A total station multi-azimuth coordinate measurement method

Abstract

The application discloses a total station multi-direction coordinate measuring method, and relates to the technical field of surveying and mapping. If the results of horizontal offset P and inclination angle A exist offset and inclination, the results are transmitted to the data processing correction module for calculation and correction; otherwise, the results do not need to be transmitted for correction. Based on total station coordinates, target point coordinates, reference point coordinates, horizontal offset P and inclination angle A, horizontal distance L1 and vertical angle θ1 are calculated and output in sequence, corrected horizontal distance L2 and corrected vertical angle θ2 are calculated and output in sequence, and correction error value X is calculated. The horizontal distance L1 and the vertical angle θ1 are corrected by using the correction error value X. The application considers the influence of inclination and offset, accurately corrects the measurement results, makes the measurement results more reliable and accurate, forms a closed loop system, continuously optimizes and improves the measurement results, and further improves the measurement accuracy and efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of surveying technology, in particular to a total station multi-azimuth coordinate measurement method. BACKGROUND

[0002] As an important tool in the field of modern surveying, total station is widely used in topographic survey, engineering survey, and building survey. It has the characteristics of high precision, high efficiency, and high automation. It uses photoelectric distance measurement technology to quickly and accurately measure the distance between the target point and the station. Its built-in angle measurement system can accurately measure the horizontal angle and vertical angle, ensuring the accuracy of the measurement. In addition, with the development of technology, modern total station also has the functions of automatic recording, storage, and processing of data, greatly improving the efficiency and convenience of measurement.

[0003] During the use of total station for measurement, it may be affected by inclination and deviation, resulting in inaccurate measurement results. However, existing technologies only focus on the accuracy of target measurement, but cannot measure and correct some uncontrollable errors caused by the total station itself in time, which will lead to errors in subsequent measurements. Due to this reason, the measurement method always has problems and cannot be accurately solved. SUMMARY

[0004] The purpose of the present application is to provide a total station multi-azimuth coordinate measurement method to solve the problems mentioned in the background.

[0005] To achieve the above purpose, the present application provides the following technical solution, including a data setting and acquisition module and a data processing and correction module.

[0006] The specific implementation steps are as follows:

[0007] Step 1, use the data setting and acquisition module to set coordinates, detect and collect, and transmit:

[0008] Collect the current total station coordinates, set and collect the target point coordinates according to the total station coordinates, and set and collect the reference points parallel to the target point coordinates;

[0009] Based on the deviation between the current total station coordinates and the initial total station coordinates, and the inclination on the horizontal plane, measure the horizontal deviation P and the inclination angle A;

[0010] If the results of horizontal deviation P and inclination angle A have deviation and inclination, they are transmitted to the data processing and correction module for calculation and correction, otherwise they do not need to be transmitted and corrected;

[0011] Step 2, the calculation and correction by the data processing and correction module are as follows:

[0012] Based on the total station coordinates, target point coordinates, reference point coordinates, horizontal offset P and tilt angle A, the output horizontal distance L1 and vertical angle θ1 are calculated in turn, the corrected horizontal distance L2 and corrected vertical angle θ2 are calculated, and the correction error value X is calculated.

[0013] The horizontal distance L1 and vertical angle θ1 are corrected using the correction error value X.

[0014] The data processing correction module includes an initial position relationship determination unit, a tilt and angle based correction unit, and an error correction unit.

[0015] Optionally, the data setting and collection module uses equipment including a total station, a tripod, a reflector prism, a target plate, and a tilt sensor.

[0016] The data processing correction module uses equipment including a computer and a data processing device.

[0017] Optionally, the initial position relationship determination unit has the following calculation formula:

[0018] ;

[0019] ;

[0020] Wherein:

[0021] L1 is the horizontal distance, which reflects the horizontal distance from the total station to the target point.

[0022] X1 is the first X coordinate point, and Y1 is the first Y coordinate point.

[0023] X2 is the second X coordinate point, and Y2 is the second Y coordinate point.

[0024] θ1 is the vertical angle, which reflects the vertical angle from the total station to the target point.

