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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.
A new method for solving the attitude of shield is proposed, which can jointly calculate the three-dimensional coordinates of the control points obtained by the total station in the measurement of shield attitude and the horizontal inclination data acquired by the tilt sensor. Based on the error equation of the original coordinate observation, the equivalent observation value corresponding to the horizontal inclination is introduced to establish the joint error equation, and the adjustment model is established on the basis of reasonable weighting. This method is suitable for Prism-inclinometer combined with shield automatic guidance system.In the project of Ningbo Metro Line 2, the three prisms welded on the shield machine by the Trimble 5600 Total Station were calibrated to obtain a set of calibration coordinates, In the course of excavation, automatic tracking and observation are carried out to obtain at least 2 measured coordinates of the prism, and coordinate conversion parameters including the rolling angle, pitch angle and deflection angle are calculated based on the angle data returned by the biaxial electronic inclinometer in real time. On the coordinates of the center of the shield tail end.The above examples verify the reliability and practicality of the method.