CN104077476B - Transform method for scanner coordinate system and engineering surveying coordinate system - Google Patents
Transform method for scanner coordinate system and engineering surveying coordinate system Download PDFInfo
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Abstract
The invention discloses a transform method for a scanner coordinate system and an engineering surveying coordinate system, and the method comprises the following steps: 1) orienting the engineering surveying coordinate at the centre of the target as the flexible coordinate, the property is that there is the nonlinearity relationship between the length of two points of coordinate back calculation and the corresponding earth surface length and there is flexible property; the point cloud coordinate obtained by the ground laser scanner is the rigid coordinate, the property is that the plan range between two points of coordinate back calculation is equal to the corresponding earth surface length and there is rigid property; 2) converting the engineering surveying coordinate, namely the flexible coordinate into the orthorhombic three-dimensional rectangular coordinate system through comprehensive deformation of eliminating distance reduction and projecting to have consistency with the three-dimensional laser scanning coordinate system; 3) establishing rigid point cloud orientation model and solving the orientation parameter; 4) converting and calculating the engineering surveying coordinate of all point clouds for the scanning station. The transform method for a scanner coordinate system and an engineering surveying coordinate system can eliminate the system error caused by reduction deformation and projection deformation in engineering measurement for maximum.
Description
Technical field
The present invention relates to a kind of scanner coordinate system and the alternative approach of engineering survey coordinate system, belong to engineering survey neck
Domain.
Background technology
Engineering object such as landform of large-scale construction project facility, region etc., is placed on entering in engineering survey coordinate system
Row research, select to control distortion of projection and reduction deformation, engineering coordinate system will select central meridian and setoff face, make
Comprehensive deformation is less than 2.5cm after projection.It is X from gauss projection east coordinate when engineering survey is carried out with 3 D laser scanning
Coordinate, northern coordinate be Y-coordinate, with normal a height of Z coordinate, 3-dimensional right hand rectangular coordinate system is constituted, with sweeping for more than 3 control point
Coordinate (x, y, z) and engineering survey coordinate system coordinate (X, Y, Z) are retouched, with (1) formula or (2) modular form the ginseng of two coordinate systems is calculated
Number.
XS、YS、ZSLocation parameter when being scanner scanning；Attitude of the scanner in engineering survey coordinate system when R is scanning
The spin matrix that parameter is constituted.According to engineering survey " calculated by coordinate length is differed less than the value specified with surface measured length "
Requiring (2) formula of (1) has two weak points：1. formula (1) to 3 D laser scanning coordinate z take advantage of λ be it is inappropriate, scale because
Son is typically caused by length deformation, and elevation deforms without this, so relatively good from (2) formula.2. engineering survey coordinate (X, Y,
Z the Gauss coordinate in) is deformed residual effect by comprehensive length, there is systematic error, with the error equation listed by 2 formulas
When formula only carries out adjustment to incidental error, there is model error, Coordinate Conversion precision certainly will be affected, so in high-acruracy survey
In, when being established an equation with (2) formula, need to eliminate the systematic error in (X, Y, Z).
The content of the invention
It is an object of the invention to provide it is a kind of can solve the above problems, the scanner coordinate system that conversion accuracy is high and engineering are surveyed
The alternative approach of amount coordinate system.Its technical scheme is：
The alternative approach of a kind of scanner coordinate system and engineering survey coordinate system, it is characterised in that adopt following steps：
1) the engineering survey coordinate for orienting Target Center is flexible coordinate, and its property is the length between 2 points of calculated by coordinate
Degree with corresponding earth surface length into non-linear relation, with flexible nature, specifically：1. horizontal range s of calculated by coordinate, with arriving
The difference of central meridian, hypsography change are in nonlinear change, and rule is
Wherein Δ s represents comprehensive deformation, Δ s1It is the reduction for producing the Reduction of Length of ground observation to reference ellipsoid
Deformation, is impact of the elevation to Reduction of Length, HmAverage earth to orient target is high；Δs2It is distortion of projection, ymRepresent that point is arrived
The distance of central meridian, Δ y represents orientation target and scanning movement coordinate difference, RmRepresent scanning movement radius of curvature of the earth；
2. by the earth level curvature and Influence of atmospheric vertical refraction, rule is Z coordinate
Wherein C be spheric and atmospheric aberration coefficient, RmScanning movement radius of curvature of the earth is represented, s is the horizontal range of calculated by coordinate, and K is
Atmospheric Refraction Coefficient at scanning movement, K values are between 0.08-0.14；And the point cloud coordinate that terrestrial Laser scanner is obtained is firm
Property coordinate, its property is that plan range is equal with corresponding earth surface length between 2 points of calculated by coordinate, with rigidity characteristic；
2) rigidization of flexible coordinate system：By engineering survey coordinate be flexible coordinate system coordinate by eliminate distance reduction and
The comprehensive deformation of projection, changes the three-dimensional cartesian coordinate system coordinate being orthogonal, and with 3 D laser scanning coordinate system coordinate one is reached