[0025] Z2 is the second Z coordinate point.

[0026] Z1 is the first Z coordinate point.

[0027] (X1, Y1, Z1) is the coordinate of the total station.

[0028] (X2, Y2, Z2) is the coordinate of the target point.

[0029] arctan is the inverse tangent function.

[0030] Optionally, the tilt and angle based correction unit has the following calculation formula:

[0031] ;

[0032] ;

[0033] wherein:

[0034] L2 is the corrected horizontal distance;

[0035] θ2 is the corrected vertical angle;

[0036] A is the tilt angle, A reflects the degree of tilt of the total station relative to the horizontal angle;

[0037] P is the horizontal offset, P reflects the degree of offset in the horizontal direction relative to the initial position of the total station;

[0038] represents the horizontal distance of the projection of the total station on the horizontal plane to the target point;

[0039] represents the additional distance caused by the combined action of the horizontal offset P and the tilt angle A;

[0040] The arctan function in the formula is used to calculate the additional angle change caused by the combined action of the horizontal offset P and the horizontal distance L1.

[0041] Optionally, the result values of the horizontal offset P and the tilt angle A are analyzed as follows:

[0042] I. Tilt angle A

[0043] When the tilt angle A of the total station is positive, it indicates 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, L1x cos(A) is smaller than L1, in addition, the sign of P x sin(θ1-A) depends on the relative size of θ1 and A:

[0044] If θ1 is greater than A, sin(θ1-A) is positive, and P x sin(θ1-A) increases L2;

[0045] If θ1 is less than A, sin(θ1-A) is negative, and P x sin(θ1-A) decreases L2;

[0046] In the calculation of θ2, due to the properties of the arctan function, the increase of the tilt angle A leads to the increase of θ2;

[0047] When the tilt angle A of the total station is negative, it indicates 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, L1x cos(A) is greater than L1, and in the calculation of θ2, the decrease of the tilt angle A leads to the decrease of θ2;

[0048] II. Horizontal offset P

[0049] When the horizontal offset P is positive, it means that the total station has a rightward offset in the horizontal direction, and then P x sin(θ1-A) increases because of the positive value of P:

[0050] If θ1 is greater than A, sin(θ1-A) is positive, and P will increase the value of L2;

[0051] If θ1 is less than A, sin(θ1-A) is negative, and P will decrease the value of L2;

[0052] When calculating θ2, P x cos(θ1-A) in the arctan function will increase because of the positive value of P;

[0053] When the horizontal offset P is negative, it means that the total station has a leftward offset in the horizontal direction, and then P x sin(θ1-A) decreases because of the negative value of P:

[0054] If θ1 is greater than A, sin(θ1-A) is positive, and P will decrease the value of L2;

[0055] If θ1 is less than A, sin(θ1-A) is negative, and P will increase the value of L2;

[0056] When calculating θ2, because the arctan function is an increasing function, the negative value of P leads to the decrease of θ2.

[0057] Optionally, the calculation formula of the error correction unit is as follows:

[0058] ;

[0059] Wherein:

[0060] X is the correction error value;

[0061] L ref is the reference horizontal distance;

[0062] θ ref is the reference vertical angle;

[0063] The reference horizontal distance L ref and the reference vertical angle θ ref reflect that the reference point and the target point are in parallel state, and are known parameters.

[0064] Optionally, the calculation formula of the strategy adjustment based on the correction error value X is as follows:

[0065] ;

[0066] ;

[0067] Wherein:

[0068] L1 ’ is the corrected horizontal distance;

[0069] θ1 ’ is the corrected vertical angle;

[0070] L max is the horizontal maximum distance, L max reflects the farthest horizontal distance measured by the total station;

[0071] k is the angle correction coefficient.

[0072] Optionally, the calculation formula of the angle correction coefficient k is as follows:

[0073] ;

[0074] N is the number of error detections, and N reflects the total number of times of measuring the same angle multiple times when recording the angle before measurement;

[0075] k1 is the first error angle value, k2 is the second error angle value, k3 is the third error angle value, and k N is the Nth error angle value, and the error angle value is the standard deviation of measuring the same angle multiple times.

