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CN119469210B - Method for detecting encoder zero value error by utilizing non-main shooting of multi-sensor photoelectric theodolite - Google Patents

Method for detecting encoder zero value error by utilizing non-main shooting of multi-sensor photoelectric theodolite Download PDF

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CN119469210B
CN119469210B CN202510065310.XA CN202510065310A CN119469210B CN 119469210 B CN119469210 B CN 119469210B CN 202510065310 A CN202510065310 A CN 202510065310A CN 119469210 B CN119469210 B CN 119469210B
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mirror
photoelectric theodolite
encoder
sensor photoelectric
coordinate system
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CN119469210A (en
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吴冬
杨帅
王晓明
裴玉
王东鹤
郭鑫
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G01C1/02—Theodolites
    • G01C1/04—Theodolites combined with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G01D18/001—Calibrating encoders

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manufacturing & Machinery (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a method for detecting encoder zero value errors by utilizing non-primary shooting of a multi-sensor photoelectric theodolite, which aims to solve the technical problem that the existing photoelectric theodolite zero value error correction method cannot be suitable for correcting the multi-sensor photoelectric theodolite zero value errors by utilizing a non-primary shooting optical system, and belongs to the technical field of photoelectric theodolites. The method comprises the following steps of establishing a non-main shooting imaging coordinate system, calculating coordinates of a non-main shooting central point position under the main shooting imaging coordinate system, shooting azimuth mark images under a positive mirror state, recording readings of a horizontal encoder and a pitching encoder, shooting azimuth mark images under a multi-sensor photoelectric theodolite reverse mirror state, and recording readings of the horizontal encoder and the pitching encoder under the reverse mirror state. According to the method, the multi-sensor photoelectric theodolite non-main shooting optical measurement system is utilized to shoot the target range azimuth standard positive and negative mirror image, zero value errors of encoders of the multi-sensor photoelectric theodolites are corrected, and meanwhile non-parallelism errors can be calculated.

Description

Method for detecting encoder zero value error by utilizing non-main shooting of multi-sensor photoelectric theodolite
Technical Field
The invention relates to the technical field of photoelectric theodolites, in particular to a method for detecting encoder zero value errors by utilizing non-primary shooting of a multi-sensor photoelectric theodolite.
Background
The photoelectric theodolite is widely applied to the measurement of the external trajectory parameters of flying targets such as rockets, missiles, aviation bombs and the like, and can also measure the target attitude and the target miss distance parameters and record in real time. It is one of the primary optical measuring devices of the target range. A typical electro-optic theodolite tracking frame is a two-axis foundation structure, as shown in fig. 7, consisting of a vertical axis and a horizontal axis, with the main optical system mounted in the middle of the horizontal axis body and with its optical axis as the collimation axis (collimation axis) of the tracking frame and perpendicular to the horizontal axis.
The collimation axis of the electro-optic theodolite can rotate in both azimuth and elevation directions about a horizontal axis and a vertical axis under the control of a servo system to point to a target. As shown in fig. 8, the target point (x i,yi,zi) is ideally located on the axis of sight, and the azimuth a and pitch E angles of the target relative to the electro-optic theodolite can be described by the horizontal axis angle encoder and the pitch axis angle encoder of the electro-optic theodolite.
The centrifugal error of the code wheel generated by the encoder of the photoelectric theodolite can influence the angle measurement precision of the photoelectric theodolite, the horizontal code wheel and the pitch angle code wheel of the encoder of the photoelectric theodolite are arranged on the vertical axis and the horizontal axis of the photoelectric theodolite, and the error of installation and adjustment inconsistent with the optical axis generated after the encoder is arranged becomes the zero value error of the encoder.
The horizontal encoder zero value error refers to an angle value that the device horizontal code wheel zero value deviates from the earth north or the astronomical north. When the warp and weft are rotated so that the axis of collimation is aligned with the direction of the directional line (typically north-earth), the angular difference g between it and that direction can be read from the horizontal encoder. In actual measurement, the zero value error of the horizontal encoder can be solved according to a local position mark, an azimuth mark is set near the photoelectric theodolite, the main optical system of the photoelectric theodolite aims at the target under the assumption that the true azimuth angle of the azimuth mark relative to the station address of the photoelectric theodolite is alpha 0, and at the moment, the reading of the horizontal code wheel is the measured value A f of the photoelectric theodolite on the azimuth mark, and g=A f-α0 exists.
The zero value error of the pitching encoder refers to the angle value of zero position deviation of the pitching code disc of the equipment from the horizontal direction. When the photoelectric theodolite is in a positive mirror state, the collimation axis points to the horizontal direction, the angle value read by the pitching encoder at the moment is zero value error of the pitching encoder in the positive mirror state, the value is the included angle between the horizontal plane and the zero graduation of the pitching code disc, namely h=E-E f, wherein E is the collimation axis of the photoelectric theodolite points to the horizontal direction when the photoelectric theodolite is in the positive mirror state, and E f is the theoretical pitching value of the azimuth mark relative to the photoelectric theodolite.
At present, in order to improve the target detection capability, a multi-sensor photoelectric theodolite is formed by additionally arranging a plurality of sensors such as infrared sensors, visible light sensors, laser sensors, radar sensors, GPS sensors and the like besides a main optical system. The main photographing optical system is generally arranged at the center of the horizontal shaft body of the multi-sensor photoelectric theodolite, and other non-main photographing optical systems need to be fixed on the shaft body or the shaft head of the horizontal shaft. The collimation axis of the non-main shooting systems is difficult to be completely parallel to the main optical axis, so that non-parallelism errors exist, so that the current zero value error calculation method of the encoder of the photoelectric theodolite cannot be suitable for correcting the zero value error of the multi-sensor theodolite by using the non-main shooting optical systems, and a general encoder zero value error calculation method needs to be established. Meanwhile, even for a main camera system, the projection center of the main camera system is difficult to completely coincide with the rotation center of the multi-sensor photoelectric theodolite, so that the position of the projection center is dynamically changed in the rotation process of the multi-sensor photoelectric theodolite, and the influence of the movement on the precision of an optical imaging system cannot be ignored in high-precision measurement.
The commonly used correction method is generally aimed at a main shooting measurement system with an imaging optical axis at a rotation center, and a non-main shooting optical measurement system of the multi-sensor photoelectric theodolite is required to detect and correct the non-parallelism error due to the non-parallelism error, so that the non-main shooting measurement system can be used for correcting the shafting error and the system error of the multi-sensor photoelectric theodolite.
Chinese patent document CN115683157a discloses a multi-sensor photo theodolite optical axis parallel difference calibration method, in which a visible marker and an infrared marker are required to be used, the central geodetic height of a marker pattern is required to be the same as the position of the triaxial center of the photo theodolite, and two markers form a certain angle with the triaxial center of the photo theodolite, and the included angle between the infrared and visible light sensors is required to be known in advance. The method has strict limitation on the shape, the layout angle and the height of the marker, and is difficult to adapt to the requirements in a target range of a field environment.
