CN107576315B - Geodetic surveying system and method for operating the same - Google Patents
Geodetic surveying system and method for operating the same Download PDFInfo
- Publication number
- CN107576315B CN107576315B CN201710768300.8A CN201710768300A CN107576315B CN 107576315 B CN107576315 B CN 107576315B CN 201710768300 A CN201710768300 A CN 201710768300A CN 107576315 B CN107576315 B CN 107576315B
- Authority
- CN
- China
- Prior art keywords
- range finder
- relative
- radar range
- target object
- included angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention has provided a geodetic surveying system and its operation method, this geodetic surveying system monitors the target object through the radar range finder of the multi-channel, return and receive the pulse sequence, after the digital processing module receives a plurality of pulse sequences, ask relevant operation with correspondent sending pulse sequence each receiving pulse sequence sequentially, get the correlation value, and merge a plurality of correlation values, get and accumulate the correlation value; and carrying out peak value detection on the accumulated correlation values to obtain a maximum peak value, comparing the maximum peak value with a threshold, and obtaining the time corresponding to the maximum peak value when the maximum peak value is greater than the threshold, so that the processing equipment can obtain the spatial linear distance of the radar distance meter relative to the target object, namely, the accuracy of determining the spatial linear distance of the target object is increased by accumulating a plurality of correlation values, and the measured distance can be increased due to the fact that the multi-antenna combination technology improves the combination gain.
Description
Technical Field
The invention relates to the technical field of geodetic surveying, in particular to a geodetic surveying system and an operation method thereof.
Background
Various geodetic apparatuses for measuring one or more measuring points have been known since ancient times. In this case, as a standard, spatial data, distance and direction, or an angle from the measuring device to the measuring point to be measured, are recorded. In particular, the absolute position of the measuring device is acquired together with a possible reference point.
Widely known examples of existing geodetic devices include theodolites, tachymeters or total stations, which are also referred to as electronic or computer tachymeters.
However, the existing geodetic surveying device is easy to be affected by atmospheric factors, certain system errors exist, and the errors of the measuring results are larger due to multipath influence caused by topographic factors in conventional laser ranging.
Disclosure of Invention
The invention aims to overcome the problems in the prior art, provides a geodetic surveying system and an operation method thereof, and solves the problem of large error of a surveying result in the prior art.
An embodiment of the present invention provides a geodetic surveying system, including: the support comprises at least two supporting legs, the supporting legs are telescopic supporting legs, the tops of the supporting legs are fixedly connected with a connecting seat, a driving motor is arranged inside the connecting seat, the top end of the driving motor is provided with a motor shaft, the top end of the motor shaft is provided with a loading platform, so that the driving motor drives the motor shaft to drive the loading platform to rotate, the top of the loading platform is fixedly connected with at least two fixed rods, the top of each fixed rod is movably connected with an adjusting screw, the top of each adjusting screw is fixedly connected with a fixed frame, and the fixed frame is movably connected with a radar range finder;
the geodetic surveying system further comprises: the electronic compass, the altimeter, the inclinometer, the angle sensor, the GPS receiver and the processing equipment are all integrated in the base, the angle sensor is arranged at the joint of a fixing frame and a radar range finder, the processing equipment is arranged at the top of the connecting seat, and the driving motor, the electronic compass, the altimeter, the inclinometer, the angle sensor and the GPS receiver are all electrically connected with the processing equipment;
the electronic compass is used for acquiring an included angle of the radar range finder relative to the true north direction; the altimeter is used for acquiring the altitude of the loading platform; the inclinometer is used for acquiring an included angle of the loading platform relative to a horizontal plane; the angle sensor is used for acquiring an included angle of the radar range finder relative to the loading platform; the GPS receiver is used for acquiring the position of the loading platform in the terrestrial coordinate system;
the radar range finder includes: the system comprises a plurality of channels and a digital processing module, wherein each channel is provided with a directional antenna and a radio frequency module, the directional antenna is connected with the radio frequency module, the radio frequency module is connected with the digital processing module, and the digital processing module is connected with the processing equipment; each channel sequentially transmits a pulse sequence through the radio frequency module and the directional antenna, and transmits the pulse sequence transmitted by each channel to the digital processing module; wherein a plurality of pulse sequences of a plurality of channels are transmitted simultaneously; each channel receives a pulse sequence through the directional antenna and the radio frequency module in sequence, and the radio frequency module sends the received pulse sequence to the digital processing module;
the digital processing module calculates the correlation operation of the receiving pulse sequence and the sending pulse sequence of each channel to obtain a correlation value, and combines a plurality of correlation values to obtain an accumulated correlation value; carrying out peak value detection on the accumulated correlation values to obtain a maximum peak value, comparing the maximum peak value with a threshold, obtaining time corresponding to the maximum peak value when the maximum peak value is larger than the threshold, and transmitting the time corresponding to the maximum peak value to the processing equipment; the time corresponding to the maximum peak value is the average time delay from the emission of a plurality of pulse sequences to the reception of the plurality of pulse sequences of the radar range finder;
