CN104501775A - Surveying and mapping integrated machine and declivity surveying method thereof - Google Patents
Surveying and mapping integrated machine and declivity surveying method thereof Download PDFInfo
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- CN104501775A CN104501775A CN201410757000.6A CN201410757000A CN104501775A CN 104501775 A CN104501775 A CN 104501775A CN 201410757000 A CN201410757000 A CN 201410757000A CN 104501775 A CN104501775 A CN 104501775A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention relates to the technical field of surveying and mapping, and provides a surveying and mapping integrated machine and a declivity surveying method thereof. The declivity surveying method comprises the following steps: according to a triaxial angular velocity value, a triaxial acceleration value and a triaxial geomagnetic field value, acquiring an attitude angle of a centering rod of the surveying and mapping integrated machine; acquiring the locating position of the surveying and mapping integrated machine and the length of the centering rod of the surveying and mapping integrated machine; and according to the attitude angle of the centering rod, the locating position of the surveying and mapping integrated machine and the length of the centering rod, calculating the position of a surveyed point on the bottom of the centering rod. The surveying and mapping integrated machine disclosed by the invention can be used for achieving declivity surveying by precisely acquiring the attitude angle of the centering rod of the surveying and mapping integrated machine according to the triaxial angular velocity value, the triaxial acceleration value and the triaxial geomagnetic field value and by further calculating the precise position of the surveyed point on the bottom of the head of the centering rod, and the surveying and mapping integrated machine is simple in surveying process and high in surveying precision.
Description
Technical field
The present invention relates to technical field of mapping, particularly relate to a kind of mapping all-in-one and tilt measuring method.
Background technology
GNSS (satellite navigation) surveys and draws all-in-one widespread use and various mapping fields of measurement.In mapping process, be ensure the positional precision of measured point, require that mapping all-in-one carries out centering operation according to the instruction of the horizontal bubble of physics, and adopt centering to operate to become that process is relatively loaded down with trivial details, technical difficulty large and easily cause the course of work of error.If mapping all-in-one, with inclination measurement function, makes mapping worker can realize accurate position measurement without the need to physics horizontal bubble centering, will greatly simplify the labour intensity of mapping worker and raising efficiency.Current inclination measurement compensate function is all integrated in high-end GNSS and surveys and draws in all-in-one, such as with the R10 of trimble company of the U.S. for representative, due to technical difficulty and confidentiality reasons, there is not separate unit product in inclination measurement function, surveyed and drawn in all-in-one so inclination measurement function generally can not apply general GNSS, and, traditional obliquity sensor is because volume is comparatively large, precision is lower, and functional form and mapping all-in-one application difference are very large, the inclination measurement that cannot be applied to mapping all-in-one compensates.In sum, there is mapping all-in-one in prior art and can not cause the problem that measuring process is loaded down with trivial details and measuring error is large by inclination measurement.
Summary of the invention
The object of the present invention is to provide a kind of mapping all-in-one and tilt measuring method, be intended to solution and can not cause the problem that measuring process is loaded down with trivial details and measuring error is large by inclination measurement for there is mapping all-in-one in prior art.。
The present invention is achieved in that a kind of tilt measuring method surveying and drawing all-in-one, and described tilt measuring method comprises the following steps:
The attitude angle of the centering rod of mapping all-in-one is obtained according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field value;
The bar obtaining the position location of described mapping all-in-one and the centering rod of described mapping all-in-one is long;
The position obtaining measured point bottom described centering rod is calculated according to the bar of the attitude angle of described centering rod, the position location of described mapping all-in-one and centering rod is long.
The step of the attitude angle of the described centering rod according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field values acquisition mapping all-in-ones is specially:
Roll angle, course angle and the angle of pitch is converted to after described three axis angular rates, described 3-axis acceleration value and three axle terrestrial magnetic field values are carried out attitude algorithm.