Chinese patent document CN115388913a proposes a method for correcting angular relative error of a multi-sensor system, but the field to which the method relates is not the optical measurement field of an optoelectronic theodolite, but is directed to error correction of a shipborne fixed multi-sensor.
The chinese patent document CN103727961a proposes a dynamic error correction method for an electro-optic theodolite, which uses the forward and reverse mirror data, but mainly corrects errors caused by the time dyssynchrony of the encoder sampling time, exposure time and off-target amount.
Chinese patent document CN115406408a proposes a method for detecting and correcting vertical axis tilt error of an electro-optic theodolite, in which the axis error of the electro-optic theodolite is corrected, but the influence of parallelism error of a non-primary optical system is not considered.
The paper discloses a method for improving the off-target amount by using a coordinate transformation method in the aspect of dynamically correcting the off-target amount of a multi-sensor photoelectric theodolite by using coordinate transformation, and the method considers the influence of the non-parallelism between the optical axis of a non-main shooting system and the sight axis of the photoelectric theodolite on the off-target amount calculation, but does not relate to a specific method for measuring the non-parallelism in a target range environment.
Paper photoelectric theodolite axis parallelism detection applicable to a target range proposes a method for detecting the non-parallelism between the optical axis of an imaging system and an ideal collimation axis by using an azimuth standard positive and negative mirror image, only the non-parallelism error is considered, but a zero value error exists in a horizontal encoder and a pitching encoder of a common photoelectric theodolite, if the zero value error is not corrected, a larger error exists in encoder values read when the positive mirror and the negative mirror shoot the azimuth standard image, and the calculated non-parallelism error is inaccurate, so that the influence of the encoder zero value error is considered while the non-parallelism error is detected.
The paper 'study on three-difference detection method of T-shaped frame photoelectric theodolite' mentions a three-difference detection method of T-shaped photoelectric theodolite, but only aims at ideal conditions, namely, under strict conditions that a non-main shooting system is arranged at one end of a horizontal shaft and an optical axis is parallel to a main shooting system sighting shaft, the situation that the photoelectric theodolite under a multi-sensor has non-parallelism errors is not considered, and in practical cases, the multi-sensor photoelectric theodolite cannot be arranged at one end of the horizontal shaft and the non-parallelism errors also exist.
Disclosure of Invention
The invention provides a method for detecting encoder zero value errors by utilizing non-primary shooting of a multi-sensor photoelectric theodolite, which aims to solve the technical problem that the shafting errors and systematic errors of the multi-sensor photoelectric theodolite cannot be corrected correctly in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the method for detecting encoder zero value error by utilizing non-primary shooting of the multi-sensor photoelectric theodolite comprises the following steps of measuring equipment suitable for the method, namely the multi-sensor photoelectric theodolite, a azimuth mark, high-precision geodetic coordinate measuring equipment and image interpretation software;
the azimuth mark is a plane target with a characteristic point which is convenient to identify, and the plane target is placed on the ground somewhere in the visible range of the multi-sensor photoelectric theodolite, so that clear imaging can be carried out in the fields of view of all optical sensors of the multi-sensor photoelectric theodolite;
the multi-sensor photoelectric theodolite is used for shooting azimuth mark images;
The high-precision geodetic coordinate measuring equipment is used for measuring geodetic coordinates of a azimuth mark and a rotation center of the multi-sensor photoelectric theodolite;
The image interpretation software is used for interpreting the off-target quantity of the azimuth mark feature points in the azimuth mark image and calculating the angles of the azimuth mark feature points relative to the imaging center;
the method comprises the following steps:
Step S1, high-precision geodetic coordinate measuring equipment is placed at the position of the azimuth standard feature point, and geodetic coordinates of the azimuth standard feature point are measured to be (L MBMHM);
s2, measuring the geodetic coordinates of the three-axis intersection points of the multi-sensor photoelectric theodolite, calculating the coordinates of the geodetic coordinates under a geodetic space rectangular coordinate system, and establishing a measurement coordinate system and a main imaging coordinate system at the three-axis intersection points;
s3, calculating coordinates under a geodetic space rectangular coordinate system by using the geodetic coordinates of the azimuth mark feature points measured in the step S1;
Step S4, a non-main shooting imaging coordinate system is established in a projection center of a non-main shooting imaging system, and coordinates of a non-main shooting projection center point under the main shooting imaging coordinate system are calculated;
S5, shooting azimuth mark images under the state of a multi-sensor photoelectric theodolite positive mirror, and recording readings of a horizontal encoder and a pitching encoder under the state of the positive mirror;
S6, shooting azimuth mark images under the inverted mirror state of the multi-sensor photoelectric theodolite, and recording readings of a horizontal encoder and a pitching encoder under the inverted mirror state;
s7, interpreting the off-target quantity of the azimuth mark feature points in the azimuth mark positive mirror and the inverted mirror image by using image interpretation software, and calculating the angle of the azimuth mark feature points relative to an imaging center;
s8, calculating the distance between the non-main shooting projection center and the azimuth standard feature point when the front mirror and the back mirror images are shot;
And S9, calculating the comprehensive angle value of the azimuth mark characteristic points relative to the origin of the measuring coordinate system of the multi-sensor photoelectric theodolite when the multi-sensor photoelectric theodolite is shot by the positive mirror and the negative mirror, substituting the comprehensive angle value into a zero value error calculation formula, calculating zero value errors of a horizontal encoder and a pitching encoder of the multi-sensor photoelectric theodolite, and simultaneously calculating non-principal non-parallel degree.
In the above technical solution, step S2 includes the following steps:
S21, placing the multi-sensor photoelectric theodolite on the horizontal ground, leveling, placing high-precision geodetic coordinate measuring equipment under the three-axis intersection points of a vertical axis, a horizontal axis and a collimation axis, accurately measuring the geodetic coordinate of the point, and adding the height to the instrument height of the equipment to obtain the accurate geodetic coordinate of the three-axis intersection point, namely the origin of a measurement coordinate system (L CBCHC);
S22, when the azimuth mark characteristic point M is shot by the positive mirror and the negative mirror, converting the geodetic coordinates of the azimuth mark characteristic point M and the origin O C of the multi-sensor photoelectric theodolite measurement coordinate system into azimuth mark characteristic point coordinates under the geodetic space rectangular coordinate system according to the following formula And measuring the origin coordinates of the coordinate system
Wherein, N is the radius of the circle of the mortise, e is the first eccentricity of the earth, L is the longitude of the earth, B is the latitude of the earth, h is the altitude of the earth, a is the long half axis of the reference ellipsoid;
And S23, establishing a main shooting imaging coordinate system O LXLYLZL by taking the three-axis intersection point of the multi-sensor photoelectric theodolite as an origin, wherein an X L axis is coincident with a main shooting optical sensor collimation axis, and when the collimation axis of the multi-sensor photoelectric theodolite is parallel to a horizontal plane and points to the north, the coincidence of a Y L axis and a vertical axis of the multi-sensor photoelectric theodolite is positive upwards, and the coincidence of a Z L axis and a horizontal axis of the multi-sensor photoelectric theodolite is positive to the right.
