CN108427116A

CN108427116A - A kind of position reference net node working method and device

Info

Publication number: CN108427116A
Application number: CN201710074790.1A
Authority: CN
Inventors: 钱浙滨
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-02-12
Filing date: 2017-02-12
Publication date: 2018-08-21

Abstract

The present invention provides a kind of position reference net node working method and device, the method includes：It is transmitted by wired or wireless channel and measures at least one of control instruction, measurement data, position reference point identification information, the measurement point coordinates for setting datum mark and beam steering guidance information；At least one of beam of sound and electromagnetic wave beam are sent and/or received by the measurement point of position reference point；Any one of positioning, ranging, object detection and air environment detection information needed is obtained using at least one of the beam of sound and electromagnetic wave beam.It can be used for overcoming at least one of existing positioning these disadvantages of poor universality low with low precision, efficiency existing for ranging technology, high certainty of measurement is efficient, and reliability is high.

Description

A kind of position reference net node working method and device

Technical field

The present invention relates to automatic detection field more particularly to a kind of position reference net node working method and devices.

Background technology

Orbital plane control point（CPIII）It is the basic means for carrying out rail smooth detection and road bed position shape changing detection, In the existing measurement based on CPIII, CPIII measurement devices are placed typically on the built-in fitting of the control points CPIII, including measure Prism, prism chain connecting bolt etc..

With the expansion of urban rail transit construction and Operation Scale, how to improve rail smooth detection efficiency and accuracy of detection at The problem of being paid close attention to for industry, it is existing to have the shortcomings that efficiency is low based on the method for placing prism at the control points CPIII, moreover, The position at the control points CPIII can lead to the measurement based on the control points CPIII because of railway roadbed deformation or pedestal is unstable shifts It is difficult to ensure, how monitoring the displacement of CPIII and improving the measurement efficiency based on the control points CPIII is problem to be solved.

From the point of view of monitoring CPIII control point deformation, the control points CPIII pedestal can accurately be monitored at present in real time by lacking The technology of displacement.

From improving based on from the point of view of CPIII control point survey efficiency, mainly rail smooth improves in measuring and measures effect Rate and guarantee measurement accuracy.

In field of track traffic, include to creating track and runing the detection project of track：Difference in height, row between two traveling rails Sail rail spacing, curved in tracks degree.These detection projects are also attributed to the gauge smooth-going of two interorbitals, direction smoothes out, vertical flat The smooth-going detection of genial height, each single item in this four ride comforts can further comprise the shortwave characteristic of smooth-going, middle wave property and Long wave property.In general, being used to four ride comforts of above-mentioned two interorbital opposite in range of wavelengths on interorbital or track Error is described, and the measurement accuracy needed is in submillimeter level.Existing rail smooth survey technology is to control net based on orbital plane Artificial or semi-automatic measuring is carried out, main measuring apparatus is total powerstation and is laid in the optical prism at the control points CPIII.Existing rail The major defect that road smoothes out measurement method is that efficiency is low.In addition, the differential settlement of ballast bed of track or offset are also to influence track One key factor of traffic safety needs to find and repair in time, and the positioning accuracy of this monitoring needs is submillimeter level, but It is to lack effective the relevant technologies at present.

In field of road traffic, intelligent transportation at present develops to breadth and depth direction, in order to monitor the traveling of vehicle State and realization automatic Pilot, need to carry out high accuracy positioning to vehicle, the positioning accuracy needed is in Centimeter Level.Current road Location technology used by the automatic Pilot of vehicle is the satellite positioning tech based on ground enhancing net, and the shortcomings that this technology is Positioning accuracy can not be ensured in the section blocked there are building or trees, need a kind of positioning accuracy high（Centimeter Level）And not The technology blocked by building or trees.

In automatic job field, for example indoors in outer Work places to the Bit andits control of implement, need to operation Equipment carries out high accuracy positioning, needs, using submillimeter or sub- centimetre of positioning or range accuracy, at present to lack reliable cheap high The positioning device of effect.

In building or the application of massif displacement monitoring, the position for monitoring specific buildings or the specified point on massif is needed to become Change, for this reason, it may be necessary to using submillimeter or sub- centimetre of positioning or range accuracy, and need to obtain measurement data in time, at present Lack reliable cheap technology and equipment.

The present invention provides a kind of position reference net node working method and device, for overcoming existing positioning and ranging technology At least one of low these disadvantages of poor universality of existing low precision, efficiency.

Invention content

The present invention provides a kind of position reference net node working method, and this method comprises the following steps：

It is transmitted by wired or wireless channel and measures control instruction, measurement data, position reference point identification information, sets datum mark Measure at least one of point coordinates and beam steering guidance information；

At least one of beam of sound and electromagnetic wave beam are sent and/or received by the measurement point of position reference point；

Positioning, ranging, object detection and air environment are obtained using at least one of the beam of sound and electromagnetic wave beam to visit Any one of survey information needed；

The electromagnetic wave includes at least one of millimeter wave and laser；

The position reference point includes the control points CPIII of rail traffic orbital plane control net, road traffic with along road cloth If the position reference point of position reference net, the automatic job position reference net for being laid in Work places position reference point, Any one of the position reference point of ohject displacement monitoring position reference net and the position reference point of mapping position reference net；

The position reference net includes 1 position reference points, and the coordinate of the corresponding measurement point of the position reference point is Know.

The present invention should provide a kind of position reference net node apparatus, including：

Communication module, wave beam transceiver module and measurement process module；Wherein,

Communication module measures control instruction, measurement data, position reference point identification letter for being transmitted by wired or wireless channel Cease, set at least one of measurement point coordinates and the beam steering guidance information of datum mark, including wireless transmission submodule and/or Wire transmission submodule；

Wave beam transceiver module, for being sent and/or being received in beam of sound and electromagnetic wave beam by the measurement point of position reference point At least one, including sound wave sending submodule, acoustic receiver submodule, electromagnetic wave sending submodule, electromagnetic wave receive submodule At least one of block and prism submodule and tuning control submodule and tuning servo submodule；

Measurement process module, for obtaining positioning, ranging, object using at least one of the beam of sound and electromagnetic wave beam Any one of detection and air environment detection information needed, including information extraction submodule；

The electromagnetic wave includes at least one of millimeter wave and laser；

The method and device that the embodiment of the present invention provides, for overcoming low precision, efficiency existing for existing positioning and ranging technology At least one of low these disadvantages of poor universality.It is efficient, as a result reliably, there is practicability.

Other features and advantages of the present invention will be illustrated in the following description.

Description of the drawings

Fig. 1 is a kind of position reference net node flow chart of work methods that the embodiment of the present invention provides；

Fig. 2 is a kind of position reference net node apparatus composition schematic diagram that the embodiment of the present invention provides.

Embodiment

The present invention provides a kind of position reference net node working method and device, the method and dress that the embodiment of the present invention provides It sets, for overcoming at least one of existing positioning these disadvantages of poor universality low with low precision, efficiency existing for ranging technology.

To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application Feature mutually can arbitrarily combine.

