CN111220180B - Directional precision testing method for gyroscopic total station - Google Patents
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Abstract
The invention discloses a method for testing the orientation precision of a gyroscopic total station, which comprises the following steps: a. searching three target points A, B and C, and erecting prisms respectively; b. erecting a gyroscopic total station at a point P at any position in a triangular area formed by three target points, leveling and ensuring that a gyroscopic north-pointing identifier points to the true north direction; c. carrying out directional observation on the three target points A, B and C successively and independently, and calculating the values of included angle values of APB, BPC and CPA of adjacent points; d. keeping a gyro total station and three target prism points still, checking electronic bubbles of the total station, confirming centering, carrying out full circle method angle observation on A, B and C by adopting an angle measurement function of the total station in the gyro total station with a PA measurement line as a reference, and calculating included angle values of adjacent points, namely angle APB ',' angle BPC 'and angle CPA'; e. three angular differences delta are obtained by calculation 1 、Δ 2 、Δ 3 And calculating the orientation precision m of the gyroscopic total station by using a Felierost formula. The method has the advantages of strong practicability, good operability and low cost.
Description
Technical Field
The invention belongs to the technical field of underground engineering construction equipment, and particularly relates to a directional precision testing method of a gyroscopic total station.
Background
The gyro total station is a directional instrument which integrates a gyroscope and the total station for azimuth measurement, the gyroscope has the characteristics of axial stability and precession, and the property that a rotor shaft of the gyroscope rotating at a high speed points to a certain direction of an inertia space when no transverse external moment acts is the axial stability. When a fixed external moment acts on the spinning top self-transmission shaft rotating at high speed, the motion of the spinning top self-transmission shaft does not occur in the action plane of the external moment, but the rotation perpendicular to the action plane is precession. By using the fixed axis and precession of the gyroscope, when the earth rotates at an angular velocity omega E (ω E =1 week/day/night =7.25 × 10 -5 rad/s) rotates around the earth axis, the direction of a gyro rotor rotating shaft rotating at a high speed in an inertial space is kept stable and unchanged, and the gyro total station can realize automatic north finding and determine the true north direction of a target point on the basis of the earth rotation. Under the condition that the GPS technology in underground engineering fails, the gyro orientation measurement can realize automatic north finding without depending on other conditions, so that the method has great technical advantages and application prospects in projects such as tunnels, mines, caverns and the like.
The directional accuracy of the gyroscopic total station is the degree of dispersion of a directional observation value, and is usually measured by adopting a one-time directional standard deviation and a one-time directional medium error, wherein the one-time directional standard deviation comprises directional repeatability and an instrument constant change error and is mainly used for measuring the degree of deviation from a true value; the error in one-time orientation does not contain the change of an instrument constant, and the repeatability error of the instrument orientation is mainly measured.
At present, the error in primary orientation is generally adopted in China as the precision standard of the gyroscopic total station. The precision testing method comprises the following steps: the instrument is arranged on a workbench, and is accurately centered and leveled, so that the sighting axis of the gyro total station telescope and the azimuth target are accurately aimed or collimated, north seeking observation is carried out, and an azimuth angle measured value A is obtained i At least 6 times of independent measurement is carried out according to the operation, the gyro azimuth angle values are respectively obtained, and the average azimuth angle measured value is obtained
Thereby calculating the repeatability precision of north finding
Internationally, the gyro orientation precision test method of German standard DIN-18723 is mainly used. The method specifically comprises the following steps: under the condition of knowing the target direction, the north-seeking deviation value is obtained through multiple times of observation and serves as a common sense correction value, then two end points of the edge are observed for 5 times respectively, the measurement mean value is calculated, then the north-seeking repeatability precision s is calculated, and then whether the test result is qualified or not is verified according to a 95% confidence interval.
However, the two methods for testing the repeatability precision of the gyroscopic total station require a professional detection device and a special field, and a true north azimuth reference is accurately established through astronomical observation. The professional detection device is generally purchased by a metrological verification mechanism, the cost is high, the size and the stability of the site need to be considered in the special site, and the conditions are not available to most of ordinary gyroscope users, so that a gyroscopic total station precision testing method with strong practicability, good operability and low cost needs to be developed.
Disclosure of Invention
In order to solve the problems in the background art and achieve the purposes of strong practicability, good operability and low cost, the invention provides a method for testing the orientation precision of a gyroscopic total station.