the processing equipment is used for calculating the space linear distance of the radar range finder relative to the target object according to the average time delay of the radar range finder from the transmission of the plurality of pulse sequences to the reception of the plurality of pulse sequences; the device comprises a radar range finder, a loading platform, a positioning device and a control device, wherein the radar range finder is used for determining an included angle of the radar range finder relative to a horizontal plane according to the included angle of the radar range finder relative to the loading platform and the included angle of the loading platform relative to the horizontal plane; the radar range finder is used for determining the horizontal linear distance of the radar range finder relative to the target object according to the space linear distance of the radar range finder relative to the target object and the included angle of the radar range finder relative to the horizontal plane; determining the vertical height difference of the radar range finder relative to the target object according to the space linear distance of the radar range finder relative to the target object and the included angle of the radar range finder relative to the horizontal plane; the device comprises a radar distance meter, a position sensor and a controller, wherein the radar distance meter is used for measuring the horizontal linear distance of the radar distance meter relative to a target object; and the altitude determining unit is used for determining the altitude of the target object according to the altitude of the objective platform and the vertical height difference of the radar range finder relative to the target object.
Preferably, the digital processing module is a DSP chip.
Preferably, the processing apparatus comprises: the device comprises a processor, an input module, a storage module and a display module, wherein the processor is respectively connected with the input module, the storage module and the display module.
Preferably, the processor is an ARM processor.
An embodiment of the present invention provides an operation method of a geodetic surveying system, including the steps of:
s1, a main switch of the geodetic surveying system is turned on, after the geodetic surveying system is completely started, a control switch of a driving motor is turned on to start the driving motor, and a driving motor shaft drives a carrying platform to rotate;
s2, after the loading platform rotates for a preset angle, a control switch of the driving motor is turned off, the driving motor sends a turn-off signal to the processing equipment, and the processing equipment sends an acquisition instruction to the electronic compass, the altimeter, the inclinometer, the angle sensor and the GPS receiver after receiving the turn-off signal;
s3, the electronic compass obtains an included angle of the radar range finder relative to the due north direction, and sends the included angle of the radar range finder relative to the due north direction to the processing equipment; the altimeter acquires the altitude of the loading platform and sends the altitude to the processing equipment;
the inclinometer acquires an included angle of the carrying platform relative to a horizontal plane and sends the included angle of the carrying platform relative to the horizontal plane to the processing equipment;
the angle sensor acquires an included angle of the radar range finder relative to the loading platform; and sending the included angle of the radar range finder relative to the objective platform to processing equipment;
the GPS receiver acquires the position of the loading platform in the terrestrial coordinate system and sends the position of the loading platform in the terrestrial coordinate system to the processing equipment;
s4, the processing equipment sends a ranging instruction to the radar range finder, the radar range finder receives the ranging instruction and then sends a plurality of pulse sequences, and the plurality of pulse sequences correspond to the plurality of channels one to one;
s5, after receiving the multiple pulse sequences, the digital processing module calculates the correlation between each received pulse sequence and the corresponding transmitted pulse sequence in turn to obtain a correlation value, and combines the multiple correlation values to obtain an accumulated correlation value; carrying out peak value detection on the accumulated correlation values to obtain a maximum peak value, comparing the maximum peak value with a threshold, obtaining time corresponding to the maximum peak value when the maximum peak value is larger than the threshold, and transmitting the time corresponding to the maximum peak value to the processing equipment; the time corresponding to the maximum peak value is the average time delay from the emission of a plurality of pulse sequences to the reception of the plurality of pulse sequences of the radar range finder;
s6, the processing equipment calculates the space linear distance of the radar range finder relative to the target object according to the average time delay of the radar range finder from the transmission of the plurality of pulse sequences to the reception of the plurality of pulse sequences;
determining the included angle of the radar range finder relative to the horizontal plane according to the included angle of the radar range finder relative to the carrying platform and the included angle of the carrying platform relative to the horizontal plane;
determining the horizontal linear distance of the radar range finder relative to the target object according to the space linear distance of the radar range finder relative to the target object and the included angle of the radar range finder relative to the horizontal plane;
determining the vertical height difference of the radar range finder relative to the target object according to the space linear distance of the radar range finder relative to the target object and the included angle of the radar range finder relative to the horizontal plane;
determining the position of the target object in the terrestrial coordinate system according to the position of the carrying platform in the terrestrial coordinate system, the horizontal linear distance of the radar distance meter relative to the target object and the included angle of the radar distance meter relative to the due north direction;
determining the altitude of the target object according to the altitude of the loading platform and the vertical height difference of the radar range finder relative to the target object;
and S7, displaying the altitude of the target object and the position of the target object in the terrestrial coordinate system by the processing device.
