Setting-out method, measurement system, and computer readable medium

Abstract

A setting-out method, a measurement system (500), and a computer readable medium. The setting-out method is used for the measurement system (500). The measurement system (500) comprises a navigation module (1, 501), a laser ranging module (2, 502), and a centering rod (6, 503). The navigation module (1, 501) comprises an inertial measurement unit and a GNSS positioning unit. The setting-out method comprises: acquiring projection coordinates of a position vector of an antenna phase center in a first coordinate system by means of a GNSS positioning unit; acquiring distance information between a laser emission point and a laser irradiation point; on the basis of the projection coordinates and the distance information, calculating projection coordinates of the laser emission point in the first coordinate system and projection coordinates of the laser irradiation point in the first coordinate system; further calculating a corresponding setting-out error; and adjusting the centering rod (6, 503) on the basis of the setting-out error.

Description

Lofting method, measurement system and computer readable medium Technical Field

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

[0002] Engineering stakeout involves using specific surveying equipment and methods to locate known points in a real-world environment, using a design drawing or point database. Currently, surveyors typically use high-precision inertial navigation (RTK) receivers, a handheld controller, and a centering pole to locate the points themselves. This method requires the surveyor to constantly search around the target point, making the process less intuitive. Furthermore, in some unusual terrains, the centering pole cannot be fixed for position sampling, resulting in significantly lower efficiency.

[0003] Summary of the Invention

[0004] The present disclosure aims to provide a lofting method, a measuring system and a computer-readable medium, which combine a laser ranging module with a centering rod to achieve long-distance non-contact lofting while simplifying the lofting steps, and can stabilize the laser lofting through the centering rod.

[0005] At least one embodiment of the present disclosure provides a layout method for a measurement system, wherein the measurement system includes a navigation module, a laser ranging module, and a support unit, wherein the navigation module includes an inertial measurement unit and a GNSS positioning unit. The method includes: obtaining the projection coordinates of the position vector of the antenna phase center in a first coordinate system through the GNSS positioning unit. Get the distance information between the laser emission point and the laser irradiation point; based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; the corresponding lofting error is calculated according to the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be lofted in the first coordinate system; and the support part is lofted according to the lofting error to irradiate the laser irradiation point onto the point to be lofted.

[0006] For example, the lofting method provided by at least one embodiment of the present disclosure further includes: initializing a navigation module to obtain an initial value of a heading angle of the measurement system.

[0007] For example, in the lofting method provided by at least one embodiment of the present disclosure, based on the projection coordinates Calculate the projection coordinates S of the laser emission point in the first coordinate system, including: obtaining the projection coordinates of the coordinate vector from the antenna phase center to the laser emission point in the second coordinate system The projection coordinate S is calculated using the following formula: in, Represents the coordinate transformation matrix from the first coordinate system to the second 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 second coordinate system is located at the center of the inertial measurement unit, the x-axis is perpendicular to the measurement system panel and points inward, the y-axis is perpendicular to the x-axis and points to the right of the measurement system, and the z-axis, x-axis, and y-axis form a right-handed coordinate system.

[0008] For example, in the layout method provided by at least one embodiment of the present disclosure, the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information, including: calculating the projection coordinates of the laser irradiation point in the second coordinate system according to the distance information and using the following formula: in, represents the projection coordinates of the laser irradiation point in the laser coordinate system, Represents the spatial position relationship between the second coordinate system and the laser coordinate system. The origin of the laser coordinate system is the laser emission point. The y-axis of the laser coordinate system is the projection coordinate of the coordinate vector from the laser emission point to the laser irradiation point on the local horizontal plane. The x-axis and y-axis of the laser coordinate system form a right-handed coordinate system. The projection coordinate M is calculated using the following formula: in, Represents the coordinate transformation matrix from the first coordinate system to the second coordinate system.