Cause property, reduces the systematic error that measurement data is brought, specifically：Sat using outline of the scanning movement in engineering survey coordinate system
Mark, reduction and projection correction are carried out to orienting Target Center relative to the engineering survey coordinate of scanning movement；Surveyed using triangulated height
Amount principle, corrects normal height, reduces the impact of quasigeoid Curvature Effect and Atmosphere Refraction, rigidly sits after correction
It is designated as
Z'=Z-Cs2
In formulaWithFor the rough coordinates of scanning movement, X and Y is Gauss coordinate, and Δ y is Y of the scanning movement to orientation target
Coordinate difference, Z is normal high；The coefficient of Reduction of Length deformation and distortion of projection's sum at λ scanning movements is the comprehensive deformation factor, HmFor
The average earth of orientation target is high, if without height anomaly, the normal height of average earth High Availabitity replaces, ymIt is that orientation target is arrived
The meansigma methodss distance of central meridian, RmIt is mean radius of curvature at scanning movement, C is Atmosphere Refraction error and quasigeoid
The spheric and atmospheric aberration coefficient of bending error, s is the horizontal range for orienting target to scanning movement, and Vertical atmosphere re- fraction values of factor K is in 0.08-
Between 0.14；
3) set up rigidization point cloud recursive model, referred to as Flexible Model about Ecology, be oriented parametric solution, Flexible Model about Ecology is concrete
For：
Scanning coordinate (x, y, z) and engineering survey coordinate system coordinate (X, Y, Z) with more than 3 orientation Target Centers, puts down
Difference calculates 6 orientation parameters, Parameters in Formula X', Y', Z',λ, C and s are in step 2) defined in mistake, tool
Body is：X', Y', Z' are rigid coordinate after correction,For the rough coordinates of scanning movement, the Reduction of Length change at λ scanning movements
The coefficient of shape and distortion of projection's sum is the comprehensive deformation factor, and C is the ball of Atmosphere Refraction error and quasigeoid bending error
Gas difference coefficient, s be orient target to scanning movement horizontal range, XS、YS、ZSLocation parameter when being scanner scanning, R is to sweep
The spin matrix that scanner is constituted in the attitude parameter of engineering survey coordinate system when retouching；
4) the engineering survey Coordinate Conversion that scanning movement has a cloud is calculated, and calculates all scannings of our station by Flexible Model about Ecology first
The rigidization coordinate of point cloudThen formula is pressedThe engineering survey coordinate of point cloud is calculated, it is public
Parameter lambda in formula,C and s are in step 2) defined in mistake, specifically：Reduction of Length deformation and throwing at λ scanning movements
The coefficient of shadow deformation sum is the comprehensive deformation factor,For the rough coordinates of scanning movement, C is for Atmosphere Refraction error and like big
The spheric and atmospheric aberration coefficient of ground-level bending error, s is the horizontal range for orienting target to scanning movement.
The present invention compared with prior art, has an advantage in that：1. existing model is solved the problems, such as, is disappeared to greatest extent
Except the impact of the systematic error that reduction deformation and distortion of projection etc. in engineering survey cause；2. deformation is had for engineering survey coordinate
The problem that error affects, proposes the Flexible Model about Ecology of Coordinate Conversion, for long range three of the every kilometer of comprehensive deformation more than 2.5cm
Dimension laser scanning high-acruracy survey, is applied to high accuracy engineering survey and provides technical support for Three Dimensional Ground laser scanner.
Specific embodiment
Experiment scanner used is Riegl VZ-1000, using spherical orientation target, 4 stations is scanned altogether, and often station sets 5
Spherical target, wherein the minimum 2 spherical targets that overlap of adjacent scanning movement, about 40,000,000 scanning elements of often standing.Spherical Target Center
Scanning coordinate is gone out by three-dimensional laser data processing software automatic measurement ＆ calculation.The engineering survey coordinate of target centering ground control point is used
RTK commercial measurements target ground point plane coordinates and elevation, it is high by measuring target, the elevation of engineering survey is incorporated into into target
Center.Engineering survey coordinate system is 80 Xi'an coordinate systems, and the central meridian of gauss projection is 117 degree, and scanning area is from central son
1 ° of 40' of noon line, elevation system selects 85 height datums.After the target calculated with rigid model formula and Flexible Model about Ecology formula is changed
Every error is shown in Table 1.Realize comprising the concrete steps that for rigid coordinate and flexible coordinate transform：
Step 1) the engineering survey coordinate of orientation Target Center is flexible coordinate, and the point cloud that terrestrial Laser scanner is obtained
Coordinate is rigid coordinate, and flexible coordinate system has relative to the property of rigid coordinate system：
1. horizontal range s of calculated by coordinate, is in non-linear change as the difference to central meridian, hypsography change
Change, rule is
Wherein Δ s represents comprehensive deformation, Δ s1It is the reduction for producing the Reduction of Length of ground observation to reference ellipsoid
Deformation, is impact of the elevation to Reduction of Length, HmAverage earth to control target is high；Δs2It is distortion of projection, ymRepresent that point is arrived
The distance of central meridian, Δ y represents target and scanning movement coordinate difference, RmRepresent scanning movement radius of curvature of the earth；
2. by the earth level curvature and Influence of atmospheric vertical refraction, rule is Z coordinate
Wherein C is spheric and atmospheric aberration coefficient, and K is the Atmospheric Refraction Coefficient at scanning movement, and K values are between 0.08-0.14.
