CN114046779B - Visual measurement adjustment method based on additional large-scale constraint between measuring station and control point - Google Patents
Visual measurement adjustment method based on additional large-scale constraint between measuring station and control point Download PDFInfo
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- CN114046779B CN114046779B CN202111407992.6A CN202111407992A CN114046779B CN 114046779 B CN114046779 B CN 114046779B CN 202111407992 A CN202111407992 A CN 202111407992A CN 114046779 B CN114046779 B CN 114046779B
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/12—Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken
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Abstract
The invention discloses a visual measurement adjustment method based on additional large-scale constraint between a measuring station and a control point, which belongs to the technical field of visual measurement and comprises the following steps: s10, a series of space point positions are distributed in a region to be measured; s20, determining a measuring station, and arranging a measuring instrument at the determining station as a measuring station; s30, leveling the vision measuring instrument, and taking a first picture of the space control point; s40, rotating the horizontal turntable or the vertical turntable, and shooting again until shooting is completed; s50, measuring the distance between the point positions of the space control points; s60, moving to a next measuring station, and repeating the steps S10 to S50; s70, inputting measuring parameters of the measuring station into the adjustment model to obtain coordinates and postures of the measuring station and coordinates of the spatial point. The invention establishes the distance constraint between the instrument center and the measured point position and the angle constraint under the shooting attitude, and can improve the photogrammetry accuracy of a large-range area.
Description
Technical Field
The invention belongs to the technical field of vision measurement, and particularly relates to a vision measurement adjustment method for a vision measuring instrument with a turntable and a distance measuring function based on additional large-scale constraint between a measuring station and a control point.
Background
The close-range industrial photogrammetry system is a non-contact measurement, adopts a single camera or multiple cameras to take one or more pictures of an object to be measured, and utilizes imaging information of the object to be measured on a camera image sensor to realize three-dimensional spatial position measurement of the object to be measured. Compared with the traditional contact type measurement, the method has the obvious advantages of high measurement efficiency, fewer operators, flexible station selection and the like. However, this approach has a certain gap in accuracy compared to trackers for a wide range of measurements, especially for elongated accelerator tunneling mesh measurements, mainly due to the lack of large scale space constraints.
Therefore, there is an urgent need for an accelerator tunnel control network measurement method capable of improving the accuracy of photogrammetry in a wide area.
Disclosure of Invention
The invention provides an accelerator tunnel control network measuring method capable of improving the photogrammetry of a large-range area, which has the following technical scheme:
a visual measurement adjustment method based on the addition of large-scale constraints between a measuring station and a control point comprises the following steps:
s10, a series of spatial points to be measured are distributed in a region to be measured, and a coordinate system where the points are located is called an object space coordinate system;
s20, determining a measuring station, and arranging a measuring instrument at the determining station as a measuring station;
s30, leveling the vision measuring instrument, and taking a first photo of a space control point at a measuring station; after shooting is completed, taking the measurement position as an initial measurement position of the measurement station;
s40, rotating the horizontal turntable or the vertical turntable, photographing and shooting the space control point again, and simultaneously recording the angle information of the turntable until all measurement photos of the measuring station are shot;
s50, performing distance measurement on the space point positions to obtain a distance observation value of the measuring instrument;
s60, moving to the next measuring station, repeating the steps S10 to S50, and carrying out distance and photogrammetry related work on the space point positions;
s70, inputting observed values and photogrammetry parameters obtained by measuring the same measuring station into adjustment models of image points on different measurement photos of the same measuring station;
the adjustment model is suitable for the observation data of different measuring stations, and finally the coordinates, the postures and the coordinates of the space point positions of all the measuring stations are obtained.
Further, the observed value comprises photographed image point coordinates, a distance observed value and posture deviation among different photos, wherein the posture deviation among different photos is an angle observed value of the turntable.
Further, the relationship between the coordinates of the image point and the coordinates of the space of the object on the photo is expressed as follows:
the photo coordinate system between the main image point and the corresponding image point is o_xy, and the object coordinate system of the measuring area is o_xyz; wherein the coefficient a 1 ，a 2 ，a 3 ，b 1 b 2 ，b 3 ，c 1 ,c 2 ,c 3 The external elements of the camera are hidden in the transformation relation matrix among the photo coordinate system, the image space auxiliary coordinate system, the image space coordinate system and the object space coordinate system, and the external elements comprise station position parameters and attitude parameters; x is x 0 ,y 0 The coordinates of the principal point of the image in the image coordinate system, f is the focal length of the camera and is commonly called as an internal azimuth element of the camera; x and y are the observation values of the corresponding object points in the o_xy coordinate system in the image point coordinates, namely in photogrammetry; x is X s ，Y s ，Z s The coordinates of the station center in the object coordinate system O_XYZ are the position parameters of the station; x, Y, Z are coordinates of the measurement point in an O_XYZ coordinate system.
