Device and method for high-precision measurement of horizontal directrix

Abstract

The invention belongs to the technical field of horizontal alignment measurement, and particularly relates to a high-precision horizontal alignment measurement device and method.The device comprises a horizontal rotating mechanism, an autocollimator, an accelerometer, a reflector and a control calculation module, and the reflector and the accelerometer are fixed to the horizontal rotating mechanism; the reflector is provided with a pair of parallel and symmetrical reflector surfaces, and the normal of the reflector surfaces is parallel to the rotating axis; the included angle between the accelerometer sensitive axis and the normal of the mirror surface is extremely small for measuring the gravity acceleration component change in the direction of the accelerometer sensitive axis under the rotation angle; the zero deflection angle direction of the autocollimator is aligned with the normal of the mirror surface, and the autocollimator is used for measuring normal deflection angles before and after rotation; and the control calculation module fuses data of the accelerometer and the autocollimator, eliminates zero drift and environmental interference errors through differential calculation, and determines an absolute horizontal alignment line position. According to the invention, horizontal alignment measurement errors caused by zero drift of a measuring instrument, positioning precision of a testing device and environmental interference can be avoided, and high-precision measurement of the horizontal alignment is realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of horizontal reference line measurement, and more particularly to a device and method for high-precision measurement of a horizontal reference line. BACKGROUND

[0002] For many applications requiring a horizontal plane as important information, such as plumb deviation measurement, vector gravity measurement, large structure inclination measurement, etc., it is required to accurately determine the angular relationship between the horizontal plane and the plane related to the measuring instrument.

[0003] However, the current establishment of a horizontal reference line based on an inertial sensor and a horizontal rotation mechanism is limited by the drift of the measuring instrument and the fluctuation of the application environment, and at the same time is limited by the non-repeatability of rotation caused by the axis shaking of the rotation mechanism, and the measurement precision is usually at the level of angular seconds, making it difficult to achieve higher precision measurement. SUMMARY

[0004] In view of the defects of the prior art, the purpose of the present application is to provide a device and method for high-precision measurement of a horizontal reference line, aiming to solve the problem of low precision caused by the drift of the measuring instrument, the fluctuation of the application environment, and the non-repeatability of rotation caused by the axis shaking of the rotation mechanism during the measurement of the horizontal reference line in the prior art.

[0005] To achieve the above-mentioned purpose, in a first aspect, the present application provides a device for high-precision measurement of a horizontal reference line, comprising: a horizontal rotation mechanism, a collimator, an accelerometer, a mirror, and a control calculation module, wherein: the accelerometer and the mirror are arranged on the horizontal rotation mechanism and can synchronously rotate with the horizontal rotation mechanism by a first angle and a second angle; the mirror has a pair of parallel and symmetric mirror surfaces, and the mirror surfaces are parallel to the rotation axis of the horizontal rotation mechanism; the accelerometer is connected with the control calculation module, and the angle between the sensitive axis of the accelerometer and the normal line of the mirror surface is not greater than a preset angle, for measuring the gravity acceleration component in the direction of the sensitive axis of the accelerometer at each angle before and after rotation; the collimator is located beside the horizontal rotation mechanism and is connected with the control calculation module, and the angle between the zero offset angle direction of the outgoing light axis of the collimator and the normal line of the mirror surface is not greater than the preset angle, for measuring the normal line offset angle at each angle before and after rotation of the mirror; and the control calculation module is used for determining the position of the horizontal reference line based on the normal line offset angle and the gravity acceleration component.

[0006] Further, the preset angle is 10".

[0007] Further, the mirror surfaces are all reflective planes, and the flatness of each reflective plane is less than a preset horizontal reference line measurement precision value.

[0008] Further, the surface included angle of the pair of reflective planes is less than the preset angle, and the measurement error of each reflective plane is less than a preset horizontal line measurement precision value.

[0009] Further, the included angle between the first angle and the second angle is 180°.

