Research on positioning method of digital zenith camera under rough leveling state
-
摘要: 针对传统数字天顶仪定位方法中存在仪器需精确调平，数据拟合模型参数求解不准确和定位迭代过程复杂的问题，提出一种粗调平状态数字天顶仪定位方法。严格推导了水平状态下CCD图像坐标的计算式，利用倾角仪输出值与粗调平状态下CCD图像坐标计算得到水平状态CCD图像坐标；对粗调平状态下恒星切平面坐标进行分析，分析结果表明粗调平状态下对应的切平面与水平状态下对应的切平面基本平行，粗调平状态下的切平面坐标可直接用于数据拟合模型的建立；通过抗差M估计计算数据拟合模型的参数，抑制了粗大误差对参数解影响，提高了数据拟合模型的准确性；最后，通过联立数据拟合模型方程组解算旋转轴的CCD图像坐标、剔除迭代过程中的数据拟合模型反变换以及取切平面坐标平均值的方式优化定位迭代过程，提高定位解算效率的同时保证了数字天顶仪的定位精度。实验结果表明：粗调平状态定位方法的定位精度与精调平状态的定位精度基本相同，其中粗调平定位方法的定位经度精度为0.306，纬度精度为0.292，满足数字天顶仪定位精度的要求。Abstract: A positioning method of digital zenith camera was proposed to solve the problem that the traditional positioning method required precise leveling of the instrument, the data fitting model parameter was inaccurate and the positioning iterative process was complicated. The calculation formula of CCD image coordinates in the horizontal state was derived. CCD image coordinates of the horizontal state were obtained by using the CCD image coordinates under rough leveling and the output value of the inclinometer, and the star tangent plane coordinates under rough leveling were analyzed, the analysis results showed that the star tangent plane coordinates which needn't be correct could be used to establish data fitting model. The parameters of the data fitting model were calculated by the robust estimation, which restrained the influence of rough error on the parameters and improved the accuracy of the data fitting model. In the end, positioning iterative process was optimized by solving the simultaneous equations of data fitting model to gain the CCD image coordinates of rotating axis, eliminating the inverse transformation of data fitting model and taking the average of the plane coordinates, which improved the efficiency and ensured the positioning accuracy. The experimental results showed that the positioning precision of positioning method under rough leveling is basically the same as the positioning method under fine leveling state. The accuracy of the positioning longitude under rough leveling is 0.306, the accuracy of the latitude is 0.292. Positioning accuracy satisfies the positioning requirement of digital zenith camera.
-
Key words:
- digital zenith camera /
- data fitting model /
- tilt correction /
- positioning method
-
[1] Hirt C, Seeber G. Accuracy analysis of vertical deflection data observed with the Hannover digital zenith camera system TZK2-D[J]. Journal of Geodesy, 2008, 82(6):347-356. [2] Hirt C, Brki B,Guillaume S,et al. Digital zenith cameras-state-of-the-art astrogeodetic technology for Australian Geodesy[C]//FIG Congress-Remote Sensing and Optical Techniques I, 2010:1-16. [3] Hirt C, Reese B, Enslin H. On the accuracy of vertical deflection measurement using the high-precision digital zenith camera system TZK2-D[C]//Gravity, Geoid and Space Mission, 2005:197-201. [4] Guo Min, Zhang Hongying. Application of CCD digital photography in astronomical positioning measurement[J]. Geomatics Technology and Equipment, 2005, 1(7):28-29. (in Chinese) [5] Wang Bo, Tian Lili, Wang Zheng, et al. The image and data processing in digital zenith camera[J]. Chin Sci Bull, 2014, 59(12):1100-1107. [6] Zhang Xihui, Zhou Zhaofa, Liu Xianyi, et al. Analysis of the fast positioning method of digital zenith camera in tilt state[J]. Infrared and Laser Engineering, 2018, 47(2):0217002. (in Chinese) [7] Liu Xianyi, Zhou Zhaofa, Zhang Zhili, et al. Research on the transformation of coordinates astronomical fixation[J].Electronics Optics Control, 2016, 23(1):11-14. (in Chinese) [8] Qin Yongyaun. Inertial Navigation[M]. Beijing:Science Press, 2014:244-252. (in Chinese) [9] Zhou Zhaofa, Liu Xianyi, Zhang Zhili, et al. Research on two-axis tilt sensor based on digital zenith camera[J]. Acta Photonic Sinica, 2015, 44(8):08120021. (in Chinese) [10] Yanc Y, He H, Ru C. Adaptively robust filtering for kinematic geodetic positioning[J]. Journal of Ueodesy, 2001, 76(2):109-116. [11] Yang Y, Song I, Xu T. Robust estimator for correlated observations based on bifactor equivalent weights[J]. Journal of Geodesy, 2002, 76(6):353-358. [12] Yang Yuanxi. Equivalent weight principle:parameter adjustment model robust least squares solution[J]. Bulletin of Surveying and Mapping, 1994, 42(6):33-35. (in Chinese) [13] Yang Yuanxi. Robust estimation and its influence function of surveying adjustment mode[J]. Journal of the Institute of Surveying and Mapping, 1994, 11(2):77-82. (in Chinese) [14] Zhang Xinshuai, Zhou Zhaofa, Huang Xianxiang. Improved positioning method for digital zenith camera[J]. Infrared and Laser Engineering, 2015, 44(4):1254-1259. (in Chinese) [15] Zhang Zhili, Liu Xianyi, Zhou Zhaofa, et al. Infiuence of turntable error on axis error in digital zenith camera[J].Optics and Precision Engineering, 2015, 23(11):3090-3096. (in Chinese) [16] Liu Xianyi, Zhou Zhaofa, Zhang Zhili, et al. The application of spherical triangle method in digital zenith camera[J]. Journal of Geodesy and Geodynamics, 2015, 35(4):726-728. [17] Tian Lili, Guo Jinyun, Han Yanben, et al. Digital zenith telescope prototype of china[J]. Chin Sci Bull, 2014, 59(12):1094-1099. -
点击查看大图
计量
- 文章访问数: 321
- HTML全文浏览量: 61
- PDF下载量: 24
- 被引次数: 0
下载:
