CN111812696A - Unmanned aerial vehicle and GNSS-RTK combined measuring system - Google Patents
Unmanned aerial vehicle and GNSS-RTK combined measuring system Download PDFInfo
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- CN111812696A CN111812696A CN202010468900.4A CN202010468900A CN111812696A CN 111812696 A CN111812696 A CN 111812696A CN 202010468900 A CN202010468900 A CN 202010468900A CN 111812696 A CN111812696 A CN 111812696A
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- 241001061260 Emmelichthys struhsakeri Species 0.000 claims abstract description 25
- 238000005259 measurement Methods 0.000 claims abstract description 24
- 238000004891 communication Methods 0.000 claims abstract description 3
- 238000012937 correction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a measuring system combining an unmanned aerial vehicle and a GNSS-RTK, which comprises: a positioning device; the two reference stations are respectively arranged on the periphery of an area to be measured or two ends of the area to be measured; the unmanned aerial vehicle carries on the rover on, the rover with two the benchmark station communication is connected. In the invention, on the basis of the existing GNSS-RTK system, the base stations are erected at the periphery or two ends of the area to be measured, the unmanned aerial vehicle carries the rover station, the rover station is connected with the two base stations, and the unmanned aerial vehicle carries the rover station, so that unmanned operation is realized, the measurement efficiency is improved, and the safety of the measurement process can be ensured even in the places with severe mountains and dangerous local terrains.
Description
Technical Field
The invention relates to the technical field of satellite positioning measurement, in particular to a measurement system combining an unmanned aerial vehicle and a GNSS-RTK.
Background
An RTK (Real-time kinematic) carrier phase differential technology is a differential method for processing carrier phase observed quantities of two measuring stations in Real time, and the carrier phase acquired by a reference station is sent to a user receiver for difference solving. The method is a new common satellite positioning measurement method, the former static, rapid static and dynamic measurements all need to be solved afterwards to obtain centimeter-level accuracy, the RTK is a measurement method capable of obtaining centimeter-level positioning accuracy in real time in the field, a carrier phase dynamic real-time difference method is adopted, the RTK is a major milestone applied to GPS, the appearance of the RTK brings a new measurement principle and method for various control measurements such as engineering lofting, topographic mapping and the like, and the operation efficiency is greatly improved.
In measurement of wind power construction in mountainous regions, a base station is usually erected, and in a radiation range of the base station, basic measurement work such as fixed point, paying off, marking and the like is often performed through manual field exploration measurement. For a mountain wind field with a long distance, a wide range and a complex terrain, base stations need to be erected every day, and the positions of the base stations need to be replaced to perform positioning measurement again when necessary, so that a large amount of resources and cost are consumed, and a large potential safety hazard exists in a section with a strong mountain and a dangerous local terrain.
Disclosure of Invention
In view of the above, the invention provides a measurement system combining an unmanned aerial vehicle and a GNSS-RTK, and aims to solve the problem of potential safety hazard in manual field exploration measurement required in a dangerous and bad terrain section at present.
The invention provides a measuring system combining an unmanned aerial vehicle and a GNSS-RTK, which comprises: a positioning device; the two reference stations are respectively arranged on the periphery of an area to be measured or two ends of the area to be measured; the unmanned aerial vehicle carries on the rover on, the rover with two the benchmark station communication is connected.
Further, in the surveying system combining the unmanned aerial vehicle and the GNSS-RTK, one of the two reference stations, which is closer to the rover station or has a stronger signal, is used as a master reference station for primary calibration, and the other reference station is used as a slave reference station for correction.
Further, in the surveying system combining the unmanned aerial vehicle and the GNSS-RTK, the rover station communicates with the two reference stations through radio electromagnetic wave signals.
Further, in the surveying system combining the unmanned aerial vehicle and the GNSS-RTK, the two reference stations can be interchanged as the master reference station and the slave reference station with the movement of the rover station.
In the invention, on the basis of the existing GNSS-RTK system, the base stations are erected at the periphery or two ends of the area to be measured, the unmanned aerial vehicle carries the rover station, the rover station is connected with the two base stations, and the unmanned aerial vehicle carries the rover station, so that unmanned operation is realized, the measurement efficiency is improved, and the safety of the measurement process can be ensured even in the places with severe mountains and dangerous local terrains.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a block diagram of a combined measurement system of an unmanned aerial vehicle and a GNSS-RTK according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, fig. 1 shows a block flow diagram of a combined measurement system of a drone and a GNSS-RTK provided in this embodiment, and as shown in fig. 1, the system includes: the positioning device is a Satellite, the existing GNSS-RTK System (GNSS is an abbreviation of Global Navigation Satellite System and a Global Navigation Satellite System) comprises the Satellite, a base station and a mobile station, the two base stations are erected around or at two ends of an area to be measured on the basis of the existing GNSS-RTK System, the unmanned aerial vehicle is provided with the mobile station for unmanned measurement and coordinate calibration, the unmanned measurement and the coordinate calibration are specifically divided into two types, and the other type is survey positioning, namely calibrating a space coordinate value of a known place and is used as a design basis; and the other method is to actually put the space coordinate value on the ground as the basis of the next construction. The rover station is connected with the two reference stations, the rover station is carried by the unmanned aerial vehicle, unmanned operation is achieved, measuring efficiency is improved, safety of a measuring process can be guaranteed even in a severe mountain and a dangerous local terrain section, and accurate coordinates of the rover station can be obtained in real time.