In the above technical solution, step S3 includes the following steps:
step S31, converting the geodetic coordinates of the azimuth mark feature points into coordinates in a geodetic space rectangular coordinate system according to the formula in the step S2
Step S32, calculating the coordinates of the azimuth standard feature points under the measurement coordinate system according to the following formula
Wherein L is the geodetic longitude and B is the geodetic latitude; is the coordinate of the azimuth standard characteristic point M under the rectangular coordinate system of the geocentric space, For measuring the coordinates of the origin coordinates of the coordinate system in the geocentric rectangular coordinate system, R x、Ry、Rz is a coordinate transformation rotation matrix rotating around the X-axis, around the Y-axis, and around the Z-axis, respectively.
In the above technical solution, step S4 includes the following steps:
Step S41, a non-main shooting imaging coordinate system O FXFYFZF is established at a non-main shooting projection central point O F according to the relative positions of the non-main shooting projection central point O F and the main shooting projection central position measured by the multi-sensor photoelectric theodolite in the equipment assembling and adjusting process;
And step S42, obtaining the coordinate of the non-main shooting projection center point O F under a main shooting imaging coordinate system (x FO,yFO,zFO) by measuring the position relation on the structure during the adjustment of the multi-sensor photoelectric theodolite.
In the above technical solution, step S5 includes the following steps:
s51, turning the multi-sensor photoelectric theodolite to a positive mirror state to align with a azimuth mark;
S52, shooting azimuth standard mirror images by utilizing non-main shooting of the multi-sensor photoelectric theodolite, and recording readings of a horizontal encoder in a state of the standard mirror And pitch encoder readings
In the above technical solution, step S6 includes the following steps:
Step S61, turning the multi-sensor photoelectric theodolite to a reverse mirror state to align with the azimuth mark;
step S62, utilizing the multi-sensor photoelectric theodolite to photograph the azimuth mark reverse mirror image in a non-main shooting way, and recording the reading of a horizontal encoder in the reverse mirror state And pitch encoder readings
In the above technical solution, step S7 includes the following steps:
Step S71, leading in a multisensor photoelectric theodolite positive mirror image by image interpretation software, wherein the miss distance of the interpretation azimuth mark characteristic point M in the positive mirror image is (delta x z,Δyz);
Step S72, the image interpretation software is used for importing a multi-sensor photoelectric theodolite inverted mirror image, and the miss distance of the interpretation azimuth mark characteristic point M in the inverted mirror image is (delta x d,Δyd);
step S73, calculating the angles of the azimuth standard characteristic points relative to the imaging center when the positive mirror and the negative mirror are respectively according to the following formula And
Wherein Angle represents the azimuth and pitching imaging Angle of the target point relative to the imaging center, p is the size of a non-main shooting element of the multi-sensor photoelectric theodolite, f is the non-main shooting focal length of the multi-sensor photoelectric theodolite, and Δd is the off-target amount.
In the above technical solution, step S8 includes the following steps:
step S81, the non-main shooting projection center is expressed as (x FO,yFO,zFO) under a main shooting imaging coordinate system;
step S82, according to the encoder values recorded when shooting the azimuth standard positive mirror and the inverted mirror, the coordinates of the non-main shooting projection center point under the measurement coordinate system when the positive mirror and the inverted mirror are respectively obtained by the following formula And
Wherein, For measuring coordinates in a coordinate system, (A 0,E0) is readings of a horizontal encoder and a pitching encoder of the multi-sensor photoelectric theodolite, and R y、Rz is a coordinate transformation rotation matrix which rotates around a Y axis and rotates around a Z axis respectively;
Step S83, calculating distances L Z and L d between the azimuth standard feature point M and the non-main shooting projection center point in the front mirror and the back mirror according to the following formula:
wherein L is the distance of the three-dimensional space between the non-main shooting projection center point and the azimuth mark feature point, Is the coordinates of the azimuth characteristic points in the measurement coordinate system.
In the above technical solution, step S9 includes the following steps:
Step S91, calculating comprehensive angle values (A z,Ez) and (A d,Ed) of the multi-sensor photoelectric theodolite of the front mirror and the back mirror shooting azimuth marks according to the following formulas by bringing the multi-sensor photoelectric theodolite into the distances between the azimuth marks and non-main shooting projection centers of the multi-sensor photoelectric theodolites when the front mirror and the back mirror shooting azimuth marks, and simultaneously calculating non-main shooting non-parallelism errors (delta A 0,ΔE0):
wherein e is the first eccentricity of the earth, K z、Vz、Nz、Kd、Vd、Nd and P are nonsensical intermediate variables respectively, L z、Ld is the distance between the azimuth mark characteristic point and the non-primary shooting projection center when the mirror is positive and inverted respectively, Respectively the pitch angle and the azimuth angle of the azimuth mark characteristic point relative to the non-main imaging center when the positive mirror is used,The pitch angle and the azimuth angle of the azimuth mark characteristic point relative to the non-main shooting imaging center when the mirror is reversed are respectively shown as y FO、zFO, the y coordinate and z coordinate of the non-main shooting projection center point under the main shooting imaging coordinate system, deltax z、Δyz is respectively shown as the off-target quantity obtained by interpreting the azimuth mark positive mirror image, deltax d、Δyd is respectively shown as the off-target quantity obtained by interpreting the azimuth mark mirror image,Pitch and azimuth encoder readings for the positive mirror,Pitch and azimuth encoder readings when the mirror is inverted, respectively;
Step S92, calculating a zero value error G of the horizontal encoder and a zero value error H of the pitching encoder according to the following formula;
Wherein, Is the coordinates of the azimuth characteristic points in the measurement coordinate system.
In the above technical solution, in order to reduce the influence caused by the random error, the measurements of step S5 to step S9 are repeated a plurality of times, an average value is calculated, the average value is taken as the zero value error of the horizontal encoder and the zero value error of the pitch encoder of the multi-sensor electro-optic theodolite, and the correction amount is obtained according to the correction amount of the measured value and the error sign opposite to each other, so as to correct the zero value errors of the horizontal encoder and the pitch encoder.
The invention has the following beneficial effects:
The method for detecting the encoder zero value error by utilizing the non-primary shooting of the multi-sensor photoelectric theodolite utilizes the multi-sensor photoelectric theodolite non-primary shooting optical measurement system to shoot the target range azimuth mark positive and negative mirror image, corrects the encoder zero value error of the multi-sensor photoelectric theodolite, and can calculate the non-parallelism error. The method improves the efficiency of shooting marks and error correction of the multi-sensor photoelectric theodolite in the shooting range, and shortens the preparation time before the task.
Drawings
The invention is described in further detail below with reference to the drawings and the detailed description.
FIG. 1 is a schematic diagram of the steps of the method for detecting encoder zero value errors by non-primary shooting of a multi-sensor electro-optic theodolite according to the present invention.
FIG. 2 is a schematic diagram of a layout of an electro-optic theodolite and an azimuth mark.