The invention has the beneficial effects that: the invention provides a geodetic surveying system and an operation method thereof.A target object is monitored by a multi-channel radar distance meter, a receiving pulse sequence is returned, after a digital processing module receives a plurality of pulse sequences, each receiving pulse sequence and a corresponding sending pulse sequence are sequentially subjected to correlation operation to obtain a correlation value, and the correlation values are combined to obtain an accumulated correlation value; and carrying out peak value detection on the accumulated correlation values to obtain a maximum peak value, comparing the maximum peak value with a threshold, and obtaining the time corresponding to the maximum peak value when the maximum peak value is greater than the threshold, so that the processing equipment can obtain the spatial linear distance of the radar distance meter relative to the target object, namely, the accuracy of determining the spatial linear distance of the target object is increased by accumulating a plurality of correlation values, and the measured distance can be increased due to the fact that the multi-antenna combination technology improves the combination gain. In addition, the processing equipment determines the altitude of the target object and the position of the target object in the terrestrial coordinate system according to corresponding data respectively acquired by the electronic compass, the altimeter, the inclinometer, the angle sensor and the GPS receiver, namely, the electronic compass, the altimeter, the inclinometer, the angle sensor and the GPS receiver are used in cooperation, so that the measurement error can be reduced.
Drawings
FIG. 1 is a schematic exterior view of a geodetic surveying system provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a circuit connection in a geodetic measurement system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the electrical connections in another geodetic measurement system provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of determining a vertical height difference of a target object and a horizontal linear distance of the target object according to an embodiment of the present invention;
fig. 5 is a schematic diagram of how to determine the position of the target object in the terrestrial coordinate system according to an embodiment of the present invention.
Reference numerals:
1. a connecting seat; 2. a drive motor; 3. a motor shaft; 4. a carrier platform; 5. fixing the rod; 6. adjusting the screw rod; 7. a fixed mount; 8. a radar range finder; 9. supporting legs; 10. an electronic compass; 11. an altimeter; 12. an inclinometer; 13. an angle sensor; 14. a GPS receiver; 15. a processing device; 801. a directional antenna; 802. a radio frequency module; 803. and a digital processing module.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
Fig. 1 exemplarily shows an appearance schematic diagram of a geodetic surveying system provided by an embodiment of the invention, the geodetic surveying system includes a support, the support includes at least two supporting legs 9, and the supporting legs 9 are retractable supporting legs, a connecting seat 1 is fixedly connected to tops of the supporting legs 9, a driving motor 2 is arranged inside the connecting seat 1, a motor shaft is arranged at a top end of the driving motor 2, an object platform 4 is arranged at a top end of the motor shaft, so that the driving motor 2 drives the motor shaft to drive the object platform 4 to rotate, at least two fixing rods 5 are fixedly connected to tops of the object platform 4, an adjusting screw 6 is movably connected to a top of each fixing rod 5, a fixing frame 7 is fixedly connected to a top of the adjusting screw 6, and a radar range finder 8 is movably connected to the fixing frame 7.
Wherein, the quantity of supporting leg 9 is 3, and the quantity of dead lever 5 is 3, and adjusting screw 6's quantity is 3.
In addition, the medial surface of dead lever 5 is equipped with the internal thread, and adjusting screw 6's lateral surface is equipped with the external screw thread, this internal thread and this external screw thread threaded connection to realize adjusting screw 6's flexible, change the height of mount 7, thereby change radar range finder 8's emission angle, lead to adjusting different adjusting screw 6 and reach the multi-angle regulation.
It should be noted that the internal thread is in threaded connection with the external thread to adjust the expansion of the adjusting screw 6, which is a manner of the embodiment of the present invention, that is, the fixing rod and the adjusting screw 6 can also adjust the expansion of the adjusting screw 6 in other manners. For example, the adjusting screw 6 is sleeved in the fixing rod 5 and fixed by a fastening device.
In addition, the motor shaft is driven by the driving motor 2 to drive the carrying platform 4 to rotate, so that the radar range finder 8 can be positioned in different directions, and the target objects in different directions can be conveniently measured.
It should be noted that the processing device 15 controls the angle of the driving motor 2 for rotating the loading platform.