[0010] Further, the package also comprises a base and a package shell, the package shell and the base are cooperatively installed to form a closed cavity, the horizontal rotation mechanism, the autocollimator, the accelerometer, the mirror and the control calculation module are all arranged in the closed cavity to form an integrated measurement device.

[0011] According to the second aspect of the present application, a method for high-precision measurement of a horizontal line using the device as described above is also disclosed, comprising the following steps: S1 rotating the mirror to a first angle following the horizontal rotation mechanism; S2 measuring the gravity acceleration component at the first angle using the accelerometer and measuring the normal line deflection angle of the mirror at the first angle using the autocollimator; S3 rotating the mirror to a second angle following the horizontal rotation mechanism; S4 measuring the gravity acceleration component at the second angle using the accelerometer and measuring the normal line deflection angle of the mirror at the second angle using the autocollimator; S5 calculating the position of the horizontal line based on the gravity acceleration component at the first angle, the normal line deflection angle at the first angle, the gravity acceleration component at the second angle and the normal line deflection angle at the second angle using the control calculation module.

[0012] Further, the method for determining the position of the horizontal line by the control calculation module is: S501 calculating the included angle between the horizontal line and the normal line of the pair of mirrors using the following formula: p1=

[0013] P2=

[0014] wherein, p1 and p2 are respectively the included angle between the horizontal line and the normal line deflection angle of the pair of mirrors, C 0 is the normal line deflection angle of the mirror at the first angle measured by the autocollimator, C 180 is the normal line deflection angle of the mirror at the second angle measured by the autocollimator; A 0 is the gravity acceleration component output measured at the first angle by the accelerometer, A 180The gravity acceleration component output measured by the accelerometer at the second angle; g is the local gravity acceleration; and a is the included angle between the two reflecting mirror surfaces. S502 determines the position of the horizontal line using the included angle between the horizontal line and the normal line of the pair of reflecting mirror surfaces.

[0015] Further, the zero deviation angle of the outgoing optical axis of the autocollimator is calculated using the following formula:

[0016] where c is the zero deviation angle of the horizontal line and the normal line in the vertical plane.

[0017] Further, the control calculation module is further configured to calibrate the autocollimator using the zero deviation angle of the outgoing optical axis of the autocollimator.

[0018] It can be understood that the beneficial effects of the above-mentioned second aspect can be referred to the related description in the above-mentioned first aspect, which will not be repeated here.

[0019] Overall, compared with the prior art, the above technical solutions conceived by the present application have the following beneficial effects: (1) The present application uses an accelerometer and a reflecting mirror fixed on the same mounting surface, and a side autocollimator, uses the angle relationship between the gravity acceleration value measured by the accelerometer at the symmetric angle and the normal line included angle measured by the autocollimator, and obtains the horizontal line measurement stability and measurement precision by means of measurement value difference combination, greatly suppresses the common mode error caused by the rotation mechanism axis shaking, the measurement instrument zero drift, the environmental interference and other factors in the horizontal line measurement, and the highest level is expected to reach 0.01 angular second level or even higher.

[0020] (2) The device structure of the present application is simple and ingenious, and the operation steps are simple. Because various errors are suppressed, it can be applied to more widely used environments and occasions, such as the horizontal line obtained by the device can be used as a reference datum for the inclination measuring instrument, and can also be used for calibrating the leveling line measuring instrument or equipment. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a device structure schematic diagram for measuring a horizontal line with high precision provided by Embodiment 1 of the present application; Figure 2 is a schematic diagram of an integrated measuring device structure which can be carried conveniently provided by Embodiment 2 of the present application; Figure 3 is a schematic diagram of a measuring method principle for measuring a horizontal line with high precision provided by Embodiment 3 of the present application.

