JP4431472B2 - Surveyor and servo processing program for surveying instrument - Google Patents

Description

  The present invention relates to a surveying instrument control servo processing program used for operating a surveying instrument control computer mounted on a surveying instrument such as a total station (electronic rangefinder) or a theodolite.

  As shown in FIG. 1, a surveying instrument 100 such as a total station or theodolite has a horizontal rotating portion 12 mounted on a leveling table 10 so as to be horizontally rotatable, and a pair of column portions 14 erected on the horizontal rotating portion 12. A telescope 16 is attached between them so as to be vertically rotatable. The horizontal rotation unit is provided with a display unit 32 for displaying measurement results and the like, and an input unit 34 for inputting data and various commands. The column part 14 is provided with a mechanical mark 11 indicating a position (intersection of the vertical rotation axis of the telescope 16 and the horizontal rotation axis of the surveying instrument 100).

  In recent years, in such surveying instruments, the control unit (servo motor) is configured so that the telescope can be rotationally driven in the horizontal and vertical directions, and the telescope is automatically installed on the measuring point by the automatic collimation device. A device that enables automatic collimation by facing the target is also popular.

  The surveying instrument 100 equipped with an automatic collimation device will be described by taking a total station as an example. As shown in FIG. 2, the surveying instrument 100 equipped with the automatic collimation device calculates the distance from the mechanical point 11 of the surveying instrument 100 (the intersection of the telescope rotation axis and the horizontal rotation axis of the surveying instrument 100) to the measurement point. A distance measuring unit (lightwave distance meter) 18 for measuring, a horizontal angle measuring unit (horizontal encoder) 20 for measuring the azimuth angle in the optical axis direction of the telescope 16, that is, the collimating direction, and a vertical measuring the altitude angle in the collimating direction. An angle measuring unit (vertical encoder) 22, a horizontal control unit (horizontal servo motor) 24 for controlling the azimuth angle in the collimation direction, a vertical control unit (vertical servo motor) 26 for controlling the altitude angle in the collimation direction, A CPU (surveying instrument control computer) 28, a target direction sensor 36, an input unit 34, a display unit 32, and a storage unit 30 are provided for controlling these units and processing and displaying the measurement results. (The following patent document Reference).

  The target direction sensor 36 detects a deviation between the target direction and the collimation direction. The CCD camera, a cross sensor in which the CCD line sensors are arranged in a cross shape, and a quadrant that is obtained by dividing the circular sensor into four. Sensors and the like are used, but since these sensors are well known, description thereof is omitted.

  The automatic collimation device includes a target direction sensor 32, a CPU 28, a horizontal control unit 24, and a horizontal control unit 26. The CPU 28 sends a control signal corresponding to the output from the target direction sensor 32 to the horizontal control unit 24 and the vertical control unit 26 so that the collimation direction is accurately directed to the target.

When surveying with such a total station, it is necessary to determine the position of the mechanical point of the surveying instrument. In such a case, it is possible to calculate the position (coordinate value) of the mechanical point by the backward intersection method by measuring the angle of at least two known points or measuring the angle of three known points (the following non-patent document). Reference 1). In the case of obtaining the position of the machine point with higher accuracy, a method of observing a larger number of known points and calculating the machine point position using the least square method with respect to the observed result is employed.
JP 2003-130644 A Sokkia Co., Ltd., “Surveying and Survey Report”, 1999-4-1, P.31

  In order to determine the machine point position of the surveying instrument with high accuracy, it is necessary to observe a large number of known points, and each time the operator must aim the telescope at each known point. There was a problem that the burden of. Even a surveying instrument equipped with an automatic collimation device has a problem that it takes a very long time to observe a large number of known points because it takes time to capture the known points within the field of view of the telescope.

  The present invention has been made in view of the above problems, and when observing a number of known points in order to obtain the mechanical point position of a surveying instrument with high accuracy, the collimation direction of the surveying instrument is automatically set to a desired known point. The challenge is to enable easy and quick observation.

