CN107607964A - A kind of laser ranging localization method applied to RTK receivers - Google Patents
A kind of laser ranging localization method applied to RTK receivers Download PDFInfo
- Publication number
- CN107607964A CN107607964A CN201710692101.3A CN201710692101A CN107607964A CN 107607964 A CN107607964 A CN 107607964A CN 201710692101 A CN201710692101 A CN 201710692101A CN 107607964 A CN107607964 A CN 107607964A
- Authority
- CN
- China
- Prior art keywords
- msub
- mtr
- mtd
- observation station
- mrow
- 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.)
- Pending
Links
Classifications
-
- 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
- G01S19/14—Receivers specially adapted for specific applications
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a kind of laser ranging localization method applied to RTK receivers, comprise the following steps：Step S1, laser ranging Free Station function observation mode, and a default tested point C are selected；Step S2, the first observation station A is chosen, the RTK coordinates for obtaining A are measured in the first observation station A, after the completion of, back hub is set up at A to obtain backsight point A1；Step S3, the second observation station B is chosen, A1 is aimed at using laser radar at B, obtains RTK coordinates, attitude angle, distance, then selects A1 data to carry out angle orientation correction；Step S4, continuously measured, tested point C is aimed at using laser radar at B, obtained RTK coordinates, attitude angle, distance, calculate tested point C coordinates；Step S5, repeat step S4, next point coordinates to be measured is measured；Step S6, laser ranging observation terminates, and recovers regular measurement mode.Solves the problems, such as non-cpntact measurement, method is easy to use.
Description
It is that 2015.12.21, Application No. 201510969449.3, invention and created name are " a kind of the applying date that the present invention, which is,
The divisional application of laser ranging localization method applied to RTK receivers " patent.
Technical field
The present invention relates to survey field, and in particular to a kind of laser ranging localization method applied to RTK receivers.
Background technology
Traditional RTK (Real-Time Kinematic) is a kind of conventional GPS measurement sides based on Satellite Navigation Technique
Method.It employs carrier phase dynamic real-time difference method, can obtain centimeter-level positioning precision in real time, and its appearance is engineering
Setting-out, topographic mapping, various control measurements bring new technical meanses, drastically increase field operation operating efficiency.It is but traditional
The serious place measurements of signal blocks such as RTK measurements can not solve under non-contact measurement, such as tree well, corner.
The content of the invention
The invention provides a kind of laser ranging localization method applied to RTK receivers, comprise the following steps：
Step S1, laser ranging forward intersection function observation mode, and a default tested point C are selected；
Step S2, the first observation station A is chosen, carrying out laser radar in the first observation station A aims at tested point, and measures acquisition
RTK coordinates, attitude angle, distance；
Step S3, the second observation station B is chosen, carrying out laser radar in the second observation station B aims at tested point, and measures acquisition
RTK coordinates, attitude angle, distance；
Step S4, forward intersection calculating is carried out, the first observation station A and the second measurement point B measurement data is selected, calculates
Tested point C coordinate；
Step S5, laser ranging observation terminates, and recovers regular measurement mode；
Step S6, repeat step S1 to step S5, the coordinate of next tested point is measured.
In above-mentioned laser ranging localization method, carry out forward intersection calculating the step of include：
Observational equation is drawn according to metering system and geometrical condition：
LPAC=(ZC-ZA)/SAC
LPBC=(ZC-ZB)/SBC
Wherein, XA、YA、ZARespectively first observation station A obserred coordinate values tri- durection components of X, Y, Z, XB、YB、ZBRespectively
For second observation station B obserred coordinate values tri- durection components of X, Y, Z, Xc、Yc、ZcRespectively tested point C coordinates X, Y, Z to be evaluated
Three durection components, pitchACFor the first observation station A to the tested point C angle of pitch, pitchBCIt is the second observation station B to be measured
The point C angle of pitch, SACFor the observed range between the first observation station A and tested point C, SBCFor the second observation station B and tested point C
Between observed range, LAC、LBCFor dummy observation, LAC=cos (yawAC), LBC=cos (yawBC), LPAC、LPBCTo be virtual
Observation, LPAC=sin (pitchAC), LPBC=sin (pitchBC)；
Formula 1 is obtained afterwards according to indirect adjustment linearisation：
Wherein partial derivative is：
Order
Wherein,
Obtained after simplification：
Form error equation：
Adjustment criterion is：VTPV=min；
Obtained according to indirect adjustment：
For observation,For observational equation parameter to be asked, B is observing matrix, and V is observation correction,
For error equation parameter to be asked, l=L- (BX0+ d) it is error equation constant term, X0For parameter to be askedInitial approximation；
P is weight of observation, is weighed surely according to priori precision, Respectively SAC、SBC、LPAC、LPBC、LAC、LBCAccuracy of observation.