[0009] For example, in the lofting method provided by at least one embodiment of the present disclosure, the lofting error includes a first lofting error and a second lofting error, and the corresponding lofting error is calculated according to the projection coordinate S, the projection coordinate M and the position information of the point to be lofted, including: calculating the vector according to the projection coordinate M and the projection coordinate P Heading angle Calculate the heading angle of the laser beam direction based on the projection coordinates S and M Establish the user's perspective coordinate system based on the heading angle and heading angle Calculate the first and second lofting errors in the user view coordinate system, where the origin of the user view coordinate system is the laser irradiation point, the positive direction of the x-axis coincides with the direction of the laser beam, and the y-axis is perpendicular to the x-axis to form a right-handed coordinate system.

[0010] For example, in the lofting method provided by at least one embodiment of the present disclosure, the lofting error includes the rotation angle and the shaking angle of the measurement system, and the corresponding lofting error is calculated according to the projection coordinate S, the projection coordinate M, and the projection coordinate P of the point to be lofted in the first coordinate system, including: calculating the vector according to the projection coordinate M and the projection coordinate P Heading angle Calculate the heading angle of the laser beam direction based on the projection coordinates S and M The rotation angle of the measuring system is calculated according to the following formula: Calculate the angle α1 between the projection coordinate P and the horizontal plane of the first coordinate system; calculate the angle α2 between the projection coordinate M and the horizontal plane of the first coordinate system; calculate the shake angle of the measurement system according to the following formula: △α=α1-α2.

[0011] For example, in the lofting method provided by at least one embodiment of the present disclosure, the vector is calculated based on the projection coordinates M and the projection coordinates P. Heading angle Includes: Calculate the heading angle according to the following formula Calculate the heading angle of the laser beam direction based on the projection coordinates S and M Includes: Calculate the heading angle according to the following formula The subscript E represents the coordinate component of the geographic easting in the first coordinate system, and the subscript N represents the coordinate component of the geographic northing in the first coordinate system.

[0012] For example, in the lofting method provided by at least one embodiment of the present disclosure, calculating the first lofting error and the second lofting error in the user perspective coordinate system includes: calculating the first lofting error according to the following formula: The second stakeout error is calculated according to the following formula:

[0013] For example, in the lofting method provided in at least one embodiment of the present disclosure, calculating the angle α1 between the projection coordinate P and the horizontal plane of the first coordinate system includes: calculating the angle α1 according to the following formula: Calculating the angle α2 between the projection coordinate M and the horizontal plane of the first coordinate system includes: calculating the angle α2 according to the following formula: Among them, the subscript E represents the coordinate component of the geographic easting in the first coordinate system, the subscript N represents the coordinate component of the geographic northing in the first coordinate system, and the subscript U represents the coordinate component of the elevation direction in the first coordinate system.

[0014] For example, the staking method provided by at least one embodiment of the present disclosure further includes: if there is an obstacle blocking the staking process, prompting the surveyor to move to the other side of the obstacle to perform the staking operation.

[0015] At least one embodiment of the present disclosure further provides a measurement system for implementing the layout method provided by at least one embodiment of the present disclosure, the measurement system comprising: a navigation module, a laser ranging module, a support portion, and a calculation module, wherein the calculation module is configured to calculate the projection coordinates based on the projection coordinates. The projection coordinates S of the laser emission point in the first coordinate system are calculated based on the distance information; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; and the corresponding layout error is calculated based on the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be layouted in the first coordinate system.

[0016] At least one embodiment of the present disclosure further provides a computer-readable medium having executable instructions stored thereon, which, when executed by one or more processors, performs the following steps in the lofting method provided in at least one embodiment of the present disclosure: based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; the corresponding layout error is calculated according to the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be layouted in the first coordinate system.

[0017] 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.

[0018] The layout method, measurement system, and computer-readable medium disclosed herein have the following beneficial effects:

[0019] This layout method combines a laser ranging module and a centering rod to achieve long-distance non-contact layout without the user having to constantly move and search. The laser can be prevented from shaking by simply stabilizing the centering rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] FIG1 is a schematic flow chart of a lofting method provided by at least one embodiment of the present disclosure;

[0022] FIG2 is a schematic diagram of an example of a measurement system provided by at least one embodiment of the present disclosure;

[0023] FIG3 shows a schematic diagram of laser lofting;

[0024] FIG4 is a schematic diagram showing a situation where there is an obstacle blocking the layout process;

[0025] FIG5 shows a schematic block diagram of a measurement system provided by at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] 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.