The method and apparatus that the present embodiment provides, can be used for positioning, ranging, mapping and displacement monitoring, with submillimeter Range accuracy or positioning accuracy, can be with quick obtaining measurement data；

Specifically, the method and apparatus that the present embodiment provides can be used for the measurement of rail traffic middle orbit smooth-going and with than existing The higher efficiency of measurement method based on total powerstation；It can be used in the traffic of road carrying out submillimeter or inferior centimeter order precision to vehicle Positioning, or for carrying out position offset monitoring to radio-positioning node used in vehicle location；It can be used for indoor and outdoor certainly To the high accuracy positioning of implement in dynamic operating environment；It can be used for the high accuracy positioning to ship, aircraft；It can be used for building The displacement monitoring of object or natural forms.

Position reference net that the present invention provides, position reference point, position reference net node are controlled in the orbital plane of railway On the basis of net, the control points CPIII related notion, expands its application field and improve its measuring technique.

A kind of application for the method and apparatus that the present embodiment provides is the vehicle location or right in solving road field of traffic The displacement for being deployed in the radio-positioning node of road side is monitored.It is fixed used by the automatic Pilot of current road vehicle Position technology is the satellite positioning tech based on ground enhancing net, there are buildings or trees to block the shortcomings that this technology Positioning accuracy can not be ensured in section.A kind of positioning accuracy is high（Centimeter Level）And it not is edge by the method that building or trees block Road side lays radio-positioning node and provides centimeter-level positioning precision for vehicle, and along the radio-positioning section of road side laying The position of point displacement can occur due to pedestal sedimentation etc., in order to ensure the radio-positioning net of radio-positioning node composition Positioning accuracy, need the change in location for monitoring the radio-positioning node laid along road side in real time, what the present embodiment provided Method and apparatus can be used for the displacement to radio-positioning node and be monitored in real time, and can ensure grade positioning accurate Degree.

Below in conjunction with the accompanying drawings, to position reference net node working method provided by the invention citing, position reference net node apparatus Citing is illustrated.

Embodiment one, the citing of position reference net node working method

Shown in Figure 1, a kind of position reference net node working method embodiment provided by the invention includes the following steps：

Step S110, by wired or wireless channel transmit measure control instruction, measurement data, position reference point identification information, Set at least one of measurement point coordinates and the beam steering guidance information of datum mark；

Step S120 is sent and/or is received at least one in beam of sound and electromagnetic wave beam by the measurement point of position reference point Kind；

Step S130 obtains positioning, ranging, object detection and sky using at least one of the beam of sound and electromagnetic wave beam Any one of gas environment detection information needed；

The electromagnetic wave includes at least one of millimeter wave and laser；

Method described in the present embodiment, wherein

Described transmitted by wired or wireless channel measures control instruction, measurement data, position reference point identification information, sets benchmark At least one of measurement point coordinates and beam steering guidance information of point, including following at least one step：

Transmission measures control instruction, measurement data, position reference point identification information, sets between position datum mark and network side node At least one of measurement point coordinates and beam steering guidance information of datum mark；

Transmission measures control instruction, measurement data, the identification of position reference point between position datum mark position reference point adjacent thereto At least one of information, the measurement point coordinates for setting datum mark and beam steering guidance information；

Transmission measures control instruction, measurement data, position reference point identification letter between position datum mark and positioning or distance ranging terminal Cease, set at least one of measurement point coordinates and the beam steering guidance information of datum mark；And

Position datum mark and measure control node between transmission measure control instruction, measurement data, position reference point identification information, Set at least one of measurement point coordinates and the beam steering guidance information of datum mark.

Control node is measured described in the present embodiment, is carried out for the work project or operating mode to position reference net node Control, including：Positioned at the control terminal for measuring control centre or positioned at the control terminal of measure field.

Network side node described in the present embodiment, for storing measurement data, transmission measurement data, processing measurement data, depositing Storage space sets at least one in reference net nodal information, transmission position reference net nodal information, processing position reference net nodal information Kind processing；Including measuring at least one of control node, computer server, terminal.

Method described in the present embodiment, wherein

The measurement point by position reference point sends and/or receives at least one of beam of sound and electromagnetic wave beam, packet It includes and is sent and/or received in beam of sound and electromagnetic wave beam by the measurement point of position reference point using local active component At least one, and/or use the survey of any one of automatic direction regulating prism and automatic direction regulating corner reflector by position reference point Measure point reflection incident electromagnetic wave wave beam；Wherein,

It is described to send and/or receive beam of sound and electromagnetic wave wave by the measurement point of position reference point using local active component At least one of beam, including following at least one step：

Measuring storing sound source on mark built-in fitting or position reference point pedestal in position datum mark makes Sound Source Center point and position base Measurement point position on schedule overlaps, and/or is measured in position datum mark and put electricity on mark built-in fitting or position reference point pedestal Magnetic wave source makes electromagnetic wave source central point and the measurement point position of position reference point overlap；

It is measured in position datum mark and puts reflecting surface on mark built-in fitting or position reference point pedestal, the sound for making local sound source generate Wave beam is emitted after the point and its adjacent area reflection through being overlapped with the measurement point position of position reference point on reflecting surface, and/or is made Point and its phase of the electromagnetic wave beam through being overlapped with the measurement point position of position reference point on reflecting surface that local electromagnetic wave source generates It is emitted after the reflection of neighbouring region；

Measuring storing sonic sensor on mark built-in fitting or position reference point pedestal in position datum mark makes its sensing center point It is overlapped with the measurement point position of position reference point, and/or mark built-in fitting or position reference point pedestal is measured in position datum mark Upper storing electromagnetic sensor makes its sensing center point be overlapped with the measurement point position of position reference point；And

It is measured in position datum mark and puts reflecting surface on mark built-in fitting or position reference point pedestal, local sonic sensor is made to connect Acoustic signals after receiving point and its adjacent area reflection through being overlapped with the measurement point position of position reference point on reflecting surface, and/ Or local electromagnetic sensor is made to receive point and its adjacent region through being overlapped with the measurement point position of position reference point on reflecting surface Electromagnetic wave signal after the reflection of domain；

The measurement point coordinates of the position reference point is the position coordinate used when ranging or positioning.

In the present embodiment, the measurement point is that CPIII measures rib in mark in the existing measurement based on position reference point Point representated by the point of mirror reflection kernel point, in embodiments of the present invention, the measurement point are the point for measuring basis, The point in mark representated by the point of prismatic reflection central point is measured including CPIII in the existing measurement based on position reference point, or Its Sound Source Center point, electromagnetic wave source central point, sonic sensor central point, electromagnetic sensor when installation position reference net node Central point, prismatic reflection central point, any one of specified point point on specified point harmony reflecting surface on reflection of electromagnetic wave face Position；When position reference net node includes that prism indicates as measurement, measurement point and Sound Source Center where prismatic reflection central point Point, electromagnetic wave source central point, sonic sensor central point, electromagnetic sensor central point, on reflection of electromagnetic wave face specified point and Any one of specified point belongs to the different measurement points at the same position reference point on sound reflecting face；When position reference net section When point includes that millimeter wave corner reflector indicates as measurement, in measurement point and sound source where millimeter wave corner reflector reflection kernel point Heart point, electromagnetic wave source central point, sonic sensor central point, electromagnetic sensor central point, specified point on reflection of electromagnetic wave face Any one of specified point belongs to the different measurement points at the same position reference point on harmony reflecting surface.