In above-mentioned laser ranging localization method, the first observation station A and the second observation station B distance are not less than 5 meters.
Simultaneously present invention also offers a kind of laser ranging localization method applied to RTK receivers, comprise the following steps：
Step S1, laser ranging Free Station function observation mode, and a default tested point C are selected；
Step S2, the first observation station A is chosen, GNNS receivers are set up in the first observation station A, acquisition first is measured and sees
Measuring point A RTK coordinates, after being measured, back hub is set up in the first observation station A, the back hub has a backsight point A1；
Step S3, the second observation station B is chosen, GNNS receivers are set up in the second observation station B, after being aimed at using laser radar
Viewpoint A1, it is oriented measurement and obtains RTK coordinates, attitude angle, distance, then select backsight point A1 data to carry out angle orientation school
Just；
Step S4, continuously measured after completing angle orientation correction, aimed at and treated using laser radar in the second observation station B
Measuring point C, measure to obtain RTK coordinates, attitude angle, distance, calculate tested point C coordinates；
Step S5, repeat step S4, next point coordinates to be measured is measured；
Step S6, laser ranging observation terminates, and recovers regular measurement mode.
In above-mentioned laser ranging localization method, use the calculation formula of Free Station pattern observed object point for：
DzBC=SBC·sin(pitchBC)
DxBC=SBC·cos(pitchBC)·cos(yawBC)
DyBC=SBC·cos(pitchBC)·sin(yawBC)
Wherein, XB、YB、ZBRespectively second observation station B obserred coordinate values tri- durection components of X, Y, Z, Xc、Yc、ZcRespectively
For tested point C coordinates tri- durection components of X, Y, Z to be evaluated, DxBC、DyBC、DzBCFor the second observation station B and tested point C coordinate
Tri- durection components of difference X, Y, Z, yawBCFor the second observation station B to tested point C azimuth, pitchBCFor the second observation station B
To the tested point C angle of pitch, SBCFor the observed range between the second observation station B and tested point C.
Compared with prior art, compared with the prior art of Part I, the present invention can by laser ranging measurement
To solve the problems, such as the bad measurement of the gps signal observation condition such as corner, tree shade, while can solve because river course, fence stop
The problem of target point etc. harmless arrival is observed.The present invention carries out non-cpntact measurement using laser ranging, and method is simply easy
With real-time is preferable.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, the present invention and its feature, outside
Shape and advantage will become more apparent upon.The identical mark instruction identical part in whole accompanying drawings.Not deliberately proportionally
Draw accompanying drawing, it is preferred that emphasis is the purport of the present invention is shown.
Figure 1A is the mapping schematic diagram that the present invention uses forward intersection mode operations method；
Figure 1B is the flow chart that the present invention uses forward intersection mode operations method；
Fig. 2A is the mapping schematic diagram that the present invention uses Free Station mode operations method；
Fig. 2 B are the flow chart that the present invention uses Free Station mode operations method.
Embodiment
In the following description, a large amount of concrete details are given to provide more thorough understanding of the invention.So
And it is obvious to the skilled person that the present invention can be able to without one or more of these details
Implement.In other examples, in order to avoid obscuring with the present invention, do not enter for some technical characteristics well known in the art
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Explain technical scheme.Presently preferred embodiments of the present invention is described in detail as follows, but in addition to these detailed descriptions, this
Invention can also have other embodiment.
In the present invention, there is provided two kinds of laser ranging localization methods for being applied to RTK receivers, main technological route
For：
1st, by integrated laser distance measuring sensor, gyro sensor, obliquity sensor in measurement type GNSS device, from
And a variety of observations such as equipment RTK coordinates, posture, target point azimuth, distance can be obtained.