In order to solve the above-mentioned problem, in the surveying instrument of the invention according to claim 1, mechanical point position calculating means for calculating coordinate values of mechanical points from observation information when collimating a plurality of known points, and the known points based on the coordinate values of the desired coordinates of the known point and the mechanical point other than the current collimation direction and the desired angular degree calculating means that to calculate the horizontal angle and the vertical angle between the direction of the known point when the horizontal angle and the vertical angle by the collimating direction changes to that collimating direction changing means, the observation information obtaining means for obtaining observation information you automatically collimated said desired known point, observed hitherto Machine point position correcting means for recalculating and correcting the coordinate value of the machine point by the least square method using the observation information of all the known points .

In the servo processing program for a surveying instrument of the invention according to claim 2 , mechanical point position calculating means for calculating the coordinate value of the mechanical point from observation information when collimating a plurality of known points, and a desired point other than the known point based on the coordinate values of the coordinate values and the mechanical point of known point, and angle calculating means that to calculate the horizontal angle and vertical angle between the current collimating direction to the direction of said desired known point, the horizontal and the angular and vertical angle only collimation direction changes to that collimating direction changing means, the observation upper acquisition means for acquiring monitoring information you automatically collimated said desired known point, all known as observed ever The function of the machine point position correcting means for recalculating and correcting the coordinate value of the machine point by the least square method using the point observation information is given to the surveying instrument control computer.

As described above, according to the first aspect of the invention, after the operator collimates a plurality of known points and acquires observation information, the surveying instrument automatically selects the current collimation direction and the desired collimation direction. calculates the horizontal angle and elevation angle between the direction of the known point of by changing the collimation direction by the horizontal angle and elevation angle, automatically changed in the vicinity of the desired known point collimating direction Because, by automatically collimating the desired known point and obtaining observation information, using the observation information of all known points observed so far, the coordinate value of the machine point is recalculated and corrected by the least square method , No need to search for each known point with a telescope. For this reason, the machine point position of the surveying instrument can be accurately obtained while performing observation work of a large number of known points easily and quickly without placing a burden on the worker.

According to the invention according to claim 2, after the operator collimates a plurality of known points and obtains the observation information, the surveying instrument automatically sets the current collimation direction according to the surveying instrument servo processing program. By calculating the horizontal angle and altitude angle between the direction of the desired known point and changing the collimating direction by the horizontal angle and altitude angle, the collimating direction is automatically changed to the vicinity of the desired known point. Since the observation information is obtained by automatically collimating the desired known points, the coordinate values of the machine points are recalculated and corrected by the least square method using the observation information of all known points observed so far . The same effects as those of the invention according to claim 1 are obtained.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 3 is a diagram illustrating the positional relationship between the surveying instrument of this embodiment and the known points. FIG. 4 is a flowchart for explaining the procedure for obtaining the mechanical point position of the surveying instrument.

The surveying instrument 100 of the present embodiment is a total station, and has the same hardware configuration as the conventional one shown in FIGS. 1 and 2. However, as shown in FIG. 3, the surveying instrument 100 has a large number of known points T1, T2, −−, T _i−1 , Ti, −−, Tn (n: a positive integer of 3 or more, i: (positive integer less than n) is measured and measured (observed), from the measured information of these known points Ti, such as azimuth angle θi and altitude angle hi, the machine point T0 of the surveying instrument 100 A coordinate value (x0, y0, z0) as position information can be calculated. Therefore, the surveying instrument 100 stores a surveying instrument servo processing program, which will be described later, in the storage unit 30.

  This servo processing program stores the distance measurement values, azimuth angles and altitude angles of the first and second known points T1, T2 (or the azimuth angles of the first, second and third known points T1, T2, T3 and From the altitude angle, a temporary coordinate value of the machine point T0 is obtained, and thereafter, the azimuth angle θi and altitude angle hi of an arbitrary known point Ti are obtained using the temporary coordinate value of the machine point T0, and a horizontal control unit (horizontal servo) The motor) 24 and the vertical control unit (vertical servomotor) 26 are operated so that the collimation direction of the surveying instrument 100 is automatically directed to a substantially desired known point Ti, and the desired known point Ti is automatically set. The CPU has a function of measuring a distance and calculating a coordinate value (x0, y0, z0) of the mechanical point T0 from the distance measurement values, azimuth angle θi and altitude angle hi of the many known points thus obtained by the least square method. To the surveying instrument control computer) 28.