Specifically, the geodetic surveying system includes: the electronic compass 10, the altimeter 11, the inclinometer 12, the angle sensor 13, the GPS receiver 14 and the processing device 15 are all integrated inside the base 1, the angle sensor 13 is disposed at the connection position of the fixing frame 7 and the radar distance meter 8, the processing device 15 is disposed at the top of the connection seat 1, and the driving motor 2, the electronic compass 10, the altimeter 11, the inclinometer 12, the angle sensor 13 and the GPS receiver 14 are all electrically connected with the processing device 15. The circuit connections are shown in fig. 2.
Specifically, the electronic compass 10 is configured to obtain an included angle of the radar range finder 8 with respect to the true north direction; the altimeter 11 is used for acquiring the altitude of the loading platform 4; the inclinometer 12 is used for acquiring an included angle of the loading platform 4 relative to a horizontal plane; the angle sensor 13 is used for acquiring an included angle of the radar range finder 8 relative to the loading platform 4; the GPS receiver 14 is configured to acquire the position of the object platform 4 in the terrestrial coordinate system.
The electronic compass 10 is FAD-DCM-r 232.
In addition, the altimeter 11 is model MW31-BKT 381.
Again, the GPS receiver 14 is of the BSD3/SPS36 model; the inclinometer 12 is of the type syk7-DP-45, D1024IGI338 or DIGITAL-360-00; the angle sensor 13 is of the type SH 105-KMT.
FIG. 3 is a schematic diagram of the electrical connections in another geodetic measurement system provided by an embodiment of the present invention; the radar range finder 8 includes: a plurality of channels and digital processing modules, as shown in fig. 3, each channel is provided with a directional antenna 801 and a radio frequency module 802, the directional antenna 801 is connected to the radio frequency module 802, the radio frequency module 802 is connected to the digital processing module 803, and the digital processing module 803 is connected to the processing device 15; each channel sequentially transmits a pulse sequence through the radio frequency module 802 and the directional antenna 801, and transmits the pulse sequence transmitted by each channel to the digital processing module; wherein a plurality of pulse sequences of a plurality of channels are transmitted simultaneously; each channel receives a pulse sequence sequentially through the directional antenna 801 and the rf module 802, and the rf module 802 sends the received pulse sequence to the digital processing module 802.
Specifically, the digital processing module 803 performs correlation operation on the received pulse sequence and the transmitted pulse sequence of each channel to obtain a correlation value, and combines a plurality of correlation values to obtain an accumulated correlation value; performing peak detection on the accumulated correlation value to obtain a maximum peak value, comparing the maximum peak value with a threshold, obtaining a time corresponding to the maximum peak value when the maximum peak value is greater than the threshold, and transmitting the time corresponding to the maximum peak value to the processing device 15; the time corresponding to the maximum peak is an average time delay from the transmitting of the plurality of pulse sequences to the receiving of the plurality of pulse sequences by the radar range finder 8.
Wherein, the digital processing module is a DSP chip.
In addition, the frequency bands of each radio frequency module are different from those of the other radio frequency modules, so that the measurement error caused by signal interference is avoided.
In particular, the processing device 15 is configured to calculate a spatial linear distance of the radar range finder 8 with respect to the target object according to an average time delay of the radar range finder 8 from transmitting the plurality of pulse sequences to receiving the plurality of pulse sequences; the device is used for determining the included angle of the radar range finder 8 relative to the horizontal plane according to the included angle of the radar range finder 8 relative to the loading platform 4 and the included angle of the loading platform 4 relative to the horizontal plane; the system is used for determining the horizontal linear distance of the radar range finder 8 relative to the target object according to the space linear distance of the radar range finder 8 relative to the target object and the included angle of the radar range finder 8 relative to the horizontal plane; determining the vertical height difference of the radar range finder 8 relative to the target object according to the space linear distance of the radar range finder 8 relative to the target object and the included angle of the radar range finder 8 relative to the horizontal plane; the device is used for determining the position of the target object in the terrestrial coordinate system according to the position of the loading platform 4 in the terrestrial coordinate system, the horizontal linear distance of the radar distance meter 8 relative to the target object and the included angle of the radar distance meter 8 relative to the due north direction; and for determining the altitude of the target object from the altitude of the object platform 4 and the difference in vertical height of the radar rangefinder 8 relative to the target object.
The processing device 15 calculates the spatial linear distance of the radar range finder 8 with respect to the target object according to the following formula (1).
Wherein, L is the space linear distance of the radar distance meter 8 relative to the target object, and C is the speed of light; t is the average time delay from the transmission of the plurality of pulse sequences to the reception of the plurality of pulse sequences by the radar range finder 8.
