CN105445774A - GNSS and laser range finding combination measurement system and method - Google Patents

Abstract

The invention discloses a GNSS and laser range finding combination measurement system and method when a to-be-positioned point cannot be determined through a GNSS method. The device is low in cost, is portable, and is simple and easy in scheme. The device just needs to provide a distance observation value, and gets rid of the dependence on azimuth and angle observation value. The range can be hundreds of meters, and the device can achieve the quick operation at a plurality of known points. The device can carry out measurement at two points (at least), and finally can obtain the optimal solution to the coordinates of the to-be-positioned point through Least Square and reasonable weighting. The system and method iron out the defects in the prior art, and is good in application prospect.

Description

The measuring system that a kind of GNSS combines with laser ranging and measuring method

Technical field

The invention belongs to survey field, particularly relate to measuring system and measuring method that a kind of GNSS combines with laser ranging.

Background technology

GNSS (GPS (Global Position System)) is the general designation of all kinds of global position system such as GPS, GLONASS, BDS, because it is round-the-clock, round-the-clock, extensively covering, high-precision feature, is used widely at present at survey field.GNSS measurement comprises Static and dynamic two kinds of operating types; Wherein kinetic measurement is as RTK (real time dynamic measurement) or PPK (postprocessed dynamic surveying) pattern, can reach the positioning precision of centimetre-sized.GNSS kinetic measurement is equipped with centering rod usually, thus realizes centering leveling rapidly and move, particularly convenient when carrying out the work such as cadastral survey, topography mapping.But as having electromagnetic interference (EMI) near fruit dot position, or institute's location puts the signal that can not receive more than four satellites simultaneously, then the positioning result that GNSS location cannot obtain centimetre-sized cannot be implemented even completely.

Total powerstation is a kind of instrument simultaneously can measuring horizontal angle, vertical angle and distance, and angle measurement accuracy has 0.5 second usually, 1 second, 2 seconds, 5 seconds several grades; Distance accuracy has the several grade of 0.5mm+1ppm, 1mm+1ppm, 2mm+2ppm.Range finding can use cooperative target, also can use non-prism pattern.Its outstanding advantage is that precision is high, without the need to satellite-signal; Shortcoming is must intervisibility between point and point.

When point to be located directly cannot measure (hereinafter referred to as " point to be located ") by GNSS method, solution the most frequently used is at present combined with GNSS by total powerstation, namely near point to be located, select at least two place GNSS observation conditions better and position apart from each other, each position is measured by RTK method, obtain several known points, wherein one with the known point of point to be located intervisibility on set up total powerstation, and aim at another known point and carry out orientation, and then measure the coordinate of point to be located according to polar method.The shortcoming of this kind of method is: 1) total powerstation is comparatively heavy, also needs to be equipped with tripod, carries inconvenience; 2) the centering flattening operation of total powerstation is comparatively consuming time; 3) the necessary intervisibility of two known points, but distance can not be too near, otherwise orientation error is very large; 4) total powerstation cost is higher, and price is usually in tens thousand of unit.

Hand-held laser rangefinder is a kind of portable laser range finder, and distance accuracy is generally grade.Its advantage is portable, cheap (only need hundreds of to thousands of unit), and shortcoming is only to provide distance observed reading, and ranging is shorter, usually within 200m, is equipped with prism or reflector plate then makes ranging extend 2 ~ 3 times.Generally be applied to the field such as House property survey, archaeology.

Documents CN101490505A relates to a kind of handheld laser light detector having height correction using gps receiver to provide two-dimensional position data, but the coordinate of point to be located, need by gravity sensing device, to calculate the geometric relationship between point to be located and gps antenna phase center with inclination angle.Similar, documents CN102540200A discloses a kind of global navigation satellite system receiver and location measurement method; Documents CN104931976A discloses a kind of on-the-spot mapping method in real time of geography information of pocket; The two all relates to laser range finder and GPS combination, but it needs laser range finder to provide the angle of pitch, position angle.And the laser range finder of angular observation can be provided to be different from common hand-held laser rangefinder, its essence is handheld total station, as TrimbleLaserAce1000, laicaDISTO, its shortcoming is: 1) built-in gravity sensor (or claim electronic compass, gyroscope, MEMS), an angle is there is to the north of Gauss projection central meridian (be in China to) in its north to the north of geographic coordinate, this angle numerical value can not ignore and and on-fixed, can change along with the change of its present position, thus on-the-spot directed and correction is needed, greatly weaken its convenience, 2) even if this systematic error eliminated through overcorrect, the medial error in its fixed north still exists, be usually greater than ± 1 °, 3) angle error is comparatively large, can reach ± 0.1 ° belonged to top grade, 4) due to previous reasons, the precision of its location is difficult to reach centimetre-sized, 5) cost is high, usually reaches tens thousand of unit.Also just because of above-mentioned reason, although this quasi-instrument comes out for some time, market share is lower.

