CN106019342A - Hand-held split type GNSS positioning reception apparatus based on optical range finding and inclination compensation and position coordinate obtaining method - Google Patents
Hand-held split type GNSS positioning reception apparatus based on optical range finding and inclination compensation and position coordinate obtaining method Download PDFInfo
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- CN106019342A CN106019342A CN201610479678.1A CN201610479678A CN106019342A CN 106019342 A CN106019342 A CN 106019342A CN 201610479678 A CN201610479678 A CN 201610479678A CN 106019342 A CN106019342 A CN 106019342A
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- position receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a hand-held split type GNSS positioning reception apparatus based on optical range finding and inclination compensation and a position coordinate obtaining method. The hand-held split type GNSS positioning reception apparatus comprises a satellite reception antenna, a laser range finder, an inclination angle sensor, a mobile terminal and a positioning module, wherein all assemblies are connected and packed into an integral body. The phase central latitude, longitude and elevation coordinate of the satellite reception antenna are obtained, the inclination angle sensor output inclination angles and the laser range finder outputs distance to obtain the position of a detected point. In this way, the requirement of antenna phase center projection superposing with a detected point when a conventional PTK all-in-one device and a hand-held all-in-one device are used for acquiring GIS information is not necessarily, and the burden caused to operators is released. The apparatus and the method are applicable to more complex environment, and user experience is improved.
Description
Technical field
The present invention relates to GIS-Geographic Information System (GIS) data acquisition, GLONASS (Global
Navigation Satellites System) technical field, particularly relate to hand-held split type GNSS position receiver device and the position coordinates acquisition methods of a kind of optically-based range finding and slope compensation.
Background technology
GLONASS guide number SS, is the general name of satellite navigation system, all already at the operation phase or during building, and the following system utilizing satellite to carry out navigator fix occurred broadly falls into GNSS system.Wherein global system includes the GPS system of the U.S., Muscovite GLONASS system, the Galileo system in Europe, the dipper system etc. of China.
In GIS data acquisition applications, the three-dimensional location coordinates of measured point is acquired as the base attribute describing tested atural object and uses.
The home position coordinate of position receiver device output is to meet the longitude of NMEA-0183 standard, latitude and elevation coordinate, corresponds specifically to the phase center of satellite earth antenna, and the coordinate of measured point is to be calculated by phase center coordinate.
Traditional method is to follow the steps below: (1) leveling: adjust satellite antenna plane and plane-parallel, it is ensured that satellite antenna can receive uniformly from different directions and the satellite-signal of height；(2) centering: adjust aerial position so that antenna phase center projection in the horizontal plane and measured point overlap, thus ensure that this latitude and longitude coordinates is identical with the latitude and longitude coordinates of measured point；(3) depth displacement is calculated: antenna phase center elevation coordinate deducts centering rod length.
The position receiver device being currently used for GIS data collection can be divided into RTK all-in-one and hand-held all-in-one two kinds.RTK all-in-one is mainly made up of positioning host, handheld terminal, centering rod, and positioning host core component is satellite earth antenna and positioning calculation module；Handheld terminal is the man machine interface between main frame and operator, carries out communication by wired or wireless mode between it and main frame, and operator is sent control instruction by handheld terminal, read the work such as data, storage data main frame.Satellite earth antenna and positioning calculation module are then integrated in handheld terminal by hand-held all-in-one, simplify operating process.
Centering rod is a point, the elongate rod of the threaded post in other end, and bar is provided with leveling vacuole.The positional structure of centering rod and receiver ensure that when centering rod is perpendicular to horizontal plane, and the antenna phase center projection on ground overlaps with head just.
For positioning precision in the application of Centimeter Level, the most no matter it is non-hand-held or hand-held measurement type position receiver device, will carry out neutralizing leveling.Existing method can be by means of centering rod and vacuole thereon, it would however also be possible to employ optical centering adds the mode of pose compensation, and the deficiency of these modes shows:
1. in actual mechanical process, for RTK all-in-one, needing to be against on measured point centering rod tip, operator constantly adjusts the angle of centering rod according to the position of vacuole, keeps centering rod to be perpendicular to horizontal plane；For the integrated hand-held machine with optical centering and pose compensation, need laser facula is directed at measured point and adjusts equipment attitude, to keep laser beam to be perpendicular to horizontal plane simultaneously.The adjustment of both modes all sustained manual regulation centering rod inclination angle or equipment attitude to meet " antenna phase center projection overlaps " this requirement with measured point as far as possible, therefore can need to substantially increase work load during measuring；
2. for measuring elevation coordinate, owing to centering rod is the expansion link of length typically no more than 3 meters, it is difficult to adapt to more complicated environment；
3.
