Equipment calibration measurement method based on double-theodolite triangulation measurement
By constructing a ground triangle using dual theodolites and a steel tape, the problem of poor elevation measurement accuracy during equipment calibration was solved, enabling high-precision horizontal distance and relative height measurement, reducing costs and improving adaptability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XIAN KUNLUN IND GRP
- Filing Date
- 2026-02-27
- Publication Date
- 2026-04-17
AI Technical Summary
Existing equipment calibration methods suffer from poor elevation measurement accuracy and rely on GPS base stations, making them particularly unsuitable for environments without base stations or with limited signal coverage.
A ground triangulation method based on dual theodolites and steel tape is adopted. By constructing a right triangle and combining angle measurements and equipment structural parameters, the horizontal distance and relative height between the equipment and the target are calculated.
It achieves high-precision horizontal distance and relative height measurement, reduces costs and usage barriers, and improves adaptability in complex environments and the reliability of measurement results.
Smart Images
Figure CN121876901A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of equipment calibration and geometric measurement technology, specifically relating to a method for measuring distance and height during equipment calibration, and more specifically to an equipment calibration measurement method based on dual theodolite triangulation. Background Technology
[0002] During equipment calibration, it is usually necessary to obtain the true values of the azimuth, elevation, and slant range of the target relative to tracking radar, electro-optical trackers, and other equipment.
[0003] like Figure 1 As shown, the traditional method uses GPS instruments to measure the longitude, latitude, and elevation of the equipment's azimuth rotation center marker A and the target marker B, respectively. The longitude and latitude of points A and B are then converted into plane coordinates. Based on these plane coordinates, the horizontal distance between points A and B, as well as the relative height between the equipment's elevation center and the target, are calculated. Finally, the true values of the azimuth, elevation angle, and slant distance are calculated using trigonometric functions, taking into account the equipment's structural dimensions. While this method is fast in plane coordinate measurement, its accuracy is poor due to the asymmetrical distribution of satellites in the elevation direction, atmospheric influences amplifying errors in the elevation direction, and coordinate system differences causing elevation anomalies. Furthermore, it relies on GPS base stations, making it unsuitable for environments without base stations or with limited signal. Summary of the Invention
[0004] The purpose of this invention is to solve the problems of poor elevation measurement accuracy and reliance on GPS base stations in existing equipment calibration and measurement methods. Instead, it proposes a method that uses a conventional theodolite and steel tape, and replaces GPS with ground triangulation and angle measurement to achieve high-precision horizontal distance and relative height measurement.
[0005] To achieve the above objectives, the technical solution provided by this invention is:
[0006] A device calibration measurement method based on dual theodolite triangulation is provided, including the following steps:
[0007] Step 1: Set up the first theodolite at the azimuth rotation center marker of the equipment, and adjust its azimuth rotation center to be aligned and leveled with the azimuth rotation center marker of the equipment; aim the first theodolite at the target marker and record the first pitch angle β of the first theodolite.
[0008] Step 2: After rotating the first theodolite horizontally by 90 degrees, rotate it downwards around its pitch center to determine a ground marker within a distance that is convenient for on-site measurement using a steel ruler, and record the second pitch angle γ of the first theodolite when aiming at the ground marker.
[0009] Step 3: Set up the second theodolite at the ground marker point, adjust its azimuth rotation center to align with and level the ground marker point; operate the first and second theodolites to aim at each other to establish a common reference line between the equipment azimuth rotation center marker point and the ground marker point.
[0010] Step 4: Keep the second theodolite horizontal, rotate its lens from the direction of the common baseline to aim at the target marker, and record the azimuth angle θ of the second theodolite;
[0011] Step 5: Based on the right triangle formed by the projection points of the equipment azimuth rotation center marker, the target marker, and the ground marker on the horizontal plane, and combined with the vertical distance between the pitch center of the first theodolite and the equipment pitch center, as well as the first pitch angle β, the second pitch angle γ, and the azimuth angle θ, the horizontal distance c between the equipment azimuth rotation center and the target marker and the vertical height h between the equipment pitch center and the target marker are calculated using trigonometric functions.