Have also appeared the GNSS receiver of a kind of inside with MEMS sensor on the market at present, when being placed on shaft inclination certain angle (usually within 30 °) on point to be located bottom centering rod, a pedal line is made by the phase center of GNSS antenna, the intersection point on itself and ground can depart from distance certain bottom centering rod, because MEMS sensor can provide the angle of pitch, position angle, just corresponding coordinate correction amount can be calculated, so when field operation is measured without the need to accurately flattening the leveling bubble of centering rod, thus the efficiency of GNSS kinetic measurement can be improved to a certain extent.In fact for industry personnel, the bubble of leveling centering rod only needed the several seconds originally, thus the cost performance of this kind of equipment is not high, but utilize this feature also it can be used for the immesurable point of measure portion GNSS, but except aforesaid various shortcoming (mainly the inaccurate azimuth angle error caused in fixed north is large), it is also to be noted that, the bottom of centering rod needs to be placed on point to be located, this means (the usual long 2m of centering rod within the scope of point to be located 1m, calculate according to 30 °, inclination angle) position that GNSS observation condition is good must be had, otherwise cannot record equally.

Therefore study a kind ofly to be easy to carry, cheap system and corresponding high efficiency method, make GNSS the coordinate precision of measuring point can not can reach centimetre-sized in certain ranging, there is very real meaning and wide application prospect.

Summary of the invention

For solving the problem, the present invention proposes measuring system that a kind of GNSS combines with laser ranging and measuring method, thus makes up prior art in many-sided defects such as transport, efficiency, cost, precision.

According to the present invention, whole measuring system is using centering rod as the skeleton of physical connection: GNSS receiver is positioned at the top of centering rod; Data recorder is fixed on the appropriate location of centering rod by handbook bracket, certainly, operating personnel also handbook can be taken off hand held in, but be unfavorable for the leveling of centering rod like this; The bottom tip of centering rod is just to the center of point to be located mark, when centering rod stands on the top of point to be located and keeps leveling bubble placed in the middle, bottom centre with GNSS antenna phase center, centering rod occupy on same pedal line by the central axis of centering rod, thus make the planimetric coordinates of GNSS antenna phase center and elevation can reduction to point to be located place.

According to an aspect of of the present present invention, the measuring system that a kind of GNSS can be provided to combine with laser ranging, comprises with lower component: 1. GNSS receiver, for receiving GNSS satellite signal and differential signal, to determine the coordinate of antenna phase center; 2. data recorder, for controlling GNSS receiver and showing its duty, the coordinate of record institute's measuring point position, calculates unknown point coordinate; 3. the centering rod of leveling bubble is housed, implements to measure for installing former components and being beneficial to; 4. handbook bracket, for being fixed on the correct position on centering rod by data recorder; 5. laser ranging system, for measuring the distance between itself and impact point.

As preferably, above-mentioned laser ranging system carries out data communication by bluetooth or WIFI and data recorder, so that operating personnel sends instruction by data recorder to it, and automatically knows the result of laser ranging.