Fig. 3 is a schematic diagram of a measurement coordinate system, a main imaging coordinate system, and a non-main imaging coordinate system.
Fig. 4 is a schematic diagram of the relative positions of the non-primary projection center and the origin of the primary imaging coordinate system.
Fig. 5 is a schematic diagram of a horizontal encoder zero value error.
FIG. 6 is a schematic diagram of pitch encoder zero value error.
Fig. 7 is a schematic three-axis view of a multi-sensor electro-optic theodolite of the prior art.
Fig. 8 is a schematic diagram of the measurement principle of the electro-optic theodolite in the prior art.
Detailed Description
The invention is characterized in that:
The method for detecting encoder zero value errors by utilizing the non-primary shooting of the multi-sensor photoelectric theodolite utilizes a non-primary shooting measurement system of the multi-sensor photoelectric theodolite to correct shafting errors and encoder errors of the multi-sensor photoelectric theodolite.
According to the method for detecting the encoder zero value error by utilizing the non-main shooting of the multi-sensor photoelectric theodolite, disclosed by the invention, the non-main shooting measurement system is utilized to shoot the image of the azimuth mark positive and negative mirror, and correction of the non-parallelism error is considered in the process of calculating the encoder error, so that the correction of the encoder error by utilizing the multi-sensor photoelectric theodolite non-main shooting measurement system is creatively enabled, and the error calculation process is simplified.
The present invention will be described in detail with reference to the accompanying drawings.
The method for detecting the encoder zero value error by utilizing the non-primary shooting of the multi-sensor photoelectric theodolite is realized based on measuring equipment comprising the multi-sensor photoelectric theodolite, an azimuth mark, high-precision geodetic coordinate measuring equipment and image interpretation software.
As shown in figure 2, the azimuth mark is a plane target with a characteristic point which is convenient to identify, the plane target is placed on the ground somewhere in the visual range of the multi-sensor photoelectric theodolite, and the azimuth mark can be clearly imaged in the visual fields of all optical sensors of the multi-sensor photoelectric theodolite.
The multi-sensor photoelectric theodolite is used for shooting azimuth mark images;
The high-precision geodetic coordinate measuring equipment is used for measuring geodetic coordinates of a azimuth mark and a rotation center of the multi-sensor photoelectric theodolite;
The image interpretation software is used for interpreting the off-target quantity of the azimuth mark feature points in the azimuth mark image and calculating the angles of the azimuth mark feature points relative to the imaging center;
A measurement coordinate system, a main imaging coordinate system, and a non-main imaging coordinate system are established as shown in fig. 3.
The measurement coordinate system O CXCYCZC takes the three-axis intersection point of the multi-sensor photoelectric theodolite as an origin, the positive direction of the X C axis points to the earth north, the positive direction of the Y C axis points to the sky perpendicular to the horizontal plane where the origin is located, and the Z C axis, the X C axis and the Y C axis form a right-hand coordinate system.
The main imaging coordinate system O LXLYLZL takes a multi-sensor photoelectric theodolite triaxial intersection point O L as an origin, wherein an X L axis coincides with a main imaging optical sensor collimation axis, when the collimation axis of the multi-sensor photoelectric theodolite is parallel to a horizontal plane and points to the north, the Y L axis coincides with a vertical axis of the multi-sensor photoelectric theodolite upwards to be positive, and the Z L axis coincides with a horizontal axis of the multi-sensor photoelectric theodolite to be positive to the right.
The non-main shooting imaging coordinate system O FXFYFZF takes the projection center of a non-main shooting imaging system of the multi-sensor photoelectric theodolite, the non-main shooting projection center point O F is taken as an original point, the X F axis is the optical axis of the non-main shooting imaging system, the Y F axis is parallel to the image plane of the non-main shooting imaging system, the positive direction points to the sky when in positive mirror, the Z F axis is parallel to the image plane of the non-main shooting imaging system, and the right is positive when in positive mirror.
The method for detecting encoder zero value errors by utilizing non-primary shooting by utilizing the photoelectric theodolite with multiple sensors, as shown in fig. 1, comprises the following steps:
And S1, placing high-precision geodetic coordinate measuring equipment at the position of the azimuth standard feature point M, and accurately measuring the geodetic coordinate of the azimuth standard feature point M to be (L MBMHM).
Step S2, measuring the geodetic coordinates of the three-axis intersection points of the multi-sensor photoelectric theodolite, calculating the coordinates of the geodetic coordinates in a geodetic space rectangular coordinate system, and establishing a measurement coordinate system and a main imaging coordinate system at the three-axis intersection points, wherein the method comprises the following steps:
S21, placing the multi-sensor photoelectric theodolite on the horizontal ground, leveling, placing high-precision geodetic coordinate measuring equipment under the three-axis intersection points of a vertical axis, a horizontal axis and a collimation axis, accurately measuring the geodetic coordinate of the point, and adding the height to the instrument height of the equipment to obtain the accurate geodetic coordinate of the three-axis intersection point, namely the origin of a measurement coordinate system (L CBCHC);
S22, when the azimuth mark characteristic point M is shot by the positive mirror and the negative mirror, converting the geodetic coordinates of the azimuth mark characteristic point M and the origin O C of the multi-sensor photoelectric theodolite measurement coordinate system into azimuth mark characteristic point coordinates under the geodetic space rectangular coordinate system according to the following formula And measuring the origin coordinates of the coordinate system
Wherein, N is the radius of the circle of the mortise, e is the first eccentricity of the earth, L is the longitude of the earth, B is the latitude of the earth, h is the altitude of the earth, a is the long half axis of the reference ellipsoid;
And S23, establishing a main shooting imaging coordinate system O LXLYLZL by taking the three-axis intersection point of the multi-sensor photoelectric theodolite as an origin, wherein an X L axis is coincident with a main shooting optical sensor collimation axis, and when the collimation axis of the multi-sensor photoelectric theodolite is parallel to a horizontal plane and points to the north, the coincidence of a Y L axis and a vertical axis of the multi-sensor photoelectric theodolite is positive upwards, and the coincidence of a Z L axis and a horizontal axis of the multi-sensor photoelectric theodolite is positive to the right.
Step S3, calculating coordinates under a geodetic space rectangular coordinate system by using the geodetic coordinates of the azimuth mark feature points M measured in the step S1, wherein the method comprises the following steps:
Step S31, converting the geodetic coordinates of the azimuth mark feature point M into coordinates in a geodetic space rectangular coordinate system according to the formula in the step S2
Step S32, calculating the coordinates of the azimuth standard feature point M under the measurement coordinate system according to the following formula
Wherein L is the geodetic longitude and B is the geodetic latitude; is the coordinate of the azimuth standard characteristic point M under the rectangular coordinate system of the geocentric space, For measuring the coordinates of the origin coordinates of the coordinate system in the geocentric rectangular coordinate system, R x、Ry、Rz is a coordinate transformation rotation matrix rotating around the X-axis, around the Y-axis, and around the Z-axis, respectively.
