Method for converting real aperture side-looking radar and mine arbitrary rectangular coordinate system

Abstract

The application discloses a kind of real aperture slope radar and mine arbitrary rectangular coordinate system conversion method, comprising the following steps: adding total station equipment origin in global coordinate system solution;Real aperture slope radar equipment inherent two points in global coordinate system coordinate solution;Real aperture slope radar origin and orientation angle calculation;Slope radar azimuth cosine coordinate to global coordinate system conversion formula, the present application is added total station equipment and the measurement of simple several points, completes real aperture slope radar azimuth cosine coordinate system and the unity and conversion of mine arbitrary rectangular coordinate system, provides unified reference standard for mine subsequent monitoring early warning, it is convenient and fast positioning, identification and effective early warning forecast.

Description

Technical Field

[0001] This invention belongs to the field of slope radar monitoring and early warning technology, and specifically provides a method for converting between real aperture slope radar and arbitrary rectangular coordinate system in mines. Background Technology

[0002] Open-pit mining refers to the method of extracting ore by stripping away the overlying rock and soil layers. Open-pit mining inevitably creates slopes, which are highly susceptible to natural disasters such as landslides, spalling, and collapse under the influence of natural factors like rainfall, earthquakes, and volcanic eruptions, as well as human factors like mining, blasting, and transportation. Slope radar can monitor the surface displacement of open-pit mine slopes. Its wide coverage, high precision, short cycle time, and all-weather capability make it the most effective method for monitoring and early warning of open-pit mine slopes. Real aperture slope radar, due to its different principle from synthetic aperture radar, uses single-point measurements and generates a data stream, resulting in more accurate early warning and forecasting with a higher success rate.

[0003] Real aperture slope radar scans the target slope to create tens to hundreds of thousands of independent monitoring points. Each monitoring point exists independently, and its relative and absolute displacements are acquired through periodic scanning. Monitoring and early warning thresholds are set to achieve early warning and forecasting functions. The parameters measured by real aperture slope radar at a single point are typically azimuth, elevation, and distance. These three parameters constitute a spherical azimuth cosine local coordinate system. However, the global coordinate system used to represent the points on mine maps in open-pit mines is generally the nationally unified 2000 coordinate system, while some mines use their own self-built rectangular local coordinate system based on mine reference points. In practical engineering applications, for the sake of consistency, the two coordinate systems must be unified for easy monitoring and management. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine.

[0005] To achieve the above objectives, the technical solution adopted by this invention is: a method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine, comprising the following steps: Step S1: Based on the coordinates of four 3D points P that are not on the same circular arc in the global coordinate system of the mine. i (X) i Y i Z i The azimuth angles α of the four corresponding points measured by the total station. i and pitch angle β i By applying the least squares method, we can solve for the fitting function relationship that minimizes the weighted residuals between the calculated and measured values ​​of the azimuth and elevation angles, and obtain the coordinates (X0, Y0, Z0) of the total station in the global coordinate system of the mine. Step S2: Measure the spherical azimuth cosine coordinates of two fixed feature points CS and H on the actual aperture slope radar using a total station. Calculate the mine global coordinate system coordinates of CS and H, which are CS(X) and H, respectively. cs Y cs Z cs ) and H(X) h Y h Z h ); Step S3: Based on the rotation relationship around three axes during the transformation between the local coordinate system and the global mine coordinate system, calculate the difference in the vectors of these two points in the global mine coordinate system obtained through the transformation relationship. Apply the least squares method to find the parameter value that minimizes the error between the vector difference in the global mine coordinate system and the vector difference in the transformed global mine coordinate system. Then, based on any point CS and H and the rotation matrix N, calculate the coordinates O(X) of the radar origin in the global mine coordinate system. R Y R Z R ); Step S4: Given the known local spherical azimuth cosine coordinates of any point on the real aperture slope radar, the coordinates of any point in the global coordinate system of the mine can be obtained by azimuth cosine transformation, rotation and translation. This realizes the transformation from the spherical azimuth cosine coordinate system of the slope radar to the global coordinate system of the mine. The local spherical azimuth cosine coordinates of any point on the slope radar include azimuth angle α, elevation angle β and range L.

