Lofting method, multifunctional measurement apparatus and computer-readable medium

Abstract

A lofting method, a multifunctional measurement apparatus and a computer-readable medium. The lofting method is used for a multifunctional measurement apparatus (500). The multifunctional measurement apparatus (500) comprises a navigation module (1, 501) and a laser ranging module (2, 502), wherein the navigation module (1, 501) comprises an inertial measurement unit. The lofting method comprises: calculating plane projection coordinates of a laser irradiation point in a first coordinate system (S101); acquiring plane projection coordinates of a point to be lofted in the first coordinate system (S102); calculating a lofting error in a second coordinate system on the basis of the obtained coordinates (S103); and adjusting the position of the laser irradiation point on the basis of the lofting error until the laser irradiation point coincides with the point to be lofted within a lofting error range (S104). In the lofting method, a laser ranging module (2, 502) is used instead of a centering rod, so that a user can carry a multifunctional measurement apparatus and operate same conveniently, and it is only necessary to move a laser irradiation point in situ to implement long-distance lofting.

Description

Lofting method, multifunctional measuring device and computer readable medium Technical Field

[0001] Embodiments of the present disclosure relate to a layout method, a multifunctional measuring device, and a computer-readable medium. Background Art

[0002] In the field of engineering surveying, construction layout is the process of marking the coordinates of points on the design drawings or other known points in the actual working environment. Inertial navigation RTK (Real-time kinematic) receivers have an irreplaceable position in construction layout applications. At present, such products on the domestic and foreign markets require the use of a centering pole. When the existing centering pole is working, the lower end of the pole tip needs to be aligned with the target point to be measured, so the user needs to walk near the target point, which reduces the work efficiency. Moreover, due to the limitation of the length of the centering pole, it is even impossible to achieve the layout requirements in many working scenarios where it is inconvenient to physically contact the centering pole, such as when the target point is in a special location such as the edge of a cliff.

[0003] Summary of the Invention

[0004] The purpose of the present disclosure is to provide a layout method, a multifunctional measuring device and a computer-readable medium. By using a laser ranging module instead of a centering rod, the multifunctional measuring device can be carried around and the operation is convenient. Long-distance layout can be achieved by simply moving the laser irradiation point in place.

[0005] At least one embodiment of the present disclosure provides a layout method for a multifunctional measuring device, wherein the multifunctional measuring device includes a navigation module and a laser ranging module, wherein the navigation module includes an inertial measurement unit, and the method includes: calculating the plane projection coordinates L of the laser irradiation point in a first coordinate system NE ; Get the plane projection coordinates T of the point to be staked in the first coordinate system NE ; Based on coordinate L NE and coordinates T NE Calculating the lofting error in the second coordinate system; and adjusting the position of the laser irradiation point according to the lofting error within the laser irradiation range until the distance between the laser irradiation point and the point to be lofted coincides within the range of the preset lofting error.

[0006] For example, in the lofting method provided in at least one embodiment of the present disclosure, before calculating the lofting error in the second coordinate system, the method further includes initializing parameters of the multifunctional measuring device.

[0007] For example, in the layout method provided in at least one embodiment of the present disclosure, the parameters of the multifunctional measuring device are initialized, including: arbitrarily selecting a fixed point in the environment; and performing N laser measurement operations after irradiating the laser emitted by the laser ranging module at any tilt angle, any rotation angle, and / or any distance, thereby achieving parameter initialization, where N is a positive integer greater than 1.

[0008] For example, in the layout method provided by at least one embodiment of the present disclosure, the navigation module further includes a GNSS positioning unit, and the calculation of the plane projection coordinates of the laser irradiation point in the first coordinate system includes: obtaining the projection vector of the position vector of the antenna phase center in the first coordinate system through the GNSS positioning unit Calculate the projection vector of the coordinate vector from the center of the inertial measurement unit to the laser irradiation point in the third coordinate system Obtain the projection vector of the coordinate vector from the center of the inertial measurement unit to the phase center of the antenna in the third coordinate system Use the following formula to calculate the plane projection coordinate L NE : in, Represents the coordinate transformation matrix from the first coordinate system to the third coordinate system; the origin of the first coordinate system is located at the center of the inertial measurement unit, the x-axis is parallel to the local horizontal plane and points to the geographic north, the y-axis is parallel to the local horizontal plane and points to the geographic east, and the z-axis, x-axis, and y-axis form a right-handed coordinate system; the origin of the third coordinate system is located at the center of the inertial measurement unit, the x-axis is perpendicular to the panel of the multi-function measurement device and points inward, the y-axis is perpendicular to the x-axis and points to the right of the multi-function measurement device, and the z-axis, x-axis, and y-axis form a right-handed coordinate system.

