CN111649719B

CN111649719B - A GNSS automatic guidance test method in road elevation detection

Info

Publication number: CN111649719B
Application number: CN202010660487.1A
Authority: CN
Inventors: 张程远
Original assignee: Wuhan Institute of Rock and Soil Mechanics of CAS
Current assignee: Wuhan Institute of Rock and Soil Mechanics of CAS
Priority date: 2020-07-10
Filing date: 2020-07-10
Publication date: 2021-09-07
Anticipated expiration: 2040-07-10
Also published as: CN111649719A

Abstract

The invention discloses a GNSS automatic guidance test method in road elevation detection. The GNSS positioning and tracking of the total station, and the comprehensive analysis method of the heading angle calculation are used to realize the automatic positioning and driving guidance of the survey vehicle. The mobile measurement that can realize continuous automation provides a technical method basis for the application of engineering robots. Because the method adopts segmented total station positioning and elevation measurement, the accuracy can reach 1mm, and high-precision road engineering quality assessment is realized.

Description

GNSS automatic guidance test method in road elevation detection

Technical Field

The invention belongs to the field of engineering measurement, and particularly relates to a GNSS automatic guidance test method in road elevation detection, which is suitable for elevation observation and quality detection of various earth surface engineering fields.

Background

In the traffic infrastructure, the elevation of a constructed engineering field, such as a railway ballast bed, a highway subgrade, an airport foundation and the like, needs to be accurately measured and rechecked so as to evaluate the quality of the engineering construction and provide accurate correction data for the next construction. The elevation measurement generally adopts a fixed sampling inspection mode, a detection section is set on a road surface at regular intervals, and each section is provided with a plurality of fixed measurement points. Because the elevation measurement accuracy of a satellite positioning system GNSS (such as GPS) is low, and even if the horizontal accuracy reaches the centimeter level, the elevation measurement needs a long-time static observation to be completed, the direct measurement of the GPS is not suitable for the fast measurement of the field elevation. Moreover, the manual mode commonly applied at present has low efficiency, greatly influences the detection progress, and even can lead to the reduction of the number of manual detection points.

Disclosure of Invention

The invention aims to provide a GNSS (Global Navigation Satellite System) automatic guidance test method in road elevation detection, which is beneficial to automatic intelligent measurement of a project site and improves the detection efficiency in actual projects, aiming at the defects in the prior art.

The purpose of the invention is realized by the following technical scheme:

a GNSS automatic guidance test method in road elevation detection comprises the following steps:

step 1, establishing a site coordinate system;

step 2, sequentially placing each control point along the travel road;

step 3, sequentially setting the positions of all total station measuring stations along a traveling road;

step 4, the automatic running vehicle runs to the position of the first total station measuring station, and the position of the first total station measuring station is recorded as a prepared measuring station position TS₀Manually operating a total station on the automatic traveling vehicle to align three control points nearby, positioning and orienting the total station by adopting a rear intersection method, and reading a course angle as an initial course angle theta₀；

Step 5, reading the coordinate of the GNSS receiver as the current total station GNSS measurement coordinate, and recording the current total station survey station position as TS_mThe next total station position is TS_m+1Transmitting the current total station GNSS measurement coordinate to the automatic running vehicle, and the automatic running vehicle downwards moves to the next total station survey station position TS according to the current total station GNSS measurement coordinate_m+1Driving until reaching the next total station measuring station position TS_m+1Nearby and parking, and reading course angle theta₁And recording the coordinates of the total station read by the GNSS receiver as the GNSS measurement coordinates (x) of the next total station_GNSS，y_GNSS，z_GNSS)；

Step 6, rotating the total station by an angle (theta)₁-θ₀)；

Step 7, calculating horizontal azimuth angles and vertical zenith angles of the total station relative to three nearby control points, driving the total station to implement backward crossing for positioning and orientation, and reading a course angle as a new initial course angle theta after the completion of positioning and orientation₀；

8, the total station performs elevation measurement on preset scanning points of each field on each transverse scanning line at different positions before and after the current total station measuring station position;

step 9, the next total station survey station position TS in the step 5 is used_m+1As the current total station survey station position TS_mAnd returning to the step 5 until the elevation measurement of the preset scanning points of all the sites is completed.