[0076] Compared with the prior art, the beneficial effects of the present application are as follows:

[0077] Firstly, the present application realizes the automatic calculation of the total station measurement results by constructing an algorithm formula, which greatly improves the measurement efficiency without manual calculation, and considers the influence of the horizontal offset P and the tilt angle A of the total station on the measurement results based on the tilt and angle to correct the unit, and performs accurate correction, thereby improving the measurement accuracy.

[0078] Secondly, the error correction unit of the present application introduces the concept of error, performs comprehensive correction, and corrects the initial horizontal distance L1 and the vertical angle θ1 by calculating the error, effectively eliminates the influence of various factors on the measurement results, and further improves the measurement accuracy.

[0079] In addition, the three formulas are logically clear and related to each other, forming a closed loop system, and the corrected horizontal distance L1 ’ and the corrected vertical angle θ1 ’ will serve as new input values for the next measurement calculation, thereby realizing continuous optimization and improvement of the measurement results. BRIEF DESCRIPTION OF DRAWINGS

[0080] Fig. 1 is the method flowchart of the present total station multi-directional coordinate measurement method;

[0081] Fig. 2 The structural schematic diagram of the data processing correction module of the present application;

[0082] Fig. 3 The distribution schematic diagram of the total station coordinate, the target point coordinate and the reference point coordinate in the present application. DETAILED DESCRIPTION

[0083] The technical solutions in the embodiments of the present application will be clearly and completely described in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0084] Regarding the total station multi-directional coordinate measurement method, different from the existing total station measurement method, the existing total station measurement method does not consider the influence of the tilt and the offset of the total station itself, and introduces the influence for measurement correction, so that the measurement result and the method exist the limitation of one-way test accuracy. The algorithm unit considers the influence of the tilt and the offset, and accurately corrects the measurement result, so that the measurement result is more reliable and accurate. At the same time, by forming a closed loop system, the continuous optimization and improvement of the measurement result are realized, and the measurement accuracy and efficiency are further improved.

[0085] Embodiment one, please refer to Figs. 1-3 The present embodiment provides a total station multi-directional coordinate measurement method, which comprises a data setting and collection module and a data processing correction module.

[0086] The specific implementation steps are as follows:

[0087] Step 1, using the data setting and collection module to set the coordinate, detect and collect, and transmit:

[0088] Collecting the current total station coordinate, and setting and collecting the target point coordinate according to the total station coordinate, and then setting and collecting the reference point parallel to the target point coordinate;

[0089] Based on the offset between the current total station coordinate and the initial total station coordinate, and the tilt on the horizontal plane, the horizontal offset P and the tilt angle A are measured;

[0090] If the results of the horizontal offset P and the tilt angle A exist offset and tilt, then they are transmitted to the data processing correction module for calculation correction, otherwise they do not need to be transmitted for correction;

[0091] Step 2, the calculation correction by using the data processing correction module is as follows:

[0092] Based on total station coordinates, target point coordinates, reference point coordinates, horizontal offset P and tilt angle A, the horizontal distance L1 and the vertical angle θ1 are calculated in turn, the corrected horizontal distance L2 and the corrected vertical angle θ2 are calculated, and the correction error value X is calculated.

[0093] The horizontal distance L1 and the vertical angle θ1 are corrected using the correction error value X.

[0094] The data processing correction module includes an initial position relationship determination unit, a tilt and angle based correction unit, and an error correction unit.

[0095] The devices used by the data setting and collection module include a total station, a tripod, a reflecting prism, a target plate, and a tilt sensor.

[0096] The devices used by the data processing correction module include a computer and a data processing device.

[0097] In this embodiment, the system uses the above method steps, modules, units, and devices to provide a logical, interconnected, and high-precision measurement system for the total station multi-directional coordinate measurement method, which is suitable for various complex measurement scenarios.