[0009] For example, in the stakeout method provided in at least one embodiment of the present disclosure, calculating the stakeout error in the second coordinate system includes: calculating the heading angle in the user's line of sight; calculating the heading angle of the coordinate vector from the laser irradiation point to the point to be staked out; establishing a second coordinate system, and calculating the stakeout error in the second coordinate system based on the heading angle in the user's line of sight and the heading angle of the coordinate vector from the laser irradiation point to the point to be staked out, wherein the origin of the second coordinate system is the laser irradiation point, the positive direction of the x-axis coincides with the user's line of sight, and the y-axis is perpendicular to the x-axis to form a right-handed coordinate system.

[0010] For example, in the layout method provided in at least one embodiment of the present disclosure, the heading angle of the user's line of sight is calculated, including: adding the heading angle of the multi-function measuring device obtained in real time by the navigation module to the fixed deviation between the user's line of sight and the heading of the multi-function measuring device to obtain the heading angle of the user's line of sight.

[0011] For example, in the layout method provided by at least one embodiment of the present disclosure, calculating the heading angle of the coordinate vector from the laser irradiation point to the point to be layout includes: calculating the heading angle of the coordinate vector from the laser irradiation point to the point to be layout using the following formula: T represents the point to be staked out, L represents the laser irradiation point, subscript E represents the coordinate component in the geographic east direction, and subscript N represents the coordinate component in the geographic north direction.

[0012] For example, in the lofting method provided in at least one embodiment of the present disclosure, calculating the lofting error in the second coordinate system includes: calculating the lofting error in the second coordinate system using the following formula: in, Represents the coordinate vector from the laser irradiation point to the point to be staked out, Indicates the heading angle of the coordinate vector from the laser irradiation point to the point to be staked out, The heading angle indicating the direction of the user's gaze.

[0013] At least one embodiment of the present disclosure further provides a multifunctional measuring device for implementing the layout method provided by at least one embodiment of the present disclosure. The multifunctional measuring device includes a navigation module, a laser ranging module, and a calculation module. The calculation module is configured to calculate the plane projection coordinates L of the laser irradiation point in the first coordinate system. NE ; Get the plane projection coordinates T of the point to be staked in the first coordinate system NE ; and based on the coordinate L NE and coordinates T NE Calculate the stakeout error in the second coordinate system.

[0014] At least one embodiment of the present disclosure further provides a computer-readable medium having executable instructions stored thereon. When the instructions are executed by one or more processors, the following steps of the method provided in at least one embodiment of the present disclosure are performed: calculating the plane projection coordinates L of the laser irradiation point in the first coordinate system; NE ; Get the plane projection coordinates T of the point to be staked in the first coordinate system NE ; Based on coordinate L NE and coordinates T NE Calculate the stakeout error in the second coordinate system.

[0015] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

[0016] The layout method, multifunctional measuring device and computer-readable medium disclosed herein have the following beneficial effects:

[0017] This layout method uses a laser ranging module instead of a centering rod, so that the operating radius of the multifunctional measuring device can reach tens of meters. Within the operating range of the multifunctional measuring device, the user does not need to move back and forth, left and right, but only needs to move the laser irradiation point in place to quickly find the point to be laid out. In addition, the multifunctional measuring device equipped with a laser ranging module has a compact and lightweight structure, and the user can carry it with him and operate it conveniently. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present disclosure will become more apparent from a reading of the detailed description of non-limiting embodiments made with reference to the following accompanying drawings.

[0019] FIG1 is a schematic flow chart of a lofting method provided by at least one embodiment of the present disclosure;

[0020] FIG2 is a schematic diagram of an example of a multifunctional measuring device provided by at least one embodiment of the present disclosure;

[0021] FIG3 shows a process for initializing the heading angle of the multifunctional measuring device;

[0022] FIG4 is a schematic diagram of a process for calculating a lofting error in a second coordinate system provided by at least one embodiment of the present disclosure;

