CN101914881B - Method for rapidly measuring foundation pile control net (CPIII) of rapid transit railway - Google Patents
Method for rapidly measuring foundation pile control net (CPIII) of rapid transit railway Download PDFInfo
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Abstract
The invention relates to the field of precise engineering survey, in particular to a method for rapidly measuring a foundation pile control net (CPIII) of a rapid transit railway on the basis of movable laser radar measuring technology and high-speed digital imaging technology. control net (CPIII) measurement data is obtained by using a movable high-precision measurement system comprising a laser scanner (1), a GPS/IMU positioning and orientating system (2), a high-speed digital imaging system (3), an industrial computer (4) and a power supply device (5); and united weighted adjustment is carried out on advanced net data, united measured data and auxiliary measurement points extracted from images to obtain high-precision control net (CPIII) control point coordinates. The invention can greatly shorten the measurement time of the control net (CPIII), overcomes the defect of little total correlation of discrete single-point measurement, carries out integral adjustment on all control points, has good closing property and high relative precision, obtains plane and elevation coordinates of all control points, and greatly simplifies the measurement work of the control net (CPIII).
Description
Technical field
The present invention relates to field of precise engineering survey, particularly based on the quick measuring method that moves the technological high-speed railway foundation pile control net CPII of lidar measurement and high speed digital image-forming.
Background technology
The high-speed railway engineering surveying control network is divided into three grades, and the first order is that circuit control net (CPII net), the third level are foundation pile control net (CPIII net) for basis control net (CPI net), the second level, the unified state coordinate system that adopts.The CPIII net is mainly track laying and operation maintenance provides the control benchmark; The reference mark is that direction every separated 40-60 rice in road along the line is laid in pairs, and the spacing at every pair of reference mark is about 15 meters, and the CPIII control survey is on circuit control net CPII coordinate results basis, to implement; The routine work method has following several kinds (to draw " the accurate control net of high-speed railway CPIII measuring technique is analyzed " from Zhang Huairen and Wu Qiaosheng with the lower part; The scientific and technical innovation Leader, 2010, No.06):
(1) polar method.On a CPII reference mark, establish the station,, directly measure the coordinate at CPIII reference mark with the polar coordinates method with another some orientation.This moment, CPIII measured as the point that looses, and its precision mainly is limited by restrictions such as point, instrument grade, observation conditions, and each CPIII point is all independently obtained, so the correlativity of CPIII is not strong.
(2) angle measurement intersection.On two CPII reference mark, establish the station respectively, observe same CPIII reference mark, the angle value through CPII coordinate and observation carries out intersection and calculates, and obtains the coordinate at CPIII reference mark.But in actual observation, portion C PIII point can not be on two CPII directions intervisibility, simultaneously, the characteristic of strip line causes intersection angle too small, can influence the precision of plotted point.
(3) survey linear intersection.With the angle measurement intersection, on two CPII reference mark, establish the station respectively, observe same CPIII reference mark, carry out intersection through the distance of CPII coordinate and observation and calculate, obtain the coordinate at CPIII reference mark.The method receives the influence of part observation condition equally, and other shading, instrument centering, instrument distance accuracy etc. are bigger to the influence of precision as a result, need carry out the atmosphere refractive power, instrument adds corrections such as multiplying constant.
(4) offset distance intersection.The principle of offset distance intersection is: utilize two CPII reference mark to set up an orientation direction, measure CPI II reference mark and arrive the distance at one of them CPII reference mark to vertical distance and intersection point on this direction, thereby calculate the coordinate at CPIII reference mark.The method is fairly simple in operation, and precision is higher.But not exclusively vertical because of offset distance with directed sight line, also need to adopt the quick short steps measuring method to measure CPIII point approximate coordinates at the railway opposite side.But this method method is the same with polar method, and the correlativity of each CPIII is not strong.
Above method be based on all that static measurement instruments such as total powerstation, transit, spirit-leveling instrument carry out by station discontinuous measuring method; Consuming time very long; Efficient is extremely low; And the observation condition (like atmosphere, light etc.) during to measurement requires very high, adds that the correlativity between the CPIII reference mark is not strong, can't guarantee the precision of CPIII foundation pile control net.
Summary of the invention
Along with the fast development of high speed railway construction, Code for engineering surveying is also constantly improving and is improving, and has the high-acruracy survey achievement that adopts corresponding new technology, new method could obtain to satisfy code requirement only.Problem such as the correlativity between, CPIII reference mark low for the efficiency of measurement that solves above CPIII control survey method is not strong; The present invention has adopted a kind of based on the completely new approach that moves lidar measurement and high speed digital image-forming technology, has improved the efficiency of measurement of CPIII net and the resistance to overturning of this control net itself widely.
