CN111190204B - Real-time positioning device and method based on Beidou double antennas and laser range finder - Google Patents
Real-time positioning device and method based on Beidou double antennas and laser range finder Download PDFInfo
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- CN111190204B CN111190204B CN202010018897.6A CN202010018897A CN111190204B CN 111190204 B CN111190204 B CN 111190204B CN 202010018897 A CN202010018897 A CN 202010018897A CN 111190204 B CN111190204 B CN 111190204B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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Abstract
The invention belongs to the technical field of satellite positioning, and discloses a real-time positioning device and a positioning method based on Beidou double antennas and a laser range finder, wherein two Beidou antennas are arranged on a cross rod to form a fixed base line, a three-dimensional coordinate of an antenna phase center is obtained in real time, and a direction vector of the base line is determined in real time; and (3) collinearly connecting the point to be measured with the two Beidou antennas, measuring the distance from a known position point on any antenna or a base line to the point to be measured along the base line vector by using a laser range finder, and solving the three-dimensional coordinate of the point to be measured by using a collinearity equation. The instrument is convenient to install, and the instrument does not need to be centered, leveled, measured and the like during measurement; the satellite signal shielding of the measuring point is not afraid, and the measurement can be carried out as long as the Beidou navigation satellite signals are arranged above the instrument; the invention has free station setting, can be set at any time and can carry out surveying and mapping work without controlling the surveying; the invention has the advantages of no need of one-to-one vertical mirror for measuring points, high surveying and mapping efficiency and low labor intensity.
Description
Technical Field
The invention belongs to the technical field of satellite positioning, and particularly relates to a real-time positioning device and a real-time positioning method based on a Beidou double antenna and a laser range finder.
Background
Currently, the closest prior art:
in the digital topographic mapping process, the plane position and elevation of each characteristic point need to be accurately determined. There are two main types of methods widely used in current production: one is to erect a total station on a control point and determine the coordinates of a broken part point through angle and distance measurement; the other method is to adopt a Global Navigation Satellite System (GNSS) dynamic Real-Time positioning (RTK) technology to acquire GNSS observation data at feature points and to resolve three-dimensional coordinates in Real Time.
The method based on the total station angle measurement and distance measurement needs to follow the principle of 'controlling before breaking', buries a control point and accurately determines the coordinates of the control point. After the control point coordinates are obtained, the measurement work of the broken part points can be carried out. Because the total station has a limited range, in order to ensure good visibility between the broken point and the control point, the number of the control points is increased in a complex ground feature environment, and the cost for burying, measuring and maintaining the control points is increased greatly. Moreover, the total station needs operations such as centering, leveling and measuring instruments, angle measurement needs to be completed by repeating a plurality of measuring loops, the operation flow is complex, the requirement on the professional technical level of a measurer is high, the improvement of production efficiency is limited, and the labor and time costs of field operation are increased.
When the GNSS RTK is used for ground point positioning, a surveyor needs to position point by point, and each point needs to run; when the survey point has no satellite signal, the measurement cannot be performed. If a real-time positioning device based on the Beidou double antennas and the laser range finders is used for ground point positioning, a surveyor does not need to carry out point by point, only the distance between the laser range finders of the surveying instrument and a measuring point is needed to be utilized, then the position of the measuring point can be obtained according to the known positions (satellite positioning results) of the two antennas on the surveying instrument, and the efficiency of surveying work is greatly improved. When the measuring point has no satellite signal, the measurement work can still be carried out.
The RTK-based measurement method can directly obtain the coordinates of the fragmentary point, does not need a control point, is relatively simple to operate, still needs a surveyor to hold the rover antenna to reach each point to be measured to obtain the coordinates of the point, and is low in working efficiency. In many scenes, broken points are not easy to reach, such as cliffs, dams, beaches and the like, or although the broken points can reach the points, if the positions are shielded, if corners, eave, water surface of a high-rise building and a semi-open space shielded by a ceiling exist, the GNSS signals of the points have poor observation conditions, the number of visible satellites is small, or the signals are seriously interfered by multiple paths, so that the positioning accuracy is influenced or RTK positioning cannot be adopted.
The research on the GNSS dual-antenna baseline measurement is mainly used for attitude determination at present, and no method or instrument for jointly positioning the GNSS dual-antenna and the laser range finder is available.