The position location of the described attitude angle according to described centering rod, described mapping all-in-one and the long step calculating the position obtaining measured point bottom described centering rod of the bar of described centering rod are specially:
The position of measured point bottom described centering rod is obtained described in calculating according to following relational expression:
X
B＝X
A′+L*cosθ*cosγ*sinψ；
Y
B＝Y
A′+L*cosθ*cosγ*cosψ；
Z
B＝Z
A′-L+L*sin(acos(cosθ*cosγ))；
Wherein, L is that the bar of test centering rod is long, and θ, γ, ψ are respectively the angle of pitch, roll angle and course angle in the attitude angle of centering rod, X
a ', Y
a ', Z
a 'for the position location of described mapping all-in-one, X
b, Y
b, Z
bfor position, measured point bottom centering rod.
The position location of the described attitude angle according to described centering rod, described mapping all-in-one and the long step calculating the position obtaining measured point bottom described centering rod of the bar of described centering rod also comprise:
Obtain modal information according to three axle terrestrial magnetic field value calculating, three axis angular rate values and 3-axis acceleration value, judge the precision of slope compensation algorithm according to described modal information, and select the measured point position data meeting pre-provisioning request.
Described compensation according to described modal information is specially by the step of the position of the measured point tilting to change:
Described three axle terrestrial magnetic field values calculating, described three axis angular rate values and described 3-axis acceleration value are carried out filtering by lowpass digital filter, and obtains modal information through solving of attitude Kalman filter.
The present invention also provides a kind of mapping all-in-one, and described mapping all-in-one comprises:
Attitude angle acquisition module, for obtaining the attitude angle of the centering rod of mapping all-in-one according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field value;
Position location acquisition module, the bar for the centering rod of the position location and described mapping all-in-one that obtain described mapping all-in-one is long;
Measured position computing module, for the position location of the attitude angle according to described centering rod, described mapping all-in-one and the long position calculating measured point bottom the described centering rod of acquisition of the bar of described centering rod.
The process that described attitude angle acquisition module obtains the attitude angle of the centering rod of mapping all-in-one according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field values is:
Roll angle, course angle and the angle of pitch is converted to after described three axis angular rates and described 3-axis acceleration value are carried out attitude algorithm.
Described measured position computing module according to the long process calculating the position obtaining measured point bottom described centering rod of the bar of the attitude angle of described centering rod, the position location of described mapping all-in-one and described centering rod is:
The position of measured point bottom described centering rod is obtained described in calculating according to following relational expression:
X
B＝X
A′+L*cosθ*cosγ*sinψ；
Y
B＝Y
A′+L*cosθ*cosγ*cosψ；
Z
B＝Z
A′-L+L*sin(acos(cosθ*cosγ))；
Wherein, L is that the bar of test centering rod is long, and θ, γ, ψ are respectively the angle of pitch, roll angle and course angle in the attitude angle of centering rod, X
a ', Y
a ', Z
a 'for the position location of described mapping all-in-one, X
b, Y
b, Z
bfor position, measured point bottom centering rod.
Described mapping all-in-one also comprises modal idenlification algoritic module;
Described modal idenlification algoritic module obtains modal information according to three axle terrestrial magnetic field value calculating, three axis angular rate values and 3-axis acceleration value, described modal information for judging the precision of slope compensation algorithm, and for selecting the measured point position data of satisfied pre-provisioning request.
The process that described modal idenlification algoritic module obtains modal information according to three axle terrestrial magnetic field values calculating, three axis angular rate values and 3-axis acceleration value is specially:
Described three axle terrestrial magnetic field values calculating, described three axis angular rate values and described 3-axis acceleration value are carried out filtering by lowpass digital filter, and obtains modal information through solving of attitude Kalman filter.
The invention provides a kind of mapping all-in-one and tilt measuring method thereof, the attitude angle of the centering rod of mapping all-in-one accurately can be obtained according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field values, obtain the accurate location of measured point bottom centering club head, achieve the inclination measurement of mapping all-in-one, make measuring process simple, measuring accuracy is high simultaneously.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of process flow diagram surveying and drawing the tilt measuring method of all-in-one that an embodiment of the present invention provides;
Fig. 2 is a kind of structural representation surveying and drawing all-in-one that an embodiment of the present invention provides;
Fig. 3 is a kind of structural representation surveying and drawing all-in-one that the another kind of embodiment of the present invention provides.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
In order to technical scheme of the present invention is described, be described below by specific embodiment.