The installation method that sonic sensor described in the present embodiment is overlapped with electromagnetic sensor central point, including：

Using circular ring shape sonic sensor, the central point of circular ring shape sonic sensor in annular by the center in sound face, in circular ring shape The center of sonic sensor places electromagnetic sensor and makes electromagnetic sensor central point and circular ring shape sonic sensor Central point overlap.

The installation method that Sound Source Center point described in the present embodiment is overlapped with electromagnetic wave source central point, including：

Using circular ring shape sound source, the central point of circular ring shape sound source is at the center of annular sounding face, in the central point of circular ring shape sound source It places electromagnetic wave source and electromagnetic wave source central point and the central point of circular ring shape sound source is made to overlap in place.

Method described in the present embodiment, wherein

Described measured in position datum mark indicates that sound source is put on built-in fitting or position reference point pedestal makes Sound Source Center point and position The measurement point position for setting datum mark overlaps, and/or measures in position datum mark and set on mark built-in fitting or position reference point pedestal Discharging electromagnetic wave source makes electromagnetic wave source central point and the measurement point position of position reference point overlap, and further comprises：

The electromagnetic wave beam direction of adjustment electromagnetic wave source is allowed to be directed towards in position reference point, positioning terminal, distance ranging terminal It is any；And/or

The beam of sound direction of adjustment sound source is allowed to be directed towards any one of position reference point, positioning terminal, distance ranging terminal.

Described measured in position datum mark puts reflecting surface on mark built-in fitting or position reference point pedestal, makes local sound source The beam of sound of generation is emitted after the point and its adjacent area reflection through being overlapped with the measurement point position of position reference point on reflecting surface, And/or point of the electromagnetic wave beam through being overlapped with the measurement point position of position reference point on reflecting surface for making local electromagnetic wave source generate And its be emitted after adjacent area reflection, further comprise：

The angle of adjustment reflecting surface makes its electromagnetic wave beam reflected be directed towards position reference point, positioning terminal, distance ranging terminal Any one of；And/or

The angle of adjustment reflecting surface makes its beam of sound reflected be directed towards in position reference point, positioning terminal, distance ranging terminal It is any.

Method described in the present embodiment, wherein

The electromagnetic wave beam of the adjustment electromagnetic wave source is directed toward and/or the beam of sound direction of adjustment sound source is allowed to be directed towards position Any one of datum mark, positioning terminal, distance ranging terminal, including：

Any in adjacent position datum mark, positioning terminal, distance ranging terminal is obtained by wireless channel or reading position database The location information of kind；

Determine any one of adjacent position datum mark, positioning terminal, distance ranging terminal relative to described using the location information The orientation of measurement point and/or the angle value of pitch angle or angular range of electromagnetic wave source or sound source position datum mark；

In the reservation angular range comprising the angle value, or in the angular range, the electromagnetic wave of electromagnetic wave source is adjusted Beam position, and receive feedback signal and electricity that reflection signal, the electromagnetic wave beam of electromagnetic wave beam are received by destination node The feedback signal of biased error at least one of of the magnetic wave wave beam at destination node；And/or including the angle value In angular range, or in the angular range, the beam of sound for adjusting sound source is directed toward, and receives reflection signal, the sound of beam of sound In the feedback signal of biased error of the feedback signal and beam of sound that wave beam is received by destination node at destination node extremely Few one kind；

The angle of the adjustment reflecting surface makes the electromagnetic wave beam of its reflection and/or beam of sound be directed towards position reference point, determine Any one of position terminal, distance ranging terminal, including：

It is realized in the reservation angular range comprising the angle value by adjusting the reflecting surface, or in the angular range Interior, adjustment electromagnetic wave beam is directed toward, and the reflection signal, the electromagnetic wave beam that receive electromagnetic wave beam are received by destination node At least one of the feedback signal of biased error of feedback signal and electromagnetic wave beam at destination node；And/or pass through tune In the angular range comprising the angle value, or in the angular range, adjustment beam of sound is directed toward the whole reflecting surface, and The feedback signal and beam of sound that reflection signal, the beam of sound of reception beam of sound are received by destination node are inclined at destination node At least one of feedback signal from error.

In the present embodiment, as a kind of realization method, the electromagnetic wave beam for adjusting electromagnetic wave source is directed toward, and receives electromagnetic wave The feedback signal and electromagnetic wave beam that reflection signal, the electromagnetic wave beam of wave beam are received by destination node are at destination node The method of at least one of the feedback signal of biased error, includes the following steps：

Make electromagnetic wave source to be rotated as rotary centerline across the vertical line of the electromagnetic wave source central point, realizes electromagnetic wave source The azimuth adjustment that electromagnetic wave beam is directed toward, and/or make electromagnetic wave source to be to turn across the horizontal line of the electromagnetic wave source central point Dynamic center line is rotated, and realizes the pitch angle adjustment that the electromagnetic wave beam of electromagnetic wave source is directed toward.

In the present embodiment, as a kind of realization method, the beam of sound for adjusting sound source is directed toward, and receives the reflection letter of beam of sound Number, in the feedback signal of the biased error of the beam of sound feedback signal and beam of sound that are received by destination node at destination node At least one method, include the following steps：

Make sound source to be rotated as rotary centerline across the vertical line of the Sound Source Center point, realizes what the beam of sound of sound source was directed toward Azimuth adjusts, and/or makes sound source to be rotated as rotary centerline across the horizontal line of the Sound Source Center point, realizes sound source Beam of sound be directed toward pitch angle adjustment.

In the present embodiment, as a kind of realization method, realize that adjustment electromagnetic wave beam is directed toward by adjusting reflecting surface, and connect The feedback signal and electromagnetic wave beam that reflection signal, the electromagnetic wave beam of receipts electromagnetic wave beam are received by destination node are in target The method of at least one of the feedback signal of biased error at node includes the following steps；

Make reflecting surface to be rotated as rotary centerline across the vertical line of the reflective surface point, realizes that electromagnetic wave beam is directed toward Azimuth adjustment, and/or make reflecting surface to be rotated as rotary centerline across the horizontal line of the reflective surface point, reality The pitch angle adjustment that existing electromagnetic wave beam is directed toward；The pip is the central point for the electromagnetic wave beam that local electromagnetic wave source generates Incidence point.

In the present embodiment, as a kind of realization method, realize that adjustment beam of sound is directed toward by adjusting reflecting surface, and receive beam of sound Biased error at destination node of reflection signal, the beam of sound feedback signal and beam of sound that are received by destination node it is anti- The method of at least one of feedback signal, including：

Make reflecting surface to be rotated as rotary centerline across the vertical line of the reflective surface point, realizes the side that beam of sound is directed toward Parallactic angle adjusts, and/or makes reflecting surface to be rotated as rotary centerline across the horizontal line of the reflective surface point, realization sound The pitch angle of beam position adjusts；The pip is the incidence point of the central point for the beam of sound that local sound source generates.

In the present embodiment, the reflecting surface is the reflecting surface of reflector or reflectance coating.