[0023] FIG5 is a schematic block diagram of a multifunctional measuring device provided by at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0025] Unless otherwise defined, the technical or scientific terms used in this disclosure should have the usual meanings understood by people with ordinary skills in the field to which this disclosure belongs. "First", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, "one", "an" or "the" and similar words do not indicate a quantity limitation, but rather indicate the presence of at least one. "Include" or "comprising" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0026] In order to solve the above technical problems, at least one embodiment of the present disclosure provides a layout method for a multifunctional measuring device, wherein the multifunctional measuring device includes a navigation module and a laser ranging module, wherein the navigation module includes an inertial measurement unit, and the method includes: calculating the plane projection coordinates L of the laser irradiation point in the first coordinate system NE ; Get the plane projection coordinates T of the point to be staked in the first coordinate system NE ; Based on coordinate L NE and coordinates T NE Calculating the layout error in the second coordinate system; and adjusting the position of the laser irradiation point according to the layout error until the laser irradiation point coincides with the point to be layouted.

[0027] The layout method provided by the embodiment of the present disclosure uses a laser ranging module instead of a centering rod, so that the operating radius of the multifunctional measuring device can reach tens of meters. The user does not need to move forward, backward, left, or right, but only needs to move the laser irradiation point in place to quickly find the point to be laid out. In addition, the multifunctional measuring device equipped with a laser ranging module has a compact and lightweight structure, and the user can carry it with him and operate it conveniently.

[0028] At least one embodiment of the present disclosure further provides a multifunctional measuring device using the above-mentioned layout method.

[0029] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, but the present disclosure is not limited to these specific embodiments.

[0030] FIG1 is a schematic flow chart of a lofting method provided by at least one embodiment of the present disclosure.

[0031] For example, the staking method is used for a multifunctional surveying device, which may be an RTK receiver. An example structure of the multifunctional surveying device is shown in FIG2 .

[0032] As shown in FIG2 , the multifunctional measuring device includes a navigation module 1 , a laser ranging module 2 , an antenna 3 , a display screen 4 , a thread 5 , an input keyboard 6 , a button 7 , and a battery 8 .

[0033] Navigation module 1 primarily consists of an inertial measurement unit (IMU), a GNSS (Global Navigation Satellite System) positioning unit, and a Kalman filter. The GNSS positioning unit can obtain high-precision position information from the multifunctional measuring device, and the Kalman filter can fuse this position information with the angular rate and specific force information from the IMU to obtain high-frequency position and attitude information from the IMU. Antenna 3 is used to cooperate with navigation module 1 to transmit and receive data. Display screen 4 is used to display the projection errors between the laser irradiation point and the point to be projected in the second coordinate system to guide user operation. Display screen 4 can also be used to display data collected by navigation module 1 and laser ranging module 2, as well as calculation results of the multifunctional measuring device. Thread 5 is used to tighten the centering rod, compatible with the use mode of traditional centering rods. Input keyboard 6 is used for user input of instructions, coordinates, and other information. Button 7 is the trigger button for laser emission. Battery 8 is used to power the entire multifunctional measuring device.

[0034] The laser ranging module 2 is installed at the front end of the multifunctional measuring device, and includes a single-line laser rangefinder and a CPU (Center Processing Unit) processor. The laser rangefinder irradiates a laser to a certain point in space, obtains the phase observation value, and processes it through the CPU processor to obtain the distance information between the point and the laser emission point.

[0035] The composition and structure of each component shown in FIG2 are merely examples and are not intended to limit the scope of protection of the present disclosure.

[0036] As shown in FIG1 , the layout method includes the following steps S101 to S104 .

[0037] Step S101: Calculate the plane projection coordinates L of the laser irradiation point in the first coordinate system NE .

[0038] For example, the origin of the first coordinate system is located at the center of the inertial measurement unit, the x-axis is parallel to the local horizontal plane and points to the geographic north, the y-axis is parallel to the local horizontal plane and points to the geographic east, and the z-axis, x-axis, and y-axis form a right-handed coordinate system.

[0039] Step S102: Obtain the plane projection coordinates T of the point to be staked out in the first coordinate system NE .

[0040] For example, the projection coordinates of the point to be staked out are manually input through the input keyboard, or the point to be staked out is selected from the point database, and the projection coordinates of the point to be staked out are transmitted to the multifunctional measuring device, for example, through communication means such as Bluetooth and WIFI.

[0041] Step S103: Based on the coordinate L NE and coordinates T NE Calculate the stakeout error in the second coordinate system.

[0042] The second coordinate system here refers to the perspective of the staff who operates the multifunctional measuring device to perform the layout action.

