阅读说明：本技术 一种大尺寸目标物的组合式测量方法 (Combined measuring method for large-size target object ) 是由 何斌 龙博 王志鹏 周艳敏 沈润洁 袁烽 于 2019-09-04 设计创作，主要内容包括：一种大尺寸目标物的组合式测量方法,包括以下操作,对待测构件布置激光跟踪仪和全站仪,激光跟踪仪至少一台,全站仪至少一台,所有的激光跟踪仪和全站仪形成针对待测构件的多站点测量系统；任选一台激光跟踪仪或者全站仪作为全局基准,将全局基准的局部坐标系作为全局坐标系,将全局基准以外的激光跟踪仪或者全站仪转换到全局坐标系下,获得任意两点在全局坐标系下的坐标值,即可获得待测目标的尺寸信息。本发明具有能够利用激光跟踪仪的测距精度,全站仪的测角精度,对大尺寸构建进行高精度测距和测角的优点。(A combined measuring method of a large-size target object comprises the following operations that a laser tracker and a total station are arranged on a member to be measured, at least one laser tracker and at least one total station are arranged on the member to be measured, and all the laser trackers and the total station form a multi-station measuring system for the member to be measured; and optionally selecting one laser tracker or total station as a global reference, using a local coordinate system of the global reference as a global coordinate system, converting the laser trackers or the total stations except the global reference into the global coordinate system, and obtaining coordinate values of any two points in the global coordinate system, namely obtaining the size information of the target to be measured. The invention has the advantages of high-precision distance measurement and angle measurement for large-size construction by utilizing the distance measurement precision of the laser tracker and the angle measurement precision of the total station.)

1. A combined measurement method for a large-size target object is characterized in that: the measuring method comprises the following operations of arranging at least one laser tracker and at least one total station for a component to be measured, wherein all the laser trackers and the total stations form a multi-station measuring system for the component to be measured; and optionally selecting one laser tracker or total station as a global reference, using a local coordinate system of the global reference as a global coordinate system, converting the laser trackers or the total stations except the global reference into the global coordinate system, and obtaining coordinate values of any two points in the global coordinate system, namely obtaining the size information of the target to be measured.

2. The combined measurement method of a large-sized object according to claim 1, wherein: if the global reference is the laser tracker, taking a local coordinate system of the laser tracker as a global coordinate system; if the global reference is the total station, the polar coordinate of the total station is converted into a rectangular coordinate system, and then the rectangular coordinate system of the total station is used as a global coordinate system.

3. The combined measurement method of a large-sized object according to claim 1, wherein: based on the burst model, the laser tracker or the total station except the global reference is converted into a global coordinate system, and the conversion relation is as follows:

4. The combined measurement method of a large-sized object according to claim 1, wherein: and after each target point is converted into a global coordinate system, performing data fusion processing, wherein the specific fusion method comprises the following steps: for any target point, the target point has a global rectangular coordinate g in a global coordinate system_kAnd the polar coordinate theta of the target point measured at the kth station_kThe corresponding relation between the global rectangular coordinate and the polar coordinate is recorded as g_k＝f(θ_k) (ii) a Taylor expansion is carried out on the corresponding relation between the global rectangular coordinate and the polar coordinate, the quadratic term is omitted, and the result is obtained

covariance matrix:

σ_kρIndicates the ranging accuracy, σ, of the kth station_kαIndicating the accuracy of the angle measurement, σ, of the kth station to the horizontal angle_kβRepresenting the angle measurement precision of the kth station to the vertical angle;

for global rectangular coordinate g_kPerforming weighted unbiased fusion estimation

Technical Field

The invention relates to a combined measuring method for large-size targets in the field of construction.

Background

A building generally refers to an artificial structure that is fixed relative to the ground and has a certain lifespan. The structure of the building mainly comprises a foundation, a foundation and a wall according to the system engineering division; the basic building elements are made up of panels, beams, columns, arches, trusses, walls and foundations.

Foundations are the load bearing members of the building below the ground that support the entire sum of the upper building and self-transfer these loads and foundations to the underlying foundation. Foundations are not part of buildings, they are soil or rock masses that bear the loads transmitted by the foundation, and buildings must be constructed on a solid and reliable foundation. The walls and columns are vertical load-bearing members that support the roof and floor, etc., and transfer these loads and their deadweight to the foundation. The plate is a planar structural member covering a plane having a large planar dimension but having a relatively small thickness. A beam generally refers to a linear member parallel to the ground that carries loads in the longitudinal direction. A column is a linear member that is loaded parallel to the longitudinal axis and has a cross-sectional dimension that is less than its height, typically dominated by compression and bending. The arch is of a curve structure and consists of a curve component (arch ring) or a broken line component and a support thereof, and mainly bears axial pressure under the action of reloading and sometimes bears bending moment and shearing force; compared with the same quick-reading beam, the bending moment and the shearing force are smaller, so that the material can be saved, the rigidity is improved, and a larger space is spanned. Trusses are made up of straight rods, typically planar or spatial structures with triangular elements. Under the action of reloading, the truss rod piece mainly bears axial tension or pressure, so that the strength of the material can be fully utilized, and when the span is larger, the material can be saved compared with a real web beam, the self weight is reduced, and the rigidity is increased.

The completion condition of building construction can be evaluated by measuring the actual size of the building element in the construction scene, and whether the construction meets the related requirements can be judged by comparing the actual size of the building element with the related size. For large-size distance measurement or measurement size, a laser tracker and a total station are commonly used for measurement. The laser tracker has high distance measurement precision but low angle measurement precision, the repeated coordinate measurement precision reaches 5 mu m/m, and the absolute coordinate measurement precision reaches 10 mu m/m. The total station has high angle measurement accuracy which can reach 0.5' but has low distance measurement accuracy.

Disclosure of Invention

The invention aims to provide a method for performing high-precision distance measurement and angle measurement on a large-size construction by utilizing the distance measurement precision of a laser tracker and the angle measurement precision of a total station.

A combined measuring method of a large-size target object comprises the following operations that a laser tracker and a total station are arranged on a member to be measured, at least one laser tracker and at least one total station are arranged on the member to be measured, and all the laser trackers and the total station form a multi-station measuring system for the member to be measured; and optionally selecting one laser tracker or total station as a global reference, using a local coordinate system of the global reference as a global coordinate system, converting the laser trackers or the total stations except the global reference into the global coordinate system, and obtaining coordinate values of any two points in the global coordinate system, namely obtaining the size information of the target to be measured. Before testing, the mark of the target point is pasted on the component to be tested.

The multi-station measuring system refers to that each laser tracker or total station at least measures a local part of the component to be measured, or the laser trackers or the total stations measure the component to be measured simultaneously.

Preferably, if the global reference is a laser tracker, the local coordinate system of the laser tracker is used as a global coordinate system; if the global reference is the total station, the polar coordinate of the total station is converted into a rectangular coordinate system, and then the rectangular coordinate system of the total station is used as a global coordinate system.

Preferably, the laser tracker or the total station except the global reference is converted to the global coordinate system based on the burst model, and the conversion relationship is as follows:

whereinDenotes coordinates in a local coordinate system, g_i＝(x_i，y_i，z_i) Representing global coordinatesCoordinates under system (Δ x, Δ y, Δ z)^TRepresenting translation vector, (ω)_x，ω_y，ω_z)^TDenotes a rotation vector, t denotes a size parameter, E denotes a coordinate conversion error,

taking the target points which can be detected by each laser tracker or total station as common points, regarding all the common points as weight equality, and adopting error least square principleTo obtain

The optimal solution of (1).

Preferably, after each target point is converted into a global coordinate system, data fusion processing is performed, and the specific fusion method is as follows: for any target point, the target point has a global rectangular coordinate g in a global coordinate system_kAnd the polar coordinate theta of the target point measured at the kth station_kThe corresponding relation between the global rectangular coordinate and the polar coordinate is recorded as g_k＝f(θ_k) (ii) a Taylor expansion is carried out on the corresponding relation between the global rectangular coordinate and the polar coordinate, the quadratic term is omitted, and the result is obtainedWherein, J (theta)_k) In the form of a jacobian matrix,

covariance matrix:

wherein, J_kRepresents J (theta)_k)，

σ_kρIndicates the ranging accuracy, σ, of the kth station_kαIndicating the accuracy of the angle measurement, σ, of the kth station to the horizontal angle_kβRepresenting the angle measurement precision of the kth station to the vertical angle;

for global rectangular coordinate g_kPerforming weighted unbiased fusion estimationObtaining the coordinate value after the data fusion,

wherein, W_k＝[∑(V_k)^-1]^-1(V_k)^-1。

The invention has the advantages that: the distance measurement precision of the laser tracker and the angle measurement precision of the total station can be utilized, and the rectangular coordinates obtained by the laser tracker through distance measurement and the polar coordinates obtained by the angle measurement of the total station are fused, so that the coordinate values of all target points have high angle precision and high position precision at the same time, and the distance measurement and angle measurement precision of a large-size component is improved.

Drawings

Fig. 1 is a flow chart of a combined large-size measurement method based on a laser tracker and a total station.

Detailed Description

As shown in fig. 1, a combined measuring method of a large-size target object includes the operations of arranging a laser tracker and a total station for a member to be measured, at least one laser tracker and at least one total station, all of which form a multi-station measuring system for the member to be measured; and optionally selecting one laser tracker or total station as a global reference, using a local coordinate system of the global reference as a global coordinate system, converting the laser trackers or the total stations except the global reference into the global coordinate system, and obtaining coordinate values of any two points in the global coordinate system, namely obtaining the size information of the target to be measured. Before testing, the mark of the target point is pasted on the component to be tested.

The multi-station measuring system refers to that each laser tracker or total station at least measures a local part of the component to be measured, or the laser trackers or the total stations measure the component to be measured simultaneously.

Preferably, if the global reference is a laser tracker, the local coordinate system of the laser tracker is used as a global coordinate system; if the global reference is the total station, the polar coordinate of the total station is converted into a rectangular coordinate system, and then the rectangular coordinate system of the total station is used as a global coordinate system.

Preferably, the laser tracker or the total station except the global reference is converted to the global coordinate system based on the burst model, and the conversion relationship is as follows:

wherein

Denotes coordinates in a local coordinate system, g_i＝(x_i，y_i，z_i) Denotes coordinates in a global coordinate system, (Δ x, Δ y, Δ z)^TRepresenting translation vector, (ω)_x，ω_y，ω_z)^TDenotes a rotation vector, t denotes a size parameter, E denotes a coordinate conversion error,

taking the target points which can be detected by each laser tracker or total station as common points, regarding all the common points as weight equality, and adopting error least square principle

To obtainThe optimal solution of (1).

Preferably, after each target point is converted into a global coordinate system, data fusion processing is performed, and the specific fusion method is as follows: for any one target pointThe target point has a global rectangular coordinate g in a global coordinate system_kAnd the polar coordinate theta of the target point measured at the kth station_kThe corresponding relation between the global rectangular coordinate and the polar coordinate is recorded as g_k＝f(θ_k) (ii) a Taylor expansion is carried out on the corresponding relation between the global rectangular coordinate and the polar coordinate, the quadratic term is omitted, and the result is obtained

Wherein, J (theta)_k) In the form of a jacobian matrix,

covariance matrix:

wherein, J_kRepresents J (theta)_k)，

σ_kρIndicates the ranging accuracy, σ, of the kth station_kαIndicating the accuracy of the angle measurement, σ, of the kth station to the horizontal angle_kβRepresenting the angle measurement precision of the kth station to the vertical angle;

for global rectangular coordinate g_kPerforming weighted unbiased fusion estimation

Obtaining the coordinate value after the data fusion,wherein, W_k＝[∑(V_k)^-1]^-1(V_k)^-1。

The invention has the advantages that: the distance measurement precision of the laser tracker and the angle measurement precision of the total station can be utilized, and the rectangular coordinates obtained by the laser tracker through distance measurement and the polar coordinates obtained by the angle measurement of the total station are fused, so that the coordinate values of all target points have high angle precision and high position precision at the same time, and the distance measurement and angle measurement precision of a large-size component is improved.

The repeated measurement precision of the target point coordinates of the large-size member by using the method of the invention can reach 5 mu m/m, the absolute coordinate measurement precision can reach 10 mu m/m, and the angle measurement precision can reach 0.5'.

While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.