An embodiment of the present invention provides a kind of tilt measuring method surveying and drawing all-in-one, and as shown in Figure 1, described tilt measuring method comprises the following steps:
Step S101. obtains the attitude angle of the centering rod of mapping all-in-one according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field value.
In the present embodiment, concrete, obtain magnitude of angular velocity by three-axis gyroscope, obtain 3-axis acceleration value by three axis accelerometer, obtain three axle terrestrial magnetic field values by three axis magnetometer; Roll angle γ, course angle θ and angle of pitch φ is converted to after described three axis angular rates, three axle terrestrial magnetic field values and described 3-axis acceleration value are carried out attitude algorithm.
After the signal of acquisition is carried out operation amplifier, filtering and digital-to-analog conversion, through carrying out the calculating of attitude of carrier with the controller of attitude of carrier calculation procedure, draw the angle of pitch of carrier, roll angle and course angle respectively.
The bar that step S102. obtains the position location of described mapping all-in-one and the centering rod of mapping all-in-one is long.
In the present embodiment, concrete, the bar inputting the current positioning position information of described mapping all-in-one and centering rod is long.
Step S103. calculates according to the bar of the attitude angle of described centering rod, the position location of described mapping all-in-one and described centering rod is long the position obtaining measured point bottom described centering rod.
In the present embodiment, concrete, obtain the position of measured point bottom described centering rod described in calculating according to following relational expression:
X
B＝X
A′+L*cosθ*cosγ*sinψ；
Y
B＝Y
A′+L*cosθ*cosγ*cosψ；
Z
B＝Z
A′-L+L*sin(acos(cosθ*cosγ))；
Wherein, L is that the bar of test centering rod is long, and θ, γ, ψ are respectively the angle of pitch, roll angle and course angle in the attitude angle of centering rod, X
a ', Y
a ', Z
a 'for the position location of described mapping all-in-one, X
b, Y
b, Z
bfor position, measured point bottom centering rod.
Described step S103 also comprises: obtain modal information according to three axle terrestrial magnetic field values calculating, three axis angular rate values and 3-axis acceleration value, judge the precision of slope compensation algorithm, and select the measured point position data meeting pre-provisioning request according to described modal information.
In the present embodiment, obtain modal information according to three axle terrestrial magnetic field value calculating, three axis angular rate values and 3-axis acceleration value, described modal information is the indication information according to current intelligence and earth magnetism quality influence compensation precision.
Concrete, above-mentioned steps is specially:
Described three axle terrestrial magnetic field values calculating, described three axis angular rate values and described 3-axis acceleration value are carried out filtering by lowpass digital filter, and obtains modal information through solving of attitude Kalman filter.
The described centering rod three axle terrestrial magnetic field value calculating of the present invention being measured, three axis angular rate values and 3-axis acceleration value carry out attitude algorithm Kalman filter, obtain attitude angle information and modal information.
Concrete, the raw measurement data of magnetic sensor, three axis accelerometer, three-axis gyroscope is processed by lowpass digital filter, reduce measurement noises, the raw measurement data that filtering exports is through solving of attitude Kalman filter, obtain modal information, wherein attitude angle comprises the angle of pitch, roll angle and course angle.Distinguish and directly obtain the angle of pitch, roll angle by accelerometer, magnetometer directly calculates the classic method of course angle, the present invention introduces gyrostatic angular velocity information, by the fusion of angular velocity information and acceleration information, magnetometer information, can significantly reduce due to the kinetic attitude error of centering rod, the introducing of modal information simultaneously can better differentiate attitude angle precision, solves precision instruction and the identification of slope compensation result.