Method described in the present embodiment, wherein

The sonic sensor of being put on position datum mark measurement mark built-in fitting or position reference point pedestal makes in its sensing Heart point is overlapped with the measurement point position of position reference point, and/or measures mark built-in fitting or position reference point in position datum mark On pedestal put electromagnetic sensor so that its sensing center point is overlapped with the measurement point position of position reference point, further comprise as Lower at least one step：

Reception to the reflected beam of the beam of sound locally sent, and/or the electromagnetic wave beam reflected beam to locally sending It receives；

Reception to the forwarding wave beam of the beam of sound locally sent, and/or the forwarding wave beam of the electromagnetic wave beam to locally sending It receives；

Reception to the beam of sound that adjacent position datum mark is sent, and/or the electromagnetic wave beam sent to position datum mark connect It receives；And

Reception to the beam of sound of any transmission in positioning terminal and distance ranging terminal, and/or to positioning terminal and distance ranging terminal In any transmission electromagnetic wave beam reception；

Described measured in position datum mark puts reflecting surface on mark built-in fitting or position reference point pedestal, and local sound wave is made to sense Acoustic signals after point and its adjacent area reflection of the device reception through being overlapped with the measurement point position of position reference point on reflecting surface, And/or local electromagnetic sensor is made to receive point through being overlapped with the measurement point position of position reference point on reflecting surface and its adjacent Electromagnetic wave signal after the reflection of region further comprises following at least one step：

Reception to the beam of sound of any transmission in positioning terminal and distance ranging terminal, and/or to positioning terminal and distance ranging terminal In any transmission electromagnetic wave beam reception.

Method described in the present embodiment, wherein

The sonic sensor overlapped with the measurement point position of position reference point using sensing center point receives beam of sound, or Electromagnetic wave beam is received using the electromagnetic sensor that sensing center point is overlapped with the measurement point position of position reference point, packet It includes：

Determine any one of adjacent position datum mark, positioning terminal, distance ranging terminal relative to described using the location information The orientation of measurement point and/or the angle value of pitch angle or angular range of sensor position datum mark；

It is subscribed in range in the angle comprising the angle value, or in the angular range, adjusts the reception direction of sensor Figure is directed toward, and is allowed to transmitting or the reflecting node of directional signal；And/or the position for receiving signal or angular deviation are obtained, adjustment The receiving pattern direction of sensor makes the offset be reduced within incident wave beam offset error thresholding；

It is described that beam of sound is received using reflecting surface, or electromagnetic wave beam is received using reflecting surface, including：

Determine any one of adjacent position datum mark, positioning terminal, distance ranging terminal relative to described using the location information The orientation of measurement point and/or the angle value of pitch angle or angular range of reflecting surface position datum mark；

It is realized in the reservation angular range comprising the angle value by adjusting the reflecting surface, or in the angular range Interior, adjustment sensor receiving pattern is directed toward, and is allowed to transmitting or the reflecting node of directional signal；And/or it obtains and reaches signal Position or angular deviation, adjustment reflecting surface realize that adjustment receiving pattern is directed toward, make position or the angle for reaching signal Offset is reduced within incident wave beam offset error thresholding.

In the present embodiment, as a kind of realization method, the method that the receiving pattern of sensor is directed toward is adjusted, including as follows Step：

Make sound wave or electromagnetic sensor to be rotated as rotary centerline across the vertical line of the center sensor point, realizes and pass The azimuth adjustment that the receiving pattern of sensor is directed toward, and/or make sound wave or electromagnetic sensor to pass through the center sensor The horizontal line of point is that rotary centerline is rotated, and realizes the pitch angle adjustment that the receiving pattern of sensor is directed toward.

In the present embodiment, as a kind of realization method, it is directed toward by adjusting reflecting surface adjustment sensor receiving pattern, including such as Lower step；

Make reflecting surface to be rotated as rotary centerline across the vertical line of the reflective surface point, realizes that sensor receives direction The azimuth adjustment that figure is directed toward, and/or reflecting surface is made to be carried out by rotary centerline of the horizontal line across the reflective surface point The pitch angle adjustment that sensor receiving pattern is directed toward is realized in rotation；Pip, that is, the electromagnetic wave beam or sound wave beam center The incidence point of point.

Method described in the present embodiment, wherein

It is described to obtain positioning, ranging, object detection and air ring using at least one of the beam of sound and electromagnetic wave beam Any one of border detection information needed, including following at least one step：

The sound wave roundtrip propagation time delay measured between the measurement point of position reference point determines the Acoustic Wave Propagation time delay between position reference point, And/or the electromagnetic wave roundtrip propagation time delay measured between the measurement point of position reference point determines the Electromagnetic Wave Propagation between position reference point Time delay；

The sound wave roundtrip propagation time delay for measuring the measurement point and any inter-species in positioning terminal and distance ranging terminal of position reference point is true The Acoustic Wave Propagation time delay between datum mark is set in positioning, and/or measures the measurement point and positioning terminal and distance ranging terminal of position reference point In the electromagnetic wave roundtrip propagation time delay of any inter-species determine any inter-species in position reference point and positioning terminal and distance ranging terminal Electromagnetic Wave Propagation time delay；

The sound wave roundtrip propagation time delay measured between the measurement point and object of position reference point determines between position reference point and object Acoustic Wave Propagation time delay, and/or the electromagnetic wave roundtrip propagation time delay that measures between position reference point and object determine position reference point with Electromagnetic Wave Propagation time delay between object；

And

Obtain measurement data of the position reference point to electromagnetic intensity.

The sound wave roundtrip propagation time delay measured described in the present embodiment between the measurement point of position reference point determines position reference point Between Acoustic Wave Propagation time delay, and/or measure position reference point measurement point between electromagnetic wave roundtrip propagation time delay determine position base Electromagnetic Wave Propagation time delay between on schedule, specifically includes：

When in electromagnetic wave or acoustic wave propagation path including the pip on reflecting surface, from measure obtained Acoustic Wave Propagation time delay or Yanzhong subtracts on reflecting surface point corresponding with measurement point to Sound Source Center point, electromagnetic wave source central point, sound wave when Electromagnetic Wave Propagation The propagation delay that the distance of at least one of center sensor point and electromagnetic sensor central point generates.

As a kind of realization method, when measuring the sound wave roundtrip propagation between the measurement point of position reference point described in the present embodiment Prolong the Acoustic Wave Propagation time delay between determining position reference point, and/or measures the light wave roundtrip propagation between the measurement point of position reference point Time delay determines the light wave propagation time delay between position reference point, specifically includes：

Using sinusoidal or cosine signal as modulated signal at least one of light wave and sound wave into line amplitude or phase-modulation, Modulated signal is sent to target；The target be position reference net node, positioning terminal node, contact net, train and Any one of object in railway roadbed；And/or

Using phase discriminator detect the local coupling of the signal for using sinusoidal or cosine signal to be modulated as modulated signal with Phase difference between signal and reflection signal, it is true using the phase difference and as the frequency of the sine of modulated signal or cosine signal The fixed phase difference corresponding time, the half of the time is the light wave propagation time delay or Acoustic Wave Propagation time delay.