[0043] Step S104: Within the laser irradiation range, the position of the laser irradiation point is adjusted based on the stakeout error until the distance between the laser irradiation point and the point to be staked out coincides with the predetermined stakeout error. Specifically, the stakeout error calculated in step S103 can be displayed on a display screen, allowing the user to adjust the position of the laser irradiation point based on the displayed error. Adjustment can be achieved, for example, by moving, rotating, or tilting the multifunctional measuring device.

[0044] For example, in some embodiments of the present disclosure, before step S103 , the layout method further includes initializing parameters of the multifunctional measuring device.

[0045] The parameter initialization process can refer to Figure 3, which mainly includes the following steps:

[0046] Step 1: Select a fixed point in the environment (the environment where the point to be staked is located), such as a point on the wall, such as point M in Figure 3. Mark the point for easy identification (marking is not necessary).

[0047] Step 2: The handheld multifunctional measuring device transmits the laser emitted by the laser ranging module to a fixed point at any tilt angle, any steering angle and any distance to complete a laser measurement operation, and then moves the position of the laser emission point to perform the next laser measurement operation. After performing N laser measurement operations, the parameter initialization is achieved, where N is a positive integer greater than 1. The laser emission points at different positions are, for example, points P1, P2, P3, P4 in Figure 3. N-1 、P N .

[0048] For example, the navigation module includes a satellite navigation system (GNSS, including at least a GNSS positioning unit) and an inertial navigation system (INS, including at least an inertial measurement unit). The GNSS and INS can be combined to calculate and obtain the parameters of the multifunctional measurement device in real time. By integrating laser observation data with the navigation module, the parameters of the multifunctional measurement device can be quickly initialized.

[0049] It should be noted that the parameter initialization of the multifunctional measuring device using the laser ranging module is not limited to the form of laser measurement, and the parameters can also be initialized using a centering rod.

[0050] For example, in some embodiments of the present disclosure, the navigation module includes a GNSS positioning unit, and step S101 may include the following steps S111 to S114.

[0051] Step S111: Obtain the projection vector of the position vector of the antenna phase center in the first coordinate system through the GNSS positioning unit

[0052] Step S112: Calculate the projection vector of the coordinate vector from the center of the inertial measurement unit to the laser irradiation point in the third coordinate system

[0053] For example, the origin of the third coordinate system is located at the center of the inertial measurement unit, the x-axis is perpendicular to the panel of the multi-function measuring device and points inward, the y-axis is perpendicular to the x-axis and points to the right side of the multi-function measuring device, and the z-axis, x-axis, and y-axis form a right-handed coordinate system.

[0054] For example, in some embodiments of the present disclosure, step S112 may include: obtaining a projection vector l' of the coordinate vector from the center of the inertial measurement unit to the laser emission point in the third coordinate system; obtaining the distance from the laser emission point to the laser irradiation point through the laser ranging module; adding the projection vector l' to the distance from the laser emission point to the laser irradiation point to obtain the projection vector l' of the coordinate vector from the center of the inertial measurement unit to the laser irradiation point in the third coordinate system.

[0055] For example, the projection vector l' can be obtained by actual measurement or from a structural design drawing of the multifunctional measuring device.

[0056] Step S113: Obtain the projection vector of the coordinate vector from the center of the inertial measurement unit to the phase center of the antenna in the third coordinate system

[0057] For example, the projection vector It can be obtained by actual measurement or from the structural design drawings of the multifunctional measuring device.

[0058] Step S114: Calculate the plane projection coordinate L using the following formula NE :

[0059] in, represents the coordinate transformation matrix from the first coordinate system to the third coordinate system. In this formula, c represents cos(), s represents sin(), θ represents the pitch angle of the multifunctional measuring device, and φ represents the roll angle of the multifunctional measuring device. Indicates the heading angle of the multifunctional measuring device.

[0060] For example, in some embodiments of the present disclosure, step S103 may include: calculating the heading angle of the user's line of sight; calculating the heading angle of the coordinate vector from the laser irradiation point to the point to be staked out; establishing a second coordinate system, and calculating the stakeout error in the second coordinate system based on the heading angle of the user's line of sight and the heading angle of the coordinate vector from the laser irradiation point to the point to be staked out.