In summary, the problems of the prior art are: (1) in the prior art, in a traditional measuring method based on a total station, the coordinates of a point to be measured need to be determined through angle measurement and distance measurement, the height of the instrument and the target height need to be measured, the operation is complex, and the labor intensity of field operation is high. Meanwhile, the traditional measuring method based on the total station also depends on accurate control point coordinates, and the cost for burying, measuring and maintaining the control points is high and is easy to damage, so that the measurement cannot be carried out or the efficiency is greatly reduced.
(2) In the prior art, the RTK-based measurement method still needs a surveyor to hold the rover antenna to reach each point to be measured to obtain the coordinates of the point, and the working efficiency is low. In many scenes, broken points are seriously shielded by buildings or subjected to multipath interference, so that the positioning accuracy is influenced or RTK positioning cannot be adopted.
The prior art does not combine the GNSS dual antenna with the laser range finder for positioning.
(3) The existing RTK technology mostly adopts a single GPS system observation value, and Beidou observation data cannot be fully utilized. The number of visible satellites of a single GPS system is small, the geometric conditions for satellite observation are poor, and the improvement of positioning accuracy and convergence speed is restricted.
The difficulty of solving the technical problems is as follows: the coordinates of the points to be measured are determined based on Beidou dual-antenna baseline measurement and a laser range finder, on one hand, baseline vectors of two Beidou antennas are accurately measured in real time, and on the other hand, the accurate position of one antenna is determined in real time. The precision of real-time baseline measurement and real-time positioning directly influences the precision of coordinates of points to be measured and the applicable distance of the method, so that Beidou real-time high-precision data processing is one of the difficulties in solving the problems.
Another difficulty in solving the above problem is error control of the measuring device itself. The basic principle of the method for measuring the coordinates of the broken part points is that three points of the point to be measured and two Beidou antenna phase centers are collinear, and the Beidou antenna installation error and the deviation and change of the Beidou antenna phase centers can influence the coordinate precision of the point to be measured, so that the relative positions of the two Beidou antennas need to be accurately calibrated and calibrated, and a high-precision antenna phase center deviation and antenna phase center change correction model is adopted.
The significance of solving the technical problems is as follows: the technical problem can be solved, real-time positioning based on the Beidou double-antenna and the laser range finder can be achieved, the positioning device and the positioning method are applied to measurement of the broken parts, the operation flow can be simplified, and the operation efficiency is improved. The real-time precise positioning reference is from a satellite precise product or a reference station coordinate, so that the method does not depend on the coordinate of a control point any more, compared with the traditional total station method, the method not only reduces the cost of control measurement and control point maintenance, but also enables the measurement to be more flexible and free, an area observed by a satellite can be selected to be randomly set, and the obtained minor point result is WGS84 or CGCS2000, so that convenience is provided for the conversion and application of subsequent coordinate results.
In a conventional precision Positioning means such as RTK and Precision Point Positioning (PPP), a space-time reference of a navigation satellite is essentially transmitted to the ground through a pseudo range and a phase observation value, and the transmission manner can be considered as a linear and Point-like manner. The method breaks through the limitation of the conventional technical thought, can realize the broken line transmission of the space-time reference, transmits the space-time reference from the navigation satellite to the positioning device along a straight line, radiates around the measuring station after being relayed, and expands in a surface shape, thereby realizing the rapid measurement of the broken point.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a real-time positioning device and a positioning method based on a Beidou double antenna and a laser range finder. In the invention, the big dipper: the BeiDou Satellite Navigation System (BeiDou Satellite Navigation System, BDS); RTK: real-time Kinematic positioning (RTK).
The invention is realized in such a way, and a real-time positioning method based on the Beidou double antennas and the laser range finder comprises the following steps:
the two Beidou antennas are arranged on a cross rod to form a fixed base line, the three-dimensional coordinates of the phase center of the antennas are obtained in real time, and the direction vector of the base line is determined in real time;
and (3) collinearly connecting the point to be measured with the two Beidou antennas, measuring the distance from a known position point on any antenna or a base line to the point to be measured along the base line vector by using a laser range finder, and solving the three-dimensional coordinate of the point to be measured by using a collinearity equation.
If known big dipper antenna 1, the coordinate of big dipper antenna 2 points, and big dipper antenna 1, big dipper antenna 2, and p three point are located same straight line, measure p to the distance of big dipper antenna 2 points, derive according to big dipper antenna 1 point coordinate and try to get p point coordinate.