2nd, RTK coordinates, posture, target point azimuth, distance are merged, by the way of forward intersection, realizes monocular punctuate
Non-cpntact measurement.
3rd, RTK coordinates, posture, target point azimuth, distance are merged, by the way of Free Station, is realized continuous more
The non-contact measurement of target point.
Main field operation work pattern of the invention is as follows：
Integrated laser distance measuring sensor, gyro sensor, obliquity sensor in GNSS device, so as to obtain equipment
A variety of observations such as RTK coordinates, posture, target point azimuth, distance, forward intersection and freedom can be used using these data
If two ways of standing realizes the measurement of target point, as shown in Figure 1.Wherein, forward intersection is to utilize to aim on two known points
Same target point carries out distance calculation target point distance, it the advantages of be to use absolute inclination data and base-line data, meter
It is higher to calculate precision, shortcoming is that a target point will be observed twice in diverse location, and work flow is complicated.Free Station refers to pass through
One known backsight point of observation carries out the metering system of the calibration, then Continuous Observation target point of position and angle, it the advantages of
Be can continuous measuring target point, shortcoming is constrained to demarcation and gyroscope positioning precision can be lower slightly, and positioning precision is with the time
Increase.
The two kinds provided by the invention laser ranging localization methods for being applied to RTK receivers are carried out below described separately.
Embodiment one
A kind of laser ranging localization method applied to RTK receivers, shown in reference picture 1A and Figure 1B, including following step
Suddenly：
Step S1, laser ranging forward intersection function observation mode, and a default tested point C are selected.
Step S2, the first observation station A is chosen, carrying out laser radar in the first observation station A aims at tested point, and measures acquisition
RTK coordinates, attitude angle, distance.
Step S3, the second observation station B is chosen, carrying out laser radar in the second observation station B aims at tested point, and measures acquisition
RTK coordinates, attitude angle, distance.
It should be strongly noted that Fig. 1 intermediate cam shapes ABC should try one's best into equilateral triangle, and AB should spacing
From 5 meters, best more than 10 meters should be not less than.
Step S4, forward intersection calculating is carried out, the first observation station A and the second measurement point B measurement data is selected, calculates
Tested point C coordinate.
The step of carrying out forward intersection calculating includes：
Observational equation is drawn according to metering system and geometrical condition：
LPAC=(ZC-ZA)/SAC
LPBC=(ZC-ZB)/SBC
Wherein, XA、YA、ZARespectively first observation station A obserred coordinate values tri- durection components of X, Y, Z, XB、YB、ZBRespectively
For second observation station B obserred coordinate values tri- durection components of X, Y, Z, Xc、Yc、ZcRespectively tested point C coordinates X, Y, Z to be evaluated
Three durection components, pitchACFor the first observation station A to the tested point C angle of pitch, pitchBCIt is the second observation station B to be measured
The point C angle of pitch, SACFor the observed range between the first observation station A and tested point C, SBCFor the second observation station B and tested point C
Between observed range, LAC、LBCFor dummy observation, LAC=cos (yawAC), LBC=cos (yawBC), LPAC、LPBCTo be virtual
Observation, LPAC=sin (pitchAC), LPBC=sin (pitchBC)；
Formula 1 is obtained afterwards according to indirect adjustment linearisation：
Wherein partial derivative is：
Order
Wherein,
Obtained after simplification：
Form error equation：
Adjustment criterion is：VTPV=min；
Obtained according to indirect adjustment：
For observation,For observational equation parameter to be asked, B is observing matrix, and V is observation correction,
For error equation parameter to be asked, l=L- (BX0+ d) it is error equation constant term, X0For parameter to be askedInitial approximation；
P is weight of observation, is weighed surely according to priori precision,
Respectively SAC、SBC、LPAC、LPBC、LAC、LBCObservation essence
Degree.
Step S5, laser ranging observation terminates, and recovers regular measurement mode；
Step S6, repeat step S1 to step S5, the coordinate of next tested point is measured.
Embodiment two
In the present embodiment, present invention also offers another be applied to RTK receivers laser ranging localization method,
Shown in reference picture 2A and Fig. 2 B, specifically comprise the following steps：
Step S1, laser ranging Free Station function observation mode, and a default tested point C are selected.