Further, the distance observations are expressed as follows:
where i, j are two points in object space, (X) i ,Y i ,Z i ) And (X) j ,Y j ,Z j ) Is the space coordinate between the two points i and j; i. j distance S between two points ij Can be expressed by the above formula as a constraint on the distance scale of space.
Further, the attitude deviation of the station angle observation value relative to the initial photo 1 of the other photo i of the same station can be obtained by the reading of the turntable, wherein the parameter of the turntable can be obtained by the following formula:
Δθ i1 ＝θ i -θ 1
the θ in the above formula represents the attitude deviation of different photographs of the same station in three directions.
Further, on different photographs of the same measuring station, the adjustment model of the photographed image point coordinates, the distance observation values, the observation data of the posture deviation among different photographs, the measuring station coordinates and the space measuring point coordinates is as follows:
wherein, (x) 1 ，y 1 ) Is the pixel coordinate 1 of the spatial point 1 on the initial photograph, (x) 2 ，y 2 ) The space point position 2 is the image point coordinate 2 on the station photo 2; (DeltaX) 1 ,ΔY 1 ,ΔZ 1 ) And (DeltaX) 2 ,ΔY 2 ,ΔZ 2 ) Is the parameter to be estimated of the space coordinates of the object position point 1 and the object position point 2, delta X s1 ，ΔY s1 ，ΔZ s1 ，Δw 1 ，Δk 1 As a parameter to be estimated of the external azimuth element of the initial photo, deltaw 2 ，/>△k 2 The position parameter of the photo 2 is consistent with the initial photo; v x1 ，v y1 ，v x2 ，v y2 Is the correction of the observations of pixel 1 and pixel 2, l x1 ，l y1 ，l x2 ，l y2 Is the difference between the observed value and the approximation value of the image point;respectively a space point position 1, a space point position 2 and a measuring station S 1 Correction of the distance observations +.>Is the difference between the measured distance value and the approximation; /> Is the correction of the attitude deviation observation value between photos;subtracting the approximate value from the actual measurement value of the attitude deviation between the photos;
the expression (1) represents an image point (x) 1 ，y 1 ) Is a difference formula of (2); the expression (2) represents the image point (x) 2 ，y 2 ) Is a difference formula of (2); object point (X) of the (3) 1 ,Y 1 ,Z 1 ) A distance observation value adjustment model with the center of the measuring station; the (4) th is the object point (X) 2 ,Y 2 ,Z 2 ) A distance observation value adjustment model with the center of the measuring station; equations (5), (6) and (7) are the pose parameter relationships of the initial photograph and the other photographs; wherein equations (3), (4), (5), (6) and (7) are angle and distance constraints on the large scale of the photogrammetric space, the initial and other image point adjustment models on the station are similar to those shown above.
Further, the 6 external orientation elements of different photographs of the same station have the same position pose, but have different angular poses.
Further, before step S10, the measuring instrument is mounted on an instrument holder through a triangle base, and the level of the measuring instrument is adjusted.
Further, in step S40, the position of the instrument holder remains unchanged.
Further, the measuring instrument comprises a ranging module, a vision measuring module, a vertical turntable and a horizontal turntable, wherein the vertical turntable is in rotary connection with the horizontal turntable; the vision measurement module is rotationally connected with the vertical turntable; the ranging module is connected with the vision measurement module.
The beneficial effects are that:
according to the visual measurement adjustment method based on the large-scale constraint between the measuring station and the control point, which is provided by the invention, the distance constraint between the instrument center and the measured point position and the angle constraint under the shooting posture are established, so that the photogrammetry of a large-scale area can be improved.
Drawings
FIG. 1 is a flow chart of a visual measurement adjustment method based on additional large-scale constraint between a measuring station and a control point;
FIG. 2 is a schematic diagram of the overall structure of the measuring instrument;
10, a horizontal turntable; 20. a vision measurement module; 30. a vertical turntable; 40. and a ranging module.