[0022] In all the drawings, same reference numerals are used to represent the same elements or structures, wherein: 1 - mounting base; 2 - horizontal rotation mechanism; 3 - support; 4 - autocollimator; 5 - accelerometer; 6 - mirror; 7 - rotation axis; 8 - normal line; 9 - outgoing light ray, 10 - control calculation module, 11 - base, 12 - packaging shell, 13 - optical prism. DETAILED DESCRIPTION

[0023] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0024] The term "and / or" herein is used to describe an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. The symbol " / " herein represents an or relationship of associated objects, for example, A / B represents A or B.

[0025] The terms "first" and "second" and the like in the description and claims herein are used to distinguish different objects, and are not used to describe a specific order of the objects. For example, the first response message and the second response message are used to distinguish different response messages, and are not used to describe a specific order of the response messages.

[0026] In the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design presented as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of "exemplary" or "for example" is intended to present concepts in a concrete manner.

[0027] In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more, for example, a plurality of processing units means two or more processing units, and the like; a plurality of elements means two or more elements, and the like.

[0028] The embodiments of the present application are described below with reference to the drawings in the embodiments of the present application.

[0029] Embodiment 1 The present embodiment provides a device for measuring a horizontal reference line with high precision, as shown in Figure 1The measuring device is shown to comprise: a horizontal rotation mechanism 2, a collimator 4, an accelerometer 5, a mirror 6, and a control calculation module 10, wherein: the accelerometer 5 and the mirror 6 are arranged on the horizontal rotation mechanism 2 and can rotate with the horizontal rotation mechanism 2 by a first angle and a second angle; the mirror 6 has a pair of parallel and symmetric mirror surfaces, and the mirror surfaces are parallel to the rotation axis of the horizontal rotation mechanism 2; the accelerometer 5 is electrically connected to the control calculation module 10 through a data line, and the included angle between the sensitive axis of the accelerometer 5 and the normal line 8 of the mirror surface is not greater than a preset angle, so as to avoid that a large input angle makes the output precision of the accelerometer 5 highly dependent on the scale factor of the accelerometer 5, thereby affecting the measurement precision; the accelerometer 5 is used to measure the gravity acceleration components at each angle before and after rotation; the collimator 4 is located beside the horizontal rotation mechanism 2, is fixed on the top of a vertically arranged support 3, and is electrically connected to the control calculation module through a wire, and the included angle between the zero offset angle direction of the collimator 4 and the normal line 8 of the mirror surface is not greater than a preset angle, so as to avoid that a large angle makes the scale factor stability of the collimator highly dependent, thereby affecting the measurement precision; the outgoing light 9 of the collimator 4 is vertically incident into the mirror surface, and the collimator is used to measure the normal line deflection angle of the mirror 6 at each angle before and after rotation; and the control calculation module 10 is used to determine the position of the horizontal reference line based on the normal line deflection angle and the gravity acceleration components.

[0030] Specifically, in actual application, the aforementioned horizontal rotation mechanism 2 can be fixed on a mounting base 1, and the mounting base 1 can be fixed on a foundation that has been subjected to vibration isolation treatment or other stable platforms.

[0031] The aforementioned preset angle is 10″, and due to the limitation of technical level, it is difficult to ensure that the included angle between the sensitive axis of the accelerometer 5 and the normal line 8 of the mirror surface is completely parallel, therefore, the measuring device limits the maximum included angle to be 10″, so as to ensure the measurement precision of the horizontal reference line.

[0032] The aforementioned mirror 6 is a quadrangular prism, which includes four side surfaces, one pair of opposite side surfaces are mirror surfaces, and the mirror surfaces are reflective planes. Due to the limitation of processing technology, the reflective planes cannot be completely horizontal, in order to ensure the measurement precision of the horizontal reference line, the embodiment limits the flatness (i.e. the degree of horizontalness of the mirror surface) of each reflective plane to be less than a preset horizontal reference line measurement precision value.

[0033] Specifically, for example, when the preset horizontal reference line measurement precision value is 10″, the flatness of each reflective plane needs to be less than 10″; for example, when the preset horizontal reference line measurement precision value is 0.01″, the flatness of each reflective plane needs to be less than 0.01″. More preferably, in an embodiment, the surface processing included angle α of the two opposite reflective planes is less than the preset horizontal reference line measurement precision value.

