L1 and the vertical angle θ1; The data processing and correction module includes an initial position relationship determination unit, a correction unit based on tilt and angle, and an error correction unit.

2. The multi-azimuth coordinate measurement method of a total station according to claim 1, characterized in that: The equipment used in the data setting and acquisition module includes a total station, a tripod, a reflecting prism, a target plate, and a tilt sensor; The equipment used in the data processing and correction module includes computers and data processing equipment.

3. The multi-azimuth coordinate measurement method using a total station according to claim 2, wherein: The calculation formula for the initial determination of the position relationship unit is as follows: ； ； in: L1 is the horizontal distance, which reflects the horizontal distance from the total station to the target point; X1 is the first X coordinate point, Y1 is the first Y coordinate point; X2 is the second X coordinate point, Y2 is the second Y coordinate point; θ1 is the vertical angle, which reflects the vertical angle from the total station to the target point; Z2 is the second Z coordinate point; Z1 is the first Z coordinate point; (X1, Y1, Z1) are the coordinates of the total station; (X2, Y2, Z2) are the coordinates of the target point; arctan is the inverse tangent function.

4. The multi-azimuth coordinate measurement method using a total station according to claim 3, wherein: The calculation formula for the correction unit based on the tilt and angle is as follows: ； ； in: L2 is the corrected horizontal distance; θ2 is the corrected vertical angle; A is the tilt angle, which reflects the tilt degree of the total station relative to the horizontal angle; P is the horizontal offset, which reflects the degree of horizontal offset relative to the initial position of the total station; Indicates the horizontal distance from the total station's projection on the horizontal plane to the target point; It represents the additional distance caused by the combined effect of the horizontal offset P and the tilt angle A; The arctan function is used to calculate the additional angle change caused by the horizontal offset P and the horizontal distance L1.

5. The multi-azimuth coordinate measurement method using a total station according to claim 4, wherein: The result values ​​of the horizontal offset P and the tilt angle A are analyzed as follows:

1. Tilt Angle A When the tilt angle A of the total station is positive, it means that the total station is tilted upward relative to the horizontal plane, and cos(A) is a decreasing function in the range of 0 to π / 2. L1×cos(A) is smaller than L1. In addition, the sign of P×sin(θ1-A) depends on the relative sizes of θ1 and A: If θ1 is greater than A, then sin(θ1-A) is positive, and P×sin(θ1-A) increases by L2; If θ1 is less than A, then sin(θ1-A) is negative, and P×sin(θ1-A) decreases by L2; When calculating θ2, due to the properties of the arctan function, an increase in the tilt angle A leads to an increase in θ2; When the tilt angle A of the total station is negative, it means that the total station is tilted downward relative to the horizontal plane, and cos(A) is an increasing function in the range of -π / 2 to 0. L1×cos(A) is larger than L1. When calculating θ2, the decrease in the tilt angle A leads to a decrease in θ2.

2. Horizontal offset P When the horizontal offset P is positive, it means that the total station is offset to the right in the horizontal direction, and P×sin(θ1-A) increases due to the positive value of P: If θ1 is greater than A, then sin(θ1-A) is positive, and P will increase the value of L2; If θ1 is less than A, then sin(θ1-A) is negative, and P will reduce the value of L2; When calculating θ2, P×cos(θ1-A) within the arctan function increases due to the positive value of P; When the horizontal offset P is negative, it means that the total station has a leftward offset in the horizontal direction. Then P×sin(θ1-A) decreases due to the negative value of P: If θ1 is greater than A, then sin(θ1-A) is positive, and P will reduce the value of L2; If θ1 is less than A, then sin(θ1-A) is negative, and P will increase the value of L2; When calculating θ2, since the arctan function is an increasing function, a negative value of P results in a decrease in θ2.

6. The multi-azimuth coordinate measurement method using a total station according to claim 4, wherein: The calculation formula of the error correction unit is as follows: ； in: X is the correction error value; L ref is the reference horizontal distance; θ ref is the reference vertical angle; Reference horizontal distance L ref and the reference vertical angle θ ref The reflected reference point is parallel to the target point and the parameters are known.

7. The multi-azimuth coordinate measurement method using a total station according to claim 6, wherein: The calculation formula based on the correction error value X strategy adjustment is as follows: ； ； in: L1 ’ is the horizontal distance after correction; θ1 ’ is the vertical angle after correction; L max is the maximum horizontal distance, L max Reflects the farthest horizontal distance measured by the total station; k is the angle correction coefficient.

8. The multi-azimuth coordinate measurement method using a total station according to claim 7, wherein: The calculation formula of the angle correction coefficient k is as follows: ； N is the number of detection errors, which reflects the total number of multiple measurements of the same angle when the angle was previously measured; k1 is the first error angle value, k2 is the second error angle value, k3 is the third error angle value, k N is the Nth error angle value, and the error angle value is the standard deviation of multiple measurements at the same angle.

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