Department of Geodesy and Geoinformation, TU Wien, 1040 Vienna, Austria.
Sensors (Basel). 2020 Mar 8;20(5):1481. doi: 10.3390/s20051481.
In Engineering Geodesy, most coordinate frames are aligned with the local vertical. For many measurement tasks, it is therefore necessary to manually (or arithmetically) align sensors or equipment with the local vertical, which is a common source of errors and it is very time consuming. Alternatively, accelerometer triads as part of inertial measurement units (IMUs) are used in several applications for horizon leveling. In this contribution we analyze and develop a method to use accelerometer triads for pole tilt compensation with total stations. Several triad sensor models are investigated and applied in a calibration routine using an industrial robot arm. Furthermore a calibration routine to determine the orientation of the IMU mounted on the pole is proposed. Using variance based sensitivity analysis we investigate the influence of different model parameters on leveling and pole tilt compensation. Based on this inference the developed calibration routines are adjusted. The final evaluation experiment shows an RMS of 2.4 mm for the tilt compensated measured ground point with tilts up to 50 gon.
在工程大地测量学中，大多数坐标框架都与当地垂线对齐。对于许多测量任务，因此需要手动（或通过算法）将传感器或设备与当地垂线对齐，这是常见的误差源，而且非常耗时。另一方面，惯性测量单元（IMU）中的加速度计三联体在水平仪调平的几个应用中使用。在本贡献中，我们分析并开发了一种使用加速度计三联体进行全站仪极倾斜补偿的方法。研究了几种三联体传感器模型，并在使用工业机器人手臂的校准例程中进行了应用。此外，还提出了一种用于确定安装在极上的 IMU 方向的校准例程。使用基于方差的灵敏度分析，我们研究了不同模型参数对水平仪调平和极倾斜补偿的影响。基于此推断，调整了所开发的校准例程。最终的评估实验表明，倾斜补偿后的地面点的 RMS 为 2.4 毫米，倾斜角度高达 50 gon。