[0034] Specifically, due to the limitation of processing technology, any pair of parallel sides of the four-prism cannot be completely parallel to each other, but in order to ensure the accuracy of the horizontal line measurement, the included angle between the pair of reflecting planes needs to be better than the preset horizontal line measurement accuracy to ensure the actual horizontal line measurement accuracy.

[0035] More specifically, for example, when the preset horizontal line measurement accuracy value is 10" order of magnitude, the surface processing included angle a of the two reflecting planes needs to be less than 10"; when the preset horizontal line measurement accuracy value is 0.01" order of magnitude, the surface processing included angle a of the two reflecting planes needs to be less than 0.01".

[0036] The included angle between the first angle and the second angle of the aforementioned horizontal rotation mechanism is 180°, for example, when the first angle is 0°, the second angle is 180°.

[0037] Specifically, when the horizontal rotation mechanism rotates around the vertical rotation axis under the driving of external force (such as motor driving, the motor is electrically connected with the control calculation module), due to the existence of the rotation axis 7 swing, when rotating 180°, the rotation surface cannot strictly realize the real horizontal 180° rotation, resulting in the non-repeatability of the rotation (i.e. the trajectory of each rotation does not completely coincide). The accelerometer can accurately perceive the fluctuation of the rotation axis, but the single accelerometer will have the problem of output drift when it is stationary. Therefore, in this embodiment, the accelerometer 5 rotates synchronously with the horizontal rotation mechanism 2 on the horizontal rotation mechanism 2, and the two output values of the accelerometer measured at each rotation position before and after rotation are used to eliminate the error caused by the swing of the rotation axis 7 of the horizontal rotation mechanism 2, and the drift term of the accelerometer output can also be deducted.

[0038] Embodiment 2 In the preferred embodiment, as shown in Figure 2 The device described in embodiment 1 further comprises a base 11 and a packaging shell 12, the packaging shell 12 and the base 11 are cooperatively installed to form a closed cavity, the horizontal rotation mechanism 2 is fixed on an installation base 1, the surface of the installation base 1 is the rotation plane, the installation base 1 is fixed on the base 11, the autocollimator 4 is fixed at a certain height on the vertical support 3, and the vertical support is arranged beside the installation base 1, and the light exit end of the autocollimator is directed to one of the reflecting mirrors. The rest of the units, such as the accelerometer 5, the reflecting mirror 6 and the control calculation module 10, are located in the closed cavity, thereby forming a set of portable integrated measurement device.

[0039] The aforementioned portable integrated measurement device can also be improved to adapt to different application scenarios. For example, as shown in Figure 2As shown in the integrated measuring device, an optical prism 13 is installed opposite the autocollimator 4. In the initial position, the autocollimator 4, the mirror 6 and the optical prism are located on the same straight line. When the horizontal rotation mechanism 2 is rotated by an angle to the mirror 6 not being located on the same straight line with the autocollimator 4 and the optical prism 13, the deflection fluctuation of the reflected light of the optical prism can be monitored through the outgoing light of the autocollimator 4. Since the optical prism is fixedly connected with the base, the base is located on the foundation, thus the slight inclination of the foundation (caused by the tidal force) is converted into quantifiable optical signal displacement, i.e. the deflection fluctuation of the reflected light of the optical prism can reflect the inclination of the foundation caused by the tidal change. In general, the inclination tide can be measured through the monitoring of the fluctuation of the optical prism. In this application scenario, the long-term stability of the posture of the autocollimator 4 is not required, only the short-term stability is required to perform the precise monitoring.

[0040] Embodiment 3 The embodiment provides a method for measuring a horizontal reference line with high precision by using the device pair in the embodiment 1. The following will be described in combination with Figure 3 The measuring method will be described in detail.