When using optical centering and posture compensation method, if based on realizing " centering " and the thinking of " leveling ", equally will be in the face of 1 problem encountered.
Summary of the invention
The deficiency existed for prior art, the purpose of the present invention is that the hand-held split type GNSS position receiver device providing a kind of optically-based range finding and slope compensation and position coordinates acquisition methods, overcome traditional RTK all-in-one and time hand-held all-in-one carries out GIS information gathering in order to meet " antenna phase center projection overlaps " this requirement with measured point, and the burden brought to operator, it is applicable to more complex environment, improves Consumer's Experience.
To achieve these goals, the technical solution used in the present invention is such that
A kind of optically-based range finding and the hand-held split type GNSS position receiver device of slope compensation, including
Satellite earth antenna, for receiving the signal of aeronautical satellite broadcast, and transmits the signal to locating module；
Laser range finder, for measuring the phase center of satellite earth antenna to the distance between measured point；
Obliquity sensor, for obtaining the angle between described sensitive shaft of tilt angle sensor and acceleration of gravity；
Mobile terminal, for receiving the satellite after being processed and location information by locating module, including the coordinate that satellite earth antenna phase center is corresponding；
Locating module, for processing the radiofrequency signal coming from satellite earth antenna, then obtains carrier frequency, phase place, pseudo noise code, the information of navigation message from this radiofrequency signal, and location information is transferred to mobile terminal.
As a kind of preferred version, described position receiver device includes protecgulum, bonnet, and this protecgulum and bonnet form a monolithic case；Described satellite earth antenna is arranged at cover top portion, and laser range finder, obliquity sensor, locating module may be contained within shell；Also include lithium battery in the shell of described position receiver device, be used for powering.
As a kind of preferred version, described satellite earth antenna uses cylindrical helical antenna.
As a kind of preferred version, described obliquity sensor and laser range finder are correspondingly arranged in the shell of position receiver device, and the laser beam conllinear of the sensitive axes of obliquity sensor and laser range finder.
As a kind of preferred version, described position receiver device and mobile terminal are provided with bluetooth module, and the bluetooth module of position receiver device mates with the bluetooth module of mobile terminal and is connected, the transmission of the location data after described position receiver device processes.
A kind of optically-based range finding and the position coordinates acquisition methods of slope compensation, comprise the steps:
(1) primary importance of position receiver device is randomly selected, the laser beam that described laser range finder sends runs into surface, measured point and produces a visible light spot, and this laser facula is directed at measured point, locating module processes the radiofrequency signal of satellite earth antenna, and the location data of the position receiver device obtained after processing send to mobile terminal, the phase center latitude of mobile terminal records now satellite earth antenna, longitude, elevation coordinate, obliquity sensor output tilt angle gamma1, laser range finder output D1, then randomly select the second position of position receiver device and the 3rd position of position receiver device, record correspondence, γ2、D2、、γ3、D3 ,；
(2) utilize Gauss Kru&4&ger projection's normal operation method, latitude and longitude coordinate be transformed into the plane coordinates under same Gaussian plane, be respectively,；
(3) in above Gaussian plane, think the center of circle, equation of a circle for the primary importance of radius is, list the most respectively and think the center of circle, for the equation of a circle of the second position of radius, think the center of circle, for the equation of a circle of the 3rd position of radius, the intersecting point coordinate of these three position circle, this intersecting point coordinate measured point plane coordinates under Gaussian plane is obtained by the primary importance of position receiver device, the second position, the equation of a circle of the 3rd position；
(4) elevation coordinate of measured point can utilize the elevation of aforementioned location point to remove, any one in x correspondence primary importance, the second position, the 3rd position, recycling Gauss Kru&4&ger projection anti-inference method, will transition to latitude and longitude coordinates, thus the coordinate of measured point is defined as.