[0027] 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.

[0028] In order to solve the above technical problems, at least one embodiment of the present disclosure provides a layout method for a measurement system, the measurement system includes a navigation module, a laser ranging module and a support part. In the embodiment, the support part is taken as a centering rod as an example. The navigation module includes an inertial measurement unit and a GNSS positioning unit. The method includes: obtaining the projection coordinates of the position vector of the antenna phase center in the first coordinate system through the GNSS positioning unit. Get the distance information between the laser emission point and the laser irradiation point; based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; the corresponding layout error is calculated according to the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be laid out in the first coordinate system; and the centering rod is laid out according to the layout error to illuminate the laser irradiation point to the point to be laid out.

[0029] The layout method provided by the embodiment of the present disclosure combines the use of a laser ranging module and a centering rod, so that the operating radius of the measurement system can reach tens of meters. The user can achieve long-distance non-contact layout without constantly moving and searching, and only needs to stabilize the centering rod to prevent the laser from shaking.

[0030] At least one embodiment of the present disclosure further provides a measurement system using the above-mentioned lofting method.

[0031] 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.

[0032] FIG1 is a schematic flow chart of a lofting method provided by at least one embodiment of the present disclosure.

[0033] For example, the staking method is used in a surveying system, which may be an RTK receiver. An example structure of a surveying system is shown in FIG2 .

[0034] As shown in Figure 2, the measurement system includes a navigation module 1, a laser ranging module 2, a processing module 3, a transmission module 4, an electronic handbook and bracket 5, and a centering rod 6. 7 is the point to be staked out.

[0035] 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 acquires high-precision position information from the measurement system, while the Kalman filter fuses this information with angular rate and specific force information from the IMU to obtain high-frequency position and attitude information from the IMU.

[0036] The laser ranging module 2 is installed at the front end of the measurement system and includes a single-line laser rangefinder and a CPU 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.

[0037] The processing module 3 calculates and obtains the position information of the laser emission point and the laser irradiation point, and then obtains the required layout error based on the position information and the position information of the point to be laid out.

[0038] The transmission module 4 is mainly used to obtain the position information of the point to be staked out from the electronic notebook 5 , and to transmit the stakeout error obtained by the processing module 3 to the electronic notebook 5 .

[0039] As shown in FIG1 , the layout method includes the following steps S101 to S106 .

[0040] Step S101: Obtain the projection coordinates of the position vector of the antenna phase center in the first coordinate system through the GNSS positioning unit

[0041] 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.

[0042] For example, connect the base of the measurement system to the centering pole on the open surface of the area to be staked out, turn on the measurement system, configure the measurement system and access the differential data (for example, network differential data, which usually includes the coordinates of the base station, original observation information, differential correction numbers, etc.), and obtain the projection coordinates of the antenna phase center.

[0043] For example, manually enter the coordinates of the point to be staked out in an electronic notebook, or select the point to be staked out from a point database. The position information of the point to be staked out is transmitted to the measurement system through a transmission module, for example, via wired or wireless communication means. The position information of the centering rod tip is obtained through tilt compensation of the centering rod and compared with the position information of the point to be staked out. If the point to be staked out is near the rod tip and can be easily reached by moving, the rod tip can be directly moved to the position of the point to be staked out to complete the stakeout. If the stakeout point is far away or is inconvenient to move due to obstacles, the laser ranging module is turned on and steps S102 to S106 are continued.

[0044] Step S102: Acquire the distance information between the laser emission point and the laser irradiation point.

[0045] For example, the distance information between the laser emission point and the laser irradiation point is obtained through the laser ranging module.

[0046] Step S103: Based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated.

[0047] Step S104: Calculate the projection coordinates M of the laser irradiation point in the first coordinate system based on the projection coordinates S and the distance information.

[0048] Step S105: Calculate the corresponding stakeout error according to the projection coordinate S, the projection coordinate M, and the projection coordinate P of the point to be staked out in the first coordinate system.

[0049] Step S106: performing a stakeout operation on the centering rod according to the stakeout error to direct the laser irradiation point to the point to be staked out.