Step 2) flexible coordinate system rigidization：Using scanning movement engineering survey coordinate system rough coordinates, to orientation
Target Center carries out projection correction and projection correction relative to the engineering survey coordinate of scanning movement；It is former using trigonometric levelling
Reason, corrects normal height, reduces the impact of quasigeoid Curvature Effect and Atmosphere Refraction, and coordinate correction formula is
Z'=Z-Cs2
In formulaWithFor the rough coordinates of scanning movement, X and Y is Gauss coordinate, and Δ y is Y of the scanning movement to orientation target
Coordinate difference, Z is normal high；The coefficient of Reduction of Length deformation and distortion of projection's sum at λ scanning movements is the comprehensive deformation factor, HmFor
The average earth of control target is high, if without height anomaly, the normal height of average earth High Availabitity replaces, ymIt is target to central authorities
Meridianal meansigma methodss distance, RmIt is mean radius of curvature at scanning movement, C is that Atmosphere Refraction error and quasigeoid bend
The spheric and atmospheric aberration coefficient of error, S is the horizontal range for orienting target to scanning movement；Vertical atmosphere re- fraction values of factor K is in 0.08-0.14
Between；
Step 3) in coordinate correction rigidization orientation parameter solve mathematical model be that Flexible Model about Ecology is
Scanning coordinate (x, y, z) and engineering survey coordinate system coordinate (X, Y, Z) with more than 3 Target Centers, adjustment meter
Calculate 6 orientation parameters.
Step 4) according to step 3) the orientation parameter solution that determines, calculate the rigidity of all scanning element clouds of our station by Flexible Model about Ecology
Change coordinateThen formula is pressedCalculate the engineering survey coordinate of point cloud.
Scanning element positional precision after orientation is evaluated.Precision index has error, elevation in error in X-direction, Y-direction
Error in middle error, plane mean square error of a point and point position in space.Calculated using the Flexible Model about Ecology of existing rigid model and the present invention
5 precision indexs it is as follows：
| Middle error title | Rigid model (mm) | Flexible Model about Ecology (mm) |
| Error in X-direction | 43.2 | 10.3 |
| Error in Y-direction | 35.0 | 8.2 |
| Mean square error of height | 9.9 | 9.6 |
| Plane mean square error of a point | 55.6 | 13.2 |
| Error in point position in space | 56.5 | 16.5 |
Experimental data is proved：1. existing model is solved the problems, such as, is eliminated return in engineering survey coordinate to greatest extent
Calculate the impact of the systematic error that deformation and distortion of projection etc. cause；2. Flexible Model about Ecology is conducive to improving the essence after point cloud Coordinate Conversion
Degree, is applied to precise engineering survey and provides technical support for Three Dimensional Ground laser scanner.