According to another aspect of the present invention, the measuring system that a kind of GNSS can be provided to combine with laser ranging, comprises with lower component: 1. GNSS receiver, for receiving GNSS satellite signal and differential signal, to determine the coordinate of antenna phase center; 2. with the data recorder of laser ranging system, comprise computing module and the laser emitting module be connected with computing module respectively, laser pick-off module, power supply, (electronics) leveling bubble, WIFI module, bluetooth module, camera, touch display screen, button, range measurement can by reduction to any reference point locations of handbook outside, for controlling GNSS receiver and showing its duty, the coordinate of record institute's measuring point position, measure the distance between itself and impact point, calculate unknown point coordinate; 3. the centering rod of leveling bubble is housed, implements to measure for installing former components and being beneficial to; 4. handbook bracket, for being fixed on the correct position on centering rod by data recorder.Laser ranging system is incorporated into data recorder inside, therefore laser ranging system can be shared a part of circuit with data recorder thus reduce costs, range measurement can by reduction to any reference point locations of handbook outside, also just mean that the relative position relation of distance measuring equipment and centering rod axis can by Accurate Measurement, thus the result of range finding can accurately reduction.Camera can point to consistent with laser ranging system, available zoom mode amplifies the target of display pointed by laser, thus the accurate run-home of less important work personnel, from data recorder screen, the reading on scale further can be read at a distance when being furnished with scale.Bracket can be equipped with further, when having when between point to be located and laser ranging system that above barrier or point to be located, laser reflection situation is bad, laser ranging system can slide and can fix at any time on centering rod, and the relative position relation of distance measuring equipment and centering rod axis can by Accurate Measurement; When leveling bubble is placed in the middle, can ensure that the laser sent is a horizontal line.

According to the one side again of invention, the measuring system that a kind of GNSS combines with laser ranging can be provided, comprise with lower component: 1. with the GNSS receiver of laser ranging system, comprise location compute module and respectively with GNSS antenna, laser sending module, laser pick-off module, power supply, WIFI, bluetooth, CDMA/GPRS module, data radio station module, the button of location compute model calling, for receiving GNSS satellite signal and differential signal, to determine the coordinate of antenna phase center, and measure the distance between itself and impact point; 2. data recorder, for controlling GNSS receiver and showing its duty, the coordinate of record institute's measuring point position, calculates unknown point coordinate; 3. the centering rod of leveling bubble is housed, implements to measure for installing former components and being beneficial to; 4. handbook bracket, for being fixed on the correct position on centering rod by data recorder.Laser ranging system is incorporated into GNSS receiver inside, and therefore laser ranging system can be shared a part of circuit with GNSS receiver thus reduce costs; The relative position relation of distance measuring equipment and GNSS antenna phase center can by Accurate Measurement, the result of therefore finding range can accurately reduction to point to be located place.

As preferably, centering rod is marked with scale, length bottom it is arrived everywhere for identifying centering rod, when sliding on centering rod with convenient laser ranging system or the data recorder containing laser ranging system, directly can read its distance (highly) bottom centering rod, this distance can be used for calculating the discrepancy in elevation between point to be located and known point.

As preferably, the graduated scale of a mark also can be comprised in system, scale is equipped with leveling bubble, scale surface is covered with the material being beneficial to reflects laser, scale and system remainder relatively independent, for calculating the discrepancy in elevation, simultaneously can with laser range finder with the use of, this scale is for standing on the top of point to be located, and when bubble is placed in the middle, the axis of scale and point to be located are positioned on same pedal line; When performing range operation, laser ranging system is aimed at this scale, make hot spot fall within scale; Its scale is for reading the distance bottom hot spot distance scale, and whether the material on its surface can be convenient to operating personnel and observe hot spot and fall within scale, especially favourable under a bright ambient environment, and can increase the ranging of laser ranging system.

The present invention also provides. and the measuring method that a kind of GNSS combines with laser ranging, comprises the following steps: step 1, near point to be located P, the point selecting n (n>=2) that GNSS method can be utilized to measure, is designated as P1 respectively by observation order, P2,, Pi ... Pn, Pi (i=1,2 ... n) upper simultaneously or complete following operation by any order: the some position 1) measuring Pi by GNSS method, its northern coordinate, eastern coordinate, elevation are expressed as (x _i, y _i, H _i), plane medial error, mean square error of height are designated as δ respectively _pi, δ _hi, 2) and measure the flat apart from D of Pi to P point with laser ranging system _i, mean square distance error is designated as δ _di;

Step 2, the coordinate initial value of calculation level P,

$x_0=\frac{x_{j}ctgB+x_{m}ctgA+(y_j-y_m)}{ctgA+ctgB}$

$y_0=\frac{y_{j}ctgB+y_{m}ctgA+(x_j-x_m)}{ctgA+ctgB}$

Wherein, $ctgA=\frac{q}{h},ctgB=\frac{g}{h},g=\frac{D_j^2+D_{jm}^2-D_m^2}{2D_{jm}},q=\frac{D_m^2+D_{jm}^2-D_j^2}{2D_{jm}},h=\sqrt{D_j^2-g^2},$ Wherein D _j, D _mrepresent some P respectively _j, P _mto the flat distance of a P, represent the flat distance between known point Pj, Pm, x _j, y _jrepresent some P respectively _jnorthern coordinate, eastern coordinate, x _m, y _mrepresent some P respectively _mnorthern coordinate, eastern coordinate, j, m represent any two that aforementioned n to utilize in GNSS method institute measuring point;