The coordinates of two points of the Beidou antenna 1 and the Beidou antenna 2 are respectively assumed to be (x)1,y1,z1)，(x2,y2,z2) If the coordinate of the point p to be measured is (x, y, z) and the distance from the point p to the point 2 is D, the direction vector s of the straight line where the points of the Beidou antenna 1 and the Beidou antenna 2 are located is (x, y, z)1-x2,y1-y2,z1-z2) The coordinates (X, Y, Z) of any point on the straight line satisfy
Expressing the parametric equation of the straight line as
Measuring the distance D from the point p to the Beidou antenna 2 points by using a laser range finder, wherein
(x-x2)2+(y-y2)2+(z-z2)2＝D2
Because the point p is on the straight line determined by the point 1 of the Beidou antenna and the point 2 of the Beidou antenna, the requirement of the point p is met
Then
t2(x1-x2)2+t2(y1-y2)2+t2(z1-z2)2＝D2
Simplifying and obtaining
From the parametric equation of the line, the coordinate of the point p is
The sign in the formula is determined according to the relative positions of the actual midpoint p, the Beidou antenna 1 point and the Beidou antenna 2 point.
Another objective of the present invention is to provide a real-time positioning device based on a big dipper dual antenna and a laser range finder, comprising:
the Beidou antenna is fixed on the cross beam and is fixed on the tripod through the base;
the laser range finder is positioned at one end of the beam and aims at a point to be measured through a telescope;
the communication module is used for receiving the enhancement information broadcast by a reference station radio station, a mobile network or a satellite;
the data processing unit is used for calculating three-dimensional coordinates of the two Beidou antennas in real time by using observation data received by the two Beidou antennas and the enhanced information received by the communication module, and calculating coordinates of the point to be measured by using the coordinates of the antennas and the output distance of the distance meter;
the power supply provides power for the Beidou antenna, the distance meter and the communication module.
The cross beam is made of alloy materials and can rotate around a horizontal shaft and a vertical shaft;
the power supply adopts solar energy charge and external energy;
the communication module, the data processing unit and the power supply are in a separated mode or are centralized in a fixed box.
Another object of the present invention is to provide a system for measuring a broken satellite-based or ground-based enhanced positioning mode, which carries the real-time positioning device based on the big dipper dual antenna and the laser range finder, wherein the system for measuring a broken satellite-based or ground-based enhanced positioning mode comprises:
a Beidou receiver;
the Beidou receiver is connected with the Beidou antenna.
It is another object of the present invention to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the Beidou dual antenna and laser range finder based real-time positioning method when the computer program product is executed on an electronic device
Another object of the present invention is to provide a computer-readable storage medium, which includes instructions that when executed on a computer, make the computer execute the real-time positioning method based on the big dipper dual antenna and the laser range finder.
In order to better prove the feasibility of the method, a simulation experiment is developed, a series of points are selected as points to be measured on a fixed leveling rod at certain intervals, a total station is erected on a measuring station with known coordinates, each point to be measured on the leveling rod is observed, and the coordinates of the point to be measured are calculated. Two points are selected as datum points, which are equivalent to phase centers of two Beidou antennas in the invention, and coordinates of the rest points to be measured are calculated by utilizing the datum point coordinates and the collinear equation principle. And comparing the calculated coordinates of each point with the measured coordinates of the total station, verifying the feasibility of the method and carrying out precision analysis. Tables 1-3 are three sets of simulation experimental data.
TABLE 1 first set of simulation test results
TABLE 2 second set of simulation test results
TABLE 3 third group simulation test results
As can be seen from simulation experiment results, the distance between the two reference points is about 20cm, the distance between the farthest point to be measured and the reference point is about 3m, which is about 15 times of the distance between the reference points, and the absolute value of the difference value between the calculated coordinate of the point to be measured and the measured coordinate of the total station is within 1 cm.
In summary, the advantages and positive effects of the invention are: the real-time positioning device based on the Beidou double antennas and the laser range finder integrates a Beidou real-time high-precision positioning technology and a laser range finding technology, utilizes the collinear geometric relationship of the Beidou double antennas and three points of a point to be measured, quickly solves the three-dimensional coordinate of the point to be measured, has the functions of a Beidou satellite positioning instrument and a total station, and is novel mapping equipment. The device does not depend on the control point coordinates, and can avoid the adverse effects of factors such as signal shielding and multipath effects on the positioning accuracy of the GNSS. When the measurement is carried out, the spatial position of the point to be measured can be calculated in real time without carrying out operations such as centering and leveling on an instrument and without the need of a measurer to reach the point to be measured. The whole device has simpler and more convenient operation method on the basis of not increasing the cost basically, can realize the 'free station setting, and the following measurement along with the frame indicates where to measure', and obviously improves the field measurement efficiency.