[0006] Further, in step S1, the P i The relational expression in the local coordinate system T-xyz of the total station is as follows: P i The formula for calculating the difference between the three-dimensional coordinates and the coordinates of the total station origin is as follows: DX=X i -X0; DY=Y i -Y0; DZ=Z i -Z0; If the orientation angle between the local coordinate system of the total station and the global coordinate system of the mine is c, then P i The coordinate expression in the local coordinate system of the total station is: x=DX×cos(c)+DY×sin(c); y=-DX×sin(c)+DY×cos(c); z=DZ; P i The calculated value expression in the local spherical azimuth cosine coordinate system (r, α, β) of the total station: r 计算值=sqrt(x 2 +y 2 +z 2 ); α 计算值 =arctan2(y,x); β 计算值 =arccos(z / r 计算值 ).

[0007] Further, in step S1, the least squares method adopts the least squares weighted residual method, and solves the parameter values ​​that minimize the variance between the calculated values ​​of α and β and the measured values ​​by fitting calculation. In the weighted residual calculation, the weights of α and β are both 1. Where: α i残差 =α i计算值 -α i观测值 ;β i残差 =β i计算值 -β i观测值 .

[0008] Furthermore, in step S1, when applying the least squares method, the initial guesses for parameters X0, Y0, and Z0 are taken from the coordinates of four three-dimensional points P. i The arithmetic mean of the directions, with the initial guess for the orientation angle c set to 0.

[0009] Furthermore, in step S2, for point CS, the coordinates in the local spherical azimuth cosine coordinate system of the total station are converted to the coordinates in the local coordinate system of the total station: x t_cs =r t_cs ×sin(β t_cs )×cos(α t_cs ); y t_cs =r t_cs ×sin(β t_cs )×sin(α t_cs ); z t_cs =r t_cs ×cos(β t_cs ); Based on the orientation angle c of the total station in the mine's global coordinate system, i.e., the rotation angle of the total station's local coordinate system relative to the Z-axis of the mine's global coordinate system, the relationship expression for converting the coordinates of the total station's local coordinate system to those of the mine's global coordinate system is as follows: X cs =X0+x t_cs ×cos(c)-y t_cs ×sin(c); Y cs =Y0+x t_cs ×sin(c)+y t_cs×cos(c); Z cs =Z0+z t_cs ; The coordinates of point CS in the global coordinate system of the mine can be obtained using the above formula. Similarly, the relationship expression and coordinates of point H can be obtained.

[0010] Furthermore, step S3 specifically includes: Calculate the difference vectors between points CS and H in the global coordinate system of the mine and the local rectangular coordinate system of the slope radar; By applying the least squares method, the parameters u, v, and w of the rotation matrix N that minimize the variance between vector ΔP and vector N×ΔQ are calculated through fitting. The rotation matrix N is then solved based on these three parameters. Based on the obtained rotation matrix N, through any point CS and H, the rotation formula O = (X... cs Y cs Z cs )-N×(x R_cs y R_cs , z R_cs The coordinates (X, O) of O can be calculated. R Y R Z R ), where CS(x R_cs y R_cs , z R_cs ) and H(x R_h y R_h , z R_h () represents the coordinates of the corresponding feature point in the local rectangular coordinate system R-xyz of the slope radar.

[0011] Furthermore, the expression for the rotation matrix N from the mine's global coordinate system Q-XYZ to the slope radar's local rectangular coordinate system R-xyz is: Rotation around the Z-axis: Nz = [[cos(u), sin(u), 0], [-sin(u), cos(u), 0], [0,0,1]]; Rotation around the X-axis: Nx = [[1, 0, 0], [0, cos(w), sin(w)], [0, -sin(w), cos(w)]]; Rotation around the Y-axis: Ny = [[cos(v), 0, -sin(v)], [0, 1, 0], [sin(v), 0, cos(v)]]; Rotation matrix N = Nz × (Ny × Nx); The rotation matrix N from the local rectangular coordinate system R-xyz of the slope radar to the global coordinate system Q-XYZ of the mine. T The expression is: Rotation about the Z-axis: NT z=[[cos(u),-sin(u),0],[sin(u),cos(u),0],[0,0,1]]; Rotation about the Y-axis: N T y=[[cos(v),0,sin(v)],[0,1,0],[sin(v),0,cos(v)]]; Rotation about the X-axis: N T x=[[1,0,0],[0,cos(w),-sin(w)],[0,sin(w),cos(w)]]; Rotation matrix N T =N T z×(N T y×N T x).