Detailed Description
Example 1
A visual measurement adjustment method based on the addition of large-scale constraints between a measuring station and a control point comprises the following steps:
s10, a series of spatial points to be measured are distributed in a region to be measured, and a coordinate system where the points are located is called an object space coordinate system.
S20, determining a measuring station, and arranging a measuring instrument at the determining station as a measuring station;
s30, leveling the vision measuring instrument, and taking a first photo of a space control point at a measuring station; after shooting is completed, taking the measurement position as an initial measurement position of the measurement station;
s40, rotating the horizontal turntable or the vertical turntable, photographing the space control point again, and simultaneously recording the angle information of the turntable until all measurement photos of the measuring station are photographed;
s50, performing distance measurement on the space point positions to obtain a distance observation value of a measuring instrument; in this embodiment, the point location measured by distance is not necessarily the point location visually photographed by the station, but may be a point location far away from the station and not photographed by photogrammetry;
s60, moving to the next measuring station, repeating the steps S10 to S50, and carrying out distance and photogrammetry related work on the space point positions;
s70, inputting the observed value and the photogrammetry parameters obtained by measuring the same measuring station into the adjustment model of the image points on different measurement photos of the same measuring station,
the adjustment model is suitable for observation data of different measuring stations, and finally coordinates, postures and coordinates of space point positions of all the measuring stations are obtained.
In this embodiment, the observed values include the coordinates of the photographed image point, the distance observed value, and the posture deviation between different photographs, where the posture deviation between different photographs is the angle observed value of the turntable.
The relation between the image point coordinates and the object space coordinates on the photo is expressed as follows:
the photo coordinate system between the main image point and the corresponding image point is o_xy, and the object coordinate system of the measuring area is o_xyz; wherein the coefficient a 1 ，a 2 ，a 3 ，b 1 b 2 ，b 3 ，c 1 ,c 2 ,c 3 The external elements of the camera are hidden in the transformation relation matrix among the photo coordinate system, the image space auxiliary coordinate system, the image space coordinate system and the object space coordinate system, and the external elements comprise station position parameters and attitude parameters; x is x 0 ,y 0 The coordinates of the principal point of the image in the image coordinate system, f is the focal length of the camera and is commonly called as an internal azimuth element of the camera; x and y are the observation values of the corresponding object points in the o_xy coordinate system in the image point coordinates, namely in photogrammetry; x is X s ，Y s ，Z s The coordinates of the station center in the object coordinate system O_XYZ are the position parameters of the station; x, Y, Z are coordinates of the measurement point in an O_XYZ coordinate system.
In the present embodiment, the distance observation value is expressed as follows:
where i, j are two points in object space, (X) i ,Y i ,Z i ) And (X) j ,Y j ,Z j ) Is the space coordinate between the two points i and j; i. j distance S between two points ij Can be expressed by the above formula as a constraint on the distance scale of space.
In this embodiment, the attitude deviation of the other photographs i of the same station relative to the initial photograph 1, which is the station angle observation value, can be obtained by the turntable reading, wherein the turntable parameters can be obtained by the following formula:
Δθ i1 ＝θ i -θ 1
the θ in the above formula represents the attitude deviation of different photographs of the same station in three directions.
In this embodiment, on different photographs of the same measuring station, the adjustment model of the photographed image point coordinates, the distance observation values, the observation data of the posture deviation between different photographs, the measuring station coordinates and the spatial measuring point coordinates is as follows:
wherein, (x) 1 ，y 1 ) Is the pixel coordinate 1 of the spatial point 1 on the initial photograph, (x) 2 ，y 2 ) The space point position 2 is the image point coordinate 2 on the station photo 2; (DeltaX) 1 ,ΔY 1 ,ΔZ 1 ) And (DeltaX) 2 ,ΔY 2 ,ΔZ 2 ) Is the parameter to be estimated of the space coordinates of the object position point 1 and the object position point 2, delta X s1 ，ΔY s1 ，ΔZ s1 ，Δw 1 ，Δk 1 As a parameter to be estimated of the external azimuth element of the initial photo, deltaw 2 ，/>△k 2 The position parameter of the photo 2 is consistent with the initial photo; v x1 ，v y1 ，v x2 ，v y2 Is the correction of the observations of pixel 1 and pixel 2, l x1 ，l y1 ，l x2 ，l y2 Is the difference between the observed value and the approximation value of the image point;respectively a space point position 1, a space point position 2 and a measuring station S 1 Correction of the distance observations +.>Is the difference between the measured distance value and the approximation; /> Is the correction of the attitude deviation observation value between photos;subtracting the approximate value from the actual measurement value of the attitude deviation between the photos;
the expression (1) represents an image point (x) 1 ，y 1 ) Is a difference formula of (2); the expression (2) represents the image point (x) 2 ，y 2 ) Is a difference formula of (2); object point (X) of the (3) 1 ,Y 1 ,Z 1 ) A distance observation value adjustment model with the center of the measuring station; the (4) th is the object point (X) 2 ,Y 2 ,Z 2 ) A distance observation value adjustment model with the center of the measuring station; equations (5), (6) and (7) are the pose parameter relationships of the initial photograph and the other photographs; wherein equations (3), (4), (5), (6) and (7) are angle and distance constraints on the large scale of the photogrammetric space, the initial and other image point adjustment models on the station are similar to those shown above.