Based on the big dipper dual antenna, the absolute position of the antenna can be determined and a space vector can be determined by utilizing real-time high-precision positioning technologies such as RTK, satellite-based augmentation or foundation augmentation. For some points to be measured which are not easy to reach or cannot be seen through, when the positioning device aims at the points to be measured, the points to be measured are collinear with the two Beidou antennas, the distance from the points to be measured to one of the Beidou antennas is measured through the laser range finder, and the absolute position of the points to be measured can be calculated through a collinear equation. Because the absolute position of the Beidou antenna can be obtained, the device does not need to be erected on a known control point when the three-dimensional coordinate of the point to be measured is theoretically measured, the station can be randomly set, and great convenience is brought to field construction and measurement. For the point to be measured which can be conveniently reached and has good observation environment, the tail end of the positioning device can also be directly contacted with the mark center of the point to be measured, the coordinates of the point to be measured can be directly obtained by utilizing the position of the antenna and the coordinate system of the positioning device, the operation mode is flexible, and the operation mode is determined according to different scenes.
Compared with a traditional surveying instrument, the device has the following advantages:
the instrument is settled conveniently, and during the measurement, need not to carry out operations such as centering, flattening, volume instrument height to the instrument. The device is not afraid of the shielding of satellite signals of a measuring point, and can measure navigation satellite signals such as Beidou and the like only above an instrument (measuring station).
The station is freely arranged, and the surveying and mapping work can be carried out without controlling the surveying and mapping along with the setting (namely, the setting and the surveying).
The measuring points do not need to be provided with one-to-one vertical mirror, the surveying and mapping work benefit is high, and the labor intensity is low.
Drawings
Fig. 1 is a schematic diagram of a real-time positioning device based on a big dipper dual antenna and a laser range finder provided by an embodiment of the present invention.
In the figure: 1. a Beidou antenna; 2. a laser range finder; 3. a communication module; 4. a data processing unit; 5. a power source; 6. a tripod.
FIG. 2 is a structural side view (length 150cm-180cm) of the real-time positioning device based on the Beidou dual-antenna and the laser range finder provided by the embodiment of the invention.
Fig. 3 is a schematic connection diagram of two Beidou antennas provided by the embodiment of the present invention.
Fig. 4 is a graph (first set) of coordinate difference versus distance provided by an embodiment of the present invention.
Fig. 5 is a graph (second set) of coordinate difference versus distance provided by an embodiment of the present invention.
Fig. 6 is a graph (third group) of coordinate difference versus distance according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the prior art, the RTK-based measurement method still needs a surveyor to hold the rover antenna to reach each point to be measured to obtain the coordinates of the point, and the working efficiency is low. In many scenes, broken points are seriously interfered by multiple paths, so that the positioning precision is influenced or RTK positioning cannot be adopted. The prior art does not combine the GNSS dual antenna with the laser range finder for positioning.
Aiming at the problems in the prior art, the invention provides a real-time positioning device based on a Beidou double antenna and a laser range finder, and the invention is described in detail by combining the attached drawings.
As shown in fig. 1 and 2, the real-time positioning device based on the big dipper dual antenna and the laser range finder provided by the embodiment of the present invention mainly comprises the following parts:
And the laser range finder 2 is positioned at one end of the beam and can aim at a point to be measured through a telescope.
And the communication module 3 is used for receiving the enhancement information broadcast by the reference station radio station, the mobile network or the satellite.
The data processing unit 4 has a Beidou data real-time high-precision positioning function, can calculate three-dimensional coordinates of the two Beidou antennas in real time by utilizing observation data received by the two Beidou antennas and enhanced information received by the communication module, and can calculate coordinates of a point to be measured by utilizing an antenna coordinate and a distance meter output distance.
And the power supply 5 is used for providing power for the Beidou antenna, the distance meter, the communication module and the like and supporting solar charging and an external power supply.