[0098] The initial position relationship determination unit, the tilt and angle based correction unit, and the error correction unit form three calculation formulas that calculate 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. Specifically, the initial position relationship determination unit calculates the current total station's basic horizontal distance L1 and vertical angle θ1. The tilt and angle based correction unit introduces the total station's horizontal offset P and tilt angle A to influence the measurement results based on the horizontal distance L1 and the vertical angle θ1, and calculates the corrected horizontal distance L2 and the corrected vertical angle θ2. The error correction unit corrects the error of the current total station by introducing the reference point coordinates, and calculates the corrected horizontal distance L1 ’ and the corrected vertical angle θ1 ’ as new input values for the next measurement calculation, further improving the accuracy of the measurement results and forming a closed-loop system to continuously optimize the measurement results.

[0099] Please refer to Figs. 1-3 The calculation formula of the initial position relationship determination unit is as follows:

[0100] ;

[0101] ;

[0102] wherein:

[0103] L1 is a horizontal distance, L1 reflects the horizontal distance from the total station to the target point;

[0104] X1 is a first X coordinate point, Y1 is a first Y coordinate point;

[0105] X2 is a second X coordinate point, Y2 is a second Y coordinate point;

[0106] θ1 is a vertical angle, θ1 reflects the vertical angle from the total station to the target point;

[0107] Z2 is a second Z coordinate point;

[0108] Z1 is a first Z coordinate point;

[0109] (X1, Y1, Z1) is the coordinate of the total station;

[0110] (X2, Y2, Z2) is the coordinate of the target point;

[0111] arctan is an inverse tangent function.

[0112] In the present embodiment: first, the algorithm unit in the present embodiment 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 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, this distance value is the basis for subsequent calculation, which is used to evaluate the relative position of the target point, and as the starting point for tilt and offset correction;

[0113] The calculation part uses the inverse tangent function to calculate the vertical angle θ1, the vertical angle θ1 is used to describe the vertical position of the target point relative to the total station, which is an important parameter in tilt and offset correction and comprehensive error correction;

[0114] The 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, which is the basis for subsequent tilt, offset and error correction, ensuring the accuracy and reliability of the subsequent steps, and these basic data are also used to establish the measurement coordinate system, providing necessary reference for subsequent multi-point measurement and coordinate conversion;

[0115] The initial position relationship determination unit uses simple geometric formulas, avoiding complex mathematical transformations and calculations, which improves the calculation efficiency, enables the total station to provide measurement results in real time or near real time, and simplifies the calculation process, reduces the error of calculation, and further improves the accuracy of measurement;

[0116] The initial position relationship determining unit is not dependent on specific measurement environment and conditions, and can perform calculation as long as coordinate information of the total station and the target point can be acquired, even if there is an obstruction or complex terrain. The adaptability enables the initial position relationship determining unit to be widely applied to various measurement scenes, including terrain measurement, engineering measurement, and building measurement.

[0117] Please refer to Figs. 1-3 The calculation formula of the correction unit based on the inclination and the angle is as follows:

[0118] ;

[0119] ;

[0120] Among them:

[0121] L2 is the corrected horizontal distance;

[0122] θ2 is the corrected vertical angle;

[0123] A is the inclination angle, which reflects the inclination degree of the total station relative to the horizontal angle;

[0124] P is the horizontal offset, which reflects the offset degree in the horizontal direction relative to the initial position of the total station;

[0125] represents the horizontal distance from the projection distance of the total station on the horizontal plane to the target point;

[0126] represents the additional distance caused by the joint action of the horizontal offset P and the inclination angle A;

[0127] The arctan function in the formula is used to calculate the additional angle change caused by the joint action of the horizontal offset P and the horizontal distance L1;

[0128] The result value analysis of the horizontal offset P and the inclination angle A is as follows:

[0129] I. Inclination angle A

[0130] When the inclination angle A of the total station is positive, it indicates that the total station is inclined 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 size of θ1 and A:

[0131] If θ1 is greater than A, sin(θ1-A) is positive, and P×sin(θ1-A) increases L2;

[0132] If θ1 is less than A, sin(θ1-A) is negative, and P decreases L2;

