1. The high precision photogrammetry application R&D in CEPC
BEIJING PRODETEC TECHNOLOGY CO.,LTD
Fan shenghong
北京普达迪泰科技有限公司
范生宏
大家好我是加速器中心的朱洪岩

2. Company introduction
BEIJING PRODETEC TECHNOLOGY are committed to providing non-contact precise measurement products and solutions for customers in the military industry and advanced manufacturing fields, and providing technical and product support for the design, simulation, quality control and movement status of users’ products.
Development of software and hardware for precision measurement system
Image stabilization, tracking system customization and integration
Customization and integration of video image real-time mosaic system
Basic research technology cooperation
Measurement cloud system

3. Company introduction
BEIJING PRODETEC TECHNOLOGY are committed to providing non-contact precise measurement products and solutions for customers in the military industry and advances manufacturing fields, and providing technical and product support for the design, simulation, quality control and movement status of users’ products.
Development of software and hardware for precision measurement system
Image stabilization, tracking system customization and integration
Customization and integration of video image real-time mosaic system
Basic research technology cooperation
Industrial measuring camera
IDPMS software

4. Company introduction
BEIJING PRODETEC TECHNOLOGY are committed to providing non-contact precise measurement products and solutions for customers in the military industry and advances manufacturing fields, and providing technical and product support for the design, simulation, quality control and movement status of users’ products.
Development of software and hardware for precision measurement system
Image stabilization, tracking system customization and integration
Customization and integration of video image real-time mosaic system
Basic research technology cooperation
Five-hundred-meter Aperture Spherical radio Telescope (FAST)

5. CEPC

6. Challenge： Problem： Photogrammetry： CEPC - Challenge
Precision requirement Provide by physics group
Unit: mm,mrad
Component
Transversal
Vertical
Longitudinal
Pitch
Yaw
Roll
Dipole
0.1
0.15
0.2
Quadrupole
Sextupole
Corrector
Budget
Fiducialization
Control network
Measurement
Adjustment
Totall
Precision
0.05~0.1
0.12
0.05
0.15~0.2
By Courtesy of Dr.Wang Xiaolong
Problem：
Tunnel: long and narrow space
Not conventional photogrammetric circumstance
No Level orientation function.
Huge number of photos ……
Photogrammetry：
High Efficiency
Promising Precision
Noncontact Flexible

7. Photogrammetry research
Precision camera development
Million capacity coding
Sparse matrix adjustment research
Tunnel simulation
CSNS tunnel experiment
Magnet Fiducialization
The most interested part is cryogenic alignment, it will cover the sensor I designed and the whole cryostat alignment process,

8. CEPC - Photogrammetry research
1. Precision camera development:
Product information
Resolution
6576*4384
Pixel
5um
Precision
3um+3um/m
Attachment
Scalar, Coded target
Software
IDPMS
Camera Size
233mm*153mm*161mm

9. CEPC - Photogrammetry research
2. Million capacity coding:
Decoding algorithm
Target extraction
Cross ratio invariance
Model point extraction
Affine transformation
Recover code structure
Coded value
Hundreds capacity
Million capacity
Recognition rate
Extraction precision
97%
0.05

10. CEPC - Photogrammetry research
3. Sparse matrix adjustment research:
Image points extracted by 55 position No
Points number 1
436 15 29
435 43
433 2 16
434 30 44 3
415 17 31 45 4 18
429 32 46
430 5 19 33
437 47
424 6 20 34 48 7 21 35 49 8 22 36 50 9 23 37 51 10
432 24 38 52 11
431 25 39 53 12
426 26 40
421 54 13
163 27 41 55 14 28 42

11. CEPC - Photogrammetry research
3. Sparse matrix adjustment research:
Algorithm computation time(ACT)/ms
Matrix inversion time(MIT)/ms
Photo Num 8 17 24 36 48 55
Number of formula
6392*1356
14190*1413
20274*1455
30728*1527
41086*1599
47162*1641
ACT of Traditional
134814
311833
528981
ACT of New 4 7 10 26 30
Efficiency
3.37E+04
4.45E+04
5.29E+04
9.82E+04
1.17E+05
1.31E+05
MIT of Traditional
1529
1654
1841
2090
2371
2605
MIT of New 38 41 76
169
291
389
40.2
40.3
24.2
12.3
8.1
6.7
Total efficiency
3.25E+03
6.53E+03
6.17E+03
8.99E+03
9.60E+03
9.37E+03