According to fig. 4, for example, the included angle θ of the radar range finder 8 with respect to the object stage 4 and the included angle β of the object stage 4 with respect to the horizontal plane are determined, and then the included angle γ of the radar range finder 8 with respect to the horizontal plane is θ - β according to the included angle of the radar range finder 8 with respect to the object stage 4 and the included angle of the object stage 4 with respect to the horizontal plane.
Further, the horizontal straight-line distance of the radar range finder 8 with respect to the target object is determined according to formula (2).
d＝L·cosγ (2)
Where d is the horizontal linear distance of the radar range finder 8 relative to the target object.
Further, the vertical height difference of the radar range finder 8 with respect to the target object is determined according to the formula (3).
h＝L·sinγ (3)
Where h is the vertical height difference of the radar range finder 8 relative to the target object.
Further, as shown in fig. 5, the position of the target object in the terrestrial coordinate system is determined according to the position of the loading platform 4 in the terrestrial coordinate system, the horizontal linear distance of the radar distance measuring device 8 with respect to the target object, and the angle of the radar distance measuring device 8 with respect to the due north direction as follows (4).
Wherein x and y are the positions of the target objects in the terrestrial coordinate system, and α is the included angle of the radar distance measuring instrument 8 relative to the true north direction.
Further, the altitude of the target object is determined based on the altitude of the stage 4 and the vertical height difference of the radar range finder 8 with respect to the target object as follows (5).
z＝z0+h (5)
Wherein z is0Is the altitude of the carrier platform 4.
Optionally, the processing device 15 comprises: the device comprises a processor, an input module, a storage module and a display module, wherein the processor is respectively connected with the input module, the storage module and the display module.
Wherein, the processor is an ARM processor.
An embodiment of the present invention provides a flow diagram of an operation method of a geodetic surveying system, where the operation method of the geodetic surveying system includes:
and S1, opening a main switch of the geodetic surveying system, opening a control switch of a driving motor to start the driving motor after the geodetic surveying system is completely started, and driving a motor shaft to drive the carrying platform to rotate.
Wherein the process of S1 further comprises the processing device sending the rotational angle of the loading platform to the driving motor.
And S2, after the loading platform rotates for a preset angle, closing a control switch of the driving motor, sending a closing signal to the processing equipment by the driving motor, and sending an acquisition instruction to the electronic compass, the altimeter, the inclinometer, the angle sensor and the GPS receiver after the processing equipment receives the closing signal.
S3, the electronic compass obtains the included angle of the radar range finder relative to the due north direction and sends the included angle of the radar range finder relative to the due north direction to the processing equipment; the altimeter acquires the altitude of the loading platform and sends the altitude to the processing equipment.
The inclinometer acquires the included angle of the carrying platform relative to the horizontal plane and sends the included angle of the carrying platform relative to the horizontal plane to the processing equipment.
The method comprises the following steps that an angle sensor acquires an included angle of a radar range finder relative to a carrying platform; and sending the included angle of the radar range finder relative to the loading platform to the processing equipment.
The GPS receiver acquires the position of the loading platform in the terrestrial coordinate system and sends the position of the loading platform in the terrestrial coordinate system to the processing equipment.
S4, the processing equipment sends a ranging instruction to the radar range finder, the radar range finder receives the ranging instruction and then sends a plurality of pulse sequences, and the pulse sequences correspond to the channels one to one.
S5, after receiving the multiple pulse sequences, the digital processing module calculates the correlation between each received pulse sequence and the corresponding transmitted pulse sequence in turn to obtain a correlation value, and combines the multiple correlation values to obtain an accumulated correlation value; carrying out peak value detection on the accumulated correlation value to obtain a maximum peak value, comparing the maximum peak value with a threshold, obtaining the time corresponding to the maximum peak value when the maximum peak value is larger than the threshold, and transmitting the time corresponding to the maximum peak value to the processing equipment; and the time corresponding to the maximum peak value is the average time delay from the transmission of the plurality of pulse sequences to the reception of the plurality of pulse sequences of the radar range finder.
And S6, the processing equipment calculates the space linear distance of the radar range finder relative to the target object according to the average time delay of the radar range finder from the transmission of the plurality of pulse sequences to the reception of the plurality of pulse sequences.
And determining the included angle of the radar range finder relative to the horizontal plane according to the included angle of the radar range finder relative to the carrying platform and the included angle of the carrying platform relative to the horizontal plane.
And determining the horizontal linear distance of the radar range finder relative to the target object according to the space linear distance of the radar range finder relative to the target object and the included angle of the radar range finder relative to the horizontal plane.
And determining the vertical height difference of the radar range finder relative to the target object according to the space linear distance of the radar range finder relative to the target object and the included angle of the radar range finder relative to the horizontal plane.