[0012] Furthermore, the difference vectors between point CS and point H in the global coordinate system of the mine are: ΔP = (X) cs Y cs Z cs )-(X h Y h Z h ); The difference vectors between points CS and H in the local rectangular coordinate system of the slope radar: ΔQ=(x R_cs y R_cs , z R_cs )-(x R_h y R_h , z R_h ).

[0013] Furthermore, step S4 specifically includes: The coordinates of any point in the spherical azimuth cosine coordinate system of the slope radar are RP j (α) j ,β j L j The rotation matrix is ​​N(u, v, w), and the coordinates of this point in the mine's global coordinate system are QP. j (X) j Y j Z j ); The slope radar spherical azimuth cosine coordinates RP j (α) j ,β j L j Convert to local rectangular coordinates RP for slope radar j (x) j y j , zj The transformation relationship is as follows: x j =L j ×cos(β) j )×cos(α) j ); y j =Lj×cos(β j )×sin(α j ); z j =L j ×sin(β) j ); The coordinates QP of any point mentioned above in the global coordinate system of the mine are obtained by combining the formula. j (X) j Y j Z j ): (X) j Y j Z j ) = (X) R Y R Z R )+N T ×(x j y j , z j ).

[0014] The beneficial effects of using this invention are: This invention, through the addition of a total station and measurements at a few simple points, achieves the unification and conversion between the real aperture slope radar azimuth cosine coordinate system and the arbitrary rectangular coordinate system of the mine, providing a unified reference standard for subsequent monitoring and early warning in the mine, facilitating rapid positioning, identification, and effective early warning and forecasting.

[0015] This invention eliminates the need for hardware modifications to the expensive slope radar unit or the addition of a specialized positioning and orientation system, significantly saving additional hardware costs and installation and debugging complexity. This makes the technical solution have significant advantages in terms of economy and operability, and is conducive to large-scale engineering applications.

[0016] This invention provides a complete set of explicit and programmable mathematical transformation models, transforming the complex spatial coordinate transformation process into a computable and repeatable algorithmic flow. This provides key technical support for seamlessly and automatically integrating slope radar monitoring data into the mine's digital management platform or geographic information system, greatly improving the automation level and decision support efficiency of slope safety monitoring and early warning. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the process of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Reference Figure 1 A method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine includes the following steps: Step S1: Based on the coordinates of four 3D points P that are not on the same circular arc in the global coordinate system of the mine. i (X) i Y i Z i The azimuth angles α of the four corresponding points measured by the total station. i and pitch angle β i By applying the least squares method, we can solve for the fitting function relationship that minimizes the weighted residuals between the calculated and measured values ​​of the azimuth and elevation angles, and obtain the coordinates (X0, Y0, Z0) of the total station in the global coordinate system of the mine.

[0020] The azimuth and elevation angles are weighted equally (i.e., 1), and the initial guess value of the least squares method is the weighted average of the four points. The initial guess value of the orientation angle is 0, and i represents the values ​​of the four points from 1 to 4. The orientation and coordinate values ​​of the total station in the global coordinate system are calculated. In the calculation process, the mine's global coordinate system Q-XYZ adopts a left-handed coordinate system, with true north as the orientation direction of 0° and clockwise rotation as positive. The X direction points to true north, the Y direction points to true east, and the Z direction points to the sky.

[0021] The local coordinate system of a total station is represented by T-xyz, and the local spherical azimuth cosine coordinate system (distance, azimuth, elevation) of the total station is represented by (r, α, β). The total station measures point P. i The azimuth angle is α i观测值 and pitch angle β i观测值 Angle calculations are performed in radians. Before leveling the total station, the pitch (rotation around the Y-axis) and roll (rotation around the X-axis) angles are both set to 0° by default. The azimuth angle is the angle with true north, denoted by 'c'. In the total station's local coordinate system, clockwise rotation around the Z-axis is positive, and the pitch angle is 0° for the sky. The coordinates of the total station origin in the global coordinate system are represented by (X0, Y0, Z0).

[0022] P i The relational expression in the local coordinate system T-xyz of the total station is as follows: P i The formula for calculating the difference between the three-dimensional coordinates and the coordinates of the total station origin is as follows: DX=X i -X0; DY=Y i -Y0; DZ=Z i -Z0; If the orientation angle between the local coordinate system of the total station and the global coordinate system of the mine is c, then P i The coordinate expression in the local coordinate system of the total station is: x=DX×cos(c)+DY×sin(c); y=-DX×sin(c)+DY×cos(c); z=DZ.