A method for testing the orientation precision of a gyroscopic total station is suitable for the condition that the nominal angle measurement precision of the total station of the gyroscopic total station is less than or equal to one third of the nominal orientation precision of the gyroscope of the gyroscopic total station, and specifically comprises the following steps:
a. searching three target points A, B and C, and erecting prisms respectively;
b. erecting a gyroscopic total station at a point P at any position in a triangular area formed by three target points, leveling, and ensuring that a gyroscopic north-pointing identifier points to the true north direction;
c. carrying out gyro orientation observation, and independently orienting three target points A, B and C in sequenceObserving, the measured orientation angles of the gyro are respectively alpha A 、α B 、α C Calculating values of angle values < APB, < BPC and < CPA of adjacent points;
d. carrying out angle observation, keeping the gyroscopic total station and three target prism points still, checking electronic bubbles of the total station, confirming centering, carrying out full circle angle observation on A, B and C by adopting the angle measurement function of the total station in the gyroscopic total station by taking the PA measurement line as a reference, and obtaining an angle observation value beta A 、β B 、β C And calculating included angle values < APB ', < BPC ' and < CPA ' of adjacent points;
e. three angle differences delta are calculated by < APB, < BPC, < CPA, < APB ', < BPC' and < CPA 1 、Δ 2 、Δ 3 And calculating the orientation precision m of the gyroscopic total station by using a Felierost formula.
Further, the following steps:
∠APB＝(α B -α A ) + n × 360 °, n =0 or 1, so that ≈ APB is finally between 0 ° -360 °;
∠BPC＝(α C -α B ) + n × 360 °, n =0 or 1, so that ═ BPC is finally between 0 ° -360 °;
∠CPA＝(α A -α C ) + n × 360 °, n =0 or 1, so that ≈ CPA is finally between 0 ° -360 °.
Further, the following steps:
∠APB′＝β B -β A ；
∠BPC′＝β C -β B ；
∠CPA′＝(β A -β C ) + n × 360 °, n =0 or 1, so that ≈ CPA' is finally between 0 ° -360 °.
Further:
Δ 1 ＝∠APB′-∠APB；
Δ 2 ＝∠BPC′-∠BPC；
Δ 3 ＝∠CPA′-∠CPA。
saying one step is smart:
here, the total station can be used to measure the orientation accuracy of the gyroscope, since the nominal angle measurement accuracy of the total station of the gyroscopic total station as a standard and the nominal orientation accuracy of the gyroscope of the gyroscopic total station are intended to satisfy the one-third principle, that is, when the measuring standard instrument is used to correct the measuring instrument, the uncertainty thereof should be less than or equal to one-third of the uncertainty of the instrument to be corrected.
In addition, because the geometric net shape characteristic of the corners of the station and the target point is based, the sum of the included angles of the adjacent points is 360 degrees, so that the observed data has true errors. If necessary, checking a gyro observation azimuth angle and a total station observation angle, namely: the method for checking the observation data is increased by adjusting the angle APB plus BPC plus CPA =360 DEG and angle APB plus BPC plus CPA' =360 DEG, so that the checking condition of the observation data is increased and the checking method is strict.
In making the measurement, the same quantity may also be observed several times, and the average taken as the final value.
Compared with the prior art, the technical scheme disclosed by the invention has the following beneficial effects: based on the attribute of geometric net shape closure, the method adopts the included angles of adjacent target points as research objects, the sum of the included angles is a fixed constant, the test error presents the characteristic of true error, and the influence of the meridian convergence angle and the instrument constant on the precision test is effectively eliminated; in the precision testing process, only leveling is needed without centering, the requirements on a field and instruments are low, the influence of instrument centering errors on precision testing is eliminated, the instrument testing precision is totally embodied by observation errors, and the observation precision of the gyroscopic total station can be truly reflected; the method has the advantages of multiple observation targets, multiple checking conditions, reliable checking method, strict calculation model and simple data processing; the method is user-friendly to common gyroscopic total stations, and the true north can be determined without astronomical observation and professional detection devices are not required to be purchased.
In a word, compared with the conventional precision testing method, the method has the advantages of low cost, good operability and strong practicability, and is particularly suitable for the daily performance test of the gyroscopic total station and the precision test of the instrument after long-distance transportation or before operation.