Method described in the present embodiment further comprises following at least one step：

Using the measurement point position of sound wave and/or Electromagnetic Wave Propagation time delay estimated location datum mark between position reference point, use The position offset of the measurement point location determination position reference point of the position reference point estimated；

Use the sound wave and/or Electromagnetic Wave Propagation of the measurement point and any inter-species in positioning terminal and distance ranging terminal of position reference point Time delay estimates any position in positioning terminal and distance ranging terminal；

Using the measurement point of position reference point to the measurement data of Acoustic Wave Propagation time delay, specific air pressure, air concentration, temperature are obtained With the acoustic wave propagation velocity under wind speed, air pressure, the influence of air concentration, temperature are rejected, is estimated using the acoustic wave propagation velocity true Real wind speed and direction；And

Using position reference point to the measurement data of electromagnetic intensity, the visibility of air is estimated.

The measurement of sound wave and/or Electromagnetic Wave Propagation time delay estimated location datum mark between position reference point is used described in the present embodiment Point position is specifically included using the position offset of the measurement point location determination position reference point of the position reference point estimated：

Obtain the sound wave and/or electromagnetism between the position reference point adjacent thereto of first position datum mark and three or three or more Wave propagation delay estimated value determines the position coordinates of first position datum mark using the time delay estimated value, by first position base Position coordinates on schedule are compared the position for obtaining first position datum mark with the setting position coordinate of first position datum mark Coordinate shift amount；Or

Obtain the sound wave and/or electromagnetism between first position datum mark and one or more position reference point adjacent thereto Wave propagation delay estimated value determine first position datum mark to the position reference point adjacent thereto distance will, acquisition away from It is compared determining first position datum mark and one or one from preset distance values or the previous distance values obtained that measure Ranging offset amount between above position reference point adjacent thereto；

The sound wave and/or electromagnetic wave of the measurement point using position reference point and any inter-species in positioning terminal and distance ranging terminal Propagation delay estimates any position in positioning terminal and distance ranging terminal, including：

Obtain the sound wave and/or Electromagnetic Wave Propagation between the position reference point adjacent thereto of positioning terminal and three or three or more Time delay estimated value carries out being based on propagation delay using the time delay estimated value（TOA）Location estimation, use location estimation result Determine the position coordinates of positioning terminal.

Method described in the present embodiment, wherein

It is described anti-by the measurement point of position reference point using any one of automatic direction regulating prism and automatic direction regulating corner reflector Incident electromagnetic wave wave beam is penetrated, including：

Reflection kernel point any in prism and millimeter wave corner reflector is arranged to be allowed to overlap with the measurement point of position reference point；

Adjacent position datum mark, positioning terminal, distance ranging terminal and total powerstation are obtained by wireless channel or reading position database Any one of location information；

Any one of adjacent position datum mark, positioning terminal, distance ranging terminal and total powerstation phase is determined using the location information For the orientation and/or pitch angle of the measurement point of any position datum mark in the prism and millimeter wave corner reflector Angle；

Entrance port any in the prism and millimeter wave corner reflector is adjusted facing towards being allowed to towards the adjacent position base On schedule, any one of positioning terminal, distance ranging terminal and total powerstation direction；And/or it obtains and reaches signal in the prism With on entrance port face any in millimeter wave corner reflector position or angular deviation, adjust the prism and millimeter wave angle The direction in any entrance port face in reflector makes described to reach incidence of the signal in the prism or millimeter wave corner reflector Position or angular deviation on mouth face are reduced within incident wave beam offset error thresholding；

Wherein,

Any reflection kernel point is allowed to the measurement point with position reference point in the setting prism and millimeter wave corner reflector Overlap, when at the same position reference point by prism or millimeter wave cry reflector and sound source, electromagnetic wave source, sonic sensor, When at least one of electromagnetic sensor, reflection of electromagnetic wave face harmony reflecting surface are laid simultaneously, prism or millimeter wave corner reflection The measurement point that the reflection kernel point of device is overlapped and Sound Source Center point, electromagnetic wave source central point, the sonic sensor laid simultaneously The measurement point overlapped where central point, electromagnetic sensor central point, reflection of electromagnetic wave face pip or sound reflecting face pip For two measurement points with different points, which is two points with different height on same vertical line Position.

Method described in the present embodiment includes the setting prism aperture centre point identification on the entrance port face of prism, uses Electromagnetic wave electrograph image sensor monitors position and the institute for the scattering electromagnetic wave spot that incident electromagnetic wave on the entrance port face of prism generates The position of center point identification is stated, determines position offset of the position of scattering electromagnetic wave spot relative to prism aperture centre point identification Amount adjusts the direction of the entrance port face normal of prism using the offset.

Method described in the present embodiment further includes environmental protection method, specifically includes：

In first time section, at least partly component that includes using servo mechanism shift position reference net node be allowed to Rigid connection state is between position reference point built-in fitting and/or position reference point pedestal；In the second time interval, using watching At least partly component that mechanism shift position reference net node environment protecting component makes position reference net node include is taken to be in At least partly component that environmental protection state or shift position reference net node include is allowed to be in environmental protection state；

Wherein,

At least partly component for including using servo mechanism shift position reference net node is allowed to pre- with position reference point Rigid connection state is between embedded part and/or position reference point pedestal, including：Make Sound Source Center point, electromagnetic wave source central point, sound Wave sensor central point, electromagnetic sensor central point, prismatic reflection central point, specified point and sound reflecting on reflection of electromagnetic wave face At least one of specified point measurement point position corresponding with position reference point is in coincidence status on face；

It is described to make position reference net node include at least using servo mechanism shift position reference net node environment protecting component At least partly component that part component is in environmental protection state or shift position reference net node includes is allowed to be in ring Border protect state, including moving sound, electromagnetic wave source, sonic sensor, electromagnetic sensor, prism, reflection of electromagnetic wave face and At least one of sound reflecting face component is allowed to be in environmental protection state, and the environmental protection state includes vibration damping, anti-impact It hits, is dust-proof, is moisture-proof, at least one of rain-proof, snow defence, salt spray proof and anti-high and low-temp state.

Embodiment two, a kind of position reference net node apparatus citing

The device that the present embodiment provides, it is shown in Figure 2, including：

Communication module 210, wave beam transceiver module 220 and measurement process module 230；Wherein,

Communication module 210 measures control instruction, measurement data, the knowledge of position reference point for being transmitted by wired or wireless channel At least one of other information, the measurement point coordinates for setting datum mark and beam steering guidance information, including wireless transmission submodule And/or wire transmission submodule；

Wave beam transceiver module 220, for sending and/or receiving beam of sound and electromagnetic wave beam by the measurement point of position reference point At least one of, including beam transmission and/or receiving submodule 221 and tuning control submodule 222 and tuning servo Module 223；The beam transmission and/or receiving submodule 221 include sound wave sending submodule, acoustic receiver submodule, electromagnetism At least one of wave sending submodule, electromagnetic wave receiving submodule and prism submodule；

Measurement process module 230, for using at least one of the beam of sound and electromagnetic wave beam obtain positioning, ranging, Any one of object detection and air environment detection information needed, including information extraction submodule；

The electromagnetic wave includes at least one of millimeter wave and laser；

Device described in the present embodiment, wherein

The communication module 210, for executing following at least one step：

In the present embodiment, the measurement control node, for the work project or operating mode to position reference net node It is controlled, including：Positioned at the control terminal for measuring control centre or positioned at the control terminal of measure field.