[0050] For example, the lofting method provided by the embodiment of the present disclosure may further include initializing a navigation module to obtain an initial value of the heading angle of the measurement system.

[0051] For example, first hold the centering rod of the measurement system and keep the measurement system still for a few seconds to obtain the initial values ​​of the roll and pitch angles of the second coordinate system relative to the first coordinate system. Then, continuously shake the centering rod to obtain the initial value of the heading angle of the second coordinate system relative to the first coordinate system and allow the Kalman filter to converge, thus completing the initialization of the navigation module.

[0052] For example, the origin of the second coordinate system is located at the center of the inertial measurement unit, the x-axis is perpendicular to the measurement system panel and points inward, the y-axis is perpendicular to the x-axis and points to the right of the measurement system, and the z-axis, x-axis, and y-axis form a right-handed coordinate system.

[0053] For example, in some embodiments of the present disclosure, step S103 may include: obtaining the projection coordinates of the coordinate vector from the antenna phase center to the laser emission point in the second coordinate system The projection coordinate S is calculated using the following formula: in, Represents the coordinate transformation matrix from the first coordinate system to the second coordinate system.

[0054] For example, projected coordinates It can be obtained by actual measurement with a ruler or by measuring the structural design drawings of the system.

[0055] For example, in some embodiments of the present disclosure, step S104 may include: calculating the projection coordinates of the laser irradiation point in the second coordinate system according to the distance information and using the following formula: The projection coordinates M are calculated using the following formula:

[0056] in, Indicates the spatial position relationship between the second coordinate system and the laser coordinate system, Represents the coordinate transformation matrix from the first coordinate system to the second coordinate system.

[0057] For example, the origin of the laser coordinate system is the laser emission point, the y-axis of the laser coordinate system is the projection coordinate of the coordinate vector from the laser emission point to the laser irradiation point on the local horizontal plane, and the x-axis and y-axis of the laser coordinate system constitute a right-handed coordinate system.

[0058] For example, Including rotational and translational relationships, they can be obtained through the structural design drawings of the measurement system.

[0059] Figure 3 shows a schematic diagram of laser stakeout. As shown in Figure 3, M and P are the projection coordinates mentioned above. MF represents the user's line of sight, which can also represent the direction of the laser beam. FMR represents the user's perspective coordinate system, established with the laser illumination point as the origin. Coordinate axis MF coincides with the positive direction of the user's line of sight, and coordinate axis MR is perpendicular to MF, forming a right-handed coordinate system. This user perspective coordinate system provides a more intuitive representation of stakeout errors and operations.

[0060] Two methods for calculating the layout error are described below with reference to FIG3 .

[0061] The first method to calculate the stakeout error:

[0062] For example, in some embodiments of the present disclosure, the lofting error includes a first lofting error and a second lofting error, and step S105 may include the following steps S301 to S303.

[0063] Step S301: Calculate the vector according to the projection coordinates M and P Heading angle

[0064] For example, the heading angle can be calculated according to the following formula

[0065] Where arctan2() represents the inverse tangent function, the heading angle range is (-π,π], counterclockwise rotation from geographic north is positive angle, and clockwise rotation is negative angle; the subscript E represents the coordinate component of geographic easting in the first coordinate system, and the subscript N represents the coordinate component of geographic northing in the first coordinate system.

[0066] Step S302: Calculate the heading angle of the laser beam direction according to the projection coordinates S and M

[0067] For example, the heading angle can be calculated according to the following formula

[0068] Step S303: Based on the heading angle and heading angle Calculate the first and second lofting errors in the user's viewing angle coordinate system.

[0069] For example, the first stakeout error and the second stakeout error can be calculated according to the following formula:

[0070] The user can move the measurement system according to the first and second lofting errors, thereby moving the laser irradiation point to complete the lofting.

[0071] The second method to calculate the stakeout error:

[0072] For example, in some embodiments of the present disclosure, the lofting error includes the rotation angle and the shake angle of the measurement system. Step S105 may include the following steps S311 to S314.