The another kind of embodiment of the present invention also provides a kind of mapping all-in-one, and described mapping all-in-one comprises:
Attitude angle acquisition module 201, for obtaining the attitude angle of the centering rod of mapping all-in-one according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field value;
Position location acquisition module 202, the bar for the centering rod of the position location and described mapping all-in-one that obtain described mapping all-in-one is long;
Measured position computing module 203, for the position location of the attitude angle according to described centering rod, described mapping all-in-one and the long position calculating measured point bottom the described centering rod of acquisition of the bar of described centering rod.
The process that described attitude angle acquisition module 201 obtains the attitude angle of the centering rod of mapping all-in-one according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field values is:
Roll angle γ, course angle θ and angle of pitch φ is converted to after described three axis angular rates and described 3-axis acceleration value are carried out attitude algorithm.
Described measured position computing module 203 according to the long process calculating the position obtaining measured point bottom described centering rod of the bar of the attitude angle of described centering rod, the position location of described mapping all-in-one and described centering rod is:
The position of measured point bottom described centering rod is obtained described in calculating according to following relational expression:
X
B＝X
A′+L*cosθ*cosγ*sinψ；
Y
B＝Y
A′+L*cosθ*cosγ*cosψ；
Z
B＝Z
A′-L+L*sin(acos(cosθ*cosγ))；
Wherein, L is that the bar of test centering rod is long, and θ, γ, ψ are respectively the angle of pitch, roll angle and course angle in the attitude angle of centering rod, X
a ', Y
a ', Z
a 'for the position location of described mapping all-in-one, X
b, Y
b, Z
bfor position, measured point bottom centering rod.
Described measured position computing module 203 also comprises according to the long process calculating the position obtaining measured point bottom described centering rod of the bar of the attitude angle of described centering rod, the position location of described mapping all-in-one and described centering rod:
According to three axle terrestrial magnetic field value compute mode information, compensate by the position of the measured point tilting to change according to described modal information.
Described measured position computing module 203 compensates according to described modal information and is specially by the process of the position of the measured point tilting to change:
The position of measured point bottom described centering rod is calculated again after the attitude angle of described centering rod is carried out Kalman filtering.
The another kind of embodiment of the present invention also provides a kind of mapping all-in-one, and as shown in Figure 3, described mapping all-in-one slope compensation module product comprises:
Signal acquisition module 304, for obtaining three axis angular rates, the 3-axis acceleration of three axis accelerometer 302 transmission and three axle terrestrial magnetic field values of magnetic sensor 303 transmission that three-axis gyroscope 301 sends respectively.
Attitude angle acquisition module 201, for obtaining the attitude angle of the centering rod of mapping all-in-one according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field value, and attitude angle being sent to modal idenlification algoritic module 305 and measured position computing module 203, modal idenlification algoritic module 305 exports corresponding modal information according to attitude angle, three axis angular rates, 3-axis acceleration and three axle terrestrial magnetic field value through calculating.Modal information refers to for supporting that current intelligence, earth magnetism quality condition etc. in the use of mapping all-in-one affect the indication information of slope compensation precision.
Measured position computing module 203 obtain the mapping position location of all-in-one according to interface and commmunication module 306 and the bar of the centering rod of described mapping all-in-one long, according to the long position calculating measured point bottom the described centering rod of acquisition of bar of the attitude angle of described centering rod, the position location of described mapping all-in-one and described centering rod.
Purport of the present invention surveys and draws all-in-one for GNSS and Related product provides a kind of module product with high-precision tilt angle measurement and position compensation function, and the present invention is intended to help GNSS to survey and draw all-in-one development and production unit and develops the mapping all-in-one possessing inclination measurement function.Inclination measurement function refers to when not needing centering rod physics vertical, by the measurement of angle of module of the present invention to centering rod during inclination measurement, and completes the compensation of GNSS position location, obtains the accurate location of measured point bottom centering club head.
The present invention is by the innovation of software and hardware, the practicality of slope compensation module, reliability, stability are significantly promoted, significantly be different from other inclination sensor and compensating module, make pour angle compensation module may be used for GNSS and survey and draw all-in-one product, realize high-precision obliquity metrophia compensation.The product form realized has distinguishing feature.