And determining the position of the target object in the terrestrial coordinate system according to the position of the carrying platform in the terrestrial coordinate system, the horizontal linear distance of the radar distance meter relative to the target object and the included angle of the radar distance meter relative to the due north direction.
And determining the altitude of the target object according to the altitude of the objective platform and the vertical height difference of the radar range finder relative to the target object.
S7, the processing device displays the altitude of the target object and the position of the target object in the terrestrial coordinate system.
The invention provides a geodetic surveying system and an operation method thereof.A target object is monitored by a multi-channel radar distance meter, a receiving pulse sequence is returned, after a digital processing module receives a plurality of pulse sequences, each receiving pulse sequence and a corresponding sending pulse sequence are sequentially subjected to correlation operation to obtain a correlation value, and the correlation values are combined to obtain an accumulated correlation value; and carrying out peak value detection on the accumulated correlation values to obtain a maximum peak value, comparing the maximum peak value with a threshold, and obtaining the time corresponding to the maximum peak value when the maximum peak value is greater than the threshold, so that the processing equipment can obtain the spatial linear distance of the radar distance meter relative to the target object, namely, the accuracy of determining the spatial linear distance of the target object is increased by accumulating a plurality of correlation values, and the measured distance can be increased due to the fact that the multi-antenna combination technology improves the combination gain. In addition, the processing equipment determines the altitude of the target object and the position of the target object in the terrestrial coordinate system according to corresponding data respectively acquired by the electronic compass, the altimeter, the inclinometer, the angle sensor and the GPS receiver, namely, the electronic compass, the altimeter, the inclinometer, the angle sensor and the GPS receiver are used in cooperation, so that the measurement error can be reduced.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (5)
1. The geodetic surveying system is characterized by comprising a support, wherein the support comprises at least two supporting legs (9), the supporting legs (9) are telescopic supporting legs, the top of each supporting leg (9) is fixedly connected with a connecting seat (1), a driving motor (2) is arranged inside each connecting seat (1), a motor shaft (3) is arranged at the top end of each driving motor (2), an object carrying platform (4) is arranged at the top end of each motor shaft (3), so that the driving motors (2) drive the motor shafts (3) to drive the object carrying platform (4) to rotate, at least two fixing rods (5) are fixedly connected to the top of each object carrying platform (4), an adjusting screw (6) is movably connected to the top of each fixing rod (5), and a fixing frame (7) is fixedly connected to the top of each adjusting screw (6), the fixed frame (7) is movably connected with a radar range finder (8);
the geodetic surveying system further comprises: the electronic compass (10), the altimeter (11), the inclinometer (12), the angle sensor (13), the GPS receiver (14) and the processing device (15), wherein the electronic compass (10), the altimeter (11), the inclinometer (12) and the GPS receiver (14) are integrated inside the connecting seat (1), the angle sensor (13) is arranged at the connecting position of a fixing frame (7) and a radar range finder (8), the processing device (15) is arranged at the top of the connecting seat (1), and the driving motor (2), the electronic compass (10), the altimeter (11), the inclinometer (12), the angle sensor (13) and the GPS receiver (14) are electrically connected with the processing device (15);
the electronic compass (10) is used for acquiring an included angle of the radar range finder (8) relative to the true north direction; the altimeter (11) is used for acquiring the altitude of the loading platform (4); the inclinometer (12) is used for acquiring an included angle of the loading platform (4) relative to a horizontal plane; the angle sensor (13) is used for acquiring an included angle of the radar range finder (8) relative to the object platform (4); the GPS receiver (14) is used for acquiring the position of the loading platform (4) in the terrestrial coordinate system;
the radar range finder (8) comprises: the system comprises a plurality of channels and a digital processing module, wherein each channel is provided with a directional antenna and a radio frequency module, the directional antenna is connected with the radio frequency module, the radio frequency module is connected with the digital processing module, and the digital processing module is connected with the processing equipment (15); each channel sequentially transmits a pulse sequence through the radio frequency module and the directional antenna, and transmits the pulse sequence transmitted by each channel to the digital processing module; wherein a plurality of pulse sequences of a plurality of channels are transmitted simultaneously; each channel receives a pulse sequence through the directional antenna and the radio frequency module in sequence, and the radio frequency module sends the received pulse sequence to the digital processing module;