[0073] The vector is calculated based on the projection coordinates M and P. Heading angle Calculate the heading angle of the laser beam direction based on the projection coordinates S and M The rotation angle of the measuring system is calculated according to the following formula: Calculate the angle α1 between the projection coordinate P and the horizontal plane of the first coordinate system; calculate the angle α2 between the projection coordinate M and the horizontal plane of the first coordinate system; calculate the shake angle of the measurement system according to the following formula: △α=α1-α2.

[0074] Step S311: Calculate the vector according to the projection coordinates M and P Heading angle Calculate the heading angle of the laser beam direction based on the projection coordinates S and M

[0075] Vector Heading angle and the heading angle of the laser beam direction The calculation can be made by referring to the above steps S301 and S302, which will not be described in detail here.

[0076] Step S312: Determine the direction and angle of rotation of the measurement system according to the following formula, so that the user's line of sight and the coordinate vector on the local horizontal plane projection are coincide:

[0077] in, The sign of represents the direction of the rotation angle, positive means counterclockwise rotation, negative means clockwise rotation. The absolute value of represents the specific angle to be rotated. In particular, if When the absolute value of is greater than π, it is necessary to convert it to rotate in the opposite direction for the sake of simplicity. angle.

[0078] Step S313: Calculate the angle α1 between the projection coordinate P and the horizontal plane of the first coordinate system; calculate the angle α2 between the projection coordinate M and the horizontal plane of the first coordinate system.

[0079] For example, the angle α1 can be calculated according to the following formula: For example, the angle α2 can be calculated according to the following formula:

[0080] Wherein, the subscript U represents the coordinate component of the elevation direction in the first coordinate system; the value range of the angle α1 and the angle α2 is The positive direction of the U axis is positive, and the negative direction is negative.

[0081] Step S314: Calculate the roll angle of the measurement system according to the following formula: Δα=α1-α2.

[0082] Among them, the positive and negative signs of Δα indicate the direction of the front and back shaking of the centering pole. A positive sign indicates shaking toward the rear of the user, and a negative sign indicates shaking toward the front of the user. The absolute value of Δα indicates the specific angle of the front and back shaking.

[0083] For example, after obtaining the stakeout error in step S105, the error is transmitted to the electronic notebook via the transmission module and displayed in real time. The user can then perform stakeout operations by rotating and shaking the centering rod back and forth based on the stakeout error, or by moving the laser illumination point based on the first and second stakeout errors in the user's perspective coordinate system. During this process, the coordinate difference between the laser illumination point and the point to be staked out in the first coordinate system is continuously compared. If the difference meets the required accuracy for stakeout, the user is notified of the successful stakeout through voice, vibration, or other means. By combining the centering rod with the laser ranging module, long-distance stakeout can be achieved while also stabilizing the centering rod to prevent jitter during the stakeout process. Furthermore, the stakeout process is simplified; simply rotating the centering rod in place and shaking it back and forth allows the laser illumination point to be moved to quickly locate the point to be staked out.

[0084] It should be noted that, in this embodiment, using the antenna phase center to calculate the position of the laser irradiation point is a preferred embodiment. If the position of any component in the measurement system is known, the positions of the remaining components can also be known.

[0085] For example, the staking method provided by the embodiment of the present disclosure further includes: when there is an obstacle blocking the staking process, prompting the surveyor to move to the other side of the obstacle to perform the staking operation, which is shown in FIG4 .

[0086] In Figure 4, the centering rod is adjusted to the appropriate position, and the laser ranging module's laser emission point A is emitting laser light. Under normal circumstances, the laser light illuminates point C to be staked out, completing the stakeout. However, due to obstruction (for example, sand dunes, rocks, etc.), the laser light illuminates the obstacle, and the actual laser light point is laser light point B, not point C to be staked out. In this case, the geographic coordinate system coordinate difference cannot be less than the stakeout accuracy. In this case, the measurement system can prompt the surveyor to move to the other side of the obstacle to perform the stakeout operation.

[0087] FIG5 shows a measurement system 500 provided by at least one embodiment of the present disclosure. The measurement system 500 can be used to execute the layout method shown in FIG1 .