As a kind of preferred version, in described step (1), position receiver device primary importance, the second position, choosing of the 3rd position should be disperseed.
Compared with prior art, beneficial effects of the present invention: instant invention overcomes traditional RTK all-in-one and time hand-held all-in-one carries out GIS information gathering in order to meet " antenna phase center projection overlaps " this requirement with measured point, and the burden brought to operator, it is applicable to more complex environment, improves Consumer's Experience.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is position measurement schematic diagram in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the invention will be further described.Following example are only used for clearly illustrating technical scheme, and can not limit the scope of the invention with this.
Embodiment:
As it is shown in figure 1, a kind of optically-based range finding and the hand-held split type GNSS position receiver device of slope compensation, including
Satellite earth antenna 2, for receiving the signal of aeronautical satellite broadcast, and transmits the signal to locating module 6；
Laser range finder 3, for measuring the phase center 84 of satellite earth antenna 2 to the distance between measured point 8；
Obliquity sensor 4, for obtaining the angle between described obliquity sensor 4 sensitive axes and acceleration of gravity；
Mobile terminal 5, for receiving the satellite after being processed and location information by locating module 6, including the coordinate that satellite earth antenna 2 phase center is corresponding；
Locating module 6, for processing the radiofrequency signal coming from satellite earth antenna 2, then obtains carrier frequency, phase place, pseudo noise code, the information of navigation message from this radiofrequency signal, and location information is transferred to mobile terminal 5.
The laser beam that in the present invention, laser range finder 3 sends runs into body surface and produces a visible light spot, the measurement result that laser range finder 3 is given be range finding Fixed Initial Point to the distance between hot spot, Fixed Initial Point of finding range during enforcement can be by any one point on existing software compensation to laser beam vector；The error that the structure design of this device meets between satellite earth antenna 2 phase center 84 and the light beam vector of laser range finder 3 is negligible, and in use thinks that the two is collinear relationship.Therefore, laser range finder 3 can provide satellite earth antenna 2 phase center 84 to the distance between hot spot.
In the present invention, obliquity sensor 4 is by measuring acceleration of gravity projection in obliquity sensor 4 sensitive axes, thus obtains the angle between obliquity sensor 4 sensitive axes and acceleration of gravity.
The preferred described position receiver device 1 of the present invention includes protecgulum 11, bonnet 12, and this protecgulum 11 forms a monolithic case with bonnet 12；Described satellite earth antenna 2 is arranged at cover top portion, and laser range finder 3, obliquity sensor 4, locating module 6 may be contained within shell；Also include lithium battery 7 in the shell of described position receiver device 1, be used for powering.During enforcement, each assembly is connected with each other, and wherein obliquity sensor 4 uses the MEMS obliquity sensor CMA3000 of Finland VTI Technologies.
The preferred described satellite earth antenna 2 of the present invention uses the helical antenna of cylinder, while ensureing to receive satellite signal quality, allows the topology layout more conducively user of the present invention wear or to grip.
The preferred described obliquity sensor of the present invention 4 is correspondingly arranged in the shell of position receiver device 1 with laser range finder 3, and the laser beam conllinear of the sensitive axes of obliquity sensor 4 and laser range finder 3.
The preferred described position receiver device 1 of the present invention is provided with bluetooth module with mobile terminal 5, and the bluetooth module of position receiver device 1 mates with the bluetooth module of mobile terminal 5 and is connected, the transmission of the location data after described position receiver device 1 processes；During enforcement, described position receiver device 1 will resolve after the bluetooth module that is transmitted in device by the CPU in device of location data, mobile phone, panel computer and other mobile terminals 5 with bluetooth module may search for the bluetooth module in position receiver device 1, and complete pairing and connect work, thus mobile terminal 5 is obtained with the location data that position receiver device 1 calculates, the coordinate in the data of location is corresponding to the phase center 84 of position receiver device 1 Satellite reception antenna 2；In the present invention, position receiver device 1 includes but not limited to bluetooth module communication with the communication modes of mobile terminal 5, it is possible to carry out the transmission of data for communication modes such as WIFI module.