Step S4, a non-main shooting imaging coordinate system is established in a projection center of a non-main shooting imaging system, and coordinates of a non-main shooting projection center point under the main shooting imaging coordinate system are calculated, wherein the method comprises the following steps:
Step S41, a non-main shooting imaging coordinate system O FXFYFZF is established at a non-main shooting projection central point O F according to the relative positions of the non-main shooting projection central point O F and the main shooting projection central position measured by the multi-sensor photoelectric theodolite in the equipment assembling and adjusting process;
in step S42, as shown in FIG. 3, the coordinate of the non-primary projection center point O F under the primary imaging coordinate system is obtained by measuring the position relationship on the structure during the adjustment of the multi-sensor electro-optic theodolite (x FO,yFO,zFO).
S5, shooting azimuth mark images under the state of a multi-sensor photoelectric theodolite positive mirror, and recording readings of a horizontal encoder and a pitching encoder under the state of the positive mirror, wherein the method comprises the following steps of:
s51, turning the multi-sensor photoelectric theodolite to a positive mirror state to align with a azimuth mark;
S52, shooting azimuth standard mirror images by utilizing non-main shooting of the multi-sensor photoelectric theodolite, and recording readings of a horizontal encoder in a state of the standard mirror And pitch encoder readings
Step S6, shooting azimuth mark images under the inverted mirror state of the multi-sensor photoelectric theodolite, and recording readings of a horizontal encoder and a pitching encoder under the inverted mirror state, wherein the steps are as follows:
Step S61, turning the multi-sensor photoelectric theodolite to a reverse mirror state to align with the azimuth mark;
step S62, utilizing the multi-sensor photoelectric theodolite to photograph the azimuth mark reverse mirror image in a non-main shooting way, and recording the reading of a horizontal encoder in the reverse mirror state And pitch encoder readings
And S7, interpreting the miss distance of the azimuth mark feature point M in the azimuth mark positive mirror and the inverted mirror image by using image interpretation software, and calculating the angle of the azimuth mark feature point M relative to an imaging center, wherein the method comprises the following steps:
Step S71, leading in a multisensor photoelectric theodolite positive mirror image by image interpretation software, wherein the miss distance of the interpretation azimuth mark characteristic point M in the positive mirror image is (delta x z,Δyz);
Step S72, the image interpretation software is used for importing a multi-sensor photoelectric theodolite inverted mirror image, and the miss distance of the interpretation azimuth mark characteristic point M in the inverted mirror image is (delta x d,Δyd);
step S73, calculating the angles of the azimuth standard characteristic points relative to the imaging center when the positive mirror and the negative mirror are respectively according to the following formula And
Wherein Angle represents the azimuth and pitching imaging Angle of the target point relative to the imaging center, p is the size of a non-main shooting element of the multi-sensor photoelectric theodolite, f is the non-main shooting focal length of the multi-sensor photoelectric theodolite, and Δd is the off-target amount.
Step S8, calculating the distance between the non-main shooting projection center and the azimuth standard feature point when the front mirror and the back mirror images are shot, wherein the step comprises the following steps:
In step S81, FIG. 4 shows the relative relationship between the non-primary-shooting projection center and the origin of the measurement coordinate system, and the multi-sensor electro-optic theodolite can measure the distance between the non-primary-shooting projection center and the origin of the primary-shooting imaging coordinate system during the adjustment, and the non-primary-shooting projection center can be represented as (x FO,yFO,zFO) in the primary-shooting imaging coordinate system.
Step S82, the main imaging coordinate system can be regarded as obtained by performing horizontal rotation around the y axis and rotational transformation around the Z axis, and the coordinates of the non-main projection center point under the measuring coordinate system when the positive mirror and the negative mirror are respectively obtained by using the following formulas according to the encoder values recorded when the positive mirror and the negative mirror are shotAnd
Wherein, For measuring coordinates in a coordinate system, (A 0,E0) is readings of a horizontal encoder and a pitching encoder of the multi-sensor photoelectric theodolite, and R y、Rz is a coordinate transformation rotation matrix which rotates around a Y axis and rotates around a Z axis respectively;
Step S83, calculating distances L Z and L d between the azimuth standard feature point M and the non-main shooting projection center point in the front mirror and the back mirror according to the following formula:
wherein L is the distance of the three-dimensional space between the non-main shooting projection center point and the azimuth mark feature point, Is the coordinates of the azimuth characteristic points in the measurement coordinate system.
And S9, calculating the comprehensive angle value of the azimuth mark characteristic points relative to the origin of the measuring coordinate system of the multi-sensor photoelectric theodolite when the multi-sensor photoelectric theodolite is shot by the positive mirror and the negative mirror, substituting the comprehensive angle value into a zero value error calculation formula, and calculating the zero value errors of the horizontal encoder and the pitching encoder of the multi-sensor photoelectric theodolite. Meanwhile, the non-main shooting non-parallelism can be calculated, and the method comprises the following steps:
Step S91, when the multi-sensor photoelectric theodolite shoots azimuth marks on a positive mirror and a negative mirror, the distance between the azimuth marks and the non-main shooting projection center of the multi-sensor photoelectric theodolite is carried, the comprehensive angle values (A z,Ez) and (A d,Ed) of the multi-sensor photoelectric theodolite shooting the azimuth marks on the positive mirror and the negative mirror are calculated according to the following formula, and meanwhile, the non-main shooting non-parallelism error (delta A 0,ΔE0) can be calculated:
wherein e is the first eccentricity of the earth, K z、Vz、Nz、Kd、Vd、Nd and P are nonsensical intermediate variables respectively, L z、Ld is the distance between the azimuth mark characteristic point and the non-primary shooting projection center when the mirror is positive and inverted respectively, Respectively the pitch angle and the azimuth angle of the azimuth mark characteristic point relative to the non-main imaging center when the positive mirror is used,The pitch angle and the azimuth angle of the azimuth mark characteristic point relative to the non-main shooting imaging center when the mirror is reversed are respectively shown as y FO、zFO, the y coordinate and z coordinate of the non-main shooting projection center point under the main shooting imaging coordinate system, deltax z、Δyz is respectively shown as the off-target quantity obtained by interpreting the azimuth mark positive mirror image, deltax d、Δyd is respectively shown as the off-target quantity obtained by interpreting the azimuth mark mirror image,Pitch and azimuth encoder readings for the positive mirror,Pitch and azimuth encoder readings when the mirror is inverted, respectively;
Step S92, shown in FIG. 5 and FIG. 6, is a schematic diagram of encoder zero value errors of the multi-sensor photoelectric theodolite, wherein when the zero value errors of the horizontal encoder are calculated, the zero value errors need to be compared with azimuth true values, so that coordinates of azimuth standard feature points in a measurement coordinate system need to be brought into and judged;
Wherein, Is the coordinates of the azimuth characteristic points in the measurement coordinate system.
In order to reduce the influence caused by random errors, the measurement of the steps S5-S9 is repeated for a plurality of times, an average value is calculated, the average value is used as the zero value error of the horizontal encoder and the zero value error of the pitching encoder of the multi-sensor photoelectric theodolite, and the correction amount can be obtained according to the correction amount of the measured value and the error sign opposite to each other and is used for correcting the zero value errors of the horizontal encoder and the pitching encoder.