The technical solution adopted for the present invention to solve the technical problems is: use the mobile high precision measuring system of being made up of laser scanner 1, GPS/IMU positioning and directing system 2, high speed digital imaging system 3, industrial computer 4 and electric supply installation 5 to obtain CPIII net measurement data; Through uniting weighted adjustment according to the subsidiary point coordinate data of extracting in, translocation data and the image, obtain high-precision CPIII reference mark coordinate with senior netting index.
Before moving lidar measurement, need to use a kind of Railway Special laser measurement identifier, the cloth mark is carried out at each reference mark of CPIII control net.The laser measurement identifier of Railway Special is made up of object ball 6, centering rod 7 and the identity device 8 of fixing a point together.The laser that mobile lidar measurement system sends at the volley returns with the receiver to laser scanner 1 after arriving object ball 6 surfaces from different perspectives; Resolve based on measuring table GPS/IMU data; Obtain a plurality of umbilical point coordinates; Only need just can calculate the center point coordinate of spherical object thing in theory through the coordinate of surperficial any three points of ball; Unnecessary point can be used for compensating computation, gets rid of rough error, obtains more precise and stable object ball 6 center point coordinates; Thereby set up the mathematical relation between the reference mark of central point and point of fixity identity device 8 signs of object ball 6, solve the Laser emission multi-angle that moves laser radar system and cause the probabilistic problem of point of fixity because of the Random Laser point.The parameters such as frequency of mobile platform speed, final measuring accuracy and laser scanner are the factors of decision object ball 6 sizes.Object ball 6 adopts the good material of laser-bounce property, has encoding of graphs on the sphere, is convenient in digital image, discern.
A kind of based on moving the method that lidar measurement and high speed digital image-forming technology are measured high-speed railway CPIII foundation pile control net fast; Installation and moving high precision measuring system on motion platform; Use laser scanner 1 the CPIII net to be scanned along the high ferro circuit; Use GPS/IMU positioning and directing system 2 to obtain each GPS position, angle and acceleration information constantly in the motion; Use high speed digital imaging system 3 to take the overlapping digital image of many degree of CPIII net and periphery; Through the data pre-service, the base station data with the directed locator data of GPS/IMU combines the GPS base station to obtain calculates motion trace data; Re-use data processing software and laser point cloud raw data and digital image raw data are resolved be the digital image data behind three-dimensional point cloud and the geodetic orientation, calculate the observation coordinate at CPIII reference mark and the subsidiary point coordinate of choosing.For improving CPIII reference mark precision; Select at a certain distance a pair of and CPII net sighting condition cross with how much aspect all reasonable CPIII reference mark as CPIII translocation point, use the angle measurement intersection or the intersection of finding range is measured these CPIII translocation points.With known CPI, CPII reference mark coordinate, the CPIII translocation point coordinate that measures and CPIII observation coordinate that calculates and subsidiary point coordinate; The associating weighted adjustment; Excluding gross error; Calculate accurate three-dimensional coordinate in each reference mark of CPIII and CPIII net mass parameter, as: RMS value, level and vertical error etc.
Owing to use high speed digital imaging system 3, the digital image that obtains has the overlapping characteristics of many degree, in these images, can extract a plurality of coding characteristic points that have the overlapping CPIII sphere of three degree at least and the obvious object of periphery as the subsidiary point.On the one hand, subsidiary point can be participated in simultaneous adjustment and calculated, and improves the precision and the stability of CPIII control net, and on the other hand, subsidiary point also can be used as the foundation of checking CPIII reference mark precision.
For the measuring accuracy of guaranteeing the CPIII foundation pile control net can reach the millimeter level; Move the lidar measurement system and should be equipped with high-frequency, high-precision laser scanner 1; Be used for guaranteeing to obtain highdensity three-dimensional point cloud; GPS/IMU positioning and directing system 2 also need adopt most advanced in the world positioning and directing system, guarantees that the positioning and directing precision can be better than centimetre-sized, and the digital camera per second in the high speed digital imaging system 3 should be able to be taken the digital image of number frame even tens of frames; Consider the needs of night work, can also the infrared digital camera of integrated high-speed.
The present invention has shortened the Measuring Time of CPIII control net greatly; Overcome the little shortcoming of discrete type spot measurement population characteristic valuve property; Overall adjustment is carried out at each reference mark, and closed is good, and relative accuracy is high; And obtain the plane and the elevation coordinate at each reference mark simultaneously, simplified the surveying work of CPIII foundation pile control net on a large scale effectively.
Description of drawings
Fig. 1 is the system schematic of the mobile lidar measurement system that uses of the present invention.
Fig. 2 is flow chart of data processing figure of the present invention.
Fig. 3 is the measurement process flow diagram of CPIII foundation pile control net of the present invention.
Fig. 4 is the synoptic diagram that Railway Special of the present invention is measured sign.