[0061] Figure 4 illustrates the process of calculating the stakeout error in the second coordinate system. As shown in Figure 4, L represents the laser illumination point, T represents the point to be staked out, and the LF direction represents the user's line of sight, which can also represent the direction of the laser beam. FLR represents the second coordinate system established with the laser illumination point as the origin. The coordinate axis LF coincides with the positive direction of the user's line of sight, and the coordinate axis LR is perpendicular to LF, forming a right-handed coordinate system. This makes stakeout errors and stakeout operations in the second coordinate system more intuitive. The heading angle indicating the direction of the user's line of sight, Represents the coordinate vector from the laser irradiation point to the point to be staked out, Represents coordinate vector The heading angle, ΔF and ΔR represent the stakeout errors in the second coordinate system.

[0062] For example, in some embodiments of the present disclosure, the heading angle of the user's line of sight is calculated The method may include adding a fixed deviation between the user's sight line direction and the heading of the multifunctional measuring device to the heading angle of the multifunctional measuring device acquired by the navigation module in real time to obtain the heading angle of the user's sight line direction.

[0063] For example, Indicates the heading angle of the multifunctional measuring device obtained by the navigation module in real time. Indicates the fixed deviation between the user's line of sight and the multifunctional measuring device. The heading angle of the user's line of sight is for:

[0064] For example, in some embodiments of the present disclosure, the coordinate vector from the laser irradiation point to the point to be set out is calculated. Heading angle It can include: using the following formula to calculate the heading angle of the coordinate vector from the laser irradiation point to the point to be staked out

[0065] Wherein, arctan() represents the inverse tangent function, the subscript E represents the coordinate component in the geographic easting direction, and the subscript N represents the coordinate component in the geographic northing direction.

[0066] For example, in some embodiments of the present disclosure, calculating the lofting error in the second coordinate system may include: calculating the lofting error in the second coordinate system using the following formula:

[0067] in,

[0068] FIG5 shows a multifunctional measuring device 500 provided by at least one embodiment of the present disclosure. The multifunctional measuring device 500 can be used to execute the layout method shown in FIG1 .

[0069] As shown in FIG. 5 , the multifunctional measuring device 500 may include a navigation module 501 , a laser ranging module 502 , and a calculation module 503 .

[0070] The calculation module 503 is configured to calculate the plane projection coordinates L of the laser irradiation point in the first coordinate system. NE ; Get the plane projection coordinates T of the point to be staked in the first coordinate system NE ; and based on the coordinate L NE and coordinates T NE Calculate the stakeout error in the second coordinate system.

[0071] For example, the multifunctional measuring device 500 may be implemented using hardware, software, firmware, or any feasible combination thereof, and the present disclosure is not limited thereto.

[0072] The functions of the various modules in the multifunctional measuring device 500 can be implemented by using the specific implementation methods of the corresponding steps in the above-mentioned layout method, which will not be described in detail here.

[0073] The technical effect of the multifunctional measuring device 500 is the same as that of the above-mentioned lofting method, and will not be repeated here.

[0074] There are a few points to note:

[0075] (1) The drawings of the embodiments of the present disclosure only relate to the structures involved in the embodiments of the present disclosure. Other structures may refer to conventional designs.

[0076] (2) In the absence of conflict, the embodiments of the present disclosure and the features therein may be combined with each other to form new embodiments.

[0077] The above description is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. The protection scope of the present disclosure shall be based on the protection scope of the claims.

Claims

1. A layout method for a multifunctional measuring device, wherein the multifunctional measuring device comprises a navigation module and a laser ranging module, wherein the navigation module comprises an inertial measurement unit, wherein: include: Calculate the plane projection coordinates L of the laser irradiation point in the first coordinate system NE ; Get the plane projection coordinates T of the point to be staked out in the first coordinate system NE ; Based on the coordinate L NE and the coordinates T NE Calculate the lofting error in the second coordinate system; as well as Within the laser irradiation range, the position of the laser irradiation point is adjusted according to the layout error until the distance between the laser irradiation point and the point to be layout coincides within the range of a preset layout error.

2. The lofting method according to claim 1, characterized in that: Before calculating the lofting error in the second coordinate system, the method further includes initializing parameters of the multifunctional measuring device.

3. The lofting method according to claim 2, characterized in that: Initializing the parameters of the multifunctional measuring device includes: Pick any fixed point in the environment; The parameters are initialized after N laser measurement operations are performed by irradiating the laser emitted by the laser ranging module onto the fixed point at any tilt angle, any rotation angle and / or any distance, where N is a positive integer greater than 1.