Step S2, the first observation station A is chosen, GNNS (Global Navigation are set up in the first observation station A
Satellite System, GLONASS) receiver, the RTK coordinates for obtaining the first observation station A are measured, are surveyed
After the completion of amount, back hub is set up in the first observation station A, the back hub has a backsight point A1.
Step S3, the second observation station B is chosen, GNNS receivers are set up in the second observation station B, after being aimed at using laser radar
Viewpoint A1, it is oriented measurement and obtains RTK coordinates, attitude angle, distance, then select backsight point A1 data to carry out angle orientation school
Just.
Step S4, continuously measured after completing angle orientation correction, aimed at and treated using laser radar in the second observation station B
Measuring point C, measure to obtain RTK coordinates, attitude angle, distance, calculate tested point C coordinates.
Specifically, use the calculation formula of Free Station pattern observed object point for：
DzBC=SBC·sin(pitchBC)
DxBC=SBC·cos(pitchBC)·cos(yawBC)
DyBC=SBC·cos(pitchBC)·sin(yawBC)
Wherein, XB、YB、ZBRespectively second observation station B obserred coordinate values tri- durection components of X, Y, Z, Xc、Yc、ZcRespectively
For tested point C coordinates tri- durection components of X, Y, Z to be evaluated, DxBC、DyBC、DzBCFor the second observation station B and tested point C coordinate
Tri- durection components of difference X, Y, Z, yawBCFor the second observation station B to tested point C azimuth, pitchBCFor the second observation station B
To the tested point C angle of pitch, SBCFor the observed range between the second observation station B and tested point C.
Step S5, repeat step S4, next tested point such as C2, C3, C4 coordinate is measured.
Step S6, laser ranging observation terminates, and recovers regular measurement mode.
In summary, because present invention employs technical scheme as above, extending camera apparatus using RTK receivers can
The purpose of the present invention is realized, target point observation is mainly being carried out by way of close-range photogrammetry.Using photogrammetric side
The advantages of method is that to obtain data amount information amount big, on image any match point all can coordinates computed, while observe moment and be saved
, can interior industry collection verification into image.It is that realization and calculating are simple using the advantages of machine laser ranging mode, it is convenient and practical.
The present invention can be successfully applied to laser sensor built-in and the RTK geodetic type receivers of inclination sensor, solves
The problem of non-contact measurement.In the present invention, RTK and inclination sensor can be used, realizes the survey of forward intersection pattern
Measure target point；Gyro sensor also is employed simultaneously in addition, realizes Free Station pattern measuring target point.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this area
Apply；Any those skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this has no effect on the substantive content of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit of the present invention still falls within the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments
In the range of technical scheme protection.
Claims (2)
1. a kind of laser ranging localization method applied to RTK receivers, it is characterised in that comprise the following steps：
Step S1, laser ranging Free Station function observation mode, and a default tested point C are selected；
Step S2, the first observation station A is chosen, GNNS receivers is set up in the first observation station A, measures and obtain the first observation station
A RTK coordinates, after being measured, back hub is set up in the first observation station A, the back hub has a backsight point A1；
Step S3, the second observation station B is chosen, GNNS receivers are set up in the second observation station B, backsight point is aimed at using laser radar
A1, it is oriented measurement and obtains RTK coordinates, attitude angle, distance, then select backsight point A1 data to carry out angle orientation correction；
Step S4, continuously measured after completing angle orientation correction, tested point is aimed at using laser radar in the second observation station B
C, measure to obtain RTK coordinates, attitude angle, distance, calculate tested point C coordinates；
Step S5, repeat step S4, next point coordinates to be measured is measured；
Step S6, laser ranging observation terminates, and recovers regular measurement mode.