[0133] When calculating θ2, the increase of the tilt angle A results in the increase of θ2 due to the nature of the arctan function;

[0134] 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 greater than L1, and the decrease of the tilt angle A results in the decrease of θ2 when calculating θ2;

[0135] II. Horizontal offset P

[0136] When the horizontal offset P is positive, it means that the total station produces a rightward offset in the horizontal direction, and P×sin(θ1-A) increases due to the positive value of P:

[0137] If θ1 is greater than A, sin(θ1-A) is positive, and P increases the value of L2;

[0138] If θ1 is less than A, sin(θ1-A) is negative, and P decreases the value of L2;

[0139] When calculating θ2, P×cos(θ1-A) in the arctan function increases due to the positive value of P;

[0140] When the horizontal offset P is negative, it means that the total station produces a leftward offset in the horizontal direction, and P×sin(θ1-A) decreases due to the negative value of P:

[0141] If θ1 is greater than A, sin(θ1-A) is positive, and P decreases the value of L2;

[0142] If θ1 is less than A, sin(θ1-A) is negative, and P increases the value of L2;

[0143] When calculating θ2, the negative value of P results in the decrease of θ2 due to the increasing nature of the arctan function.

[0144] In this embodiment, first The calculation part calculates the influence of the tilt of the total station on the horizontal distance and obtains a part of the corrected horizontal distance, which is affected by the tilt of the total station to the target point, by multiplying , the horizontal distance component in the tilt direction can be calculated, which is used to add the distance component generated by the offset to obtain the corrected horizontal distance L2;

[0145] The calculation part calculates the influence of the horizontal offset P on the horizontal distance, which is the product of the sine value of the difference between the tilt angle A and the initial vertical angle θ1 of the target point relative to the total station , and the offset amount in the horizontal direction, which is used to add the distance component generated by the tilt effect to obtain the corrected horizontal distance L2;

[0146] The calculation part calculates the corrected vertical angle θ2, and here the arctangent function is used to calculate the vertical angle after tilt and offset correction, which is an attempt to approximate the corrected vertical angle through 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 measurement;

[0147] The 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 from the total station to the target point. This correction reduces the measurement error caused by the tilt and offset of the total station, thereby improving the measurement accuracy;

[0148] Tilt and offset are common error sources in total station measurement. The correction unit based on tilt and angle reduces the uncertainty of the measurement results by directly correcting these two factors. This error reduction method improves the reliability of the measurement and makes the measurement results closer to the true value;

[0149] The correction unit based on tilt and angle is suitable for measurement under various tilt and offset conditions. No matter what posture or position the total station is in, as long as the tilt angle and horizontal offset information can be obtained, the correction can be performed. This applicability makes the correction unit based on tilt and angle capable of coping with complex measurement environments and improves the flexibility of the total station multi-directional coordinate measurement method.

[0150] Please refer to Figs. 1-3 , the calculation formula of the error correction unit is as follows:

[0151] ;

[0152] Among them:

[0153] X is the corrected error value;

[0154] L ref is the reference horizontal distance;

[0155] θ ref is the reference vertical angle;

[0156] The reference horizontal distance L ref and the reference vertical angle θ refThe reflected reference point and the target point are parallel, and the parameters are known.

[0157] In this embodiment, the algorithm unit first The calculation part calculates the square sum of the difference between 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 , to obtain a measurement accuracy index, the correction error value X, which is used to evaluate the measurement accuracy and as the basis for subsequent correction;

[0158] The error correction unit of the algorithm calculates the correction error value X and corrects the initial distance and angle, which can eliminate the influence of various factors on the measurement results. This comprehensive error correction method further improves the measurement accuracy, making the measurement results more accurate and reliable;

[0159] The error correction unit feeds back the correction results to the initial position relationship determination unit, forming a closed-loop system that can continuously optimize the measurement results and improve the measurement accuracy. The formation of the closed-loop system enables the total station multi-directional coordinate measurement method to have the ability of self-correction and self-improvement, improving the stability and reliability of the measurement;

[0160] Through the cycle of 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 conversion. This method of improving measurement efficiency reduces the time and cost of measurement work and improves the economic benefits of measurement.