Embodiment
Fig. 1 is the system schematic that high-speed railway of the present invention moves the lidar measurement system.This system is made up of laser scanner 1, GPS/IMU positioning and directing system 2, high speed digital imaging system 3, industrial computer 4 and electric supply installation 5.Electric supply installation 5 provides electric power safeguard for laser scanner 1, GPS/IMU positioning and directing system 2, high speed digital imaging system 3, industrial computer 4.Laser scanner 1, GPS/IMU positioning and directing system 2, high speed digital imaging system 3 are through industrial computer 4 controls.System is installed on the motion platform; In motion process; By laser scanner 1 emission of lasering beam and receive the laser pulse of reflected back, by GPS/IMU positioning and directing system 2 obtain move in each positioning and directing data constantly, take CPIII control net digital image along the line by high speed digital imaging system 3; Above data are all passed through cable storage to industrial computer 4, carry out data solver through data processing software again.
Fig. 2 is flow chart of data processing figure of the present invention.Obtain the laser scanning raw data of CPIII net along the high ferro circuit by laser scanner 1; By the positioning and directing data that GPS/IMU positioning and directing system 2 obtains, associating GPS base station data resolves and obtains motion trace data; Take the original digital image of CPIII net along the high ferro circuit by high speed digital imaging system 3.Go out the three-dimensional point cloud that CPIII nets through laser scanning raw data and motion trace data combined calculation, calculate the observation coordinate at CPIII reference mark; Digital image-forming raw data Union Movement track data carries out obtaining after the data processing digital image after the orientation, and coding characteristic point and the periphery that therefrom extracts the CPIII sphere obviously object calculates the three-dimensional coordinate of these subsidiary points as the subsidiary point.Select at a certain distance a pair of and CPII Netcom look with the how much all reasonable CPIII of encounter conditions reference mark as CPIII translocation point, use angle measurement intersection or range finding intersection that these CPIII translocation points are measured.With known CPI, CPII reference mark coordinate, the CPIII translocation point coordinate that measures and CPIII observation coordinate that calculates and subsidiary point coordinate; The associating weighted adjustment; Excluding gross error; Calculate accurate three-dimensional coordinate in each reference mark of CPIII and CPIII net mass parameter, as: RMS value, level and vertical error etc.
Fig. 3 is the measurement process flow diagram of CPIII foundation pile control net, and step is following:
Step S1: on each reference mark of CPIII net, lay Railway Special laser measurement identifier of the present invention;
Step S2: set up the GPS base station, setting up the place and should being chosen on the reference mark of CPI or CPII net of GPS base station is evenly distributed to few 3 6PS base stations about 10 kilometers measurement range planted agents;
Step S3: use mobile high precision measuring system that the CPIII net is scanned along the line, obtain laser scanning raw data, GPS/IMU positioning and directing data and digital image-forming raw data;
Step S4: select a pair of looking with how much all reasonable CPIII of encounter conditions to net the translocation point of reference mark at a certain distance, use angle measurement intersection or range finding intersection that these CPIII net translocation points are measured as the CPIII net with CPII Netcom;
Step S5: resolve movement locus, the base station data that the GPS base station of setting up among the positioning and directing data integrating step S2 that high precision 16 PS/IMU positioning and directing system 2 obtains obtains through the data pre-service, calculates high-precision track data; The track data that the base station data that obtains based on a plurality of GPS base station of good geometry calculates precision and stable aspect all more excellent;
Step S6: the track data that calculates among laser scanning raw data and the step S5 is united the three-dimensional point cloud that calculates the CPIII net;
Step S7: the track data that calculates among digital image-forming raw data and the step S5 is united the CPIII net that calculates after the orientation and the digital image data of surrounding enviroment;
Step S8: the spherical co-ordinate of the object ball 6 of the Railway Special laser measurement identifier at each reference mark of CPIII net in the extraction three-dimensional point cloud, calculate each sphere centre coordinate;
Step S9: utilize the mathematical relation at reference mark of center point coordinate and its sign of the object ball 6 of Railway Special laser measurement identifier, calculate the observation coordinate at each reference mark of CPIII net;
Step S10: utilize the digitized video correlation technique; In the overlapping digital image of many degree after orientation; Sphere coding characteristic point and peripheral obviously object that extraction is laid in the Railway Special laser measurement identifier on the CPIII net reference mark calculate the three-dimensional coordinate of these subsidiary points as the subsidiary point;
Step S11: known CPI, CPII network control system point coordinate, CPIII net observation coordinate, CPIII net translocation point coordinate, subsidiary point coordinate are united weighted adjustment, excluding gross error.
Calculate CPIII net accurate three-dimensional coordinate in each reference mark and CPIII net mass parameter, as: RMS value, level and vertical error etc.