  Therefore, the servo processing program executed by the CPU 28 will be described in detail based on the flowchart shown in FIG.

  First, the surveying instrument 100 is installed at an appropriate position, the first known point T1 (coordinate values: x1, y1, z1), the second known point T2 (coordinate values: x2, y2, z2), the third known point. Points T3 (coordinate values: x3, y3, z3), ----- Targets (reflecting prisms) (not shown) are installed at the i-th known point Ti (coordinate values: xi, yi, zi). Therefore, when this servo processing program is started, the process proceeds to step S1 and waits for the operator to collimate the first known point T1. When the operator collimates the first known point T1, the process proceeds to step S2, in which the distance measuring unit 18, the horizontal angle measuring unit 20, and the vertical angle measuring unit automatically measure the distance and measure the first known point. A distance measurement value, an azimuth angle, and an altitude angle, which are observation information relating to T1, are acquired and stored.

Next, proceeding to step S3, it is determined whether the observation of the two known points T1 and T2 is completed. If the second known point T2 is not observed, steps S1 and S2 are repeated, and the distance measurement value, the azimuth angle, and the altitude angle, which are observation information related to the second known point T2, are acquired and stored. When observation information is obtained by observing both the first and second known points T1 and T2, the process proceeds to step S4, and coordinates that are position information of the machine point T0 are obtained by the backward intersection method based on these observation information. Values (x0, y0, z0) are determined. Since the backward intersection method is well known to those skilled in the art, this description is omitted. The above steps S1 to S4 correspond to the machine point position calculating means according to claims 1 and 2 .

When the position information of the machine point T0 is obtained, the process proceeds to step S5, and each of the machine point T0, the current collimation point (second known point) and the next collimated known point (third known point T3) Based on the coordinate values, the CPU 58 calculates the horizontal angle Δθ and the vertical angle Δh formed by the current collimation direction (the second known point T2 direction) and the desired known point direction (the third known point T3 direction). . This step S5 corresponds to the angle calculation means described in claims 1 and 2 .

In step S6, the CPU 58 outputs control signals corresponding to the horizontal angle Δθ and the vertical angle Δh calculated in step S5 to the horizontal control unit 24 and the vertical control unit 26, and the horizontal control unit 24 and the vertical control. The operation of the unit 26 changes the optical axis of the telescope 16, that is, the collimation direction, by the calculated horizontal angle Δθ and vertical angle Δh. Thus, the collimation direction is directed to a desired known point (third known point T3). This step S6 corresponds to collimation direction changing means according to claims 1 and 2 .

In step S7, the automatic collimation device is operated to accurately collimate a desired known point (third known point T3). Then, the process proceeds to step S8, in which the distance measurement angle is automatically performed, and the distance measurement value, the azimuth angle, and the altitude angle, which are observation information relating to the desired known point (third known point), are acquired and stored. Steps S7 and S8 correspond to the observation information acquisition means described in claims 1 and 2.

Next, the process proceeds to step S9, and the coordinate values, which are the position information of the machine point T0, are recalculated by the least square method using the observation information about all the known points T1, T2, and--observed so far. To correct. This step S9 corresponds to the machine point position correcting means described in claims 1 and 2.

  Next, the process proceeds to step S10, and it is determined whether or not the observation of all the known points T1, T2, T3 and ----- Tn scheduled to be stored in advance in the storage unit has been completed. If the observation of all the known points to be observed has not been completed, returning to step S5, assuming that the current collimation direction is the direction of the i-1th known point Ti-1, the i-1th A horizontal angle Δθ and a vertical angle Δh formed by the direction of the known point Ti-1 and the direction of the i-th known point Ti are calculated. Then, the process proceeds to step S6, the collimation direction is changed by the calculated horizontal angle Δθ and vertical angle Δh, the process further proceeds to steps S7, S8, and the desired i-th known point Ti is automatically collimated to obtain observation information. The distance measurement value, the azimuth angle θi, and the altitude angle hi are calculated and stored. Then, using the observation information regarding all the known points T1, T2, and −−− observed so far, the coordinate value which is the position information of the machine point T0 is recalculated and corrected by the least square method. Similarly, when the steps S5 to S10 are repeated to complete the observation of all n known points to be observed, this servo processing program is terminated.