the digital processing module calculates the correlation operation of the receiving pulse sequence and the sending pulse sequence of each channel to obtain a correlation value, and combines a plurality of correlation values to obtain an accumulated correlation value; carrying out peak value detection on the accumulated correlation values to obtain a maximum peak value, comparing the maximum peak value with a threshold, obtaining time corresponding to the maximum peak value when the maximum peak value is larger than the threshold, and transmitting the time corresponding to the maximum peak value to the processing equipment (15); wherein the time corresponding to the maximum peak value is the average time delay from the transmission of a plurality of pulse sequences to the reception of the plurality of pulse sequences of the radar range finder (8);
the processing device (15) is used for calculating the spatial straight-line distance of the radar range finder (8) relative to the target object according to the average time delay of the radar range finder (8) from the transmission of the plurality of pulse sequences to the reception of the plurality of pulse sequences; the device is used for determining the included angle of the radar range finder (8) relative to the horizontal plane according to the included angle of the radar range finder (8) relative to the object carrying platform (4) and the included angle of the object carrying platform (4) relative to the horizontal plane; the device is used for determining the horizontal linear distance of the radar range finder (8) relative to the target object according to the spatial linear distance of the radar range finder (8) relative to the target object and the included angle of the radar range finder (8) relative to the horizontal plane; determining the vertical height difference of the radar range finder (8) relative to the target object according to the space linear distance of the radar range finder (8) relative to the target object and the included angle of the radar range finder (8) relative to the horizontal plane; the device is used for determining the position of the target object in the terrestrial coordinate system according to the position of the loading platform (4) in the terrestrial coordinate system, the horizontal linear distance of the radar distance meter (8) relative to the target object and the included angle of the radar distance meter (8) relative to the due north direction; and for determining the altitude of the target object from the altitude of the object platform (4) and the vertical height difference of the radar range finder (8) relative to the target object.
2. The geodetic surveying system of claim 1, wherein the digital processing module is a DSP chip.
3. The geodetic surveying system as defined in claim 1, characterized in that said processing device (15) comprises: the device comprises a processor, an input module, a storage module and a display module, wherein the processor is respectively connected with the input module, the storage module and the display module.
4. The geodetic surveying system of claim 3, wherein the processor is an ARM processor.
5. A method of operating a geodetic surveying system, comprising the steps of:
s1, a main switch of the geodetic surveying system is turned on, after the geodetic surveying system is completely started, a control switch of a driving motor is turned on to start the driving motor, and a driving motor shaft drives a carrying platform to rotate;
s2, after the loading platform rotates for a preset angle, a control switch of the driving motor is turned off, the driving motor sends a turn-off signal to the processing equipment, and the processing equipment sends an acquisition instruction to the electronic compass, the altimeter, the inclinometer, the angle sensor and the GPS receiver after receiving the turn-off signal;
s3, the electronic compass obtains an included angle of the radar range finder relative to the due north direction, and sends the included angle of the radar range finder relative to the due north direction to the processing equipment; the altimeter acquires the altitude of the loading platform and sends the altitude to the processing equipment;
the inclinometer acquires an included angle of the carrying platform relative to a horizontal plane and sends the included angle of the carrying platform relative to the horizontal plane to the processing equipment;
the angle sensor acquires an included angle of the radar range finder relative to the loading platform; and sending the included angle of the radar range finder relative to the objective platform to processing equipment;
the GPS receiver acquires the position of the loading platform in the terrestrial coordinate system and sends the position of the loading platform in the terrestrial coordinate system to the processing equipment;
s4, the processing equipment sends a ranging instruction to the radar range finder, the radar range finder receives the ranging instruction and then sends a plurality of pulse sequences, and the plurality of pulse sequences correspond to the plurality of channels one to one;
s5, after receiving the multiple pulse sequences, the digital processing module calculates the correlation between each received pulse sequence and the corresponding transmitted pulse sequence in turn to obtain a correlation value, and combines the multiple correlation values to obtain an accumulated correlation value; carrying out peak value detection on the accumulated correlation values to obtain a maximum peak value, comparing the maximum peak value with a threshold, obtaining time corresponding to the maximum peak value when the maximum peak value is larger than the threshold, and transmitting the time corresponding to the maximum peak value to the processing equipment; the time corresponding to the maximum peak value is the average time delay from the emission of a plurality of pulse sequences to the reception of the plurality of pulse sequences of the radar range finder;
s6, the processing equipment calculates the space linear distance of the radar range finder relative to the target object according to the average time delay of the radar range finder from the transmission of the plurality of pulse sequences to the reception of the plurality of pulse sequences;