[0088] As shown in FIG. 5 , the measurement system 500 may include a navigation module 501 , a laser ranging module 502 , a centering rod 503 , and a calculation module 504 .

[0089] The calculation module 504 is configured to calculate the projected coordinates based on the The projection coordinates S of the laser emission point in the first coordinate system are calculated based on the distance information; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; and the corresponding layout error is calculated based on the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be layouted in the first coordinate system.

[0090] For example, the measurement system 500 may be implemented using hardware, software, firmware, or any feasible combination thereof, and the present disclosure is not limited thereto.

[0091] The functions of the various modules in the measurement system 500 can be implemented by using the specific implementation methods of the corresponding steps in the above-mentioned lofting method, which will not be described in detail here.

[0092] The technical effects of the measurement system 500 are the same as those of the above-mentioned lofting method, and will not be described in detail here.

[0093] At least one embodiment of the present disclosure further provides a computer-readable medium having executable instructions stored thereon, which, when executed by one or more processors, performs the following steps in the lofting method provided in at least one embodiment of the present disclosure: based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated; the projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information; the corresponding layout error is calculated according to the projection coordinates S, the projection coordinates M and the projection coordinates P of the point to be layouted in the first coordinate system.

[0094] There are a few points to note:

[0095] (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.

[0096] (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.

[0097] 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 lofting method for a measuring system, wherein the measuring system comprises a navigation module, a laser ranging module and a support part, characterized in that: The lofting method comprises: Get the coordinates P of the point to be staked out in the first coordinate system; Acquire, by the navigation module, a first coordinate of the navigation module in the first coordinate system; Acquiring the distance information between the laser emission point and the laser irradiation point by means of the laser ranging module; Acquire first vector information between the navigation module and the laser emission point; Acquire a second coordinate of the laser irradiation point in the first coordinate system according to the first coordinate, the first vector information and the distance information; Obtaining a corresponding lofting error according to the coordinate P and the second coordinate; and The support portion is adjusted according to the layout error so as to irradiate the laser irradiation point onto the point to be layout.

2. The lofting method according to claim 1, characterized in that: The navigation module includes an inertial measurement unit and a GNSS positioning unit. Acquiring, by the navigation module, a first coordinate of the navigation module in the first coordinate system, includes: The projection coordinates of the antenna phase center in the first coordinate system are obtained by the GNSS positioning unit. as the first coordinate; Acquiring a second coordinate of the laser irradiation point in the first coordinate system according to the first coordinate, the first vector information, and the distance information includes: Based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated using the first vector information; The second coordinate M is calculated based on the projection coordinate S and the distance information.

3. The lofting method according to claim 1, characterized in that: The lofting method further includes: initializing the navigation module to obtain an initial value of the measurement system.

4. The lofting method according to claim 2, characterized in that: Based on the projection coordinates The projection coordinates S of the laser emission point in the first coordinate system are calculated by using the first vector information, including: Obtain the projection coordinates of the vector from the antenna phase center to the laser emission point in the second coordinate system as the first vector information; The projection coordinate S is calculated using the following formula: in, A coordinate transformation matrix representing the coordinate transformation from the first coordinate system to the second coordinate system; Among them, 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, the z-axis, the x-axis and the y-axis constitute a right-handed coordinate system, and the origin of the second coordinate system is located at the center of the inertial measurement unit, the x-axis is perpendicular to the measurement system panel and points inward, the y-axis is perpendicular to the x-axis and points to the right side of the measurement system, and the z-axis, the x-axis and the y-axis constitute a right-handed coordinate system.

5. The lofting method according to claim 4, characterized in that: The projection coordinates M of the laser irradiation point in the first coordinate system are calculated based on the projection coordinates S and the distance information, including: The projection coordinates of the laser irradiation point in the second coordinate system are calculated according to the distance information and using the following formula: As the second coordinate: in, represents the projection coordinates of the laser irradiation point in the laser coordinate system, represents the spatial position relationship between the second coordinate system and the laser coordinate system, the origin of the laser coordinate system is the laser emission point, the y-axis of the laser coordinate system is the projection coordinate of the coordinate vector from the laser emission point to the laser irradiation point on the local horizontal plane, and the x-axis and y-axis of the laser coordinate system form a right-handed coordinate system; The projection coordinates M are calculated using the following formula: in, A coordinate transformation matrix from the first coordinate system to the second coordinate system is represented.