  As described above, according to the surveying instrument 100 of the present embodiment, the horizontal angle Δθ and the vertical angle Δh between the current collimation direction and the desired known point direction are calculated, and the horizontal angle Δθ is calculated. Since the collimation direction can be changed by the vertical angle Δh and the distance can be measured by automatic collimation, many known points can be automatically observed. For this reason, even if the number of known points Ti to be observed increases, observation can be performed easily and quickly, and the worker is not burdened.

  Next, the method for obtaining the mechanical point T0 position will be described in more detail. For this purpose, the coordinates of the machine point are calculated based on the distance measurement angle of two or more known points or the data of the angle measurement of three or more known points. The maximum number of known points that can be used is 10. The least square method is used for the calculation.

  (1.1) First, the temporary coordinates of the machine point are calculated. When there are three or more measurement points, provisional coordinates are obtained from angle measurement data at three points.

  The i-th known point coordinates (i = 1 to n) are (Xi, Yi), the i-th observation horizontal angle is Hi, and the temporary coordinates of the machine point are (X, Y). The first and second observation angle Pang1 is Pang1 = H2-H1, and the second and third observation angle Pang2 is Pang2 = H3-H2.

The distance Hd12 between the first point and the second point and the distance Hd23 between the second point and the third point are:
Hd12 = √ ((X2−X1) ² + (Y2−Y1) ² ) (1)
Hd23 = √ ((X3−X2) ² + (Y3−Y2) ² ) (2)
It becomes.

The direction angle az1 from the first point to the second point and the direction angle az2 from the second point to the third point are:
az1 = tan ⁻¹ ((Y2−Y1) / (X2−X1)) (3)
(When X2−X1 <0, az1 = az1 + 180 °)
az2 = tan ⁻¹ ((Y3−Y2) / (X3−X2)) (4)
(When X3-X2 <0, az2 = az2 + 180 °)
It becomes.

here,
bz = 180 ° −az2 + az1, (5)
α = Hd23 · sin (Pang1) · sin (Pang2) (6)
β = Hd12 · sin (Pang2-Pang1)
+ Hd23sin (Pang1) · cos (Pang2 + bz) (7)
anga = tan ⁻¹ (α / β) (8)
(When β <0, anga = anga + 180 °)
d1 = Hd12 · sin (Pang1 + anga) / sin (Pang1) (9)
Then,
X = X1 + d1.cos (anga + az1) (10)
Y = Y1 + d1 · sin (anga + az1) (11)
Then, the temporary coordinates (X, Y) of the machine point are obtained.

  (1.2) When there are only two measurement points, the temporary coordinates of the machine point are calculated using distance measurement data in addition to the angle measurement data.

  The i-th known point coordinates (i = 1 to n) are (Xi, Yi), the i-th observation horizontal angle is Hi, the observation vertical angle is Vi, the oblique distance is Di, and the temporary coordinates of the machine point are (X , Y).

The first observation horizontal distance Hd1 and the second observation horizontal distance Hd2 are
Hd1 = D1 · sin (V1) (12)
Hd2 = D2 · sin (V2) (13)
It becomes. The observation angle Pang at the first point and the second point is Pang = H2−H1. Therefore,
a1 = tan ⁻¹ ((Hd2 · sin (Pang))
/ (Hd1-Hd2 · cos (Pang)) (14)
(A1 is 0 to 180 °)
az = tan ⁻¹ ((Y2−Y1) / (X2−X1)) (15)
(When X2−X1 <0, az = az + 180 °)
Then X = X1 + Hd1.cos (az + a1) (16)
Y = Y1 + Hd1 · sin (az + a1)) (17)
Then, the temporary coordinates (X, Y) of the machine point are obtained.

(2) The observation equation is
V = A · X + L (18)
It is. Here, V is a correction value vector, A is a coefficient matrix, X is a correction value vector for temporary coordinates, and L is a constant vector. Details of the angle and distance observation equations KE and LE are shown in equation (18A) using a matrix in FIG.