[0041] The overall steps of the measuring method include: S1 rotating the mirror 6 to follow the horizontal rotation mechanism to the first angle 0°; S2 measuring the gravity acceleration component at the first angle by using the accelerometer 5 and measuring the normal deflection angle of the mirror 6 at the first angle by using the autocollimator 4; S3 rotating the mirror 6 to follow the horizontal rotation mechanism to the second angle 180°; S4 measuring the acceleration at the second angle by using the accelerometer 5 and measuring the normal deflection angle of the mirror 6 at the second angle by using the autocollimator 4; S5 calculating the position of the horizontal reference line based on the acceleration at the first angle, the normal deflection angle at the first angle, the gravity acceleration component at the second angle and the normal deflection angle at the second angle by using the control calculation module 10. Specifically, the method for determining the position of the horizontal reference line by the control calculation module is as follows: S501 calculating the included angle between the horizontal reference line and the normal of the mirror surface pair by using the following formula: p1=

[0042] P2=

[0043] wherein p1 and p2 are respectively the included angle between the horizontal reference line and the normal deflection angle of the mirror surface pair, C 0 is the normal deflection angle of the mirror measured by the autocollimator at the first angle, C 180 is the normal deflection angle of the mirror measured by the autocollimator at the second angle,A 0 represents the gravitational acceleration component output measured by the accelerometer at the first angle. A 180 The output of the gravitational acceleration component measured by the accelerometer at the second angle; g is the local gravitational acceleration; α is the angle between the two reflective surfaces, that is, the two reflective surfaces will not be perfectly horizontal during the processing. Due to the limitations of the processing technology, there will be a certain processing error. Therefore, there will also be a small angle between the two parallel reflective surfaces caused by the processing error. In the field of high-precision measurement, even a small error can cause inaccurate measurement results. Therefore, this application introduces this small error to improve the detection accuracy. S502 determines the position of the horizontal directrix by using the angle between the horizontal directrix and the normals of a pair of reflecting mirrors.

[0044] In this embodiment, the zero-offset angle of the output optical axis of the autocollimator 4 can also be calculated using the following formula:

[0045] Where c is the zero-offset angle of the output optical axis of autocollimator 4; then the autocollimator 4 is calibrated using the calculated zero-offset angle. After determining the normal direction of the positive and negative parallel mirror surfaces, this normal can also be used to calibrate other leveling instruments or equipment.

[0046] Specifically, such as Figure 3 As shown, the plane of rotation of the horizontal rotating mechanism 2 has an angle θ relative to the horizontal line before and after rotation. Because the axis of rotation of the horizontal rotating mechanism 2 will wobble before and after rotation, the angle θ will be different at different positions. In this embodiment, the rotation angles of the horizontal rotating mechanism 2 are set to 0 degrees (i.e., the first angle) and 180 degrees (the second angle). Therefore, when the horizontal rotating mechanism 2 rotates from 0° to 180°, the angles of tilt before and after rotation are denoted as θ0 and θ0, respectively. 180 The difference between the two tilt angles manifests as the non-repeatability of rotation caused by the wobbling of the rotation axis.

[0047] Considering the installation error angles β on the accelerometer and the pair of parallel mirrors a and b on the rotating surface, respectively... A and β M Simultaneously considering the existence of machining error angles between the parallel mirror surfaces a and b, i.e., the machining error angle α between a pair of reflecting mirrors. Based on this, let p1 and p2 be the angles between the horizontal directrix and the normals of the two reflecting mirrors, respectively. Through geometric derivation, the above angles have the following relationship:

[0048] The above formula shows that the installation error β of the reflecting mirror during rotation...A and β M are eliminated.