When an instrument is designed and manufactured, an instrument coordinate system needs to be established, the relative position relation between the phase center of the distance measuring instrument and the phase center of the Beidou antenna is accurately calibrated, and the strict collinear or compensation parameter of the base lines determined by the axis of the distance measuring instrument, the sighting axis of the telescope and the two Beidou antennas is ensured. Meanwhile, the practicability, portability, compatibility, power consumption and cost of the instrument are fully considered, industrial design is carried out, and the instrument has strong environment adaptability.
The communication module, the data processing unit 4, the power supply 5 may be separated or integrated in one fixed box.
In the embodiment of the invention, the real-time positioning method based on the Beidou dual-antenna and the laser range finder provided by the embodiment of the invention can realize real-time centimeter-level positioning by utilizing the Beidou RTK or satellite-based augmentation technology. Two Beidou antennas are arranged on a rigid cross rod to form a fixed base line, so that not only can the three-dimensional coordinate of the phase center of the antenna be obtained in real time, but also the direction vector of the base line can be determined in real time. For the point to be measured, as long as the point to be measured is ensured to fall on the straight line where the base line is located, namely the point to be measured and the two Beidou antenna three points are collinear, at the moment, the distance from any antenna or a point at a known position on the base line to the point to be measured along the base line vector is measured by using a laser range finder, and then the three-dimensional coordinate of the point to be measured can be obtained by using a collinear equation.
As shown in fig. 3, 1 and 2 are two beidou antennas, and if the coordinates of 1 and 2 points are known and the three points 1,2 and p are located on the same straight line, the distance from p to 2 points is measured, and then the coordinates of p points can be deduced according to the coordinates of 1 point.
Let coordinates of two points 1 and 2 be (x)1,y1,z1)，(x2,y2,z2) If the coordinate of the point p to be measured is (x, y, z), the distance from the point p to the point 2 is D, the direction vector s of the straight line where the 1 and 2 points are located is (x, y, z)1-x2,y1-y2,z1-z2) The coordinates (X, Y, Z) of any point on the straight line satisfy
The parameter equation of the straight line can be expressed as
The distance D from point p to point 2 can be measured by a laser distance measuring device, so that
(x-x2)2+(y-y2)2+(z-z2)2＝D2
Since point p is on the straight line defined by points 1,2, it also satisfies
Then
t2(x1-x2)2+t2(y1-y2)2+t2(z1-z2)2＝D2
Simplifying and obtaining
From the parametric equation of the line, the coordinate of the point p is
The sign in the formula is determined according to the relative positions of the actual midpoint p and the points 1 and 2.
In the embodiment of the invention, the method is used for measuring the broken parts, so that instruments can be erected in any open area, and in order to ensure the measurement accuracy, the interference of shielding and signal reflectors needs to be avoided. If an RTK mode is adopted, an antenna needs to be erected at a known point nearby to serve as a reference station, and communication smoothness of a radio station is guaranteed; if the satellite-based enhanced or ground-based enhanced positioning mode is adopted, the enhanced information needs to be received through a satellite or a mobile network, and the communication link needs to be confirmed to be normal. After the instrument is erected stably, the Beidou receiver is started, after the output fixation is solved, the initialization is completed, and the measurement can be started. And aiming at the point to be measured through a telescope and fixing. And when the distance measuring button is pressed, the laser distance measuring instrument measures the distance from the instrument to the point to be measured in a prism-free mode.
The position of the point to be measured can be calculated by utilizing the coordinates of the two antennas and the distance from the point to be measured to the instrument, which is measured by the distance meter, in the instrument.
The invention is further described below in connection with simulation experiments.
Fig. 4-6 show the variation of the coordinate difference with distance in the simulation experiment result, and it can be seen from the figures that the absolute value of the coordinate difference generally shows a linear increase with the increase of the distance between the point to be measured and the reference point. According to a collinear equation and by combining an error propagation law, the coordinate precision of the point to be measured is related to the coordinate precision of the reference point and the distance between the point to be measured and the reference point, and theoretically, the error m in the point to be measured and the error m in the reference point0There are the following relationships
In the formula, D and D are respectively the distance between the reference points and the distance between the point to be measured and the reference points. In the invention, the distance between the reference points, namely the distance between the phase centers of the two Beidou antennas is designed to be 2m, and the distance between the point to be measured and the reference points, namely the distance between the broken point and the measuring device can be generally several meters to dozens of meters. In view of the fact that the Beidou RTK positioning accuracy can reach centimeter level, the relation shown in table 4 exists among the operation radius, the broken part point measurement accuracy and the measurement map scale which can be met.