Fig. 4 is the synoptic diagram that Railway Special of the present invention is measured sign, is made up of object ball 6, centering rod 7 and the identity device 8 of fixing a point together.Point of fixity identity device 8 is all imbedded at each reference mark in the CPIII foundation pile control net; Erect centering rod 7 and object ball 6; If existing other signs on the CPIII net reference mark; Can use the fixing Railway Special of the present invention of additive method to measure sign, aim at CPIII net reference mark as long as guarantee the tip of centering rod 7.
Claims (4)
1. the measuring method of a high-speed railway foundation pile control net CPIII; The mobile high precision measuring system that use is made up of laser scanner (1), GPS/IMU positioning and directing system (2), high speed digital imaging system (3), industrial computer (4) and electric supply installation (5); It is characterized in that: under the state of motion; Obtain the laser point cloud and the digital image data of CPIII net in road along the line; Associating GPS/IMU positioning and directing data; Calculate observation coordinate and the subsidiary point coordinate at CPIII net reference mark, unite weighted adjustment, obtain precision and can reach three-dimensional coordinate and the CPIII that millimetre-sized CPIII nets each reference mark and net mass parameter through the CPIII translocation point coordinate that obtains with known CPI, CPII network control system point coordinate, translocation.
2. the measuring method of high-speed railway foundation pile control net CPIII according to claim 1, step is following:
Step S1: on each reference mark of CPIII net, lay the Railway Special laser measurement identifier;
Step S2: set up the GPS base station, setting up the place and should being chosen on the reference mark of CPI or CPII net of GPS base station is evenly distributed to few 3 GPS base stations about 10 kilometers measurement range planted agents;
Step S3: use mobile high precision measuring system that the CPIII net is scanned along the line, obtain laser scanning raw data, GPS/IMU positioning and directing data and digital image-forming raw data;
Step S4: select a pair of looking with how much all reasonable CPIII of encounter conditions to net the translocation point of reference mark at a certain distance, use angle measurement intersection or range finding intersection that these CPIII net translocation points are measured as the CPIII net with CPII Netcom;
Step S5: resolve movement locus, the base station data that the GPS base station of setting up among the positioning and directing data integrating step S2 that high-precision GPS/IMU positioning and directing system (2) obtains obtains through the data pre-service, calculates high-precision track data; The track data that the base station data that obtains based on a plurality of GPS base station of good geometry calculates precision and stable aspect all more excellent;
Step S6: the track data that calculates among laser scanning raw data and the step S5 is united the three-dimensional point cloud that calculates the CPIII net;
Step S7: the track data that calculates among digital image-forming raw data and the step S5 is united the CPIII net that calculates after the orientation and the digital image data of surrounding enviroment;
Step S8: the spherical co-ordinate of the object ball (6) that the Railway Special laser measurement at each reference mark of CPIII net in the extraction three-dimensional point cloud is marked with, calculate each sphere centre coordinate;
Step S9: utilize the mathematical relation at reference mark of center point coordinate and its sign of the object ball (6) of Railway Special laser measurement identifier, calculate the observation coordinate at each reference mark of CPIII net:
Step S10: utilize the digitized video correlation technique; In the overlapping digital image of many degree after orientation; Sphere coding characteristic point and peripheral obviously object that extraction is laid in the Railway Special laser measurement identifier on the CPIII net reference mark calculate the three-dimensional coordinate of these subsidiary points as the subsidiary point;
Step S11: known CPI, CPII network control system point coordinate, CPIII net observation coordinate, CPIII net translocation point coordinate, subsidiary point coordinate are united weighted adjustment, excluding gross error;
Calculate CPIII net accurate three-dimensional coordinate in each reference mark and CPIII net mass parameter.
3. the measuring method of high-speed railway foundation pile control net CPIII according to claim 2; It is characterized in that: the digital image that uses high speed digital imaging system (3) to obtain has the overlapping characteristic of many degree; In these images, can extract a plurality of coding characteristic points that have the overlapping CPIII sphere of three degree at least and the obvious object of periphery as the subsidiary point, on the one hand; Subsidiary point can be participated in simultaneous adjustment and calculated, and improves the precision and the stability of CPIII control net; On the other hand, subsidiary point also can be used as the foundation of checking CPIII reference mark precision.
4. realize that the Railway Special measurement of using in the measuring method of the described high-speed railway foundation pile control net of claim 2 CPIII identifies; Form by object ball (6), centering rod (7) and point of fixity identity device (8); It is characterized in that: marker uses object ball (6); The Laser emission multi-angle of laser radar system is moved in solution and because of the Random Laser point causes the probabilistic problem of point of fixity, object ball (6) adopts the good material of laser-bounce property, has encoding of graphs on the sphere; Be convenient in digital image, discern, size is selected according to the frequency of mobile platform speed, final measuring accuracy and laser scanner.
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