车载全站仪位姿估计方法研究  

Research on the Estimation Method of Vehicle ETS's Position and Posture

作　　者：吴维军[1] 朱洪涛[1] 曹娟华[1,2] 熊丽娟[1] 殷华 赵书琦[4] WU Wei-jun;ZHU Hong-tao;CAO Juan-hua;XIONG Li-juan;YIN Hua;ZHAO Shu-qi(College of Mechanical and Electrical Engineering,Nanchang University,Nanchang 330031,China;Jiangxi Technical College of Manutacturing,Nanchang 330095,China;School of Software,Jiangxi Agricultural University,Nanehang 028001,China;Everbright Measurement and Control Technology Co.,Ltd.,Nanchang 330029,China)

机构地区：[1]南昌大学机电工程学院,南昌330031 [2]江西制造职业技术学院,南昌330095 [3]江西农业大学软件学院,南昌330045 [4]江西日月明测控科技股份有限公司,南昌330029

出　　处：《铁道标准设计》2018年第12期51-56,共6页Railway Standard Design

基　　金：国家自然科学基金项目-地区科学基金(51468042);江西省教育厅青年基金项目(GJJ14209)

摘　　要：提出一种移动站车载全站仪位姿估计方法,结合线路线形、小车姿态及1个CPIII控制点测量信息等,对后续站全站仪位置和姿态进行估计,并已此为基础计算CPIII控制点相对于全站仪的位置,实现全站仪免置平设站测量的自动化。理论分析表明,位姿估计误差的大小与线路质量关系密切,但与全站仪ATR窗口搜索范围(缺省值为4°)相比,旋转照准精度足够满足要求。线路试验表明,以免置平车载全站仪位姿估计为基础,程序能准确计算出目标棱镜所在的方位,实现免置平自动设站(自动旋转和自动测量),一定程度提升测量效率与用户体验。A method for estimating the posture of vehicle electronic total station （ETS） is proposed. Withreference to line alignment, car posture and the measurement information at one CPIII control point, theposition and posture of ETS in the follow-up station is estimated. On this basis, relative position of CPIIIcontrol points to the total station is calculated, and the automation of the free-stationing of ETS isrealized. The theoretical analysis shows that the value of the posture error is closely related to the qualityof the track line, and the rotary pointing accuracy is sufficient compared to the ATR window search scope （ 4° of default value ） of the ETS. Lineexperiments indicate that the target prism＇s position can be accurately calculated in theprogram based on ETS posture estimation without leveling, and the automation of free-stationing （ automatic rotating and measuring） without leveling canbe completed, which improves the measurement efficiency and user experience.

关 键 词：全站仪 设站 位姿估计 CPIII控制点 

分 类 号：U216.3[交通运输工程—道路与铁道工程]