Drawings
FIG. 1: the gyroscopic orientation observation azimuth angle of example 1;
FIG. 2: angular observations of example 1.
Detailed Description
The following description will explain specific embodiments of the present invention with reference to the drawings of the specification, and the disclosed embodiments are intended to explain, rather than limit, the present invention, and all technical solutions obtained by simple replacement, combination and development on the basis of the present invention, for example, changing a gyroscopic total station to a gyrotheodolite, changing a three-target point to a four-target point or a multiple-target point, changing a free station setting to a forced centering other station setting, and the like, all of which shall fall within the protection scope of the present invention.
The invention discloses a novel method for testing the orientation precision of a gyroscopic total station based on the corner geometric relationship between a station and a target point on the basis of gyroscopic orientation observation and angle observation. The gyro total station can be freely set at any point in an area surrounded by target points, only leveling is not performed, the included angle between adjacent target points is taken as a research object, precision calculation is performed by adopting a Fellirost formula, and the dispersion degree of gyro directional observation azimuth angle errors can be fully reflected. The method has strong practical value for daily maintenance and precision test before operation of the users of the gyro total station.
Example one
The gyroscope model is BJT-3, nominal orientation precision is +/-3.6 ', the matched total station is come card TS15, nominal angle measurement precision is +/-1', and distance measurement precision is +/-1.5 ppm (1mm +. A. And B and C target points are respectively provided with a prism, the distance between the station and the three target points is about 100m, leveling is carried out, and the condition that the north indicator of the gyroscope points to the north is ensured. Carrying out gyroscope directional observation, carrying out 6 times of directional observation on three target points A, B and C sequentially and independently by using a gyroscope total station, and averaging to obtain gyroscope directional observation azimuths of which the angles are respectively alpha A 、α B 、α C . Angle observation is carried out, and a gyroscopic total station and three target prism points are keptDetecting electronic bubbles of the total station without moving, confirming centering, carrying out full circle angle observation on A, B and C for 6 times by using angle measurement function of the total station in the gyro total station with PA measurement line as reference, and averaging to obtain angle observation value beta A 、β B 、β C The observed data are shown in tables 1 and 2, and the average value is taken for a plurality of measurements of each angle.
As shown in fig. 1 and 2. Alpha is alpha A ＝304°33′10.1″、α B ＝105°51′14.9″、α C ＝237°36′29.8″、β A ＝0°00A00″、β B ＝161°18′07.4″、β C ＝293°03′17.4″。
Further obtaining:
∠APB＝(α B -α A )+n×360°＝161°18′04.8″(n＝1)；
∠APB′＝β B -β A ＝161°18′07.4″；
∠BPC＝(α C -α B )+n×360°＝131°45′14.9″(n＝0)；
∠BPC′＝β C -β B ＝131°45′10.0″；
∠CPA＝(α A -α C )+n×360°＝66°56′40.3″(n＝0)；
∠CPA′＝(β A -β C )+n×360°＝66°56′42.6″(n＝1)。
∠APB+∠BPC+∠CPA＝360°、∠APB′+∠BPC′+∠CPA′＝360°
Δ 1 ＝∠APB′-∠APB＝2.60″；
Δ 2 ＝∠BPC′-∠BPC＝-4.90″；
Δ 3 ＝∠CPA′-∠CPA＝2.30″。
is calculated to obtain
The BJT-3 gyro total station has the test precision of +/-3.5', and meets the nominal precision requirement.
Example two
The gyroscope model is GYROMAT-3000, nominal orientation precision is +/-3.2 ', the matched total station is come card TS30, nominal angle measurement precision is +/-0.5', and distance measurement precision is +/-1.0 ppm (0.6 mm). A. And C, erecting prisms on the target points B and C, setting the distance between the station and the three target points to be about 150m, leveling, and ensuring that the north-pointing identification of the gyroscope points to the true north direction. Carrying out gyroscope directional observation, carrying out 6 times of directional observation on three target points A, B and C sequentially and independently by using a gyroscope total station, and averaging to obtain gyroscope directional observation azimuths of which the angles are respectively alpha A 、α B 、α C . Carrying out angle observation, keeping the gyroscopic total station and three target prism points still, checking electronic bubbles of the total station, confirming centering, carrying out full circle angle observation on A, B and C for 6 times by using the angle measurement function of the total station in the gyroscopic total station by taking the PA measurement line as a reference, and taking an average value to obtain an angle observation value beta A 、β B 、β C The observed data are shown in tables 3 and 4.