In the present embodiment, the network side node, for store measurement data, transmit measurement data, processing measurement data, Storage location reference net nodal information transmits in position reference net nodal information, processing position reference net nodal information at least A kind of processing；Including measuring at least one of control node, computer server, terminal.

Device described in the present embodiment, wherein

The wave beam transceiver module 220, for sending and/or receiving beam of sound and electromagnetic wave by the measurement point of position reference point At least one of wave beam, concrete operations include the active first device in local for including using beam transmission and/or receiving submodule 221 Part is sent and/or is received at least one of beam of sound and electromagnetic wave beam by the measurement point of position reference point, and/or is used The incident electricity of measurement point reflection that the automatic direction regulating prism that beam transmission and/or receiving submodule 221 include passes through position reference point Magnetic wave wave beam；Wherein,

The tuning of automatic direction regulating prism described in the present embodiment realizes automatic tune under the driving of tuning servo submodule 223 To.

Measurement point described in the present embodiment it is existing based on position reference point measure in be CPIII measure mark in prism it is anti- Penetrate the point representated by the point of central point.

In the present embodiment, as a kind of realization method, installation that sonic sensor is overlapped with electromagnetic sensor central point Method, including：

In the present embodiment, as a kind of realization method, installation side that several source central points are overlapped with electromagnetic wave source central point Method, including：

Device described in the present embodiment, wherein

What the wave beam transceiver module 220 executed puts on position datum mark measurement mark built-in fitting or position reference point pedestal Sound source makes Sound Source Center point and the measurement point position of position reference point overlap, and/or measures mark built-in fitting in position datum mark Or putting electromagnetic wave source on position reference point pedestal makes electromagnetic wave source central point be overlapped with the measurement point position of position reference point Operation further comprises that the tuning control submodule 222 for include by wave beam transceiver module and tuning servo submodule 223 execute such as Lower operation：

Described measured in position datum mark puts reflecting surface on mark built-in fitting or position reference point pedestal, makes local sound source The beam of sound of generation is emitted after the point and its adjacent area reflection through being overlapped with the measurement point position of position reference point on reflecting surface, And/or point of the electromagnetic wave beam through being overlapped with the measurement point position of position reference point on reflecting surface for making local electromagnetic wave source generate And its it is emitted, further comprises the tuning control submodule 222 for include by wave beam transceiver module 220 and adjusting after adjacent area reflection Following operation is executed to servo submodule 223：

In the present embodiment, as a kind of realization method, the tuning control submodule 222 is from measurement process module 230 Or communication module 210 obtains tuning information, executing tuning using tuning information control tuning servo submodule 223 acts, and adjusts It is acted to servo submodule 223 to beam transmission and/or the transmission tuning of receiving submodule 221 active force 224 by executing tuning.

Device described in the present embodiment, wherein

The electromagnetic wave beam for the adjustment electromagnetic wave source that the wave beam transceiver module 220 executes is directed toward and/or the sound wave of adjustment sound source Shu Zhixiang is allowed to be directed towards the operation of any one of position reference point, positioning terminal, distance ranging terminal, including operates as follows：

The angle for the adjustment reflecting surface that the wave beam transceiver module 220 executes makes its electromagnetic wave beam and/or sound for reflecting The operation of any one of beam position adjacent position datum mark, positioning terminal, distance ranging terminal, including operate as follows：

Tuning servo submodule 223 makes electromagnetic wave source to be turned as rotary centerline across the vertical line of the electromagnetic wave source central point It is dynamic, realize the azimuth adjustment that the electromagnetic wave beam of electromagnetic wave source is directed toward, and/or make electromagnetic wave source to pass through in the electromagnetic wave source The horizontal line of heart point is that rotary centerline is rotated, and realizes the pitch angle adjustment that the electromagnetic wave beam of electromagnetic wave source is directed toward.

Tuning servo submodule 223 makes sound source to be rotated as rotary centerline across the vertical line of the Sound Source Center point, realizes The azimuth adjustment that the beam of sound of sound source is directed toward, and/or make sound source using the horizontal line across the Sound Source Center point as center of rotation Line is rotated, and realizes the pitch angle adjustment that the beam of sound of sound source is directed toward.

Tuning servo submodule 223 makes reflecting surface to be rotated as rotary centerline across the vertical line of the reflective surface point, It realizes the azimuth adjustment that electromagnetic wave beam is directed toward, and/or makes reflecting surface to be to turn across the horizontal line of the reflective surface point Dynamic center line is rotated, and realizes the pitch angle adjustment that electromagnetic wave beam is directed toward；The pip is that local electromagnetic wave source generates Electromagnetic wave beam central point incidence point.

Tuning servo submodule 223 makes reflecting surface to be rotated as rotary centerline across the vertical line of the reflective surface point, It realizes the azimuth adjustment that beam of sound is directed toward, and/or makes reflecting surface to be in rotation across the horizontal line of the reflective surface point Heart line is rotated, and realizes the pitch angle adjustment that beam of sound is directed toward；The pip is in the beam of sound that local sound source generates The incidence point of heart point.

Device described in the present embodiment, wherein

What the wave beam transceiver module 220 executed puts on position datum mark measurement mark built-in fitting or position reference point pedestal Sonic sensor makes its sensing center point be overlapped with the measurement point position of position reference point, and/or measures and mark in position datum mark Electromagnetic sensor is put on will built-in fitting or position reference point pedestal makes the measurement point of its sensing center point and position reference point The operation that position overlaps further comprises following at least one operation：

What the wave beam transceiver module 220 executed puts on position datum mark measurement mark built-in fitting or position reference point pedestal Reflecting surface makes local sonic sensor receive point through being overlapped with the measurement point position of position reference point on reflecting surface and its adjacent Acoustic signals after the reflection of region, and/or local electromagnetic sensor is made to receive through the measurement with position reference point on reflecting surface The operation of the point and its electromagnetic wave signal after adjacent area reflection of the coincidence of point position, further comprises following at least one behaviour Make：

Device described in the present embodiment, wherein

The sound wave overlapped with the measurement point position of position reference point using sensing center point that the wave beam transceiver module 220 executes Sensor receives beam of sound, or the electromagnetic sensor overlapped with the measurement point position of position reference point using sensing center point To the operation that electromagnetic wave beam receives, including operate as follows：

It is subscribed in range in the angle comprising the angle value, or in the angular range, uses tuning servo submodule 223 The receiving pattern for adjusting sensor is directed toward, and is allowed to transmitting or the reflecting node of directional signal；And/or obtain the position for receiving signal It sets or angular deviation, the receiving pattern direction using the adjustment sensor of tuning servo submodule 223 makes the offset minus It is small to arrive within incident wave beam offset error thresholding；

What the wave beam transceiver module 220 executed receives beam of sound using reflecting surface, or using reflecting surface to electromagnetic wave beam The operation of reception, including operate as follows：

The reflecting surface is adjusted by tuning servo submodule 223 to realize in the reservation angular range comprising the angle value, Or in the angular range, sensor receiving pattern is adjusted by tuning servo submodule 223 and is directed toward, directional signal is allowed to Transmitting or reflecting node；And/or position or the angular deviation for reaching signal are obtained, it is adjusted by tuning servo submodule 223 Whole reflecting surface realizes that adjustment receiving pattern is directed toward, and makes described to reach the position of signal or angular deviation is reduced to incident wave beam Within offset error thresholding.