Step 3, error equation under row Liru,

V＝Bω-l

Wherein, $V=\left[\begin{array}{c}{v}_{D_1}\\ .\\ .\\ .\\ v_{D_i}\\ .\\ .\\ .\\ v_{D_n}\end{array}\right]$ Represent the correction of each distance observed reading, $B=\left[\begin{array}{cc}\frac{(x_0-x_1)}{D_1^0}& \frac{(y_0-y_1)}{D_1^0}\\ .& .\\ .& .\\ .& .\\ \frac{(x_0-x_i)}{D_i^0}& \frac{(y_0-y_i)}{D_i^0}\\ .& .\\ .& .\\ .& .\\ \frac{(x_0-x_n)}{D_n^0}& \frac{(y_0-y_n)}{D_i^0}\end{array}\right],$

$\mathrm{\ω}=\left[\begin{array}{c}{\mathrm{\Δ}}_x\\ {\mathrm{\Δ}}_y\end{array}\right]$ Represent the coordinate corrective value of some P, $l=\left[\begin{array}{c}{D}_1-D_1^0\\ .\\ .\\ .\\ D_i-D_i^0\\ .\\ .\\ .\\ D_n-D_n^0\end{array}\right],D_i^0=\sqrt{{(x_i-x_0)}^2+{(y_i-y_0)}^2}$

Represent the flat distance outline value of some Pi to some P;

Step 4, the coordinate corrective value of calculation level P,

ω＝(B ^TWB) ^-1B ^TWl

Wherein, $W=diag(\frac{1}{{\mathrm{\δ}}_1^2},\frac{1}{{\mathrm{\δ}}_2^2},...,\frac{1}{{\mathrm{\δ}}_i^2},...,\frac{1}{{\mathrm{\δ}}_n^2}),$ δ _irepresent D _imedial error;

Step 5, the coordinate adjustment value of calculation level P,

$\left[\begin{array}{c}{\hat{x}}_0\\ {\hat{y}}_0\end{array}\right]=\left[\begin{array}{c}{x}_0\\ y_0\end{array}\right]+\mathrm{\ω}=\left[\begin{array}{c}{x}_0\\ y_0\end{array}\right]+\left[\begin{array}{c}{\mathrm{\Δ}}_x\\ {\mathrm{\Δ}}_y\end{array}\right]$

As preferably, adopt iterative manner to carry out m (m>=1) secondary adjustment, wherein 1 adjustment refers to that the once order of step 3 to 5 performs, by i-th adjustment acquired results be considered as the input x of the i-th+1 time adjustment ₀, y ₀, repeatedly calculate, until Δ _x, Δ _yabsolute value be all less than a certain threshold value.

As preferably, increase following operation in step 1: measure the discrepancy in elevation h bottom laser ranging system geometric center to centering rod _i, gauge point P is to the discrepancy in elevation h ' at laser facula place simultaneously _i, h ' _imeasurement medial error be designated as as preferably, increase following process as step 6:

Be calculated as follows k (1≤k≤n) the individual initial height value of a P:

H _pi＝H _i+h _i-h′ _i

The vertical adjustment value of calculation level P,

${\hat{H}}_0=\frac{\underset{i=1}{\overset{k}{\Σ}}\frac{H_P\left(i\right)}{{\mathrm{\δ}}_{Hi}^2+{\mathrm{\δ}}_{hi}^2}}{\underset{i=1}{\overset{k}{\Σ}}\frac{1}{{\mathrm{\δ}}_{Hi}^2+{\mathrm{\δ}}_{hi}^2}}$

K can select as required, can select 1 point, and whole points or part point participate in calculating; Adopt average weighted mode simultaneously, the precision of vertical adjustment value can be improved.

Technical scheme provided by the invention, its installation cost is cheap, be easy to carry, and scheme is simple.Laser ranging system only needs to provide distance observed reading, without the need to the assistance of gravity sensor, break away from the dependence for orientation, angular observation, ranging can reach hundreds of rice, sharp work on multiple known point can be realized, need measure on two points for minimum, by least square and Rational Determination power, finally can obtain the optimum solution of fixed point coordinate.The present invention effectively compensate for the defect of prior art, has broad application prospects.