Calculation was performed to obtain m = ± 3.2 ". It can be seen that the GyROMAT-3000 gyroscopic total station has a test precision of +/-3.2', and meets the nominal precision requirement.
EXAMPLE III
The gyroscope model is HGG05, the nominal orientation precision is +/-5 ', the matched total station is come card TS16, the nominal angle measurement precision is +/-1', and the distance measurement precision is +/-1 mm +1.5 ppm. A. And C, erecting prisms at the target points B and C, erecting instruments at any position in the middle, setting the distance between the site and the three target points to be about 80m, leveling and ensuring that the north indicator of the gyroscope points to the true north direction. Carrying out gyroscope directional observation, carrying out 6 times of directional observation on three target points A, B and C sequentially and independently by using a gyroscope total station, and averaging to obtain gyroscope directional observation azimuths of which the angles are respectively alpha A 、α B 、α C . Carrying out angle observation, keeping the gyroscopic total station and three target prism points still, checking electronic bubbles of the total station, confirming centering, carrying out full circle angle observation on A, B and C for 6 times by using the angle measurement function of the total station in the gyroscopic total station by taking the PA measurement line as a reference, and taking an average value to obtain an angle observation value beta A 、β B 、β C The observed data are shown in tables 5 and 6.
Calculation was performed to obtain m = ± 4.7 ". It can be seen that the HGG05 gyroscopic total station has a test precision of +/-4.7' and meets the nominal precision requirement.
Table 1 gyroscopic orientation observation azimuth angle of example 1
Table 2 angle observation of example 1
Table 3 gyroscopic orientation observation azimuth angle of example 2
Table 4 angle observation of example 2
TABLE 5 Gyro Directional Observation Azimuth angles for example 3
Table 6 angle observation of example 3
Claims (3)
1. A method for testing the orientation precision of a gyroscopic total station is characterized by comprising the following steps: the method is suitable for the condition that the nominal angle measurement precision of the total station of the gyroscopic total station is less than or equal to one third of the nominal orientation precision of the gyroscope of the gyroscopic total station, and specifically comprises the following steps:
a. searching three target points A, B and C, and erecting prisms respectively;
b. erecting a gyroscopic total station at a point P at any position in a triangular area formed by three target points, leveling, and ensuring that a gyroscopic north-pointing identifier points to the true north direction;
c. carrying out gyro directional observation, carrying out directional observation on three target points A, B and C in sequence and independently, and measuring that the azimuth angles of the gyro directional observation are respectively alpha A 、α B 、α C Calculating the values of angle APB, angle BPC and angle CPA of adjacent points;
d. carrying out angle observation, keeping the gyroscopic total station and three target prism points still, checking electronic bubbles of the total station, confirming centering, carrying out full circle angle observation on A, B and C by adopting the angle measurement function of the total station in the gyroscopic total station by taking the PA measurement line as a reference, and obtaining an angle observation value beta A 、β B 、β C And calculating included angle values < APB ', < BPC ' and < CPA ' of adjacent points;
e. three angle differences delta are calculated by < APB, < BPC, < CPA, < APB ', < BPC' and < CPA 1 、Δ 2 、Δ 3 Calculating the directional precision m of the gyroscopic total station by using a Fellian formula;
wherein: delta 1 ＝∠APB′-∠APB；
Δ 2 ＝∠BPC′-∠BPC；
Δ 3 ＝∠CPA′-∠CPA；
2. The gyroscopic total station orientation accuracy test method of claim 1, in which: the following steps:
∠APB＝(α B -α A ) + n × 360 °, n =0 or 1, so that ═ APB is finally between 0 ° and 360 °;
∠BPC＝(α C -α B ) + n × 360 °, n =0 or 1, so that ═ BPC is finally between 0 ° -360 °;
∠CPA＝(α A -α C ) + n × 360 °, n =0 or 1, so that ≈ CPA is finally between 0 ° -360 °.
3. The gyroscopic total station orientation accuracy test method of claim 1, in which: the method comprises the following steps:
∠APB′＝β B -β A ；
∠BPC′＝β C -β B ；
∠CPA′＝(β A -β C ) + n × 360 °, n =0 or 1, so that ≈ CPA' is finally between 0 ° -360 °.
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