As in figure 2 it is shown, a kind of optically-based range finding and the position coordinates acquisition methods of slope compensation, comprise the steps:
(1) primary importance 81 of position receiver device 1 is randomly selected, the laser beam that described laser range finder 3 sends runs into surface, measured point 8 and produces a visible light spot, and this laser facula is directed at measured point 8, locating module 6 processes the radiofrequency signal of satellite earth antenna 2, and the location data of the position receiver device 1 after processing send to mobile terminal 5, mobile terminal 5 records phase center 84 latitude of now satellite earth antenna 2, longitude, elevation coordinate, obliquity sensor 4 export tilt angle gamma1, laser range finder 3 export D1, then randomly select the second position 82 of position receiver device 1 and the 3rd position 83 of position receiver device 1, record correspondence, γ2、D2、、γ3、D3；
(2) utilize Gauss Kru&4&ger projection's normal operation method, latitude and longitude coordinate be transformed into the plane coordinates under same Gaussian plane, be respectively,；
(3) in above Gaussian plane, think the center of circle, equation of a circle for the primary importance 81 of radius is, list the most respectively and think the center of circle, for the equation of a circle of the second position 82 of radius, think the center of circle, for the equation of a circle of the 3rd position 83 of radius, the intersecting point coordinate of these three position circle is obtained, this intersecting point coordinate measured point 8 plane coordinates under Gaussian plane by the equation of a circle of the primary importance 81 of position receiver device 1, the second position the 82, the 3rd position 83；
(4) elevation coordinate of measured point 8 can utilize the elevation of aforementioned location point to remove, any one in x correspondence primary importance 81, the second position the 82, the 3rd position 83, recycling Gauss Kru&4&ger projection anti-inference method, will transition to latitude and longitude coordinates, thus the coordinate of measured point 8 is defined as.
In the preferred described step of the present invention (1), position receiver device primary importance, the second position, choosing of the 3rd position should be disperseed.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, on the premise of without departing from the technology of the present invention principle; can also make some improvement and deformation, these improve and deformation also should be regarded as protection scope of the present invention.
Claims (7)
1. an optically-based range finding and the hand-held split type GNSS position receiver device of slope compensation, it is characterised in that: include
Satellite earth antenna, for receiving the signal of aeronautical satellite broadcast, and transmits the signal to locating module；
Laser range finder, for measuring the phase center of satellite earth antenna to the distance between measured point；
Obliquity sensor, for obtaining the angle between described sensitive shaft of tilt angle sensor and acceleration of gravity；
Mobile terminal, for receiving the satellite after being processed and location information by locating module, including the coordinate that satellite earth antenna phase center is corresponding；
Locating module, for processing the radiofrequency signal coming from satellite earth antenna, then obtains carrier frequency, phase place, pseudo noise code, the information of navigation message from this radiofrequency signal, and location information is transferred to mobile terminal.
A kind of optically-based range finding the most according to claim 1 and the hand-held split type GNSS position receiver device of slope compensation, it is characterised in that: described position receiver device includes protecgulum, bonnet, and this protecgulum and bonnet form a monolithic case；Described satellite earth antenna is arranged at cover top portion, and laser range finder, obliquity sensor, locating module may be contained within shell；Also include lithium battery in the shell of described position receiver device, be used for powering.
A kind of optically-based range finding the most according to claim 2 and the hand-held split type GNSS position receiver device of slope compensation, it is characterised in that: described satellite earth antenna uses cylindrical helical antenna.
A kind of optically-based range finding the most according to claim 2 and the hand-held split type GNSS position receiver device of slope compensation, it is characterized in that: described obliquity sensor and laser range finder are correspondingly arranged in the shell of position receiver device, and the laser beam conllinear of the sensitive axes of obliquity sensor and laser range finder.
A kind of optically-based range finding the most according to claim 1 and the hand-held split type GNSS position receiver device of slope compensation, it is characterized in that: described position receiver device and mobile terminal are provided with bluetooth module, the bluetooth module of position receiver device mates with the bluetooth module of mobile terminal and is connected, the transmission of the location data after described position receiver device processes.