Claims (1)
1. the alternative approach of a kind of scanner coordinate system and engineering survey coordinate system, it is characterised in that adopt following steps：
1) the engineering survey coordinate for orienting Target Center is flexible coordinate, its property be length between 2 points of calculated by coordinate with
Correspondence earth surface length into non-linear relation, with flexible nature, specifically：1. horizontal range s of calculated by coordinate, central with arriving
Meridianal different, hypsography change is in nonlinear change, and rule is
Wherein Δ s represents comprehensive deformation, Δ s1It is the reduction deformation for producing the Reduction of Length of ground observation to reference ellipsoid,
It is impact of the elevation to Reduction of Length, HmAverage earth to orient target is high；Δs2It is distortion of projection, ymRepresent point to central authorities
Meridianal distance, Δ y represents orientation target and scanning movement coordinate difference, RmRepresent scanning movement radius of curvature of the earth；
2. by the earth level curvature and Influence of atmospheric vertical refraction, rule is Z coordinate
Wherein C be spheric and atmospheric aberration coefficient, RmScanning movement radius of curvature of the earth is represented, s is the horizontal range of calculated by coordinate, and K is scanning movement
The Atmospheric Refraction Coefficient at place, K values are between 0.08-0.14；And the point cloud coordinate that terrestrial Laser scanner is obtained is rigid coordinate,
Its property is that plan range is equal with corresponding earth surface length between 2 points of calculated by coordinate, with rigidity characteristic；
2) rigidization of flexible coordinate system：It is that flexible coordinate system coordinate passes through to eliminate distance reduction and projection by engineering survey coordinate
Comprehensive deformation, change the three-dimensional cartesian coordinate system coordinate that is orthogonal, reach concordance with 3 D laser scanning coordinate system coordinate,
Reduce the systematic error that measurement data is brought, specifically：Using scanning movement engineering survey coordinate system rough coordinates, to fixed
Reduction and projection correction are carried out to engineering survey coordinate of the Target Center relative to scanning movement；Using trigonometric levelling principle,
Normal height is corrected, reduces the impact of quasigeoid Curvature Effect and Atmosphere Refraction, rigid coordinate is after correction
Z'=Z-Cs2
In formulaWithFor the rough coordinates of scanning movement, X and Y is Gauss coordinate, and Δ y is Y-coordinate of the scanning movement to orientation target
Difference, Z is normal high；The coefficient of Reduction of Length deformation and distortion of projection's sum at λ scanning movements is the comprehensive deformation factor, HmFor orientation
The average earth of target is high, if without height anomaly, the normal high replacement of average earth High Availabitity, ymIt is to orient target to central authorities
Meridianal meansigma methodss distance, RmIt is mean radius of curvature at scanning movement, C is that Atmosphere Refraction error and quasigeoid bend
The spheric and atmospheric aberration coefficient of error, s is the horizontal range for orienting target to scanning movement, and Vertical atmosphere re- fraction values of factor K is in 0.08-0.14
Between；
3) set up rigidization point cloud recursive model, referred to as Flexible Model about Ecology, be oriented parametric solution, Flexible Model about Ecology is specially：
Scanning coordinate (x, y, z) and engineering survey coordinate system coordinate (X, Y, Z) with more than 3 orientation Target Centers, adjustment meter
Calculate 6 orientation parameters, Parameters in Formula X', Y', Z',λ, C and s are in step 2) defined in mistake, specifically：
X', Y', Z' are rigid coordinate after correction,For the rough coordinates of scanning movement, Reduction of Length deformation at λ scanning movements and
The coefficient of distortion of projection's sum is the comprehensive deformation factor, and C is the spheric and atmospheric aberration of Atmosphere Refraction error and quasigeoid bending error
Coefficient, s be orient target to scanning movement horizontal range, XS、YS、ZSLocation parameter when being scanner scanning, when R is scanning
The spin matrix that scanner is constituted in the attitude parameter of engineering survey coordinate system；
4) the engineering survey Coordinate Conversion that scanning movement has a cloud is calculated, and calculates all scanning element clouds of our station by Flexible Model about Ecology first
Rigidization coordinateThen formula is pressedThe engineering survey coordinate of point cloud is calculated, in formula
Parameter lambda,C and s are in step 2) defined in mistake, specifically：Reduction of Length deformation and projection at λ scanning movements becomes
The coefficient of shape sum is the comprehensive deformation factor,For the rough coordinates of scanning movement, C is for Atmosphere Refraction error and like big ground water
The spheric and atmospheric aberration coefficient of quasi- face bending error, s is the horizontal range for orienting target to scanning movement.
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| CN110146062B (en) * | 2019-05-08 | 2022-04-01 | 西安长庆科技工程有限责任公司 | Coordinate system conversion method based on point cloud data measured by map root points |
| CN111856500A (en) * | 2020-07-30 | 2020-10-30 | 山东理工大学 | Method for converting three-dimensional plane generalized model between scanner coordinate system and engineering measurement coordinate system |
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| CN101303228A (en) * | 2008-06-11 | 2008-11-12 | 中国矿业大学 | Method and apparatus associating GPS position with three-dimensional laser scanner measurement |
| CN103745018A (en) * | 2014-02-11 | 2014-04-23 | 天津市星际空间地理信息工程有限公司 | Multi-platform point cloud data fusion method |
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| CN101303228A (en) * | 2008-06-11 | 2008-11-12 | 中国矿业大学 | Method and apparatus associating GPS position with three-dimensional laser scanner measurement |
| CN103745018A (en) * | 2014-02-11 | 2014-04-23 | 天津市星际空间地理信息工程有限公司 | Multi-platform point cloud data fusion method |
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| 3D扫描点云拼接数学模型中参数选择对坐标转换精度的影响;于志路等;《测绘科学技术学报》;20140615;第31卷(第3期);第283-286页 * |
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