Accompanying drawing explanation

Accompanying drawing 1 is the sketch of the measuring system that a GNSS constructed according to the invention combines with laser ranging, and wherein laser ranging system is an independently unit, and is furnished with scale.

Accompanying drawing 2 is the sketches of the measuring system that a GNSS constructed according to the invention combines with laser ranging, and wherein laser ranging system is incorporated into data recorder inside, and is furnished with scale.

Accompanying drawing 3 is the sketches of the measuring system that a GNSS constructed according to the invention combines with laser ranging, and wherein laser ranging system is incorporated into receiver inside, and is furnished with scale.

Accompanying drawing 4 be constructed according to the invention as in accompanying drawing 2 the data recorder schematic diagram comprising laser ranging system that adopts.

Accompanying drawing 5 be constructed according to the invention as in accompanying drawing 3 the GNSS receiver schematic diagram comprising laser ranging system that adopts.

Accompanying drawing 6 is schematic diagram of a kind of measuring method constructed according to the invention, and it uses device as shown in Figure 1, and observes same point to be located on the position that 3 GNSS observation conditions are good.

Specific embodiments

Now by reference to the accompanying drawings, the several preferred versions drawn according to the present invention are described in detail.

First embodiment of the present invention make use of existing equipment as much as possible, it is combined as measuring system as shown in Figure 1.GNSS receiver, the diagram for certain all-in-one provided in accompanying drawing, in actual use, can adopt any one geodetic type all-in-one on the market or split air conditioner, as the R8 that Trimble company of the U.S. produces, data recorder can use TSC2 handbook supporting with it.The 2.2m carbon fiber that centering rod can adopt southern china company to produce can stretch insulation centering rod, can match centering rod support further, so that centering rod can flatten rapidly and keep stable.Laser range finder can select the product of any one grade distance accuracy, as the X310 Hand-hold Distance Finder that leica company of Switzerland produces, and distance accuracy ± 1.0mm, ranging 0.05m ~ 120m.Stadimeter can be fixed on centering rod with bracket and also can slide up and down along shaft, to find best range finding position, it is noted that centering rod axis, range finding geometric center, hot spot should be made during range finding to be positioned on same vertical guide; Its geometric center can carry out Accurate Measurement by modes such as vernier calipers to the distance of centering rod axis, thus accurately can correct range measurement; Optionally, also can, by operating personnel by hand-held mode, its geometric center be allowed to paste the axis of accurate centering rod and to slide into best range finding position along centering rod.During range finding, should ensure that the leveling bubble (optics or electronics) of the leveling bubble of centering rod and stadimeter is all placed in the middle.The instruction of range finding can direct operation push-button on 75m, also by setting up the connection of data recorder and stadimeter, can send from data recorder; Same, range measurement can be read by operating personnel and manually insert data recorder, also automatically reads by data communication.Scale is optional, can adopt water level box staff or centering rod with a scale, is easy to carry and can reaches mm class precision; Even directly can utilize the atural object (as corner point, the wall directly over it can be used as laser reflection thing) of point to be located vertical direction in some cases, and with tape measure hot spot to the discrepancy in elevation of point to be located.Or on the basis of existing scale, as moved up and down hot spot by the reflector plate of another operating personnel's Hand-hold Distance Finder along scale, or the high material of reflectivity coated by whole chi, to increase the ranging of stadimeter.

Second embodiment of the present invention and first embodiment similar, as shown in Figure 2, main difference is inside laser ranging system being incorporated into data recorder, make the two unite two into one, such benefit reduces the cost of hardware further, makes the communication of the two more direct, also further expanded the function of handbook simultaneously, made it can directly use as stadimeter in some occasion.Laser ranging system can be arranged on the inside of handbook housing, its laser can be received and dispatched from the top of handbook or right side, so that operation.Handbook should there be leveling bubble or built-in electronic leveling bubble.