[0023] P i The calculated value expression in the local spherical azimuth cosine coordinate system (r, α, β) of the total station: r 计算值 =sqrt(x 2 +y 2 +z 2 ); α 计算值 =arctan2(y, x); β 计算值 =arccos(z / r 计算值 ).

[0024] The least squares method employs the weighted least squares residual method, which calculates and solves for the parameter values ​​that minimize the variance between the calculated and measured values ​​of α and β through fitting. In the weighted residual calculation, the weights of α and β are both 1, where: α i残差 =α i计算值 -α i观测值 ;β i残差 =β i计算值 -β i观测值 .

[0025] When applying the least squares method, the initial guesses for parameters X0, Y0, and Z0 are taken from the coordinates of four three-dimensional points P. i The arithmetic mean of the orientation angle c is taken as 0. The computer least squares method calculation model is applied to iterate from the initial guess value to calculate the values ​​of parameters X0, Y0, Z0 and c when the weights of the weighted residuals α and β are both 1. That is, the coordinates of the total station origin in the mine global coordinate system and the orientation angle relative to due north are obtained by solving the problem.

[0026] Step S2: Based on the coordinates (X0, Y0, Z0) of the total station in the mine global coordinate system calculated in Step 1 and the orientation angle c relative to true north, measure the spherical azimuth cosine coordinates of two fixed feature points on the actual aperture slope radar, CS (control panel side point) and H (human-machine interaction side), using the total station. Calculate the mine global coordinate system coordinates of CS and H, which are CS(X0, Y0, Z0) and H, respectively. cs Y cs Z cs ) and H(X) h Y h Z h ); The spherical azimuth cosine coordinates of points CS and H include the azimuth angle α (α t_cs and α t_h ), pitch angle (β) t_cs and β t_h and distance r (r t_cs and r t_h Based on the translation, rotation, and azimuth cosine transformation relationships, the global coordinates of points CS and H in the mine can be calculated.

[0027] For point CS, the coordinates in the local spherical azimuth cosine coordinate system of the total station are converted to the coordinates in the local coordinate system of the total station as follows: x t_cs =r t_cs ×sin(β t_cs )×cos(α t_cs ); y t_cs =r t_cs ×sin(β t_cs )×sin(α t_cs ); z t_cs =r t_cs ×cos(β t_cs ); Based on the orientation angle c of the total station in the mine's global coordinate system, i.e., the rotation angle of the total station's local coordinate system relative to the Z-axis of the mine's global coordinate system, the relationship expression for converting the coordinates of the total station's local coordinate system to those of the mine's global coordinate system is as follows: X cs =X0+x t_cs ×cos(c)-y t_cs ×sin(c); Y cs =Y0+x t_cs ×sin(c)+y t_cs ×cos(c); Z cs =Z0+z t_cs ; The coordinates of point CS in the global coordinate system of the mine can be obtained using the above formula. Similarly, the relationship expression and coordinates of point H can be obtained.

[0028] Step S3: Based on the rotation relationship around three axes during the transformation between the local coordinate system and the global mine coordinate system, calculate the difference in the vectors of these two points in the global mine coordinate system obtained through the transformation relationship. Apply the least squares method to find the parameter value that minimizes the error between the vector difference in the global mine coordinate system and the vector difference in the transformed global mine coordinate system. Then, based on any point CS and H and the rotation matrix N, calculate the coordinates O(X) of the radar origin in the global mine coordinate system. R Y R Z R ).

[0029] Specifically, it includes the following: Given the global coordinate system Q-XYZ coordinates of points CS and H in the mine, CS(x) R_cs y R_cs , z R_cs ) and H(x R_h y R_h , z R_h Given that the coordinates of points CS and H in the local rectangular coordinate system R-xyz of the slope radar are CS(x) R_cs y R_cs , z R_cs ) and H(x R_h y R_h , z R_h The orientation angle u, pitch angle v, and roll angle w are unknown; the rotation matrix N between the local rectangular coordinate system R-xyz of the slope radar and the global coordinate system Q-XYZ of the mine is unknown; the coordinates O(X) of the origin O of the local rectangular coordinate system of the slope radar in the global coordinate system of the mine are unknown. R Y R Z R )unknown; u is the orientation angle of the local rectangular coordinate system of the slope radar relative to the north direction of the global coordinate system of the mine.