[0012] Furthermore, in step 5, the formula for calculating the horizontal distance c is:
[0013]
[0014] In the formula, b is the horizontal distance between the equipment orientation rotation center marker and the ground marker.
[0015] Furthermore, the horizontal distance b is calculated using the following formula:
[0016]
[0017] In the formula, The height of the equipment's pitch center relative to the chassis; The height of the chassis relative to the ground; This is the vertical distance between the pitch center of the first theodolite and the upper surface of the equipment; The vertical distance between the equipment's pitch center and the upper surface of the equipment; This is the height of the pitch center of the second theodolite relative to the ground.
[0018] Furthermore, in step 5, the vertical height h between the device's pitch center and the target marker point is calculated using the following formula: ,in, This is the vertical distance between the elevation center of the first theodolite and the target marker. .
[0019] Furthermore, before step 1, the method also includes the following step: obtaining the structural height parameters of the equipment, including the height of the equipment's pitch center relative to the chassis. The height of the chassis relative to the ground The vertical distance between the elevation center of the first theodolite and the upper surface of the equipment. and the vertical distance between the equipment's pitch center and the upper surface of the equipment. .
[0020] Furthermore, the method further includes, in or after step 3, the following step: measuring and obtaining the height of the pitch center of the second theodolite relative to the ground. .
[0021] Furthermore, in step 2, the first theodolite rotates horizontally in either the left or the right direction.
[0022] Furthermore, the first and second theodolites are optical theodolites or electronic theodolites.
[0023] Furthermore, the method uses a steel tape measure with a range of 30 meters for measurement.
[0024] The advantages of this invention are:
[0025] The equipment calibration measurement method based on dual theodolite triangulation provided by this invention completely eliminates the dependence on GPS instruments and base stations by employing a triangulation method using dual theodolites and steel tape. This fundamentally solves the problems of poor elevation measurement accuracy and signal environment constraints in existing technologies. This method utilizes conventional measuring tools to construct a defined right-angled triangle projection relationship on the ground, combined with angle observations and known equipment structural parameters, to achieve accurate calculation of horizontal distance and relative height. This not only significantly reduces equipment costs and the barrier to entry for use but also improves adaptability in complex environments and the reliability of measurement results, providing an efficient, economical, and accurate alternative measurement scheme for equipment calibration. Attached Figure Description
[0026] The above and / or other features and advantages of the present invention will become more readily understood from the following description with reference to the accompanying drawings, which are not drawn to scale and some features are enlarged or reduced to show details of specific parts.
[0027] Figure 1 This is a schematic diagram of distance measurement using GPS measuring equipment for calibration in existing technology;
[0028] Figure 2 This is a schematic diagram illustrating the geometric relationship of the projection points of the equipment orientation rotation center marker A, the ground marker C, and the target marker B on the horizontal plane, forming a right-angled triangle, in an embodiment of the present invention.
[0029] Figure 3 This is a schematic diagram of the state of the first theodolite when it is aiming at point B from point A in an embodiment of the present invention;
[0030] Figure 4This is a schematic diagram of the state of the first theodolite when it is aimed at point C after the second theodolite is set up at point C in an embodiment of the present invention. Detailed Implementation
[0031] The present invention will now be described in detail with reference to the accompanying drawings and exemplary embodiments thereof. It should be noted that the following detailed description of the present invention is for illustrative purposes only and is not intended to limit the scope of the invention.
[0032] To address the problems of poor elevation measurement accuracy and reliance on base stations in existing equipment calibration methods, this invention proposes a high-precision calibration method that does not rely on satellite signals and can be completed using conventional geodetic instruments. The core of this method lies in constructing a defined geometric model through ground measurements. For example... Figure 2 As shown, the projected positions of the equipment's azimuth rotation center marker A, ground marker C, and target marker B on the horizontal plane form a right triangle. In this triangle, the projection of vertex A is a right angle. The projected distance between points A and C is b, the projected distance between points C and B is a, and the projected distance between points A and B is c. This method determines the relevant side lengths and angles through on-site measurements, and then calculates c and the vertical height h between the equipment's pitch center and the target.
[0033] The following describes in detail the equipment calibration measurement method based on dual theodolite triangulation, which is an exemplary embodiment of the present invention, in conjunction with the measurement steps.