In this embodiment, the photo 2 is a photo taken by the same station and different from the initial position.
Before step S10, the measuring instrument is mounted on the instrument holder through the triangle base, and the level of the measuring instrument is adjusted.
In step S40, the position of the instrument holder remains unchanged.
In the present embodiment, the measuring instrument includes a ranging module 40, a vision measuring module 20, a vertical turntable 30 and a horizontal turntable 10, the vertical turntable 30 being rotatably connected with the horizontal turntable 10; the vision measurement module 20 is rotatably connected with the vertical turntable 30; the ranging module 40 is connected with the vision measuring module 20.
Wherein the ranging module 40 may obtain the instrument distance; the vision measurement module 20 may obtain a relationship between the image point and the control point; thereby forming an instrument with vision measuring, distance measuring and angle measuring functions. In this way, the distance constraint between the center of the instrument and the measured point and the angle constraint under the shooting posture can be established in the measurement.
In this embodiment, different stations shoot the same spatial point locations to form redundant information.
In this embodiment, adjustment is performed through the whole photographs of different measuring stations, so as to obtain coordinates of spatial points.
The foregoing is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so any minor modifications, equivalent variations and modifications made to the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (5)
1. A visual measurement adjustment method based on the addition of large-scale constraints between a measuring station and a control point is characterized by comprising the following steps:
s10, a series of spatial points to be measured are distributed in a region to be measured, and a coordinate system where the points are located is called an object space coordinate system;
s20, determining a measuring station, and arranging a measuring instrument at the determining station as a measuring station;
s30, leveling the vision measuring instrument, and taking a first photo of a space control point at a measuring station; after shooting is completed, taking the measurement position as an initial measurement position of the measurement station;
s40, rotating the horizontal turntable or the vertical turntable, photographing and shooting the space control point again, and simultaneously recording the angle information of the turntable until all measurement photos of the measuring station are shot;
s50, performing distance measurement on the space point positions to obtain a distance observation value of the measuring instrument;
s60, moving to the next measuring station, repeating the steps S10 to S50, and carrying out distance and photogrammetry related work on the space point positions;
s70, inputting observed values and photogrammetry parameters obtained by measurement of the same measuring station into adjustment models of image points on different measurement photos of the same measuring station;
the adjustment model is suitable for the observation data of different measuring stations, and finally coordinates, postures and coordinates of space point positions of all measuring stations are obtained;
the observation values comprise photographed image point coordinates, distance observation values and posture deviations among different photos, wherein the posture deviations among the different photos are angle observation values of a turntable;
the relationship between the coordinates of the image point on the photo and the coordinates of the object space is expressed as follows:
the photo coordinate system between the main image point and the corresponding image point is o_xy, and the object coordinate system of the measuring area is o_xyz; wherein the coefficient a 1 ，a 2 ，a 3 ，b 1 ，b 2 ，b 3 ，c 1 ,c 2 ,c 3 The external elements of the camera are hidden in the transformation relation matrix among the photo coordinate system, the image space auxiliary coordinate system, the image space coordinate system and the object space coordinate system, and the external elements comprise station position parameters and attitude parameters; x is x 0 ,y 0 The coordinates of the principal point of the image in the image coordinate system, f is the focal length of the camera and is commonly called as an internal azimuth element of the camera; x, y being the coordinates of the corresponding object point at the image point in the o_xy coordinate system, i.e. shootingObservations in shadow measurements; x is X s ，Y s ，Z s The coordinates of the station center in the object coordinate system O_XYZ are the position parameters of the station; x, Y and Z are coordinates of the measuring point in an O_XYZ coordinate system;