6. according to a kind of optically-based range finding described in any one in claim 1-5 and the position coordinates acquisition methods of slope compensation, it is characterised in that comprise the steps:
(1) primary importance of position receiver device is randomly selected, the laser beam that described laser range finder sends runs into surface, measured point and produces a visible light spot, and this laser facula is directed at measured point, locating module processes the radiofrequency signal of satellite earth antenna, and the location data of the position receiver device obtained after processing send to mobile terminal, the phase center latitude of mobile terminal records now satellite earth antenna, longitude, elevation coordinate, obliquity sensor output tilt angle gamma1, laser range finder output D1, then randomly select the second position of position receiver device and the 3rd position of position receiver device, record correspondence, γ2、D2、、γ3、D3 ,；
(2) utilize Gauss Kru&4&ger projection's normal operation method, latitude and longitude coordinate be transformed into the plane coordinates under same Gaussian plane, be respectively,；
(3) in above Gaussian plane, think the center of circle, equation of a circle for the primary importance of radius is, list the most respectively and think the center of circle, for the equation of a circle of the second position of radius, think the center of circle, for the equation of a circle of the 3rd position of radius, the intersecting point coordinate of these three position circle, this intersecting point coordinate measured point plane coordinates under Gaussian plane is obtained by the primary importance of position receiver device, the second position, the equation of a circle of the 3rd position；
(4) elevation coordinate of measured point can utilize the elevation of aforementioned location point to remove, any one in x correspondence primary importance, the second position, the 3rd position, recycling Gauss Kru&4&ger projection anti-inference method, will transition to latitude and longitude coordinates, thus the coordinate of measured point is defined as.
A kind of optically-based range finding the most according to claim 6 and the position coordinates acquisition methods of slope compensation, it is characterised in that: in step described in s (1), position receiver device primary importance, the second position, choosing of the 3rd position should be disperseed.
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Cited By (6)
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| CN107917693A (en) * | 2018-01-11 | 2018-04-17 | 武汉桓参工程科技有限公司 | One kind is based on anallatic inclination measuring device and measuring method |
| CN110208734A (en) * | 2019-04-11 | 2019-09-06 | 中国科学院电子学研究所 | Electronics direction finding integrated system and method |
| CN110264048A (en) * | 2019-06-04 | 2019-09-20 | 中科光绘（上海）科技有限公司 | Tower bar basis Acceptance Test System |
| CN111654318A (en) * | 2020-05-25 | 2020-09-11 | 湖南科技大学 | RTK signal enhancement mobile terminal under complex terrain and use method |
| CN111708063A (en) * | 2020-05-06 | 2020-09-25 | 广州南方卫星导航仪器有限公司 | RTK-based measurement method and RTK measurement system |
| CN115096269A (en) * | 2022-07-06 | 2022-09-23 | 上海井融网络科技有限公司 | Photogrammetry method, photogrammetry system and GNSS receiver |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107917693A (en) * | 2018-01-11 | 2018-04-17 | 武汉桓参工程科技有限公司 | One kind is based on anallatic inclination measuring device and measuring method |
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| CN110208734A (en) * | 2019-04-11 | 2019-09-06 | 中国科学院电子学研究所 | Electronics direction finding integrated system and method |
| CN110264048A (en) * | 2019-06-04 | 2019-09-20 | 中科光绘（上海）科技有限公司 | Tower bar basis Acceptance Test System |
| CN110264048B (en) * | 2019-06-04 | 2023-06-02 | 中科光绘（上海）科技有限公司 | Tower foundation acceptance system |
| CN111708063A (en) * | 2020-05-06 | 2020-09-25 | 广州南方卫星导航仪器有限公司 | RTK-based measurement method and RTK measurement system |
| CN111654318A (en) * | 2020-05-25 | 2020-09-11 | 湖南科技大学 | RTK signal enhancement mobile terminal under complex terrain and use method |
| CN115096269A (en) * | 2022-07-06 | 2022-09-23 | 上海井融网络科技有限公司 | Photogrammetry method, photogrammetry system and GNSS receiver |
| CN115096269B (en) * | 2022-07-06 | 2023-10-31 | 苏州天硕导航科技有限责任公司 | Photogrammetry method, photogrammetry system and GNSS receiver |
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