[0034] First, preparatory work is carried out before measurement. Obtaining the key structural parameters of the equipment to be calibrated is fundamental to implementing this method. These parameters include: the height of the equipment's pitch center relative to the chassis. The height of the chassis relative to the ground And the vertical distance between the pitch center of the first theodolite and the pitch center of the equipment. In this embodiment, this vertical distance is determined by the vertical distance between the pitch center of the first theodolite and the upper surface of the equipment at the azimuth rotation center of the equipment subsequently used to set up the first theodolite. and the vertical distance between the equipment pitch center and the upper surface of the equipment. These parameters are obtained by adding them together. , , and These are the necessary known quantities for subsequent trigonometric calculations, and can usually be obtained through equipment design drawings, factory data, or prior offline measurements.
[0035] When the formal measurement begins, the first step is as follows: Figure 3As shown in the figure, the first theodolite (theodolite 1 in the figure) is set up at point A, the center of rotation of the equipment. The theodolite is carefully adjusted so that its center of rotation coincides exactly with point A, and the level is used to ensure that the instrument is horizontal. Then, the first theodolite is operated to aim at the distant target point B, and the elevation angle of the telescope at this time is accurately recorded, which is recorded as the first elevation angle β.
[0036] The second step is as follows: Figure 4 As shown. Keeping the first theodolite in the same position at point A, precisely rotate its telescope 90 degrees in the horizontal plane (either left or right). Then, rotate the telescope downwards around the theodolite's pitch center, aiming it at the ground in front of the equipment. During this process, ensure that the ground marker C being aimed at is within the effective measurement range of the steel tape measure used, for possible subsequent field verification. In this embodiment, a 30-meter range steel tape measure is selected, but those skilled in the art will understand that a steel ruler can also be used for measurement. After determining this ground marker C, record the pitch angle of the first theodolite when aiming at point C, denoted as the second pitch angle γ.
[0037] The third step is to set up a second theodolite (theodolite 2 in the diagram) at ground marker C. Adjust the second theodolite so that its azimuth rotation center aligns with point C and is strictly leveled. Then, operate the first and second theodolites to precisely aim at each other. This step establishes a precise spatial line of sight from point A to point C, i.e., a common baseline. After mutual aiming, use a steel tape measure to measure and record the height of the second theodolite's pitch center relative to the ground, denoted as _____. This altitude value is usually an instrument constant and can be obtained by directly measuring the distance from the ground to the theodolite's pitch center marker.
[0038] Fourth, keeping the second theodolite horizontal, use its orientation when it is aligned with the first theodolite as the starting azimuth. Rotate the telescope of the second theodolite in the horizontal plane from the direction of the common reference line, so that it is precisely aimed at the target marker point B, and record the horizontal azimuth angle from the AC reference line to the AB line of sight, denoted as θ.
[0039] At this point, all the necessary angles and parameters have been obtained. Based on Figure 2 The geometric relationships of the right-angled triangles shown can be used to perform a series of calculations.
[0040] Specifically, firstly, based on the second pitch angle γ measured in the second step and the known equipment and instrument height parameters ( , , , , This allows us to calculate the horizontal distance *b* between points A and C. The specific formula is:
[0041]
[0042] The geometric principle behind this formula is the height difference between points A and C. It forms a tangent relationship with the horizontal distance b and the pitch angle γ.
[0043] Next, in the right triangle, given the leg b and acute angle θ, the horizontal distance c between the equipment's orientation rotation center and the target can be directly calculated using the trigonometric tangent relation. The formula is:
[0044]
[0045] Finally, the vertical distance h between the device's pitch center and the target is calculated. This calculation is performed in two steps. First, using the first pitch angle β obtained in the first step and the horizontal distance c just calculated, the vertical distance between the target marker point B and the first theodolite pitch center is calculated. The calculation formula is: Then, take this intermediate result. The vertical distance between the known first theodolite pitch center and the upper surface of the equipment Distance between the equipment pitch center and the upper surface of the equipment Adding them together, we finally obtain the vertical height of the device's pitch center relative to the target: .