2. laser ranging localization method as claimed in claim 1, it is characterised in that using Free Station pattern observed object point
Calculation formula be：
DzBC=SBC·sin(pitchBC)
DxBC=SBC·cos(pitchBC)·cos(yawBC)
DyBC=SBC·cos(pitchBC)·sin(yawBC)
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>X</mi>
<mi>C</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>Y</mi>
<mi>C</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>Z</mi>
<mi>C</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>X</mi>
<mi>B</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>Y</mi>
<mi>B</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>Z</mi>
<mi>B</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Dx</mi>
<mrow>
<mi>B</mi>
<mi>C</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Dy</mi>
<mrow>
<mi>B</mi>
<mi>C</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Dz</mi>
<mrow>
<mi>B</mi>
<mi>C</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
Wherein, XB、YB、ZBRespectively second observation station B obserred coordinate values tri- durection components of X, Y, Z, Xc、Yc、ZcRespectively treat
Measuring point C coordinates tri- durection components of X, Y, Z to be evaluated, DxBC、DyBC、DzBCFor the second observation station B and tested point C coordinate difference
X, tri- durection components of Y, Z, yawBCFor the second observation station B to tested point C azimuth, pitchBCIt is the second observation station B to treating
The measuring point C angle of pitch, SBCFor the observed range between the second observation station B and tested point C.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710692101.3A CN107607964A (en) | 2015-12-21 | 2015-12-21 | A kind of laser ranging localization method applied to RTK receivers |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710692101.3A CN107607964A (en) | 2015-12-21 | 2015-12-21 | A kind of laser ranging localization method applied to RTK receivers |
| CN201510969449.3A CN105388494B (en) | 2015-12-21 | 2015-12-21 | A kind of laser ranging localization method applied to RTK receiver |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510969449.3A Division CN105388494B (en) | 2015-12-21 | 2015-12-21 | A kind of laser ranging localization method applied to RTK receiver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107607964A true CN107607964A (en) | 2018-01-19 |
Family
ID=55420979
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710692101.3A Pending CN107607964A (en) | 2015-12-21 | 2015-12-21 | A kind of laser ranging localization method applied to RTK receivers |
| CN201510969449.3A Active CN105388494B (en) | 2015-12-21 | 2015-12-21 | A kind of laser ranging localization method applied to RTK receiver |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510969449.3A Active CN105388494B (en) | 2015-12-21 | 2015-12-21 | A kind of laser ranging localization method applied to RTK receiver |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN107607964A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109917411A (en) * | 2019-04-17 | 2019-06-21 | 重庆大学 | Obstacle detector and method based on laser ranging and three axis accelerometer |
| CN109932736A (en) * | 2019-04-08 | 2019-06-25 | 上海布灵信息科技有限公司 | A kind of round-the-clock centimeter-level positioning system and method for outdoor whole scene |
| CN110307846A (en) * | 2019-06-04 | 2019-10-08 | 恒大智慧科技有限公司 | Sight spot acquisition method, terminal device and storage medium |
| 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 |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210199784A1 (en) * | 2019-12-26 | 2021-07-01 | Javad Gnss, Inc. | Calibrating a total station |
| CN114279419B (en) * | 2021-12-17 | 2024-05-24 | 上海华测导航技术股份有限公司 | Lofting method and device, electronic equipment and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102829755A (en) * | 2012-08-27 | 2012-12-19 | 西安煤航信息产业有限公司 | Quick measuring method based on laser ranging device |
| CN203053447U (en) * | 2012-06-15 | 2013-07-10 | 湖北高通空间技术有限责任公司 | Attitude measuring system based on laser ranging and GPS (global positioning system) |
| CN104075696A (en) * | 2014-06-20 | 2014-10-01 | 内蒙古电力勘测设计院有限责任公司 | Coordinate measurement method |
| CN104880204A (en) * | 2015-06-17 | 2015-09-02 | 沈阳飞机工业（集团）有限公司 | Method for utilizing GPS and automatic tracking and measurement system to calibrate high-precision laser range finder |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101509784B (en) * | 2009-03-20 | 2012-03-28 | 西安煤航信息产业有限公司 | GPS//INS data direct directing precision assessment method |
| CN102589533B (en) * | 2012-01-19 | 2013-04-24 | 西安科技大学 | Method for measuring hidden point position coordinates by utilizing total-station instrument |