the distance observations are expressed as follows:
where i, j are two points in object space, (X) i ,Y i ,Z i ) And (X) j ,Y j ,Z j ) Is the space coordinate between the two points i and j; i. j distance S between two points ij Can be expressed by the above formula as a distance scale constraint of space;
the angular observation value of the turntable is that the attitude deviation of other photos i of the same measuring station relative to the initial photo 1 can be obtained by the reading of the turntable, wherein the turntable parameters can be obtained by the following formula:
Δθ i1 ＝θ i -θ 1
θ in the above formula represents the attitude deviation of different photos of the same measuring station in three directions;
on different photographs of the same measuring station, the adjustment model of the photographed image point coordinates, the distance observation values, the observation data of the posture deviation among different photographs, the measuring station coordinates and the space measurement point coordinates is as follows:
wherein, (x) 1 ，y 1 ) Is the pixel coordinate 1 of the spatial point 1 on the initial photograph, (x) 2 ，y 2 ) The space point position 2 is the image point coordinate 2 on the station photo 2; (DeltaX) 1 ,ΔY 1 ,ΔZ 1 ) And (DeltaX) 2 ,ΔY 2 ,ΔZ 2 ) Is the parameter to be estimated of the space coordinates of the object position point 1 and the object position point 2, delta X s1 ，ΔY s1 ，ΔZ s1 ，Δw 1 ，Δk 1 Δw, which is the parameter to be estimated of the external orientation element of the initial photograph 2 ，/>Δk 2 The position parameter of the photo 2 is consistent with the initial photo; v x1 ，v y1 ，v x2 ，v y2 Is the correction of the observations of pixel 1 and pixel 2, l x1 ，l y1 ，l x2 ，l y2 Is the difference between the observed value and the approximation value of the image point;respectively a space point position 1, a space point position 2 and a measuring station S 1 Correction of the distance observations +.>Is the difference between the measured distance value and the approximation; /> Is the correction of the attitude deviation observation value between photos;subtracting the approximate value from the actual measurement value of the attitude deviation between the photos;
the expression (1) represents an image point (x) 1 ，y 1 ) Is a difference formula of (2); the expression (2) represents the image point (x) 2 ，y 2 ) Is a difference formula of (2); object point (X) of the (3) 1 ,Y 1 ,Z 1 ) A distance observation value adjustment model with the center of the measuring station; the (4) th is the object point (X) 2 ,Y 2 ,Z 2 ) A distance observation value adjustment model with the center of the measuring station; equations (5), (6) and (7) are the pose parameter relationships of the initial photograph and the other photographs; wherein, the formulas (3), (4),(5) (6) and (7) are angle and distance constraints on the large scale of the photogrammetric space, the initial and other image point adjustment models on the survey station are similar to those shown above.
2. The method of vision measurement adjustment based on the addition of large scale constraints between a station and a control point of claim 1, wherein the 6 external orientation elements of different photographs of the same station have the same position pose and have different angular poses.
3. The method of vision measurement setup based on the addition of large scale constraints between a station and a control point as claimed in claim 1, wherein prior to step S10, the measuring instrument is mounted on an instrument holder via a triangle base and the level is adjusted for the measuring instrument.
4. A method of vision measurement setup based on the addition of large scale constraints between a station and a control point according to claim 3, characterized in that the position of the instrument holder is kept unchanged in step S40.
5. The visual measurement adjustment method based on the large-scale constraint between the measuring station and the control point according to claim 1, wherein the measuring instrument comprises a ranging module, a visual measurement module, a vertical turntable and a horizontal turntable, and the vertical turntable is rotatably connected with the horizontal turntable; the vision measurement module is rotationally connected with the vertical turntable; the ranging module is connected with the vision measurement module.
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| CN110779498A (en) * | 2019-09-19 | 2020-02-11 | 中国科学院测量与地球物理研究所 | Shallow river water depth mapping method and system based on unmanned aerial vehicle multi-viewpoint photography |
| CN113324528A (en) * | 2021-05-18 | 2021-08-31 | 武汉大学 | Close-range photogrammetry target positioning method and system with known camera station position |
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