The mobile station communicates with the two reference stations through the wireless electromagnetic wave signals, and compared with the mountain mobile phone signals, the wireless electromagnetic wave signals are more stable, and the measurement result can be more accurate.
In the two reference stations, one of the reference stations which is close to the other reference station or has strong signals is used as a main reference station to perform primary check, and the other reference station is used as a slave reference station to perform correction so as to improve the measurement accuracy.
The two reference stations can be exchanged with the moving condition of the rover station, the position of the master reference station and the position of the slave reference station are not required to be changed for repositioning and measuring, and a large amount of resources and cost are saved. It should be noted that the information interaction between the rover station and the reference station is the same as that in the prior art, and is not described herein again.
In summary, in the embodiment, based on the existing GNSS-RTK system, the base stations are installed around or at both ends of the area to be measured, the unmanned aerial vehicle is provided with the rover, the rover is connected with the two base stations, and the unmanned aerial vehicle is provided with the rover, so that unmanned operation is realized, the measurement efficiency is improved, and the safety of the measurement process can be ensured even in the places with severe mountains and local terrains.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (4)
1. A combined measurement system of an unmanned aerial vehicle and a GNSS-RTK, comprising:
a positioning device;
the two reference stations are respectively arranged on the periphery of an area to be measured or two ends of the area to be measured;
the unmanned aerial vehicle carries on the rover on, the rover with two the benchmark station communication is connected.
2. The combined surveying system of unmanned aerial vehicle and GNSS-RTK according to claim 1,
and one of the two reference stations which is closer to the mobile station or has stronger signals is taken as a main reference station to perform primary check, and the other reference station is taken as a slave reference station to perform correction.
3. The combined surveying system of unmanned aerial vehicle and GNSS-RTK according to claim 1,
the rover station communicates with the two reference stations through radio electromagnetic wave signals.
4. The combined surveying system of unmanned aerial vehicle and GNSS-RTK according to claim 2,
the two reference stations are interchangeable as the master reference station and the slave reference station with the movement of the rover station.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010468900.4A CN111812696A (en) | 2020-05-28 | 2020-05-28 | Unmanned aerial vehicle and GNSS-RTK combined measuring system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010468900.4A CN111812696A (en) | 2020-05-28 | 2020-05-28 | Unmanned aerial vehicle and GNSS-RTK combined measuring system |
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| CN111812696A true CN111812696A (en) | 2020-10-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114355971A (en) * | 2021-12-09 | 2022-04-15 | 中国一冶集团有限公司 | Unmanned aerial vehicle lofting device and method |
| CN117232487A (en) * | 2023-11-09 | 2023-12-15 | 惠州市大禹工程质量检测中心有限公司 | Topography measuring equipment for hydraulic engineering |
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| CN104931978A (en) * | 2014-03-18 | 2015-09-23 | 广东冠能电力科技发展有限公司 | Power line patrol unmanned aerial vehicle navigation system based on GPS RTK technology |
| CN105937902A (en) * | 2016-04-29 | 2016-09-14 | 山东深海海洋科技有限公司 | Shipborne buoy measuring system and method based on RTK-GPS wave measuring technology |
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| WO2019049541A1 (en) * | 2017-09-07 | 2019-03-14 | ヤンマー株式会社 | Positioning system |
| CN110568464A (en) * | 2019-06-19 | 2019-12-13 | 航天信息股份有限公司 | BDS/GNSS (broadband navigation satellite system/global navigation satellite system) multi-mode chip-based precision positioning method and device |
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2020
- 2020-05-28 CN CN202010468900.4A patent/CN111812696A/en active Pending
Patent Citations (7)
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| CN104931978A (en) * | 2014-03-18 | 2015-09-23 | 广东冠能电力科技发展有限公司 | Power line patrol unmanned aerial vehicle navigation system based on GPS RTK technology |
| CN105937902A (en) * | 2016-04-29 | 2016-09-14 | 山东深海海洋科技有限公司 | Shipborne buoy measuring system and method based on RTK-GPS wave measuring technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114355971A (en) * | 2021-12-09 | 2022-04-15 | 中国一冶集团有限公司 | Unmanned aerial vehicle lofting device and method |
| CN117232487A (en) * | 2023-11-09 | 2023-12-15 | 惠州市大禹工程质量检测中心有限公司 | Topography measuring equipment for hydraulic engineering |
| CN117232487B (en) * | 2023-11-09 | 2024-01-26 | 惠州市大禹工程质量检测中心有限公司 | Topography measuring equipment for hydraulic engineering |
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