12. CEPC - Photogrammetry research
3. Sparse matrix adjustment research:
Algorithm computation time(ACT)/ms
Matrix inversion time(MIT)/ms

13. CEPC - Photogrammetry research
4.Tunnel simulation:
Experiment set up:
Space:14m×7m×2m
6 pillars→3×2
7m interval
Compare with Laser tracker measurement
Precision X Y Z
Total 1
0.83
0.37
0.43
1.01 2
1.06
0.38
0.44
1.21
Problem：
Not enough common points to match image stations 3 2 1 4 5 6

14. CEPC - Photogrammetry research
4.Tunnel simulation:
Experiment set up:
Space:14m×2m single wall
5 pillars
3.5m interval
Compare with Laser tracker measurement
Precision X Y Z
Total 1
0.83
0.37
0.43
1.01 2
1.06
0.38
0.44
1.21 3
0.59
0.20
0.30
0.69 4
0.57
0.21
0.84
Precision X Y Z
Total 1
0.83
0.37
0.43
1.01 2
1.06
0.38
0.44
1.21

15. CEPC - Photogrammetry research
4.Tunnel simulation:
Experiment set up:
Space:14m×7m single wall
9 pillars
1.75m interval
Compare with Laser tracker measurement
Precision X Y Z
Total 1
0.83
0.37
0.43
1.01 2
1.06
0.38
0.44
1.21 3
0.59
0.20
0.30
0.69 4
0.57
0.21
0.84
Precision X Y Z
Total 1
0.83
0.37
0.43
1.01 2
1.06
0.38
0.44
1.21
Precision X Y Z
Total 1
0.83
0.37
0.43
1.01 2
1.06
0.38
0.44
1.21 3
0.59
0.20
0.30
0.69 4
0.57
0.21
0.84 5
0.28
0.12
Conclusion:
Target density influence precision a lot.
The effective angle of traditional retro-reflective target is 0-45°
Not measurable from both sides of the tunnel
3D Target

16. CEPC - Photogrammetry research
5. CSNS tunnel experiment:
Strategy:
Local magnet measurement
Long range control measurement
3D coded targets working as control network
Visual range 20m
Connect local magnet station
Local magnet measurement
Long range control measurement
3D coded targets

17. CEPC - Photogrammetry research
5. CSNS tunnel experiment:
Experiment Setup:
¼ RCS tunnel: 70m×4m×2m
Original RCS control network points
10 magnets
Compare with laser tracker measurement X Y Z
Total 1
0.226
0.282
0.214
0.420 2
0.288
0.266
0.209
0.445 3
0.333
0.220
0.189
0.442 4
0.173
0.271
0.187
0.372 5
0.259
0.256
0.181
0.407 6
0.204
0.205
0.185
0.343

18. CEPC - Photogrammetry research
5. CSNS tunnel experiment:
Local measurement repeatability
Precision of hemisphere target X Y Z
Total
R2MB02
0.011
0.019
0.015
0.027
R2QD02
0.016
0.018
0.008
0.026 X Y Z
Total
R2MB02
0.162
0.097
0.032
0.192
R2QD02
0.212
0.124
0.054
0.251
Conclusion:
Need more precise , large visual angle target.
Need long precise reference to minimize the error accumulation.

19. CEPC - Photogrammetry research
Targets on Polar
Targets on Plane
5. Magnet Fiducialization:
Fiducialize with Laser tracker first
Photogrammetric measurement
Laser tracker
Photogrammetry
Error
272QCF1
753.24
349.68
0.03
0.00
0.01
272QCF2
753.41
753.44
-0.02
-0.03
272QCF3
597.94
753.30
598.00
753.36
-0.06
-0.05
272QCF4
397.38
753.12
349.69
397.44
753.09
349.75

20. CEPC - Photogrammetry research
Future
Tunnel survey can reach 0.4mm precision, it is very promising
Sparse matrix adjustment research
Real time processing

21. Thanks for your attention