The horizontal azimuth angle and the vertical zenith angle as described above are obtained by the following formulas:

horizontal azimuth angle

x_cpn≠x_GNSS

Vertical zenith angle

x_cpn≠x_GNSS

Wherein x is_cpn，y_cpn，z_cpnThe coordinates of one of the three nearby control points.

The positive axis of the X axis of the field coordinate system as described above points to the east, the positive axis of the Y axis points to the north, and the positive axis of the Z axis points to the vertical upward direction.

The control points as described above alternately appear on both sides of the travel road.

The invention has the following advantages and effects:

by adopting GNSS positioning and guiding, continuous and automatic mobile measurement can be realized, and a technical method basis is provided for the application of the road engineering robot. Because the method adopts the sectional type total station positioning and elevation measurement, the precision can reach 1mm, and the high-precision engineering quality assessment is realized.

Drawings

Fig. 1 is a schematic view of a spatial relationship between a control point, a total station survey station position and a site preset scanning point;

fig. 2 is a schematic diagram of a total station zero setting calculation;

Detailed Description

The present invention will be described in further detail with reference to examples for the purpose of facilitating understanding and practice of the invention by those of ordinary skill in the art, and it is to be understood that the present invention has been described in the illustrative embodiments and is not to be construed as limited thereto.

In specific implementation, the total station adopts a servo-type high-end total station, such as a Topukang total station MS05, the automatic search and collimation angle of the total station can be set to be +/-5 degrees, and the angle deviation caused by the measurement error (20cm) after the GNSS automatic driving vehicle moves is not more than 5 degrees at a distance of 10 meters. The computer adopts a portable computer or a desktop computer with a USB port, and can run a central control computing program. The GNSS of the satellite positioning system can use GPS/Beidou or a plurality of satellite mixed types, such as thousand-searching positions or a good-looking product, the horizontal precision can reach 20cm, and the elevation precision can reach 30 cm. Namely, the position error of the guide point driven by adopting the GNSS tracking and guiding method does not exceed 20cm, and the requirement of automatic collimation of the total station can be met. The course instrument takes a dynamic inclinometer HIS series of the comet-linkage as an example, and the dynamic measurement precision of the horizontal course angle can reach 0.05 degrees. The vehicle can automatically find the control point and carry out the sighting measurement after automatically driving to the guide point. This provides a feasible scheme for high-precision automatic measurement of road field elevation.

Step 1, establishing a site coordinate system, wherein the positive axis of the X axis of the site coordinate system points to the east, the positive axis of the Y axis points to the north, and the positive axis of the Z axis points to the vertical upward direction;

step 2, sequentially placing all control points along the traveling road, wherein the common control points are alternately placed on two sides of the traveling road, and determining the coordinates of all the control points in a field coordinate system;

and 3, sequentially setting the positions of all the total station measuring stations along the traveling road.

Step 4, the automatic running vehicle runs to the position of the first total station measuring station, and the position of the first total station measuring station is recorded as a prepared measuring station position TS₀Preparatory survey station position TS₀Has the coordinate x_TS0,y_TS0,z_TS0The total station on the automatic running vehicle is manually operated to align to three control points nearby, and the positioning and orientation of the total station are carried out by adopting a rear intersection method. The orientation means that the reference direction of the total station is set as the y direction of a site coordinate system, and a course angle is read as an initial course angle theta₀。

Step 5, the GNSS receiver is positioned right above the total station, the X-axis coordinates and the Y-axis coordinates of the automatic driving vehicle, the GNSS receiver and the total station are the same, the coordinates of the GNSS receiver are read to serve as the GNSS measurement coordinates of the current total station, and the current position of the total station is recorded as TS_mUnder, isA total station position of TS_m+1Transmitting the current total station GNSS measurement coordinate to the automatic running vehicle, and the automatic running vehicle downwards moves to the next total station survey station position TS according to the current total station GNSS measurement coordinate_m+1Driving until reaching the next total station measuring station position TS_m+1Nearby and parking, and reading course angle theta₁And the information is recorded and recorded,

the automatic running vehicle runs according to the current total station GNSS measuring coordinate until the next total station measuring station position TS is reached_m+1When the vehicle is nearby and parked, the GNSS receiver reads the coordinates of the total station as the GNSS measurement coordinates (x) of the next total station_GNSS，y_GNSS，z_GNSS)。