Inclination measurement compensating module of the present invention is mainly used in the inclination measurement compensation that GNSS surveys and draws all-in-one, and its Core Feature is attitude measurement function, can export the angle of pitch, roll angle and course angle.Be different from general pour angle compensation product and only there is two axis accelerometers, three axles or two axial magnetic sensors and MCU processor, integrated tri-axial gyroscope, three axis accelerometer, magnetic sensor and MCU processor in module of the present invention.The introducing of three-axis gyroscope significantly can strengthen the attitude angle stability of inclination measurement compensating module, and it is reliable that major embodiment attitude angle stable accuracy in hand shake, magnetic interference situation in short-term.
The invention provides a kind of mapping all-in-one and tilt measuring method thereof, module exports has modal idenlification function, and this exports the modal information characterizing slope compensation information availability is Core Feature feature of the present invention.Output modalities indication information while module exports the angle of pitch, roll angle and course angle information, be used to indicate precision and the slope compensation effect of attitude, this notable feature is the key of hoisting module availability and reliability.
Be different from general attitude angle product, this product has position compensation function, and namely module can input the aerial position coordinate of mapping one, and module exports position coordinates after the compensation bottom centering rod automatically.This function is that module difference one of is innovated with the Core Feature of general measurement of dip angle module, and it significantly improves the tempo of development of product, facilitates the tempo of development of GNSS all-in-one development and production unit.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention; make some equivalent alternative or obvious modification without departing from the inventive concept of the premise; and performance or purposes identical, all should be considered as belonging to the scope of patent protection that the present invention is determined by submitted to claims.
Claims (10)
1. survey and draw a tilt measuring method for all-in-one, it is characterized in that, described tilt measuring method comprises the following steps:
The attitude angle of the centering rod of mapping all-in-one is obtained according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field value;
The bar obtaining the position location of described mapping all-in-one and the centering rod of described mapping all-in-one is long;
The position obtaining measured point bottom described centering rod is calculated according to the bar of the attitude angle of described centering rod, the position location of described mapping all-in-one and described centering rod is long.
2. tilt measuring method as claimed in claim 1, is characterized in that, the step of the attitude angle of the described centering rod according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field values acquisition mapping all-in-ones is specially:
Roll angle, course angle and the angle of pitch is converted to after described three axis angular rates, described 3-axis acceleration value and three axle terrestrial magnetic field values are carried out attitude algorithm.
3. tilt measuring method as claimed in claim 1, it is characterized in that, the position location of the described attitude angle according to described centering rod, described mapping all-in-one and the long step calculating the position obtaining measured point bottom described centering rod of the bar of described centering rod are specially:
The position of measured point bottom described centering rod is obtained described in calculating according to following relational expression:
X
B＝X
A′+L*cosθ*cosγ*sinψ；
Y
B＝Y
A′+L*cosθ*cosγ*cosψ；
Z
B＝Z
A′-L+L*sin(acos(cosθ*cosγ))；
Wherein, L is that the bar of test centering rod is long, and θ, γ, ψ are respectively the angle of pitch, roll angle and course angle in the attitude angle of centering rod, X
a ', Y
a ', Z
a 'for the position location of described mapping all-in-one, X
b, Y
b, Z
bfor position, measured point bottom centering rod.
4. tilt measuring method as claimed in claim 3, it is characterized in that, the position location of the described attitude angle according to described centering rod, described mapping all-in-one and the long step calculating the position obtaining measured point bottom described centering rod of the bar of described centering rod also comprise:
Calculate according to three axle terrestrial magnetic field values, three axis angular rate values and 3-axis acceleration value obtain modal information, described modal information for judging the precision of slope compensation algorithm, and for selecting the measured point position data of satisfied pre-provisioning request.
