一种车载免置平全站仪概略位姿求解方法  

A Solution Method of the Approximate Position and Posture of the Vehicle Mounted ETS without Leveling

作　　者：曹娟华[1,2] 朱洪涛[1] 吴维军[1,4] 魏晖[3] 殷华 朱敏[2] CAO Juanhua;ZHU Hongtao;WU Weijun;WEI Hui;YIN Hua;ZHU Min(College of Mechanical and Electrical Engineering Nanchang University,Nanchang 330031,China;Jiangxi Technical College of Manufacturing,Nanchang 330095,China;School of Automotive Engineering,Jiangxi University of Technology,Nanchang 330098,China;Everbright Measurement and Control Technology Co.,Ltd.,Nanchang 330029,China;School of Software,Jiangxi Agricultural University,Nanchang 330045,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]江西科技学院汽车工程学院,南昌330098 [4]江西日月明测控科技股份有限公司,南昌330029 [5]江西农业大学软件学院,南昌330045

出　　处：《铁道标准设计》2022年第7期30-35,共6页Railway Standard Design

基　　金：国家自然科学基金项目(52068052);江西省自然科学基金项目(911043655070,20192BAB206032)。

摘　　要：“相对+绝对”复合测量是轨道测量技术研究和发展的主要方向,在既有线养护维修中也具有广阔的应用前景。车载全站仪免置平设站是复合测量中的重要环节,解决不依赖线路设计线形的车载免置平全站仪概略位姿求解方法,关系免置平设站及其线路测量的工作效率,关乎复合测量模式在不同工况下的适用性。在不依赖线路设计线形的情况下,基于全站仪虚拟水平测量坐标系,实现概略位姿估计参数和设站点未知数求解的降维,进而构建概略位姿求解模型,达到基于2个CPⅢ控制点进行免置平设站概略位姿求解的目的。该方法构思精巧,原理清晰,为提高设站效率和测量自动化奠定了基础。理论精度分析表明,基于该求解算法可获得较高精度的站点信息,用其估算后续CPⅢ点照准方向,方向中误差≯0.29°,远小于理论允许值0.67°。线路试验表明:在自动设站过程中全站仪均能准确地找到待测目标,照准误差≯0.5°,具有较强的实用性。The “relative+absolute” composite measurement is the main direction of research and development of track measurement technology, and it also has a broad application prospect in the maintenance of existing railways. Stationing without leveling of the on-board electronic total station(ETS) is an important link in the compound measurement. The method to solve the approximate position and posture of the on-board leveling-free ETS independent of line design alignment is the key to the efficiency of the leveling-free stationing and its line measurement, and affects the adaptability of the composite measurement mode in different measurement conditions. The dimension-reduced estimation parameters and solution of stationing unknowns quantity are realized based on virtual horizontal coordinate system of ETS without depending on the line design alignment. Then a model of approximate position and posture solution is constructed, and the approximate position and posture of leveling-free stationing are solved based on two CPIII control points. This method is exquisite in conception and clear in principle, which lays a foundation for the improvement of stationing efficiency and measurement automation. The theoretical analysis shows that an accurate station information can be obtained, and when it is used to estimate the aiming direction of follow-up CPIII control point, the maximum mean square error of aiming direction is less than 0.29 degree, which is far less than the theoretical allowable value of 0.67 degree. The line tests show that the target to be measured can be located accurately in the process of automatic stationing with aiming error no more than 0.5 degree, and the method is highly practicable.

关 键 词：复合测量 全站仪 概略位姿 免置平设站 设站效率 测量自动化 

分 类 号：U216.3[交通运输工程—道路与铁道工程]