Step 6, because the GNSS receiver has a large error in reading the coordinates of the total station, the GNSS receiver can only be used for roughly acquiring the coordinates of the parking position and the position TS of the next total station measuring station_m+1Will not be exactly the same. Rotating the total station by an angle (theta) under computer control₁-θ₀) And returning to the horizontal zero position determined in the step 4 and carrying out zero setting operation.

Step 7, calculating horizontal azimuth angles and vertical zenith angles of the total station relative to three nearby control points according to the following formula, driving the total station to sequentially turn and search prisms of the three nearby control points, wherein the search sighting is a standard function of the high-end servo type total station, positioning and orienting are carried out by implementing backward intersection, and a course angle is read as a new initial course angle theta after the completion of positioning and orienting₀。

The total station rotation angle formula:

horizontal azimuth angle

x_cpn≠x_GNSS

Vertical zenith angle

x_cpn≠x_GNSS

Wherein x is_cpn，y_cpn，z_cpnControl in three neighborhoodsCoordinates of one of the control points;

and 8, under the control of a computer on the automatic driving vehicle, the total station performs elevation measurement on preset scanning points of each field on each transverse scanning line at different positions before and after the current total station measuring station position.

As shown in fig. 1, the preset scanning points near the total station position TS1 are M1_1, M1_2, M1_3, and M1_4, the preset scanning points near the total station position TS2 are M2_1, M2_2, M2_3, and M2_4, the number and the plane coordinates of the preset scanning points are preset, and the total station reaches TS1 and then sequentially measures and records the elevation.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims

1. a GNSS automatic guidance test method in road elevation detection, is characterized in that, comprises the following steps:

Step 1. Establish a site coordinate system. The positive axis of the X axis of the site coordinate system points to the east, the positive axis of the Y axis points to the north, and the positive axis of the Z axis points to the vertical upward direction;

Step 2. Place each control point in sequence along the travel road, alternately place the control points on both sides of the travel road, and determine the coordinates of each control point in the site coordinate system;

Step 3. Set the position of each total station station in sequence along the road;

Step 4. The automatic driving vehicle drives to the position of the first total station station, record the position of the first total station station as the preparatory station position TS ₀ , and manually operate the total station on the automatic driving vehicle to align the nearby station. Three control points, the resection method is used to carry out the positioning and orientation of the total station itself, and the heading angle is read as the initial heading angle θ ₀ ;

Step 5. Read the coordinates of the GNSS receiver as the GNSS measurement coordinates of the current total station, record the position of the current total station as TS _m and the position of the next total station as TS _m+1 . The GNSS measurement coordinates are transmitted to the autonomous vehicle, and the autonomous vehicle drives to the next total station station position TS _m+1 according to the current total station GNSS measurement coordinates until it reaches the next total station station position TS _m+1 and closes. Stop, read the heading angle θ ₁ and record it, the GNSS receiver reads the coordinates of the total station as the GNSS measurement coordinates of the next station total station (x _GNSS , y _GNSS , z _GNSS );

Step 6. Rotate the total station by the angle (θ ₁ -θ ₀ );

Step 7. Calculate the horizontal azimuth and vertical zenith angle of the total station relative to the three nearby control points, drive the total station to implement resection for positioning and orientation, and read the heading angle as the new initial heading angle θ ₀ after completion. ; The horizontal azimuth and vertical zenith angle are obtained by the following formulas:

horizontal azimuth

x _cpn ≠ x _GNSS

vertical zenith angle

x _cpn ≠ x _GNSS

Wherein, x _cpn , y _cpn , and z _cpn are the coordinates of one of the three nearby control points;

Step 8, the total station implements the elevation measurement of each site preset scan point on each horizontal scan line at different positions before and after the current total station station position;

Step 9. Take the next total station station position TS _m+1 described in step 5 as the current total station station position TS _m and return to step 5 until the elevation measurement of all site preset scanning points is completed.