[0161] Example two, please refer to Figs. 1-3 , the calculation formula based on the correction error value X strategy adjustment is as follows:

[0162] ;

[0163] ;

[0164] Where:

[0165] L1 ’ is the corrected horizontal distance;

[0166] θ1 ’ is the corrected vertical angle;

[0167] L max is the maximum horizontal distance, L max reflects the farthest horizontal distance of the total station measurement;

[0168] k is the angle correction coefficient;

[0169] The calculation formula of the angle correction coefficient k is as follows:

[0170] ;

[0171] N is the number of detection errors, and N reflects the total number of times of measuring the same angle multiple times before recording the measured angle;

[0172] k1 is the first error angle value, k2 is the second error angle value, k3 is the third error angle value, and k N is the Nth error angle value, and the error angle value is the standard deviation of measuring the same angle multiple times.

[0173] In the embodiment, the L1x(1-x / L max ) calculation part corrects the initial horizontal distance L1 by introducing the horizontal maximum distance L max and the correction error value X, and the corrected horizontal distance L1 ’ will be used in the initial determination of the position relationship unit calculation for the next time, forming a cyclic effect;

[0174] The θ1-xxk calculation part corrects the initial vertical angle θ1 by introducing the angle correction coefficient k and the correction error value X, where xk represents the angle adjustment amount calculated according to the comprehensive error and the correction coefficient, and the corrected vertical angle θ1 ’ will be used in the initial determination of the position relationship unit calculation for the next time, together with the corrected horizontal distance L1 ’ , forming a cyclic effect and improving the accuracy of measurement;

[0175] Through the correction and feedback of the error correction unit, the initial determination of the position relationship unit can continuously receive the 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-directional coordinate measurement method to continuously approach the true value, improving the measurement precision and reliability;

[0176] Since the error correction unit forms a closed-loop system, it can continuously adjust and optimize the measurement results, even in the case of changes in the external environment and changes in the attitude of the total station, it can maintain high measurement accuracy. This method of improving measurement stability makes the total station multi-directional coordinate measurement method more suitable for various complex measurement environments and scenarios;

[0177] The cyclic influence mechanism of the error correction unit makes the total station multi-directional coordinate measurement method more flexible, enabling adjustment of the reference distance, angle correction coefficient k parameter according to actual needs to adapt to different measurement requirements and scenarios. This enhanced flexibility enables the total station multi-directional coordinate measurement method to be widely applied in various fields and industries, including civil engineering, geological exploration, aerospace;

[0178] In summary, the initial position relationship determination unit, the inclination and angle correction unit, and the error correction unit each have significant beneficial effects in the total station multi-directional coordinate measurement method. Meanwhile, 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 collectively constitute the core advantages of the total station multi-directional coordinate measurement method, making it have a wide application prospect and great development potential in the measurement field.

