引入倾斜等效观测值的盾构姿态解算方法

发布时间：2018-02-20 17:30

本文关键词： 盾构姿态倾斜传感器空间坐标转换十三参数等效观测值联合平差自动导向　出处：《中国矿业大学学报》2014年03期 　论文类型：期刊论文

【摘要】：提出了一种新的盾构姿态解算方法,该方法能够对盾构姿态测量中全站仪获取的控制点三维坐标,以及倾斜传感器获取的水平倾角数据进行联合解算.采用适用于大角度空间坐标转换的十三参数模型,在原有坐标观测值误差方程基础上,引入水平倾角对应的等效观测值,建立联合误差方程,在合理定权的基础上建立平差模型,该方法适用于棱镜-倾斜仪联合盾构自动导向系统.在宁波地铁2号线工程中,由Trimble5600全站仪在始发井对盾构机上焊接的3个棱镜进行标定测量,获取一组标定坐标.在盾构掘进过程中进行自动化跟踪观测,获取至少2个棱镜点实测坐标,结合双轴电子倾斜仪实时返回的角度数据解算包含滚动角、俯仰角、偏转角在内的坐标转换参数,在此基础上计算盾构首尾中心点坐标.以上实例验证了该方法的可靠性和实用性.
[Abstract]:In this paper, a new method for calculating shield attitude is proposed. The method can calculate the 3D coordinates of the control points obtained by the total station in the shield attitude measurement. The 13 parameter model suitable for large angle spatial coordinate transformation is adopted, and the equivalent observation value corresponding to horizontal inclination angle is introduced on the basis of the error equation of the original coordinate observation value. The joint error equation is established and the adjustment model is established on the basis of reasonable weight determination. This method is suitable for the automatic guide system of prism-tiltometer combined shield machine. Three prism welded on shield machine were calibrated and measured by Trimble5600 total station in the starting well, and a set of calibration coordinates were obtained. During shield tunneling, automatic tracking observation was carried out, and at least 2 prism points were measured. The coordinate conversion parameters, including rolling angle, pitch angle and deflection angle, are calculated in combination with the angle data returned by the biaxial electronic tiltmeter in real time. On this basis, the center coordinates of the head and tail of shield machine are calculated, and the reliability and practicability of the method are verified by the examples above.
【作者单位】：同济大学测绘与地理信息学院;
【基金】：高等学校博士学科点专项科研(博导类)项目(20120072110049) 测绘地理信息公益性行业科研专项经费项目(HY14122136)
【分类号】：U455.43

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