[0049] In actual measurement, the normal of the mirror surface corresponding to each angle position is measured by autocollimator 4, and the outputs of autocollimator 4 at two rotation angle positions are recorded as C0 and C 180 , the zero offset angle of autocollimator 4 is c, and the following equation is obtained:

[0050]

[0051] The inclination angles before and after rotation are measured by accelerometer 5, and the outputs of accelerometer 5 at two positions are recorded as A0 and A 180 , the zero offset angle of accelerometer 5 is a, and the following equation is obtained:

[0052]

[0053] wherein, g is the acceleration of gravity, and the difference between them is:

[0054] Further, the angles p1 and p2 between the horizontal reference line and the normals of the two mirror surfaces can be calculated, and are respectively: P1=

[0055] P2=

[0056] The accurate position of the horizontal reference line can be obtained through the measured angles p1 and p2.

[0057] If there is no accelerometer 5, the inclination angle θ of the rotation plane of horizontal rotation mechanism 2 relative to the horizontal reference line cannot be measured. Accelerometer 5 not only measures the inclination angle θ , but also measures the non-repeatability of the rotation of horizontal rotation mechanism 2, and the measurement accuracy of the horizontal reference line depends on the fluctuation of the inclination angle θ . The experimental data related to the embodiment show that the fluctuation of the inclination angle θ of the rotation plane of horizontal rotation mechanism 2 relative to the horizontal reference line is in the order of sub-micro-arc. The high-precision accelerometer used in the embodiment can measure the inclination angle θ with very high accuracy (0.01 arcsecond), and also eliminates the installation error of accelerometer 5 and its zero offset angle, further improving the measurement accuracy. If the angle α between the front and back mirror surfaces of mirror 6 is also known, the horizontal reference line can be accurately measured.

[0058] The method of the embodiment is not limited to a single direction measurement, nor is it limited to one-dimensional measurement. For example, by measuring in different directions, the angular position of the local level line in different directions can be obtained. By using a multi-axis accelerometer or installing multiple accelerometers and multiple matching mirrors 6 at multiple positions on a rotating plane, more information about the local horizontal plane can be calculated.

[0059] It should be understood that expressions such as "include" and "may include" used in the present application indicate the presence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In the present application, terms such as "include" and / or "have" can be interpreted to mean that a specific characteristic, number, operation, constituent element, component, or a combination thereof is present, but cannot be interpreted to mean that the presence or addition of one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof is excluded.

[0060] In addition, in the present application, the expression "and / or" includes any and all combinations of the associated listed terms. For example, the expression "A and / or B" can include A, can include B, or can include both A and B.

[0061] In the description of the embodiments of the present application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, "connection" can be detachable connection, or can be non-detachable connection; can be direct connection, or can be indirect connection through an intermediate medium. Among them, "fixed connection" means that the relative positional relationship after connection is unchanged. "Rotary connection" means that the relative rotation after connection is connected. "Sliding connection" means that the relative sliding after connection is connected. The orientation language mentioned in the embodiments of the present application, such as "top", "bottom", "inner", "outer", "left", "right", etc., is only the direction of the drawing, therefore, the orientation language used is to better, more clearly illustrate and understand the embodiments of the present application, and is not indicative or implied that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, therefore, it cannot be understood as a limitation on the embodiments of the present application.

[0062] In addition, in the embodiments of the present application, the mathematical concepts mentioned, such as symmetry, equality, parallel, perpendicular, etc. These limitations are all for the current process level, and are not strictly defined in the mathematical sense, allowing a small amount of deviation, approximately symmetrical, approximately equal, approximately parallel, approximately perpendicular, etc. For example, A is parallel to B, which means that A and B are parallel or approximately parallel, the included angle between A and B can be between 0 degrees and 10 degrees. A and B are perpendicular, which means that A and B are perpendicular or approximately perpendicular, the included angle between A and B can be between 80 degrees and 100 degrees.