| CN102621559B (en) * | 2012-04-13 | 2013-09-04 | 吉林大学 | Portable global position system (GPS)-real time kinematic (RTK) rapid auxiliary wall corner point measuring device and measuring method |
-
2015
- 2015-12-21 CN CN201710692101.3A patent/CN107607964A/en active Pending
- 2015-12-21 CN CN201510969449.3A patent/CN105388494B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203053447U (en) * | 2012-06-15 | 2013-07-10 | 湖北高通空间技术有限责任公司 | Attitude measuring system based on laser ranging and GPS (global positioning system) |
| CN102829755A (en) * | 2012-08-27 | 2012-12-19 | 西安煤航信息产业有限公司 | Quick measuring method based on laser ranging device |
| CN104075696A (en) * | 2014-06-20 | 2014-10-01 | 内蒙古电力勘测设计院有限责任公司 | Coordinate measurement method |
| CN104880204A (en) * | 2015-06-17 | 2015-09-02 | 沈阳飞机工业（集团）有限公司 | Method for utilizing GPS and automatic tracking and measurement system to calibrate high-precision laser range finder |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109932736A (en) * | 2019-04-08 | 2019-06-25 | 上海布灵信息科技有限公司 | A kind of round-the-clock centimeter-level positioning system and method for outdoor whole scene |
| CN109932736B (en) * | 2019-04-08 | 2022-05-10 | 上海致灵信息科技有限公司 | Outdoor full-scene all-weather centimeter-level positioning system and method |
| CN109917411A (en) * | 2019-04-17 | 2019-06-21 | 重庆大学 | Obstacle detector and method based on laser ranging and three axis accelerometer |
| CN109917411B (en) * | 2019-04-17 | 2023-04-18 | 重庆大学 | Obstacle detection device and method based on laser ranging and triaxial accelerometer |
| CN110307846A (en) * | 2019-06-04 | 2019-10-08 | 恒大智慧科技有限公司 | Sight spot acquisition method, terminal device and storage medium |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105388494B (en) | 2019-01-18 |
| CN105388494A (en) | 2016-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105388494B (en) | A kind of laser ranging localization method applied to RTK receiver | |
| CN106052718B (en) | A kind of method of calibration and device based on POS terminal and digital aviation measuring camera | |
| CN105424058B (en) | Digital camera projection centre position method for precisely marking based on photogrammetric technology | |
| CN102565812B (en) | Method for measuring point coordinates of hidden point in GPS RTK (global positioning system-real time kinematic) | |
| CN202420501U (en) | Auxiliary measuring device for measuring hidden point position coordinates in GPS RTK | |
| CN107270877A (en) | A kind of banding surveys area's low altitude photogrammetry photo control point method of layout survey | |
| CN106840212A (en) | The in-orbit geometry calibration method of satellite borne laser based on ground laser facula centroid position | |
| CN105203103B (en) | The method for real-time measurement of the relatively geographical position relation of ground spacecraft | |
| US20190186913A1 (en) | Method for verifying accuracy of rtk tilt compensation measurement | |
| CN105424013B (en) | A kind of measuring method of geographical coordinates | |
| CN107255446B (en) | Dwarfing close-planting fruit tree canopy three-dimensional map construction system and method | |
| CN108253942A (en) | A kind of method for improving oblique photograph and measuring empty three mass | |
| CN108181618A (en) | A kind of Radar Calibration method | |
| CN108152838A (en) | It is a kind of that the device and method for measuring target location are taken aim at based on sight | |
| CN105973213B (en) | A kind of laser plumbing method and system for taking correction for deflection of vertical into account | |
| CN101266153B (en) | Mapping engineering top total station accuracy assessment method | |
| CN202676915U (en) | Global navigation satellite system receiver | |
| CN103176180A (en) | Device and method for detecting positioning precision of high-precision airborne laser radar system | |
| CN107917693A (en) | One kind is based on anallatic inclination measuring device and measuring method | |
| CN207689674U (en) | It is a kind of to take aim at the device for measuring target location based on sight | |
| CN104330078B (en) | Combined measuring method based on three-point resection model | |
| CN207423160U (en) | A kind of measuring device for amendment electro-optic theodolite direction value in real time | |
| CN104596485A (en) | Method for measuring heights and widths of vertical target object in any position by using single picture of photographing superstation | |
| CN104655133A (en) | Dynamic vehicle-mounted lifting mast platform posture measuring method | |
| CN106092041A (en) | A kind of high method and device of survey based on mobile terminal |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180119 |
|
| RJ01 | Rejection of invention patent application after publication |