TABLE 4 working radius, accuracy of measurement of broken portion point and scale of survey chart that can be satisfied
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk), among others.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (3)
1. A real-time positioning method based on a Beidou dual-antenna and a laser range finder is characterized by comprising the following steps:
the two Beidou antennas are arranged on a cross rod to form a fixed base line, the three-dimensional coordinates of the phase center of the antennas are obtained in real time, and the direction vector of the base line is determined in real time;
the three points of the to-be-measured point and the two Beidou antennas are collinear, the distance from a point at a known position on any antenna or a base line to the to-be-measured point along a base line vector is measured by using a laser range finder, and the three-dimensional coordinate of the to-be-measured point is obtained by using a collinear equation;
the method for solving the three-dimensional coordinate of the point to be measured by utilizing the collinear equation comprises the following steps:
if the coordinates of the Beidou antenna 1 and the Beidou antenna 2 are known, and the Beidou antenna 1, the Beidou antenna 2 and the p are located on the same straight line, the distance from the p to the Beidou antenna 2 is measured, and the p point coordinate is deduced according to the Beidou antenna 1 point coordinate;
the method for solving the three-dimensional coordinate of the point to be measured by utilizing the collinear equation specifically comprises the following steps:
the coordinates of two points of the Beidou antenna 1 and the Beidou antenna 2 are respectively (x)1，y1，z1)，(x2，y2，z2) If the coordinate of the point p to be measured is (x, y, z) and the distance from the point p to the point 2 is D, the direction vector s of the straight line where the points of the Beidou antenna 1 and the Beidou antenna 2 are located is (x, y, z)1-x2，y1-y2，z1-z2) The coordinates ((X, Y, Z)) of any point on the straight line satisfy
Expressing the parametric equation of the straight line as
Measuring the distance D from the point p to the Beidou antenna 2 points by using a laser range finder, wherein
(x-x2)2+(y-y2)2+(z-z2)2＝D2
Because the point p is on the straight line determined by the point 1 of the Beidou antenna and the point 2 of the Beidou antenna, the requirements on the
Then
t2(x1-x2)2+t2(y1-y2)2+t2(z1-z2)2＝D2
Simplifying and obtaining
From the parametric equation of the line, the coordinate of the point p is
The positive sign and the negative sign in the formula are determined according to the relative positions of the actual midpoint p and the Beidou antenna 1 point and the Beidou antenna 2 point;
a real-time positioning device based on the Beidou double-antenna and the laser range finder for implementing the real-time positioning method based on the Beidou double-antenna and the laser range finder comprises:
the Beidou antenna is fixed on the cross beam and is fixed on the tripod through the base;
the laser range finder is positioned at one end of the beam and aims at a point to be measured through a telescope;
the communication module is used for receiving the enhancement information broadcast by a reference station radio station, a mobile network or a satellite;
the data processing unit is used for calculating three-dimensional coordinates of the two Beidou antennas in real time by using observation data received by the two Beidou antennas and the enhanced information received by the communication module, and calculating coordinates of the point to be measured by using the coordinates of the antennas and the output distance of the distance meter;
the power supply is used for providing power for the Beidou antenna, the range finder and the communication module;
the cross beam is made of alloy materials and can rotate around a horizontal shaft and a vertical shaft;
the power supply adopts solar energy and external energy;
the communication module, the data processing unit and the power supply are in a separated mode or are centralized in a fixed box.
2. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the beidou dual-antenna and laser range finder based real-time positioning method of claim 1 when executed on an electronic device.
3. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the beidou dual-antenna and laser range finder-based real-time positioning method of claim 1.
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| CN112817025B (en) * | 2020-12-23 | 2023-08-01 | 广州南方卫星导航仪器有限公司 | Positioning method, positioning device, positioning equipment and computer readable storage medium |
| CN113093245B (en) * | 2021-03-30 | 2023-09-01 | 中琪华安(北京)科技有限公司 | Target position acquisition method and system |
| CN114339993B (en) * | 2022-03-16 | 2022-06-28 | 北京瑞迪时空信息技术有限公司 | Ground-based positioning method, device, equipment and medium based on antenna distance constraint |
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