In the angle observation equation KE, Vti is a correction value (unknown number) for the observation angle, ΔX and ΔY are correction values (unknown numbers) for the temporary coordinate values (X, Y), ai is a coefficient for ΔX, bi is a coefficient for ΔY, Lti Is a constant. And
ai = (Yi−Y) / Hdi ² (19)
bi = (Xi−X) / Hdi ² (20)
Lti = (Hi−H1) −Bi (21)
It is. Where (Xi, Yi) is the i-th known point coordinate, Hdi is the observed horizontal distance, Hi is also the observed horizontal angle, and Bi is the angle between the first and i-th points calculated from the known point coordinates. .

By adding the Schleiber elimination formula to the angle equation, unnecessary unknown constant terms can be eliminated from the angle observation equation in advance. The aforementioned observation equation (18A) shown in FIG. 5 does not include an unnecessary constant term on the assumption that this elimination equation is used. ΣVt is an unknown number,
Σa = a1 + a2 + .. + an (22)
Σb = b1 + b2 +. + Bn (23)
It is.

In the distance observation equation LE, Vsi is a correction value (unknown number) for the observation horizontal distance, bi is a coefficient of ΔX, ai is a coefficient of ΔY, and Lsi is a constant. And
bi = (Xi−X) / Hdi ² (same as 20)
ai = (Yi−Y) / Hdi ² (same as 19)
Lsi = (Hdi−HD1 _{→ i} ) / Hdi (24)
It is. However, Xi and Yi are the known point coordinates of the i-th point, Hdi is the observation horizontal distance, and HD1- _{> i} is the horizontal distance of the first point and the i-th point calculated from the known point coordinates.

(3) Add weights to the observation equations KE and LE for angles and distances. This weight is as shown in Expression (25) shown in FIG. That is, if the number of known points is n, the weight for the angle observation equation = 1, the weight for the Shriver equation = 1 / n, and the weight for the distance observation equation = Psi. For Psi,
mt = 7 "(26)
ms = 5 · 10-3mt (27)
k = 5 · 10-6ms (28)
ρ = 3600 · 180 / π (29)
Then,
Psi = (mt ² · Hdi ² ) / (ms ² + k ² · hdi ² ) · ρ ² (30)
It becomes.

(4) The normal equation for the observation equation (18) is as follows.
NX + U = 0 (31)
However,
N = A ^t PA (32)
U = A ^t PL (33)
It is. Here, ^{A t} is the transpose matrix of A. Details of N and U are shown in equation (32A) in FIG. 7 and equation (33A) in FIG.

Solving this normal equation (31)
X = −N ⁻¹ U (34)
The correction values (ΔX, ΔY) for the temporary coordinate values (X, Y) are also obtained. However, N ⁻¹ is an inverse matrix of N. Therefore, the most probable values (X0, Y0) of the machine point coordinates are as follows.
X0 = X + ΔX (35)
Y0 = Y + ΔY (36)
Here, if either of the correction values (ΔX, ΔY) with respect to the temporary coordinates is larger than ± 0.5 mm, the machine point coordinates (X0, Y0) thus obtained are used as the temporary coordinates (X, Y), and the above-mentioned machine is again used. The determination of the point coordinates (X0, Y0) is repeated. If the most probable value (X0, Y0) of the machine point coordinates does not converge even after repeating three times, an error without solution is assumed.

(5) Obtain the Z coordinate Z0 of the machine point. Z coordinate Z0 is
Z0 = (Σ (Zi + fhi−Vdi−ih)) / n (37)
It is. Here, Zi is the Z coordinate of the known point of the i-th point (i = 1 to n), Vdi is the difference in observation height, fhi is the collimation height at the time of observation, and ih is the machine height. In this calculation, only distance measurement data is included in the calculation and angle measurement data is excluded from the calculation.

  (6) Further, the standard deviation (ρX, ρY) in the X-axis direction and the Y-axis direction is also displayed on the calculation result screen of the position of the machine point obtained as described above.