[0030] Calculate the difference vectors between points CS and H in the global coordinate system of the mine and the local rectangular coordinate system of the slope radar; Wherein, the difference vector between point CS and point H in the global coordinate system of the mine is: ΔP = (X) cs Y cs Z cs )-(X h Y h Z h ); The difference vectors between points CS and H in the local rectangular coordinate system of the slope radar: ΔQ=(xR_cs y R_cs , z R_cs )-(x R_h y R_h , z R_h ).

[0031] By applying the least squares method and performing fitting calculations, we can find the solution that makes vector ΔP and vector N equal. T The parameters u, v, and w of the rotation matrix N with the minimum variance between ×ΔQ are used to solve for the rotation matrix N. The initial guess values ​​of parameters u, v, and w are all 0. The least squares method calculation model is applied to iterate from the initial guess values ​​to obtain the values ​​of u, v, and w and the rotation matrix N based on these three parameters. The expression for the rotation matrix N from the global coordinate system Q-XYZ of the mine to the local rectangular coordinate system R-xyz of the slope radar is: Rotation around the Z-axis: Nz = [[cos(u), sin(u), 0], [-sin(u), cos(u), 0], [0,0,1]]; Rotation around the X-axis: Nx = [[1, 0, 0], [0, cos(w), sin(w)], [0, -sin(w), cos(w)]]; Rotation around the Y-axis: Ny = [[cos(v), 0, -sin(v)], [0, 1, 0], [sin(v), 0, cos(v)]]; Rotation matrix N = Nz × (Ny × Nx); The rotation matrix N from the local rectangular coordinate system R-xyz of the slope radar to the global coordinate system Q-XYZ of the mine. T The expression is: Rotation about the Z-axis: N T z=[[cos(u),-sin(u),0],[sin(u),cos(u),0],[0,0,1]]; Rotation about the Y-axis: N T y=[[cos(v),0,sin(v)],[0,1,0],[sin(v),0,cos(v)]]; Rotation about the X-axis: N T x=[[1,0,0],[0,cos(w),-sin(w)],[0,sin(w),cos(w)]]; Rotation matrix N T =N T z×(N T y×N T x).

[0032] Based on the obtained rotation matrix N, through any point CS and H, the rotation formula O = (X... cs Y cs Z cs )-N T ×(x R_cs y R_cs , z R_cs The coordinates (X, O) of O can be calculated. R Y R Z R ).

[0033] Step S4: Given the known local spherical azimuth cosine coordinates of any point on the real aperture slope radar, the coordinates of any point in the global coordinate system of the mine can be obtained by azimuth cosine transformation, rotation and translation. This realizes the transformation from the spherical azimuth cosine coordinate system of the slope radar to the global coordinate system of the mine. The local spherical azimuth cosine coordinates of any point on the slope radar include azimuth angle α, elevation angle β and range L.

[0034] Specifically, it includes the following: Given that the coordinates of any point RP in the spherical azimuth cosine coordinate system of the slope radar are... j (α) j ,β j L j The rotation matrix is ​​N(u, v, w), and the coordinates of this point in the mine's global coordinate system are QP. j (X) j Y j Z j ); Slope radar spherical azimuth cosine coordinates RP j (α) j ,β j L j ) and the local rectangular coordinates RP of the slope radar j (x) j y j , z j The conversion relationship is as follows: x j =L j ×cos(β) j )×cos(α) j ); y j =Lj×cos(β j )×sin(α j ); z j =L j ×sin(β) j ); The coordinates QP of any point mentioned above in the global coordinate system of the mine are obtained by combining the formula. j (X) j Y j Z j ): (X) j Y j Z j ) = (X) R Y R Z R )+N T ×(x j y j , z j ).

[0035] Currently, mine coordinate systems are typically represented using latitude and longitude, the 2000 coordinate system, and local mine coordinate systems. Among these, latitude and longitude and the 2000 coordinate system have fixed conversion methods based on their principles. However, without knowing the location and orientation of the actual aperture slope radar, it is impossible to convert the actual aperture slope radar's spherical azimuth cosine coordinate system to the global 2000 coordinate system or other global rectangular coordinate systems. This results in the single-point location monitored by the slope radar not being unified to the mine's global coordinate system, thus hindering positioning and affecting the efficiency of monitoring and early warning.