[0179] Although embodiments of the present application have been shown and described, it will be understood by those having ordinary skill in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for multi-azimuth coordinate measurement of a total station, characterized in that, The data setting and collecting module and the data processing and correction module are included. The specific implementation steps are as follows: Step 1, coordinate setting, detection and collection and transmission are performed by using the data setting and collecting module: The current total station coordinate is collected, and the target point coordinate is set and collected according to the total station coordinate, and the reference point parallel to the target point coordinate is set and collected; Based on the offset between the current total station coordinate and the initial total station coordinate and the tilt on the horizontal plane, the horizontal offset P and the tilt angle A are measured; If the results of the horizontal offset P and the tilt angle A exist offset and tilt, they are transmitted to the data processing and correction module for calculation and correction, otherwise, no transmission and correction are needed; Step 2, the calculation and correction performed by using the data processing and correction module are as follows: Based on the total station coordinate, the target point coordinate, the reference point coordinate, the horizontal offset P and the tilt angle A, the horizontal distance L1 and the vertical angle θ1 are calculated in turn, the corrected horizontal distance L2 and the corrected vertical angle θ2 are calculated, and the correction error value X is calculated; The horizontal distance L1 and the vertical angle θ1 are corrected by using the correction error value X; The data processing and correction module includes an initial position relationship determining unit, a tilt and angle based correction unit and an error correction unit; The devices used by the data setting and collecting module include a total station, a tripod, a reflecting prism, a target plate and a tilt sensor; The devices used by the data processing and correction module include a computer and a data processing device; The calculation formula of the initial position relationship determining unit is as follows: ； ； Wherein: 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, and Y1 is the first Y coordinate point; X2 is the second X coordinate point, and 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) is the coordinate of the total station; (X2, Y2, Z2) is the coordinate of the target point; arctan is the inverse tangent function; The calculation formula of the tilt and angle based correction unit is as follows: ； ； Wherein: 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 offset degree in the horizontal direction relative to the initial position of the total station; represents the horizontal distance of the total station's projected distance on the horizontal plane to the target point; represents the additional distance due to the combined effect of the horizontal offset P and the tilt angle A; The arctan function is used to calculate the additional angle change resulting from the horizontal offset P and the horizontal distance Ll; The calculation formula of the error correction unit is as follows: ； Wherein: X is the correction error value; L ref L is the reference level distance; θ ref for reference vertical angle; Reference horizontal distance L ref and reference vertical angle Θ ref The reflected reference point and the target point are in parallel state and are known parameters; The calculation formula based on the correction error value X strategy adjustment is as follows: L1 ’ = L1 x (1 - X / L max ); θ1 ’ = θ1 - X x k; Wherein: L1 ’ To correct the horizontal distance after; θ1 ’ θ1 is the angle of the vertical line after correction; L max L is the horizontal maximum distance, max reflects the farthest horizontal distance measured by the total station; k is the angle correction coefficient.

2. The total station multi-azimuth coordinate measurement method according to claim 1, characterized in that: The result value analysis of the horizontal offset P and the tilt angle A is as follows: I. Tilt angle A When the tilt angle A of the total station is positive, it indicates 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, and the sign of P×sin(θ1-A) depends on the relative size of θ1 and A: If θ1 is greater than A, sin(θ1-A) is positive, and P×sin(θ1-A) increases L2; If θ1 is less than A, sin(θ1-A) is negative, P×sin(θ1-A) reduces L2; When calculating θ2, the increase of the tilt angle A leads to the increase of θ2 due to the nature of the arctan function; When the tilt angle A of the total station is negative, it means that the total station is downwardly inclined relative to the horizontal plane, and cos(A) is an increasing function in the range of -π / 2 to 0, L1×cos(A) is greater than L1, and the decrease of the tilt angle A leads to the decrease of θ2 when calculating θ2; II. Horizontal offset P When the horizontal offset P is positive, it means that the total station produces a rightward offset in the horizontal direction, and P×sin(θ1-A) increases due to the positive value of P: If θ1 is greater than A, sin(θ1-A) is positive, and P increases the value of L2; If θ1 is less than A, sin(θ1-A) is negative, and P reduces the value of L2; When calculating θ2, P×cos(θ1-A) in the arctan function increases due to the positive value of P; When the horizontal offset P is negative, it means that the total station produces a leftward offset in the horizontal direction, and P×sin(θ1-A) decreases due to the negative value of P: If θ1 is greater than A, sin(θ1-A) is positive, and P reduces the value of L2; If θ1 is less than A, sin(θ1-A) is negative, and P increases the value of L2; When calculating θ2, the negative value of P leads to the decrease of θ2 due to the increasing nature of the arctan function.

3. The total station multi-azimuth coordinate measurement method according to claim 1, characterized in that: The calculation formula of the angle correction coefficient k is as follows: k = (k1 + k2 + k3 +... + k N ) / N; N is the number of detection errors, and N reflects the total number of times of measuring the same angle when recording the measured angle before; k1 is a first error angle value, k2 is a second error angle value, k3 is a third error angle value, k N is an Nth error angle value, and the error angle value is the standard deviation of the same angle measured multiple times.

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