4. The lofting method according to claim 1, characterized in that: The navigation module also includes a GNSS positioning unit, which calculates the plane projection coordinates of the laser irradiation point in the first coordinate system, including: The projection vector of the position vector of the antenna phase center in the first coordinate system is obtained by the GNSS positioning unit Calculate the projection vector of the coordinate vector from the center of the inertial measurement unit to the laser irradiation point in the third coordinate system Obtain a projection vector of a coordinate vector from the center of the inertial measurement unit to the phase center of the antenna in the third coordinate system Use the following formula to calculate the plane projection coordinate L NE : in, A coordinate transformation matrix representing the first coordinate system to the third coordinate system; The origin of the first coordinate system is located at the center of the inertial measurement unit, the x-axis is parallel to the local horizontal plane and points to the geographic north, the y-axis is parallel to the local horizontal plane and points to the geographic east, and the z-axis, the x-axis and the y-axis form a right-handed coordinate system; The origin of the third coordinate system is located at the center of the inertial measurement unit, the x-axis is perpendicular to the panel of the multifunctional measuring device and points inward, the y-axis is perpendicular to the x-axis and points to the right side of the multifunctional measuring device, and the z-axis, x-axis and y-axis form a right-handed coordinate system.

5. The lofting method according to claim 4, characterized in that: Calculate the projection of the coordinate vector from the center of the inertial measurement unit to the laser irradiation point in the third coordinate system include: Obtaining a projection vector l' of a coordinate vector from the center of the inertial measurement unit to the laser emission point in the third coordinate system; Obtaining the distance from the laser emission point to the laser irradiation point by means of the laser ranging module; The projection vector l' is added to the distance from the laser emission point to the laser irradiation point to obtain the projection vector of the coordinate vector from the center of the inertial measurement unit to the laser irradiation point in the third coordinate system.

6. The lofting method according to claim 1, characterized in that: Calculate the lofting error in the second coordinate system, including: Calculate the heading angle of the user's line of sight; Calculating the heading angle of the coordinate vector from the laser irradiation point to the point to be staked out; A second coordinate system is established, and based on the heading angle of the user's line of sight and the heading angle of the coordinate vector from the laser irradiation point to the point to be staked out, the stakeout error in the second coordinate system is calculated, wherein the origin of the second coordinate system is the laser irradiation point, the positive direction of the x-axis coincides with the user's line of sight, and the y-axis is perpendicular to the x-axis to form a right-handed coordinate system.

7. The lofting method according to claim 6, characterized in that: Calculate the heading angle of the user's line of sight, including: The heading angle of the multifunctional measuring device acquired by the navigation module in real time is added to a fixed deviation between the user's sight line direction and the heading of the multifunctional measuring device to obtain the heading angle of the user's sight line direction.

8. The lofting method according to claim 6, characterized in that: Calculating the heading angle of the coordinate vector from the laser irradiation point to the point to be staked out includes: The heading angle of the coordinate vector from the laser irradiation point to the point to be staked out is calculated using the following formula: T represents the point to be staked out, L represents the laser irradiation point, subscript E represents the coordinate component in the geographic east direction, and subscript N represents the coordinate component in the geographic north direction.

9. The lofting method according to claim 6, characterized in that: Calculating the lofting error in the second coordinate system includes: The following formula is used to calculate the lofting error in the second coordinate system: in, represents the coordinate vector from the laser irradiation point to the point to be lofted, represents the heading angle of the coordinate vector from the laser irradiation point to the point to be staked out, Indicates the heading angle of the user's line of sight.

10. A multifunctional measuring device, used to implement the lofting method according to any one of claims 1 to 9, characterized in that: The multifunctional measuring device comprises a navigation module, a laser ranging module and a calculation module, wherein the calculation module is configured to calculate the plane projection coordinates L of the laser irradiation point in the first coordinate system. NE ; Obtain the plane projection coordinates T of the point to be staked out in the first coordinate system NE ; and based on the coordinate L NE and the coordinates T NE Calculate the stakeout error in the second coordinate system.

11. A computer-readable medium having executable instructions stored thereon, characterized in that: When the instruction is executed by one or more processors, the following steps in the method according to any one of claims 1 to 9 are performed: Calculate the plane projection coordinates L of the laser irradiation point in the first coordinate system NE ; Get the plane projection coordinates T of the point to be staked out in the first coordinate system NE ; Based on the coordinate L NE and the coordinates T NE Calculate the stakeout error in the second coordinate system.

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