The method for detecting the encoder zero value error by utilizing the non-primary shooting of the multi-sensor photoelectric theodolite utilizes the multi-sensor photoelectric theodolite non-primary shooting optical measurement system to shoot the target range azimuth mark positive and negative mirror image, corrects the encoder zero value error of the multi-sensor photoelectric theodolite, and can calculate the non-parallelism error. The method improves the efficiency of shooting marks and error correction of the multi-sensor photoelectric theodolite in the shooting range, and shortens the preparation time before the task.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims (10)

1.一种利用多传感器的光电经纬仪非主摄检测编码器零值误差的方法，其特征在于，该方法适用的测量设备包括：多传感器光电经纬仪、方位标、高精度大地坐标测量设备、图像判读软件；1. A method for detecting encoder zero-value error by non-main camera using a multi-sensor photoelectric theodolite, characterized in that the method is applicable to measuring equipment including: a multi-sensor photoelectric theodolite, a compass, a high-precision geodetic coordinate measuring device, and image interpretation software; 方位标为有一个便于识别的特征点的平面靶标，放置在多传感器光电经纬仪通视范围内的某处地面，在多传感器光电经纬仪各个光学传感器视场内都能进行清晰成像；The compass mark is a plane target with a characteristic point that is easy to identify. It is placed on the ground somewhere within the visual range of the multi-sensor photoelectric theodolite, and can be clearly imaged within the visual field of each optical sensor of the multi-sensor photoelectric theodolite. 多传感器光电经纬仪用来拍摄方位标图像；A multi-sensor electro-optical theodolite is used to capture images of the compass; 高精度大地坐标测量设备用来测量方位标和多传感器光电经纬仪回转中心的大地坐标；High-precision geodetic coordinate measuring equipment is used to measure the geodetic coordinates of the compass mark and the rotation center of the multi-sensor photoelectric theodolite; 图像判读软件用来判读方位标图像中方位标特征点脱靶量，计算方位标特征点相对成像中心角度；The image interpretation software is used to interpret the miss-of-target amount of the feature points of the compass in the compass image and calculate the angle of the feature points of the compass relative to the imaging center; 该方法包括以下步骤：The method comprises the following steps: 步骤S1：将高精度大地坐标测量设备放置在方位标特征点位置处，测量出方位标特征点的大地坐标为(LMBMHM)；Step S1: placing a high-precision geodetic coordinate measuring device at the position of the compass feature point, and measuring the geodetic coordinates of the compass feature point as (LMBMHM); 步骤S2：测量多传感器光电经纬仪三轴交点大地坐标，并计算该大地坐标在地心空间直角坐标系下的坐标，并在三轴交点处建立测量坐标系和主摄成像坐标系；Step S2: measuring the geodetic coordinates of the intersection of the three axes of the multi-sensor photoelectric theodolite, calculating the coordinates of the geodetic coordinates in the geocentric space rectangular coordinate system, and establishing a measurement coordinate system and a main camera imaging coordinate system at the intersection of the three axes; 步骤S3：利用步骤S1中测量的方位标特征点的大地坐标，计算在地心空间直角坐标系下的坐标；Step S3: using the geodetic coordinates of the compass feature points measured in step S1, calculating the coordinates in the geocentric space rectangular coordinate system; 步骤S4：在非主摄成像系统投影中心建立非主摄成像坐标系，计算出在主摄成像坐标系下的非主摄投影中心点的坐标；Step S4: establishing a non-main imaging coordinate system at the projection center of the non-main imaging system, and calculating the coordinates of the non-main imaging projection center point in the main imaging coordinate system; 步骤S5：多传感器光电经纬仪正镜状态下拍摄方位标图像，记录正镜状态下水平编码器和俯仰编码器读数；Step S5: photographing an image of the azimuth mark in the normal mirror state of the multi-sensor photoelectric theodolite, and recording the readings of the horizontal encoder and the pitch encoder in the normal mirror state; 步骤S6：多传感器光电经纬仪倒镜状态下拍摄方位标图像，记录倒镜状态下水平编码器和俯仰编码器读数；Step S6: photographing an image of a compass mark in a reverse mirror state of the multi-sensor photoelectric theodolite, and recording the readings of a horizontal encoder and a pitch encoder in the reverse mirror state; 步骤S7：使用图像判读软件判读方位标正镜和倒镜图像中方位标特征点脱靶量，计算方位标特征点相对成像中心的角度；Step S7: using image interpretation software to interpret the miss amount of the feature point of the compass in the positive mirror and the reverse mirror images, and calculating the angle of the feature point of the compass relative to the imaging center; 步骤S8：计算在拍摄正镜和倒镜图像时非主摄投影中心距离方位标特征点距离；Step S8: Calculate the distance between the non-main-photographed projection center and the azimuth feature point when shooting the front mirror and the reverse mirror images; 步骤S9：计算多传感器光电经纬仪正镜和倒镜拍摄时方位标特征点相对多传感器光电经纬仪测量坐标系原点的综合角度值，带入零值误差计算公式，计算多传感器光电经纬仪水平编码器和俯仰编码器的零值误差；同时计算出非主摄的不平行度。Step S9: Calculate the comprehensive angle value of the azimuth mark feature point relative to the origin of the multi-sensor photoelectric theodolite measurement coordinate system when the front mirror and the reverse mirror of the multi-sensor photoelectric theodolite are taken, substitute it into the zero value error calculation formula, calculate the zero value error of the horizontal encoder and the pitch encoder of the multi-sensor photoelectric theodolite; and calculate the non-parallelism of the non-primary camera at the same time. 2.