5. tilt measuring method as claimed in claim 4, is characterized in that, describedly to calculate according to three axle terrestrial magnetic field values, the step of three axis angular rate values and 3-axis acceleration value acquisition modal information is specially:
Described three axle terrestrial magnetic field values calculating, described three axis angular rate values and described 3-axis acceleration value are carried out filtering by lowpass digital filter, and obtains modal information through solving of attitude Kalman filter.
6. a mapping all-in-one, is characterized in that, described mapping all-in-one comprises:
Attitude angle acquisition module, for obtaining the attitude angle of the centering rod of mapping all-in-one according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field value;
Position location acquisition module, the bar for the centering rod of the position location and described mapping all-in-one that obtain described mapping all-in-one is long;
Measured position computing module, for the position location of the attitude angle according to described centering rod, described mapping all-in-one and the long position calculating measured point bottom the described centering rod of acquisition of the bar of described centering rod.
7. survey and draw all-in-one as claimed in claim 6, it is characterized in that, the process that described attitude angle acquisition module obtains the attitude angle of the centering rod of mapping all-in-one according to three axis angular rate values, 3-axis acceleration value and three axle terrestrial magnetic field values is:
Roll angle, course angle and the angle of pitch is converted to after described three axis angular rates and described 3-axis acceleration value are carried out attitude algorithm.
8. survey and draw all-in-one as claimed in claim 5, it is characterized in that, described measured position computing module according to the long process calculating the position obtaining measured point bottom described centering rod of the bar of the attitude angle of described centering rod, the position location of described mapping all-in-one and described centering rod is:
The position of measured point bottom described centering rod is obtained described in calculating according to following relational expression:
X
B＝X
A′+L*cosθ*cosγ*sinψ；
Y
B＝Y
A′+L*cosθ*cosγ*cosψ；
Z
B＝Z
A′-L+L*sin(acos(cosθ*cosγ))；
Wherein, L is that the bar of test centering rod is long, and θ, γ, ψ are respectively the angle of pitch, roll angle and course angle in the attitude angle of centering rod, X
a ', Y
a ', Z
a 'for the position location of described mapping all-in-one, X
b, Y
b, Z
bfor position, measured point bottom centering rod.
9. survey and draw all-in-one as claimed in claim 8, it is characterized in that, described mapping all-in-one also comprises modal idenlification algoritic module;
Described modal idenlification algoritic module obtains modal information according to three axle terrestrial magnetic field value calculating, three axis angular rate values and 3-axis acceleration value, described modal information for judging the precision of slope compensation algorithm, and for selecting the measured point position data of satisfied pre-provisioning request.
10. survey and draw all-in-one as claimed in claim 9, it is characterized in that, the process that described modal idenlification algoritic module obtains modal information according to three axle terrestrial magnetic field values calculating, three axis angular rate values and 3-axis acceleration value is specially:
Described three axle terrestrial magnetic field values calculating, described three axis angular rate values and described 3-axis acceleration value are carried out filtering by lowpass digital filter, and obtains modal information through solving of attitude Kalman filter.
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Cited By (6)
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| CN105953790A (en) * | 2016-05-19 | 2016-09-21 | 极翼机器人(上海)有限公司 | Aligning method of rod bottom position of surveying instrument |
| CN105973210A (en) * | 2016-05-19 | 2016-09-28 | 极翼机器人(上海)有限公司 | Filtering estimation method for pole bottom position of surveying and mapping instrument |
| CN106895818A (en) * | 2015-12-21 | 2017-06-27 | 中国电信股份有限公司 | Method, device and mobile terminal based on sensor identification height change |
| CN108981649A (en) * | 2018-06-28 | 2018-12-11 | 国家电网公司 | A kind of self-regulated leveling device for arc sag measurement |
| CN113091709A (en) * | 2018-11-09 | 2021-07-09 | 上海华测导航技术股份有限公司 | Novel GNSS receiver inclination measuring method |
| CN114199115A (en) * | 2020-09-18 | 2022-03-18 | 千寻位置网络有限公司 | Centering rod length calibration method, RTK receiver system inclination measurement method and RTK receiver system inclination measurement system |
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