In the present embodiment, as a kind of realization method, the receiving pattern that tuning servo submodule 223 adjusts sensor refers to To method, including operate as follows：

In the present embodiment, as a kind of realization method, tuning servo submodule 223 receives by adjusting reflecting surface adjustment sensor Directional diagram is directed toward, including is operated as follows；

Device described in the present embodiment, wherein

The measurement process module 230 executes following at least one operation：

And

In the present embodiment, as a kind of realization method, the sound wave between the measurement point for measuring position reference point is toward back pass The electromagnetic wave that sowing time prolongs between the Acoustic Wave Propagation time delay between determining position reference point, and/or the measurement point of measurement position reference point is past It returns propagation delay and determines Electromagnetic Wave Propagation time delay between position reference point, specifically include：

Device described in the present embodiment, wherein

The measurement process module 230 further executes following at least one operation：

In the present embodiment, as a kind of realization method, the sound wave between the point using position reference and/or Electromagnetic Wave Propagation time delay The measurement point position of estimated location datum mark uses the measurement point location determination position reference point of the position reference point estimated Position offset specifically includes：

In the present embodiment, as a kind of realization method, the measurement point using position reference point and positioning terminal and ranging are whole The sound wave of any inter-species and/or Electromagnetic Wave Propagation time delay estimate any position in positioning terminal and distance ranging terminal in end, including：

Obtain the sound wave and/or Electromagnetic Wave Propagation between the position reference point adjacent thereto of positioning terminal and three or three or more Time delay estimated value determines the position coordinates of positioning terminal using the time delay estimated value.

Device described in the present embodiment, wherein

What the wave beam transceiver module 220 executed is passed through using any one of automatic direction regulating prism and automatic direction regulating corner reflector The measurement point reflection incident electromagnetic wave wave beam of position reference point, including operate as follows：

Entrance port any in the prism and millimeter wave corner reflector is adjusted facing towards making by tuning servo submodule 223 Towards any one of the adjacent position datum mark, positioning terminal, distance ranging terminal and total powerstation direction；And/or it obtains Position or the angular deviation reached on signal entrance port face any in the prism and millimeter wave corner reflector is taken, is led to Toning adjusts the direction in entrance port face any in the prism and millimeter wave corner reflector to servo submodule 223, makes institute It states and reaches position or angular deviation of the signal on the entrance port face of the prism or millimeter wave corner reflector and be reduced to incidence Within beam deviation error threshold；Or

Wherein,

In the present embodiment, as a kind of realization method, adjustment prism direction includes：

Prism aperture centre point identification is set on the entrance port face of prism, prism is monitored using electromagnetic wave electrograph image sensor The position of the position and the center point identification of the scattering electromagnetic wave spot that incident electromagnetic wave generates on the face of entrance port, determines scattering electricity Position offset of the position of magnetic wave spot relative to prism aperture centre point identification adjusts the entrance port of prism using the offset The direction of face normal.

Device described in the present embodiment, further includes environmental protection module 240, which includes environmental protection control submodule 241 and environmental protection servo submodule 242, for executing following operation：

In first time section, use environment protects at least portion that 242 shift position reference net node of servo submodule includes Component is divided to be allowed to be in rigid connection state between position reference point built-in fitting and/or position reference point pedestal；At second Between in section, make position base using 242 shift position reference net node environment protecting component of use environment protection servo submodule At least portion that at least partly component that quasi- net node includes is in environmental protection state or shift position reference net node includes Component is divided to be allowed to be in environmental protection state；

Wherein,

At least partly component that use environment protection servo submodule shift position reference net node includes is allowed to and position It sets and is in rigid connection state between datum mark built-in fitting and/or position reference point pedestal, including：Make Sound Source Center point, electromagnetic wave It is source central point, sonic sensor central point, electromagnetic sensor central point, prismatic reflection central point, special on reflection of electromagnetic wave face At least one of specified point measurement point position corresponding with position reference point is in coincidence status on fixed point harmony reflecting surface；

Use environment protection servo submodule shift position reference net node environment protecting component makes position reference net node Including at least partly component be in environmental protection state or at least partly component that shift position reference net node includes It is allowed to be in environmental protection state, including moving sound, electromagnetic wave source, sonic sensor, electromagnetic sensor, prism, electromagnetism At least one of wave reflection face harmony reflecting surface component is allowed to be in environmental protection state, and the environmental protection state includes At least one of vibration damping, shock resistance, dust-proof, moisture-proof, rain-proof, snow defence, salt spray proof and anti-high and low-temp state.

As a kind of realization method, the environmental protection control submodule 241 obtains environmental protection from communication module 210 Operation information measures operation information, and displacement drive is generated using operation information control environmental protection servo submodule 242 is measured Power 243, at least partly component that 243 shift position reference net node of displacement drive power includes are allowed to pre-buried with position reference point Rigid connection state is between part and/or position reference point pedestal；Or the protection of use environment fence operation information governance environment is watched It takes submodule 242 and generates displacement drive power 243,243 shift position reference net node of displacement drive power includes at least partly first Device is allowed to be in environmental protection state.

As a kind of realization method, vibration damping that the environmental protection state includes, shock resistance state include：In by vibration damping Pad is with the holding state of at least one of vibration-damping sheet and/or in by least one of shock-absorbing spring and vibration damping rope suspension status.

As a kind of realization method, dust-proof, moisture-proof, rain-proof that the environmental protection state includes, snow defence, salt spray proof state Including：In airtight, watertight state；Or it is at by the airtight conditions of protection gas shield；

As a kind of realization method, the anti-high and low-temp state that the environmental protection state includes, including it is in constant temperature cabin state.

Embodiment three, a kind of position reference net system

A kind of position reference net system, including two or more positioning datums point node（Positioning datum in the present embodiment Point node is also referred to as positioning datum net node）, the positioning datum point node includes：

The electromagnetic wave includes at least one of millimeter wave and laser；

The coordinate of the corresponding measurement point of the position reference point is known.

As a kind of concrete application mode of the position reference net system in road traffic：

The position reference net node is installed with road traffic radio-positioning net node cobasis seat, and position reference net node Measurement point and the position reference point of radio-positioning net node overlap or keep determining position relationship, it is described to keep determining Position relationship includes：The measurement point of position reference net node and a generation in the position reference point of radio-positioning net node When change in location, another occurs identical change in location therewith, thus the measurement point of holding position reference net node with it is wireless Relative position between the position reference point of electricity positioning net node is constant.