[0063] The above descriptions are only specific embodiments of the present application, and the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, and all of them should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A device for measuring a horizontal line with high precision, characterized in that, The application relates to a horizontal line measuring device, which comprises a horizontal rotating mechanism (2), a collimator (4), an accelerometer (5), a reflector (6) and a control calculation module (10), wherein the accelerometer (5) and the reflector (6) are arranged on the horizontal rotating mechanism (2) and can rotate with the horizontal rotating mechanism (2) by a first angle and a second angle; the reflector (6) is provided with a pair of parallel and symmetric reflector surfaces, and the reflector surfaces are parallel to the rotating axis (7) of the horizontal rotating mechanism (2); the accelerometer (5) is connected with the control calculation module (10), the angle between the sensitive axis of the accelerometer (5) and the normal line of the reflector surface is not greater than a preset angle, the accelerometer (5) is used for measuring the gravity acceleration component in the direction of the sensitive axis of the accelerometer (5) at each angle before and after rotation; the collimator (4) is arranged beside the horizontal rotating mechanism (2) and is connected with the control calculation module (10), the angle between the zero offset angle direction of the outgoing light axis of the collimator (4) and the normal line of the reflector surface is not greater than the preset angle, and the collimator (4) is used for measuring the normal line offset angle of the reflector (6) at each angle before and after rotation. The control calculation module (10) is used for determining the position of the horizontal line based on the normal line offset angle and the gravity acceleration component. The preset angle is 10".

2. The apparatus of claim 1, wherein, The reflector surfaces are all reflecting planes, and the flatness of each reflecting plane is less than a preset horizontal line measuring precision value.

3. The apparatus of claim 1, wherein, The surface included angle of the pair of reflecting planes is less than the preset angle, and the measuring error of each reflecting plane is less than the preset horizontal line measuring precision value.

4. The apparatus of claim 3, wherein, The included angle between the first angle and the second angle is 180 DEG.

5. The apparatus of claim 1, wherein, The application further comprises a base (11) and a packaging shell (12), the packaging shell (12) and the base (11) are matched and installed to form a closed cavity, the horizontal rotating mechanism (2), the collimator (4), the accelerometer (5), the reflector (6) and the control calculation module (10) are arranged in the closed cavity to form an integrated measuring device.

6. The apparatus of claim 1, wherein, The application further comprises the following steps:

7. A method for high-precision measurement of a horizontal reference line using the device according to any one of claims 1 to 6, characterized in that S1, rotating the reflector (6) to a first angle by following the horizontal rotating mechanism (2); S2, measuring the gravity acceleration component at the first angle by using the accelerometer (5) and measuring the normal line offset angle of the reflector (6) at the first angle by using the collimator (4); S3, rotating the reflector (6) to a second angle by following the horizontal rotating mechanism; S4, measuring the gravity acceleration component at the second angle by using the accelerometer (5) and measuring the normal line offset angle of the reflector (6) at the second angle by using the collimator (4); S5, calculating the position of the horizontal line by using the control calculation module (10) based on the gravity acceleration component at the first angle, the normal line offset angle at the first angle, the gravity acceleration component at the second angle and the normal line offset angle at the second angle. The method for determining the position of the horizontal line by the control calculation module (10) is as follows:

8. The method of claim 7, wherein, S501, calculating the included angle between the horizontal line and the normal line of the pair of reflector surfaces by using the following formula: S502, determining the position of the horizontal line by using the included angle between the horizontal line and the normal line of the pair of reflector surfaces. p1= P2= wherein p1 and p2 are the angles between the horizontal line and the normal of the mirror surface, respectively, C 0 is the normal deviation angle of the mirror measured by the autocollimator at the first angle, C 180 0 is the normal deviation angle of the mirror measured by the autocollimator at the second angle; A 0 is the gravity acceleration component output measured by the accelerometer at the first angle, A 180 0 is the gravity acceleration component output measured by the accelerometer at the second angle; g 0 is the local gravity acceleration; α 0 is the angle between the positive and negative mirror surfaces. ​ 9. The method of claim 8, wherein, The zero deviation angle of the outgoing optical axis of the autocollimator (4) is also calculated using the following formula: where c is the zero deviation angle of the horizontal line and the normal in the vertical plane.

10. The method of claim 9, wherein, The control calculation module (10) is also configured to calibrate the autocollimator (4) using the zero deviation angle of the outgoing optical axis of the autocollimator (4).

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