[0046] Through the above steps, this invention uses only two theodolites and a steel tape measure. By constructing a ground triangle and measuring a limited number of angles, it can completely calculate the horizontal distance *c* and vertical height *h* required for calibration. This method requires no GPS signal throughout, overcoming the inherent defect of poor accuracy in elevation measurements. Its accuracy mainly depends on the accuracy of angle measurements and the accuracy of known structural parameters, thus making it more stable and reliable. At the same time, the instruments used are inexpensive and easy to operate, significantly improving the adaptability and efficiency of equipment calibration in various environments.
[0047] Finally, it should be noted that the features mentioned and / or shown in the above description of exemplary embodiments of the present invention can be combined in the same or similar manner with one or more other embodiments, combined with or substituted for corresponding features in other embodiments. These combined or substituted technical solutions should also be considered to be included within the scope of protection of the present invention.
Claims
1. A device calibration measurement method based on dual theodolite triangulation, characterized in that, Includes the following steps: Step 1: Set up the first theodolite at the azimuth rotation center marker (A) of the equipment, adjust its azimuth rotation center to align with and level the equipment azimuth rotation center marker (A); aim the first theodolite at the target marker (B), and record the first pitch angle β of the first theodolite; Step 2: After rotating the first theodolite horizontally by 90 degrees, rotate it downwards around its pitch center to determine a ground marker point (C) within a distance that is convenient for on-site measurement using a steel ruler, and record the second pitch angle γ of the first theodolite when aiming at the ground marker point (C); Step 3: Set up a second theodolite at the ground marker point (C), adjust its azimuth rotation center to align with and level the ground marker point (C); operate the first theodolite and the second theodolite to aim at each other, so as to establish a common reference line between the equipment azimuth rotation center marker point (A) and the ground marker point (C); Step 4: Keep the second theodolite horizontal, rotate its lens from the direction of the common reference line to aim at the target marker point (B), and record the azimuth angle θ of the second theodolite; Step 5: Based on the right triangle formed by the projection points of the equipment azimuth rotation center marker (A), the target marker (B), and the ground marker (C) on the horizontal plane, and combining the vertical distance between the pitch center of the first theodolite and the equipment pitch center, as well as the first pitch angle β, the second pitch angle γ, and the azimuth angle θ, the horizontal distance c between the equipment azimuth rotation center and the target marker (B) and the vertical height h between the equipment pitch center and the target marker (B) are calculated using trigonometric functions.
2. The equipment calibration measurement method according to claim 1, characterized in that, In step 5, the formula for calculating the horizontal distance c is: In the formula, b is the horizontal distance between the equipment orientation rotation center marker (A) and the ground marker (C).
3. The equipment calibration measurement method according to claim 2, characterized in that, The horizontal distance b is calculated using the following formula: In the formula, The height of the equipment's pitch center relative to the chassis; The height of the chassis relative to the ground; The vertical distance between the pitch center of the first theodolite and the upper surface of the equipment; The vertical distance between the equipment's pitch center and the upper surface of the equipment; The elevation center of the second theodolite is at a height relative to the ground.
4. The equipment calibration measurement method according to claim 3, characterized in that, In step 5, the vertical height h between the device pitch center and the target marker point (B) is calculated using the following formula: ,in, The vertical distance between the pitch center of the first theodolite and the target marker point (B) is [missing information]. .
5. The equipment calibration measurement method according to claim 1 or 3, characterized in that, Before step 1, the following steps are also included: obtaining the structural height parameters of the equipment, the parameters including the height of the equipment's pitch center relative to the chassis. The height of the chassis relative to the ground The vertical distance between the pitch center of the first theodolite and the upper surface of the equipment. and the vertical distance between the equipment's pitch center and the upper surface of the equipment. .
6. The equipment calibration measurement method according to claim 1 or 3, characterized in that, In or after step 3, the following step is also included: measuring and obtaining the height of the pitch center of the second theodolite relative to the ground. .
7. The equipment calibration measurement method according to claim 1 or 2, characterized in that, In step 2, the first theodolite rotates horizontally in either the left or the right direction.
8. The equipment calibration measurement method according to claim 1 or 2, characterized in that, The first theodolite and the second theodolite are optical theodolites or electronic theodolites.
9. The equipment calibration measurement method according to claim 1 or 2, characterized in that, A steel tape measure with a range of 30 meters was used for measurement.