The position reference net node by between position reference net node adjacent thereto receive or send beam of sound and When at least one of electromagnetic wave beam obtains the required Acoustic Wave Propagation time delay of positioning, light wave propagation time delay or millimeter wave propagation Prolong information, the current location of the measurement point of the position reference net node is determined using the propagation delay information, by institute's rheme The current position coordinates for setting the measurement point of reference net node are compared with the measurement point position coordinates of reservation, or by the position The current position coordinates of the measurement point of reference net node are compared with the measurement point position coordinates measured before, judge institute Rheme sets the current location of reference net node whether in allowable range of error；

As a kind of concrete application mode of the position reference net system in rail traffic：

The position reference net node is laid in the control points CPIII built-in fitting or is laid on the built-in fitting pedestal of the control points CPIII；

Application mode one, the position reference net node pass through reception or transmission sound between position reference net node adjacent thereto At least one of wave beam and electromagnetic wave beam, which obtain, positions required Acoustic Wave Propagation time delay, light wave propagation time delay or millimeter wave Propagation delay information determines the current location of the measurement point of the position reference net node using the propagation delay information, will The current position coordinates of the measurement point of the position reference net node are compared with the measurement point position coordinates of reservation, or by institute The current position coordinates that rheme sets the measurement point of reference net node are compared with the measurement point position coordinates measured before, Judge the current location of the position reference net node whether within the scope of the permitted position offset in the control points CPIII；

Application mode two, the position reference net node is by receiving or sending beam of sound and electromagnetism between rail side positioning terminal At least one of wave wave beam, allowing the rail side positioning terminal to obtain, it positions required Acoustic Wave Propagation time delay, light wave passes Sowing time prolongs or millimeter wave propagation Delay, and rail side positioning terminal determines its current location using the propagation delay information； Its current position coordinates is recorded and by the curve matching to one group of data, obtains rail smooth and miss by rail side positioning terminal Difference；The rail side positioning terminal moves along track extending direction and keeps exact position with track head plane or track side surfaces Set correspondence, that is to say, that the offset of the actual position and track of the position respective carter of the rail side positioning terminal；

As a kind of concrete application mode of the position reference net system in road vehicles positioning：

Position reference net node is carried by transmission or at least one of reflection laser wave beam and millimeter wave wave beam to road vehicle For positioning signal；

As a kind of concrete application mode of the position reference net system in road traffic pavement monitoring：

The position reference net is included in the position reference net node that road side is laid along road extending direction, position reference net section The setting height of the measurement point of point is higher than within the scope of 0.01 meter to 0.5 meter of road surface；Or the measurement point of position reference net node Setting height is higher than within the scope of 2 meters to 20 meters of road surface；

When the setting height of the measurement point of position reference net node is higher than within the scope of 0.01 meter to 0.5 meter of road surface, position base Quasi- net node emits light beam, sound wave to upper pavement surface in a manner of being parallel to road surface or be more than 60 with the angle of the normal on road surface At least one of beam and millimeter wave wave beam, also, position reference net node adjusts azimuth and/or the pitching of its launching beam Realize wave beam in the scanning in upper pavement surface region to detect whether there are obstacles or vehicle on road surface in angle；Or

When the setting height of the measurement point of position reference net node is higher than within the scope of 2 meters to 20 meters of road surface, position reference net Node emits light beam, beam of sound and milli on road surface in such a way that the angle of the normal perpendicular to road surface or with road surface is less than 70 At least one of metric wave wave beam, also, position reference net node adjusts the azimuth of its launching beam and/or pitch angle is realized Scanning of the wave beam on road surface is to detect whether there are obstacles or vehicle on road surface；

Result of detection is sent to network side by position reference net node, uses result of that probe to road vehicle from network side Send information of road surface；Or result of that probe is sent to road vehicle by network side.

The method and device that the embodiment of the present invention provides can overcome low precision, efficiency existing for existing positioning and ranging technology At least one of low these disadvantages of poor universality.It is efficient, as a result reliably, there is practicability.

Method and device provided in an embodiment of the present invention can use electronic technology, electromagnetic wave electrical measurement in whole or in part It is realized away from technology and automatic control technology；Method provided in an embodiment of the present invention can be referred to by software in whole or in part It enables and/or hardware circuit is realized；Electronics member may be used in the module or unit that device provided in an embodiment of the present invention includes Device, electromagnetic wave-electricity/electricity-magnetic switching device, driving/dragging motor are realized.

The above, only preferred embodiment of the invention, protection domain not for the purpose of limiting the invention.Appoint Technical staff in what field of the present invention, do not depart from disclosed herein spirit and scope under the premise of, Ke Yi Any modification and variation, but protection scope of the present invention defining with appended claims are carried out in the form and details of implementation Subject to range.

Claims

1. a kind of position reference net node working method, including：

The electromagnetic wave includes at least one of millimeter wave and laser；

2. the method for claim 1, wherein

3. the method for claim 1, wherein

4. method as claimed in claim 3, wherein

The beam of sound direction of adjustment sound source is allowed to be directed towards any one of position reference point, positioning terminal, distance ranging terminal；

Described measured in position datum mark puts reflecting surface on mark built-in fitting or position reference point pedestal, and local sound source is made to generate Point of the beam of sound through being overlapped with the measurement point position of position reference point on reflecting surface and its adjacent area reflection after be emitted, and/ Or make point of the electromagnetic wave beam that local electromagnetic wave source generates through being overlapped with the measurement point position of position reference point on reflecting surface and It is emitted, further comprises after the reflection of its adjacent area：

5. method as claimed in claim 4, wherein

6. the method for claim 1, wherein

The sound wave roundtrip propagation time delay measured between the measurement point and object of position reference point determines between position reference point and object Acoustic Wave Propagation time delay, and/or the electromagnetic wave roundtrip propagation time delay that measures between position reference point and object determine position reference point with Electromagnetic Wave Propagation time delay between object；And

7. such as claim 1 to 6 any one of them method, further includes environmental protection method, specifically include：

Wherein,

8. a kind of position reference net node apparatus, including：

Wave beam transceiver module, for being sent and/or being received in beam of sound and electromagnetic wave beam by the measurement point of position reference point At least one, including beam transmission and/or receiving submodule and tuning control submodule and tuning servo submodule；It is described Beam transmission and/or receiving submodule include sound wave sending submodule, acoustic receiver submodule, electromagnetic wave sending submodule, electricity At least one of magnetic wave receiving submodule and prism submodule；

The electromagnetic wave includes at least one of millimeter wave and laser；

9. device according to claim 8, wherein

The communication module, for executing following at least one step：

10. device according to claim 8, wherein

The wave beam transceiver module, for sending and/or receiving beam of sound and electromagnetic wave wave by the measurement point of position reference point At least one of beam, concrete operations include sent by the measurement point of position reference point using local active component and/or At least one of beam of sound and electromagnetic wave beam are received, and/or using in automatic direction regulating prism and automatic direction regulating corner reflector Any measurement point reflection incident electromagnetic wave wave beam by position reference point；Wherein,

Further include environmental protection module, the module is for executing such as 11. according to claim 8 to 10 any one of them device Lower operation：

In first time section, use environment protection servo submodule shift position reference net node includes at least partly first Device is allowed to be in rigid connection state between position reference point built-in fitting and/or position reference point pedestal；In the second time zone In, use environment protection servo submodule shift position reference net node environment protecting component makes the position reference net node include At least partly component be in environmental protection state or at least partly component that shift position reference net node includes is allowed to In environmental protection state；

Wherein,