6. The lofting method according to claim 2, characterized in that: The lofting error includes a first lofting error and a second lofting error, and the corresponding lofting error is obtained according to the coordinate P and the second coordinate, including: The vector is calculated based on the second coordinate M and the coordinate P. Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinate S and the second coordinate M Establish the user perspective coordinate system based on the heading angle and the heading angle The first lofting error and the second lofting error in the user viewing angle coordinate system are calculated, wherein the origin of the user viewing angle coordinate system is the laser irradiation point, the positive direction of the x-axis coincides with the direction of the laser ray, and the y-axis is perpendicular to the x-axis to form a right-handed coordinate system.

7. The lofting method according to claim 2, characterized in that: The lofting error includes the rotation angle and the shaking angle of the measurement system, and the corresponding lofting error is obtained according to the coordinate P and the second coordinate, including: The vector is calculated based on the second coordinate M and the coordinate P. Heading angle Calculate the heading angle of the laser beam direction according to the projection coordinate S and the second coordinate M The rotation angle of the measuring system is calculated according to the following formula: Calculate the angle α1 between the coordinate P and the horizontal plane of the first coordinate system; Calculate the angle α2 between the second coordinate M and the horizontal plane of the first coordinate system; The roll angle of the measuring system is calculated according to the following formula: Δα=α1-α2.

8. The lofting method according to claim 6 or 7, characterized in that: The vector is calculated based on the second coordinate M and the coordinate P. Heading angle include: The heading angle is calculated according to the following formula Calculate the heading angle of the laser beam direction according to the projection coordinate S and the second coordinate M include: The heading angle is calculated according to the following formula The subscript E represents the coordinate component of the geographic east direction in the first coordinate system, and the subscript N represents the coordinate component of the geographic north direction in the first coordinate system.

9. The lofting method according to claim 6, characterized in that: Calculating the first lofting error and the second lofting error in the user viewing angle coordinate system includes: The first lofting error is calculated according to the following formula: The second lofting error is calculated according to the following formula:

10. The lofting method according to claim 7, characterized in that: Calculating the angle α1 between the coordinate P and the horizontal plane of the first coordinate system includes: The angle α1 is calculated according to the following formula: Calculating the angle α2 between the second coordinate M and the horizontal plane of the first coordinate system includes: The angle α2 is calculated according to the following formula: Among them, the subscript E represents the coordinate component of the geographic east direction in the first coordinate system, the subscript N represents the coordinate component of the geographic north direction in the first coordinate system, and the subscript U represents the coordinate component of the elevation direction in the first coordinate system.

11. The lofting method according to claim 1, characterized in that: The layout method further includes: in the event of an obstacle blocking the layout process, prompting a surveyor to move to the other side of the obstacle to perform a layout operation.

12. A measurement system for implementing the lofting method according to any one of claims 1 to 11, characterized in that: The measurement system includes a navigation module, a laser ranging module, a support part and a calculation module, wherein the calculation module is configured to obtain the coordinate P of the point to be staked out in a first coordinate system; obtain the first coordinate of the navigation module in the first coordinate system through the navigation module; obtain the distance information between the laser emission point and the laser irradiation point through the laser ranging module; obtain the first vector information between the navigation module and the laser emission point; obtain the second coordinate of the laser irradiation point in the first coordinate system according to the first coordinate, the first vector information and the distance information; and obtain the corresponding stakeout error according to the coordinate P and the second coordinate.

13. 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 11 are performed: Obtaining the coordinates P of the point to be staked out in the first coordinate system; Acquire, by the navigation module, a first coordinate of the navigation module in the first coordinate system; Acquiring the distance information between the laser emission point and the laser irradiation point by means of the laser ranging module; Acquire first vector information between the navigation module and the laser emission point; Acquire a second coordinate of the laser irradiation point in the first coordinate system according to the first coordinate, the first vector information and the distance information; A corresponding lofting error is obtained according to the coordinate P and the second coordinate.

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