根据权利要求1所述的利用多传感器的光电经纬仪非主摄检测编码器零值误差的方法，其特征在于，步骤S2包括以下步骤：2. The method for detecting encoder zero-value error by non-main camera using a multi-sensor photoelectric theodolite according to claim 1, wherein step S2 comprises the following steps: 步骤S21：多传感器光电经纬仪放置在水平地面并且经过调平，将高精度大地坐标测量设备放置在垂直轴、水平轴和照准轴三轴交点的正下方，准确测量出所在点的大地坐标，并将高程加上设备的仪器高度，得到三轴交点即测量坐标系原点的准确大地坐标为(LCBCHC)；Step S21: The multi-sensor photoelectric theodolite is placed on a horizontal ground and leveled, and a high-precision geodetic coordinate measuring device is placed directly below the intersection of the vertical axis, the horizontal axis and the sighting axis to accurately measure the geodetic coordinates of the point, and the elevation is added to the instrument height of the device to obtain the accurate geodetic coordinates of the intersection of the three axes, i.e., the origin of the measurement coordinate system (L C B C H C ); 步骤S22：计算在正镜和倒镜拍摄方位标特征点M时，根据如下公式将方位标特征点M和多传感器光电经纬仪测量坐标系原点OC的大地坐标转换为地心空间直角坐标系下的方位标特征点坐标和测量坐标系原点坐标 Step S22: When the compass feature point M is photographed by the positive mirror and the reverse mirror, the geodetic coordinates of the compass feature point M and the origin OC of the multi-sensor photoelectric theodolite measurement coordinate system are converted into the coordinates of the compass feature point in the geocentric space rectangular coordinate system according to the following formula: and the coordinates of the origin of the measurement coordinate system 其中，N是卯酉圈半径，e是地球第一偏心率，L是大地经度，B是大地纬度，h是大地高，a是参考椭球长半轴；in, N is the radius of the ellipsoid, e is the first eccentricity of the earth, L is the geodetic longitude, B is the geodetic latitude, h is the geodetic height, and a is the major semi-axis of the reference ellipsoid; 步骤S23：以所述多传感器光电经纬仪三轴交点为原点建立主摄成像坐标系OLXLYLZL，其中XL轴与主摄光学传感器照准轴重合，当多传感器光电经纬仪的照准轴与水平面平行，并指向正北时，YL轴与多传感器光电经纬仪的垂直轴重合向上为正，ZL轴与多传感器光电经纬仪的水平轴重合向右为正。Step S23: Establish a main imaging coordinate system O L X L Y L Z L with the intersection of the three axes of the multi-sensor photoelectric theodolite as the origin, wherein the X L axis coincides with the sighting axis of the main optical sensor, and when the sighting axis of the multi-sensor photoelectric theodolite is parallel to the horizontal plane and points to due north, the Y L axis coincides with the vertical axis of the multi-sensor photoelectric theodolite and is positive upward, and the Z L axis coincides with the horizontal axis of the multi-sensor photoelectric theodolite and is positive to the right. 3.根据权利要求2所述的利用多传感器的光电经纬仪非主摄检测编码器零值误差的方法，其特征在于，步骤S3包括以下步骤：3. The method for detecting encoder zero-value error by non-main camera using a multi-sensor photoelectric theodolite according to claim 2, wherein step S3 comprises the following steps: 步骤S31：根据步骤S2中的公式将方位标特征点大地坐标转换为在地心空间直角坐标系下的坐标 Step S31: Convert the geodetic coordinates of the azimuth feature point into coordinates in the geocentric rectangular coordinate system according to the formula in step S2 步骤S32：再根据如下公式计算出方位标特征点在测量坐标系下的坐标 Step S32: Calculate the coordinates of the compass feature point in the measurement coordinate system according to the following formula: 其中，L是大地经度；B是大地纬度；为方位标特征点M在地心空间直角坐标系下的坐标，为测量坐标系原点坐标在地心直角坐标系下的坐标，Rx、Ry、Rz分别为绕X轴、绕Y轴、绕Z轴旋转的坐标变换旋转矩阵。Among them, L is the geodetic longitude; B is the geodetic latitude; is the coordinate of the azimuth feature point M in the geocentric rectangular coordinate system, To measure the coordinates of the origin of the coordinate system in the geocentric rectangular coordinate system, R x , R y , and R z are the coordinate transformation rotation matrices rotating around the X axis, the Y axis, and the Z axis, respectively. 4.根据权利要求1所述的利用多传感器的光电经纬仪非主摄检测编码器零值误差的方法，其特征在于，步骤S4包括以下步骤：4. The method for detecting encoder zero-value error by non-main camera using a multi-sensor photoelectric theodolite according to claim 1, wherein step S4 comprises the following steps: 步骤S41：根据多传感器光电经纬仪在设备装调过程中测量的非主摄投影中心点OF与主摄的投影中心位置的相对位置，在非主摄投影中心点OF建立非主摄成像坐标系OFXFYFZF；Step S41: establishing a non-main camera imaging coordinate system OFXFYFZF at the non-main camera projection center point OF according to the relative position between the non-main camera projection center point OF and the main camera projection center position measured by the multi-sensor photoelectric theodolite during the equipment installation process ; 步骤S42：在多传感器光电经纬仪装调时通过测量结构上的位置关系，得出非主摄投影中心点OF在主摄成像坐标系下的坐标为(xFO,yFO,zFO)。Step S42: when the multi-sensor photoelectric theodolite is assembled and adjusted, the positional relationship on the measurement structure is measured to obtain the coordinates of the non-main camera projection center point OF in the main camera imaging coordinate system as (x FO , y FO , z FO ). 5.根据权利要求1所述的利用多传感器的光电经纬仪非主摄检测编码器零值误差的方法，其特征在于，步骤S5包括以下步骤：5. The method for detecting encoder zero-value error by non-main camera using a multi-sensor photoelectric theodolite according to claim 1, wherein step S5 comprises the following steps: 步骤S51：将多传感器光电经纬仪转到正镜状态下，对准方位标；Step S51: Turn the multi-sensor photoelectric theodolite to a positive mirror state and align it with the azimuth mark; 步骤S52：利用多传感器光电经纬仪的非主摄拍摄方位标正镜图像，并记录正镜状态下水平编码器读数和俯仰编码器读数 Step S52: Use the non-main camera of the multi-sensor photoelectric theodolite to capture the image of the azimuth mark positive mirror, and record the horizontal encoder reading in the positive mirror state and pitch encoder readings 6.根据权利要求1所述的利用多传感器的光电经纬仪非主摄检测编码器零值误差的方法，其特征在于，步骤S6包括以下步骤：6. The method for detecting encoder zero-value error by non-main camera using a multi-sensor photoelectric theodolite according to claim 1, wherein step S6 comprises the following steps: 步骤S61：将多传感器光电经纬仪转到倒镜状态下，对准方位标；Step S61: Turn the multi-sensor photoelectric theodolite to the inverted mirror state and align it with the azimuth mark; 步骤S62：利用多传感器光电经纬仪非主摄拍摄方位标倒镜图像，并记录倒镜状态下水平编码器读数和俯仰编码器读数 Step S62: Use the multi-sensor photoelectric theodolite to take a non-main camera to shoot the inverted image of the azimuth mark, and record the horizontal encoder reading in the inverted state and pitch encoder readings 7.根据权利要求1所述的利用多传感器的光电经纬仪非主摄检测编码器零值误差的方法，其特征在于，步骤S7包括以下步骤：7. The method for detecting encoder zero-value error by non-main camera using a multi-sensor photoelectric theodolite according to claim 1, wherein step S7 comprises the following steps: 步骤S71：图像判读软件导入多传感器光电经纬仪正镜图像，判读方位标特征点M在正镜图像中的脱靶量为(Δxz,Δyz)；Step S71: the image interpretation software imports the positive mirror image of the multi-sensor photoelectric theodolite, and interprets the miss distance of the compass feature point M in the positive mirror image as (Δx z , Δy z ); 步骤S72：图像判读软件导入多传感器光电经纬仪倒镜图像，判读方位标特征点M在倒镜图像中的脱靶量为(Δxd,Δyd)；Step S72: the image interpretation software imports the inverted mirror image of the multi-sensor photoelectric theodolite, and interprets the miss distance of the compass feature point M in the inverted mirror image as (Δx d , Δy d ); 步骤S73：根据如下公式计算正镜和倒镜时的方位标特征点相对于成像中心的角度分别为和 Step S73: Calculate the angles of the azimuth feature points relative to the imaging center when the mirror is facing forward and the mirror is backward according to the following formulas: and 其中，Angle表示目标点相对成像中心的方位和俯仰成像角度，p为多传感器光电经纬仪非主摄像元尺寸，f为多传感器光电经纬仪的非主摄焦距，Δd为脱靶量。