[0036] This invention introduces a total station. Using the known coordinates of four points in the mine (not on a single arc) in the mine's rectangular coordinate system, and the azimuth and elevation angles of these four points measured by the total station, a least-squares fitting method is applied to calculate the total station's orientation and the mine's global coordinate system. Then, by measuring the azimuth, elevation, and distance of two fixed points on a real aperture slope radar using the total station, and relying on the known coordinates of these two points in the slope radar's local spherical coordinate system, the least-squares fitting method is used to calculate the origin coordinates, three-dimensional rotation angle, and the conversion method between the mine's global coordinate system and the radar's local coordinate system. By using a newly added total station to measure the coordinates of six points and applying the least-squares fitting model, a unified conversion relationship between the real aperture slope radar coordinate system and any global rectangular coordinate system in the mine is achieved, ultimately realizing a unified conversion between the two coordinate systems.

[0037] The above content is only a preferred embodiment of the present invention. For those skilled in the art, many changes can be made in the specific implementation and application scope based on the concept of the present invention. As long as these changes do not depart from the concept of the present invention, they all fall within the protection scope of the present invention.

Claims

1. A method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine, comprising the following steps: Step S1: Based on the coordinates of four 3D points P that are not on the same circular arc in the global coordinate system of the mine. i (X) i Y i Z i The azimuth angles α of the four corresponding points measured by the total station. i and pitch angle β i By applying the least squares method, we can solve for the fitting function relationship that minimizes the weighted residuals between the calculated and measured values ​​of the azimuth and elevation angles, and obtain the coordinates (X0, Y0, Z0) of the total station in the global coordinate system of the mine. Step S2: Measure the spherical azimuth cosine coordinates of two fixed feature points CS and H on the actual aperture slope radar using a total station. Calculate the mine global coordinate system coordinates of CS and H, which are CS(X) and H, respectively. cs Y cs Z cs ) and H(X) h Y h Z h ); Step S3: Based on the rotation relationship around three axes during the transformation between the local coordinate system and the global mine coordinate system, calculate the difference in the vectors of these two points in the global mine coordinate system obtained through the transformation relationship. Apply the least squares method to find the parameter value that minimizes the error between the vector difference in the global mine coordinate system and the vector difference in the transformed global mine coordinate system. Then, based on any point CS and H and the rotation matrix N, calculate the coordinates O(X) of the radar origin in the global mine coordinate system. R Y R Z R ); Step S4: Given the known local spherical azimuth cosine coordinates of any point on the real aperture slope radar, the coordinates of any point in the global coordinate system of the mine can be obtained by azimuth cosine transformation, rotation and translation. This realizes the transformation from the spherical azimuth cosine coordinate system of the slope radar to the global coordinate system of the mine. The local spherical azimuth cosine coordinates of any point on the slope radar include azimuth angle α, elevation angle β and range L.

2. The method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine, as described in claim 1, is characterized in that: In step S1, the P i The relational expression in the local coordinate system T-xyz of the total station is as follows: P i The formula for calculating the difference between the three-dimensional coordinates and the coordinates of the total station origin is as follows: DX=X i -X0; DY=Y i -Y0: DZ=Z i -Z0; If the orientation angle between the local coordinate system of the total station and the global coordinate system of the mine is c, then P i The coordinate expression in the local coordinate system of the total station is: x=DX×cos(c)+DY×sin(c); y=-DX×sin(c)+DY×cos(c); z=DZ; P i The calculated value expression in the local spherical azimuth cosine coordinate system (r, α, β) of the total station: r 计算值 =sqrt(x 2 +y 2 +z 2 ); α 计算值 =arctan2(y,x); β 计算值 =arccos(z / r 计算值 )。 3. The method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine, as described in claim 2, is characterized in that: In step S1, the least squares method adopts the least squares weighted residual method, which calculates the parameter values ​​that minimize the variance between the calculated values ​​of α and β and the measured values ​​through fitting calculation. In the weighted residual calculation, the weights of α and β are both 1. Among them: a i残差 =a i计算值 -a i观测值 ;b i残差 =b i计算值 -b i观测值 。 4. The method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine, as described in claim 3, is characterized in that: In step S1, when applying the least squares method, the initial guesses for parameters X0, Y0, and Z0 are taken from the coordinates of four three-dimensional points P. i The arithmetic mean of the directions, with the initial guess for the orientation angle c set to 0.