determining the included angle of the radar range finder relative to the horizontal plane according to the included angle of the radar range finder relative to the carrying platform and the included angle of the carrying platform relative to the horizontal plane;
determining the horizontal linear distance of the radar range finder relative to the target object according to the space linear distance of the radar range finder relative to the target object and the included angle of the radar range finder relative to the horizontal plane;
determining the vertical height difference of the radar range finder relative to the target object according to the space linear distance of the radar range finder relative to the target object and the included angle of the radar range finder relative to the horizontal plane;
determining the position of the target object in the terrestrial coordinate system according to the position of the carrying platform in the terrestrial coordinate system, the horizontal linear distance of the radar distance meter relative to the target object and the included angle of the radar distance meter relative to the due north direction;
determining the altitude of the target object according to the altitude of the loading platform and the vertical height difference of the radar range finder relative to the target object;
and S7, displaying the altitude of the target object and the position of the target object in the terrestrial coordinate system by the processing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710768300.8A CN107576315B (en) | 2017-08-31 | 2017-08-31 | Geodetic surveying system and method for operating the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710768300.8A CN107576315B (en) | 2017-08-31 | 2017-08-31 | Geodetic surveying system and method for operating the same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107576315A CN107576315A (en) | 2018-01-12 |
| CN107576315B true CN107576315B (en) | 2020-03-31 |
Family
ID=61030037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710768300.8A Expired - Fee Related CN107576315B (en) | 2017-08-31 | 2017-08-31 | Geodetic surveying system and method for operating the same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107576315B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111665475B (en) * | 2020-06-18 | 2023-03-28 | 中国人民解放军空军工程大学 | Radar main lobe interference suppression method and device, electronic equipment and storage medium |
| CN112833766B (en) * | 2021-03-30 | 2022-08-26 | 西南石油大学 | Device and method for directly measuring true thickness of geological profile |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1746698A (en) * | 2004-09-08 | 2006-03-15 | 富士通株式会社 | Come the method and the device of measuring distance by pulsed radar |
| CN1987516A (en) * | 2007-02-27 | 2007-06-27 | 呼秀山 | Equivalent sampling pulse distance measuring laser system |
| CN103562744A (en) * | 2011-08-12 | 2014-02-05 | 松下电器产业株式会社 | Radar apparatus |
-
2017
- 2017-08-31 CN CN201710768300.8A patent/CN107576315B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1746698A (en) * | 2004-09-08 | 2006-03-15 | 富士通株式会社 | Come the method and the device of measuring distance by pulsed radar |
| CN1987516A (en) * | 2007-02-27 | 2007-06-27 | 呼秀山 | Equivalent sampling pulse distance measuring laser system |
| CN103562744A (en) * | 2011-08-12 | 2014-02-05 | 松下电器产业株式会社 | Radar apparatus |
Non-Patent Citations (2)
| Title |
|---|
| 单脉冲探测技术的发展综述;胡体玲等;《现代雷达》;20061231;第28卷(第12期);第24-29页 * |
| 基于微波雷达的位移/距离测量技术;陈伟民等;《电子测量与仪器学报》;20150930;第29卷(第9期);第1251-1265页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107576315A (en) | 2018-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10725167B2 (en) | Fast scanning radar systems and methods | |
| US9109889B2 (en) | Determining tilt angle and tilt direction using image processing | |
| EP2544302B1 (en) | Systems and methods for determining a positional state of an airborne array antenna using distributed accelerometers | |
| JP6204246B2 (en) | Portable positioning device | |
| CN108051835B (en) | Inclination measuring device based on double antennas and measuring and lofting method | |
| US20150116693A1 (en) | Three-Dimensional Measuring Method And Surveying System | |
| KR101223242B1 (en) | Apparatus for drawing digital map | |
| CN109883444B (en) | Attitude angle coupling error compensation method and device and electronic equipment | |
| CN209673994U (en) | A kind of portable mapping rangefinder | |
| CN105184776A (en) | Target tracking method | |
| WO2014047074A1 (en) | Workflow improvements for stakeout | |
| CN107576315B (en) | Geodetic surveying system and method for operating the same | |
| CN108007426B (en) | Camera ranging method | |
| CN112492292B (en) | Intelligent visual 3D information acquisition equipment of free gesture | |
| CN108845345A (en) | The method for surveying appearance using the double antenna orientation of GNSS measuring principle | |
| EP1726915A1 (en) | Active surveying pole | |
| CN111295567A (en) | Course determining method, device, storage medium and movable platform | |
| CN216925591U (en) | Portable laser measuring equipment based on dynamic real-time positioning | |
| RU2466435C1 (en) | Automatic weather instrument | |
| EP2040029A1 (en) | A multi mode active surveying pole | |
| JP6812066B2 (en) | Position / orientation measuring device and surveying device | |
| CN107289913B (en) | Geographic measurement mapping equipment convenient to remove | |
| CN104614746A (en) | Device and method for calibrating attitude and heading reference system based on satellite receiver | |
| JP3569015B2 (en) | GPS navigation device | |
| CN107966701B (en) | Radar inclination angle measuring method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200331 Termination date: 20200831 |