Wherein, Angle represents the azimuth and elevation imaging angle of the target point relative to the imaging center, p is the non-primary pixel size of the multi-sensor photoelectric theodolite, f is the non-primary focal length of the multi-sensor photoelectric theodolite, and Δd is the miss distance. 8.根据权利要求1所述的利用多传感器的光电经纬仪非主摄检测编码器零值误差的方法，其特征在于，步骤S8包括以下步骤：8. The method for detecting encoder zero-value error by non-main camera using a multi-sensor photoelectric theodolite according to claim 1, wherein step S8 comprises the following steps: 步骤S81：非主摄投影中心在主摄成像坐标系下表示为(xFO,yFO,zFO)；Step S81: the non-main camera projection center is expressed as (x FO , y FO , z FO ) in the main camera imaging coordinate system; 步骤S82：根据拍摄方位标正镜和倒镜时记录的编码器值，利用如下公式得出正镜和倒镜时在测量坐标系下非主摄投影中心点的坐标分别为和 Step S82: According to the encoder values recorded when shooting the azimuth mark positive mirror and reverse mirror, the coordinates of the non-main camera projection center point in the measurement coordinate system when shooting the positive mirror and reverse mirror are obtained using the following formula: and 其中，为测量坐标系下的坐标，(A0,E0)为多传感器光电经纬仪的水平编码器和俯仰编码器读数，Ry、Rz分别为绕Y轴旋转、绕Z轴旋转的坐标变换旋转矩阵；in, is the coordinate in the measurement coordinate system, (A 0 ,E 0 ) is the horizontal encoder and elevation encoder readings of the multi-sensor photoelectric theodolite, R y , R z are the coordinate transformation rotation matrices for rotation around the Y axis and around the Z axis respectively; 步骤S83：则根据如下公式计算方位标特征点M与非主摄投影中心点在正镜和倒镜时的距离LZ和Ld：Step S83: Calculate the distances L Z and L d between the compass feature point M and the non-main projection center point in the positive mirror and the negative mirror according to the following formula: 其中，L是非主摄投影中心点与方位标特征点之间三维空间的距离，为方位标特征点在测量坐标系下的坐标。Among them, L is the distance in three-dimensional space between the center point of the non-main projection and the azimuth feature point, is the coordinate of the compass feature point in the measurement coordinate system. 9.根据权利要求1所述的利用多传感器的光电经纬仪非主摄检测编码器零值误差的方法，其特征在于，步骤S9包括以下步骤：9. The method for detecting encoder zero-value error by non-main camera using a multi-sensor photoelectric theodolite according to claim 1, wherein step S9 comprises the following steps: 步骤S91：通过带入多传感器光电经纬仪在正镜和倒镜拍摄方位标时，方位标与多传感器光电经纬仪非主摄投影中心的距离，根据如下公式计算正镜和倒镜拍摄方位标的多传感器光电经纬仪的综合角度值(Az,Ez)和(Ad,Ed)，并且同时计算出非主摄的不平行度误差(ΔA0,ΔE0)：Step S91: By bringing in the distance between the azimuth mark and the non-main-photographing projection center of the multi-sensor photoelectric theodolite when the front mirror and the back mirror are photographing the azimuth mark, the comprehensive angle values (A z , E z ) and (A d , E d ) of the multi-sensor photoelectric theodolite when the front mirror and the back mirror are photographing the azimuth mark are calculated according to the following formula, and the non-main-photographing non-parallelism error (ΔA 0 , ΔE 0 ) is calculated at the same time: 其中，e是地球第一偏心率，Kz、Vz、Nz、Kd、Vd、Nd、P分别为无意义的中间变量，Lz、Ld分别为正镜、倒镜时方位标特征点距离非主摄投影中心的距离，分别为正镜时方位标特征点相对非主摄的成像中心的俯仰角和方位角，分别为倒镜时方位标特征点相对非主摄的成像中心的俯仰角和方位角，yFO、zFO为非主摄投影中心点在主摄成像坐标系下的y坐标和z坐标，Δxz、Δyz分别为判读方位标正镜图像得到的脱靶量，Δxd、Δyd分别为判读方位标倒镜图像得到的脱靶量，分别为正镜时的俯仰和方位编码器读数，分别为倒镜时的俯仰和方位编码器读数；Among them, e is the first eccentricity of the earth, Kz , Vz , Nz , Kd , Vd , Nd , and P are meaningless intermediate variables, Lz and Ld are the distances from the azimuth feature point to the non-primary projection center when the mirror is positive and the mirror is negative, respectively. are the pitch angle and azimuth angle of the azimuth feature point relative to the imaging center of the non-primary camera when the mirror is positive, are the pitch angle and azimuth angle of the feature point of the compass mark relative to the imaging center of the non-main camera during the inverted mirror, y FO and z FO are the y and z coordinates of the projection center point of the non-main camera in the main camera imaging coordinate system, Δx z and Δy z are the miss distances obtained by reading the compass mark positive mirror image, Δx d and Δy d are the miss distances obtained by reading the compass mark inverted mirror image, They are respectively the pitch and azimuth encoder readings when the mirror is positive, They are respectively the pitch and azimuth encoder readings when the mirror is reversed; 步骤S92：根据如下公式，计算水平编码器零值误差G和俯仰编码器的零值误差H；Step S92: Calculate the zero-value error G of the horizontal encoder and the zero-value error H of the pitch encoder according to the following formula; 其中，为方位标特征点在测量坐标系下的坐标。in, is the coordinate of the compass feature point in the measurement coordinate system. 10.根据权利要求1-9中的任意一项所述的利用多传感器的光电经纬仪非主摄检测编码器零值误差的方法，其特征在于，为了减小随机误差造成的影响，重复多次步骤S5-步骤S9的测量，计算平均值，将平均值作为多传感器光电经纬仪的水平编码器的零值误差和俯仰编码器的零值误差，根据测量值的修正量与误差符号相反，得到修正量，用来修正水平编码器和俯仰编码器的零值误差。10. The method for detecting encoder zero-value error by non-main camera using a multi-sensor photoelectric theodolite according to any one of claims 1 to 9 is characterized in that, in order to reduce the impact caused by random errors, the measurements of step S5 to step S9 are repeated multiple times, an average value is calculated, and the average value is used as the zero-value error of the horizontal encoder and the zero-value error of the pitch encoder of the multi-sensor photoelectric theodolite, and a correction amount is obtained according to the correction amount of the measured value being opposite to the sign of the error, and is used to correct the zero-value error of the horizontal encoder and the pitch encoder.
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