The correction amount V for the observed value is obtained from the correction amounts (ΔX, ΔY) for the temporary coordinates obtained in (4). The correction amount V is as shown in the equation (18A) shown in FIG. 5, but V ^t PV is obtained with the weight P taken into account. Details of V ^t PV are shown in equation (38) of FIG.

Next, a standard deviation (ρX, ρY) is obtained. The number of rows f of the matrix A and the standard deviation ρ are
f = number of measurements + 1 + number of distance measurement (39)
ρ = (1 / (f−2)) · N (V ^t PV) (40)
Therefore, the standard deviations (ρX, ρY) in the X-axis direction and the Y-axis direction are
ρX = (1 / (f−2)) · N11 (V ^t PV) (41)
ρY = (1 / (f−2)) · N22 (V ^t PV) (42)
It is obtained. Here, N11 and N22 are components of the first row and the first column and the second row and the second column of the matrix N, respectively.

(7) Further, when the horizontal angle difference dHALi and the horizontal distance difference dHD are obtained,
dHAri = (Hi−H1) − (Bi−B1) = ΔΘH2 (42)
dHD = Hdi-H _{D1 → i} (43)
It becomes. The horizontal angle difference dHALi and the horizontal distance difference dHD are also displayed. However, Hi is a measured horizontal angle, Bi is a horizontal angle obtained by calculation from the obtained machine point and known point coordinates, Hdi is a measured horizontal distance, and HD1- _{> i} is obtained from the obtained machine point and known point coordinates. Horizontal distance.

By the way, the present invention is not limited to the above-described embodiments, and various modifications are possible. For example, the position information of the mechanical point T0 is calculated by using the observation information obtained by setting the telescope 16 in the positive direction and the observation information obtained in the opposite direction (forward / reverse observation), and the horizontal axis or vertical axis of the telescope. The mechanical error due to the mounting error may be eliminated . In this case , the position of the mechanical point can be obtained with higher accuracy.

It is a rear view of this invention and the conventional surveying instrument. It is a block diagram of this invention and the conventional surveying instrument. It is a figure which shows the positional relationship of the surveying instrument of this invention, and a known point. It is a flowchart explaining the procedure which calculates | requires the machine point position of the surveying instrument of this invention. It is an observation equation of angle and distance. It is a matrix which shows the weight with respect to the observation equation of an angle and distance. It is a matrix that constitutes a normal equation. It is a matrix that constitutes a normal equation. This is the correction amount for the temporary coordinates with weights added.

Explanation of symbols

16 Telescope 18 Distance measuring unit 24 Horizontal angle measuring unit 26 Vertical angle measuring unit 28 CPU (servo processing program for surveying instrument)
30 Storage means 36 Target direction sensor 100 Surveying instrument T0 Machine point T1, T2,--, Ti,-, Tn Known point θn Azimuth angle hn Altitude angle Δθ Horizontal angle Δh Vertical angle

Claims (2)

Based on the machine point position calculation means for calculating the coordinate value of the machine point from the observation information when collimating a plurality of known points, based on the coordinate value of the desired known point other than the known point and the coordinate value of the machine point , horizontal angle and the angular degree calculating means that to calculate the vertical angle, quasi viewed in the direction to change the collimating direction by the horizontal angle and the vertical angle between the current collimating direction to the direction of said desired known point The change means , the observation information acquisition means for acquiring the observation information when automatically collimating the desired known point, and the coordinates of the machine point by the least square method using the observation information of all the known points observed so far A surveying instrument comprising mechanical point position correcting means for recalculating and correcting values .   Based on the machine point position calculation means for calculating the coordinate value of the machine point from the observation information when collimating a plurality of known points, based on the coordinate value of the desired known point other than the known point and the coordinate value of the machine point Angle calculation means for calculating a horizontal angle and a vertical angle between the current collimation direction and the desired known point direction; collimation direction change means for changing the collimation direction by the horizontal angle and the vertical angle; , Using the observation information acquisition means for acquiring observation information when the desired known point is automatically collimated, and the observation information of all the known points observed so far, the coordinate value of the machine point is re-established by the least square method. A servo processing program for a surveying instrument that gives the surveying instrument control computer the function of a machine point position correcting means for calculating and correcting.

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