5. The method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine, as described in claim 1, is characterized in that: In step S2, for point CS, the coordinates in the local spherical azimuth cosine coordinate system of the total station are converted to the coordinates in the local coordinate system of the total station: x t_cs =r t_cs ×sin(β t_cs )×cos(α t_cs ); y t_cs =r t_cs ×sin(β t_cs )×sin(a t_cs ); With t_cs =r t_cs ×cos(β t_cs ); Based on the orientation angle c of the total station in the mine's global coordinate system, i.e., the rotation angle of the total station's local coordinate system relative to the Z-axis of the mine's global coordinate system, the relationship expression for converting the coordinates of the total station's local coordinate system to those of the mine's global coordinate system is as follows: X cs =X0+x t_cs ×cos(c)-y t_cs ×sin(c); Y cs =Y0+x t_cs ×sin(c)+y t_cs ×cos(c); WITH cs =Z0+z t_cs ; The coordinates of point CS in the global coordinate system of the mine can be obtained using the above formula. Similarly, the relationship expression and coordinates of point H can be obtained.

6. The method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine, as described in claim 1, is characterized in that: Step S3 specifically includes: Calculate the difference vectors between points CS and H in the global coordinate system of the mine and the local rectangular coordinate system of the slope radar; By applying the least squares method, the parameters u, v, and w of the rotation matrix N that minimize the variance between vector ΔP and vector N×ΔQ are calculated through fitting. The rotation matrix N is then solved based on these three parameters. Based on the obtained rotation matrix N, through any point CS and H, the rotation formula O = (X... cs Y cs Z cs )-N×(x R_cs y R_cs , z R_cs The coordinates (X, O) of O can be calculated. R Y R Z R ), where CS(x R_cs y R_cs , z R_cs ) and H(x R_h y R_h , z R_h () represents the coordinates of the corresponding feature point in the local rectangular coordinate system R-xyz of the slope radar.

7. The method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine, as described in claim 6, is characterized in that: The expression for the rotation matrix N from the global coordinate system Q-XYZ of the mine to the local rectangular coordinate system R-xyz of the slope radar is: Rotation around the Z-axis: Nz = [[cos(u), sin(u), 0], [-sin(u), cos(u), 0], [0,0,1]]; Rotation around the X-axis: Nx = [[1, 0, 0], [0, cos(w), sin(w)], [0, -sin(w), cos(w)]]; Rotation around the Y-axis: Ny = [[cos(v), 0, -sin(v)], [0, 1, 0], [sin(v), 0, cos(v)]]; Rotation matrix N = Nz × (Ny × Nx); The rotation matrix N from the local rectangular coordinate system R-xyz of the slope radar to the global coordinate system Q-XYZ of the mine. T The expression is: Rotation about the Z-axis: N T z=[[cos(u),-sin(u),0],[sin(u),cos(u),0],[0,0,1]]; Rotation about the Y-axis: N T y=[[cos(v),0,sin(v)],[0,1,0],[sin(v),0,cos(v)]]; Rotation about the X-axis: N T x=[[1,0,0],[0,cos(w),-sin(w)],[0,sin(w),cos(w)]]; Rotation matrix N T =N T z×(N T y×N T x).

8. The method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine, as described in claim 6, is characterized in that: The difference vectors between points CS and H in the global coordinate system of the mine: ΔP=(X) cs Y cs Z cs )-(X h Y h Z h ); The difference vectors between points CS and H in the local rectangular coordinate system of the slope radar: ΔQ=(x R_cs ,y R_cs ,z R_cs )-(x R_h ,y R_h ,z R_h )。 9. The method for converting between a real aperture slope radar and an arbitrary rectangular coordinate system in a mine, as described in claim 1, is characterized in that: Step S4 specifically includes: The coordinates of any point in the spherical azimuth cosine coordinate system of the slope radar are RP j (α) j ,β j L j The rotation matrix is ​​N(u, v, w), and the coordinates of this point in the mine's global coordinate system are QP. j (X) j Y j Z j ); The slope radar spherical azimuth cosine coordinates RP j (α) j ,β j L j Convert to local rectangular coordinates RP for slope radar j (x) j y j , z j The transformation relationship is as follows: x j =L j ×cos(β) j )×cos(α) j ); y j =Lj×cos(β j )×sin(a j ); With j =L j ×sin(β j ); The coordinates QP of any point mentioned above in the global coordinate system of the mine are obtained by combining the formula. j (X) j Y j Z j ): (X j ,Y j ,Z j ) = (X R ,Y R ,Z R )+N T ×(x j ,y j ,z j )。

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