3rd embodiment of the present invention and the second embodiment similar, as shown in Figure 3, main difference is inside laser ranging system being incorporated into GNSS receiver, makes the two unite two into one, and such benefit is the cost that can reduce hardware further.Meanwhile, laser ranging system and GNSS antenna phase center preferably coaxial, otherwise its geometric relationship accurately should to be measured with reduction distance.Because laser ranging system and antenna phase center are very near, therefore, now on known point, the leveling of centering rod becomes is not too important.If be equipped with stretchable centering rod, then can reduce the height (but also will consider the Receiver Problem of satellite-signal) of GNSS receiver, to reduce the impact that scale Setting error brings as far as possible.

In a second embodiment of the present invention, laser ranging system can be integrated into a unit with data recorder, and its pie graph as shown in Figure 4.

One embodiment of the present of invention as shown in Figure 6, under point to be located P is positioned at eaves, directly adopts GNSS cannot measure its coordinate, therefore have employed system as shown in Figure 1, near point to be located, select position P1, P2 and P3 that three place's GNSS observation conditions are good, carry out according to the following steps:

Step 1, each point performs following operation in any order or simultaneously:

1) with RTK method measure the northern coordinate of Pi, eastern coordinate, elevation be designated as x respectively _i, y _i, H _i; The plane mean square error of a point of some Pi is designated as δ _pi, mean square error of height is designated as δ _hi, it should be noted that, also can use PPK method;

2) the flat apart from D of Pi to P point is measured with laser ranging system _i, mean square distance error is designated as δ _di; Read the altitude reading h of laser ranging system on centering rod _i, read the discrepancy in elevation h ' of hot spot to some P _i;

Step 2, in known point, picks out arbitrarily two points, as P1 and P3, adopts the coordinate initial value of following formulae discovery point P:

$x_0=\frac{x_{1}ctgB+x_{3}ctgA+(y_1-y_3)}{ctgA+ctgB}$

$y_0=\frac{y_{1}ctgB+y_{3}ctgA+(x_1-x_3)}{ctgA+ctgB}$

Wherein, $ctgA=\frac{q}{h},ctgB=\frac{g}{h},g=\frac{D_1^2+D_{13}^2-D_3^2}{2D_{13}},q=\frac{D_3^2+D_{13}^2-D_1^2}{2D_{13}},h=\sqrt{D_1^2-g^2},$ $D_{13}=\sqrt{{(x_1-x_3)}^2+{(y_1-y_3)}^2}.;$

Step 3, the vertical error equation of row:

$\underset{3\×1}{V}=\underset{3\×2}{B}\underset{2\×1}{\mathrm{\ω}}-\underset{3\×1}{l}$

Wherein, $V=\left[\begin{array}{c}v1\\ v2\\ v3\end{array}\right],B=\left[\begin{array}{cc}\frac{(x_0-x_1)}{D_1^0}& \frac{(y_0-y_1)}{D_1^0}\\ \frac{(x_0-x_2)}{D_2^0}& \frac{(y_0-y_2)}{D_2^0}\\ \frac{(x_0-x_3)}{D_3^0}& \frac{(y_0-y_3)}{D_3^0}\end{array}\right],\mathrm{\ω}=\left[\begin{array}{c}{\mathrm{\Δ}}_x\\ {\mathrm{\Δ}}_y\end{array}\right],l=\left[\begin{array}{c}{D}_1-D_1^0\\ D_2-D_2^0\\ D_3-D_3^0\end{array}\right],$ $D_i^0=\sqrt{{(x_i-x_0)}^2+{(y_i-y_0)}^2};$

Step 4, the coordinate corrective value of calculation level P,

ω＝(B ^TWB) ^-1B ^TWl

Wherein, $W=diag(\frac{1}{{\mathrm{\δ}}_1^2+{\mathrm{\δ}}_{P1}^2},\frac{1}{{\mathrm{\δ}}_2^2+{\mathrm{\δ}}_{P2}^2},\frac{1}{{\mathrm{\δ}}_3^2+{\mathrm{\δ}}_{P3}^2});$

Step 5, the coordinate adjustment value of calculation level P:

$\left[\begin{array}{c}{\hat{x}}_0\\ {\hat{y}}_0\end{array}\right]=\left[\begin{array}{c}{x}_0\\ y_0\end{array}\right]+\mathrm{\ω}=\left[\begin{array}{c}{x}_0\\ y_0\end{array}\right]+\left[\begin{array}{c}{\mathrm{\Δ}}_x\\ {\mathrm{\Δ}}_y\end{array}\right]$

And judge Δ _x, Δ _yabsolute value whether be less than 1mm, then carry out iteration if not, repeat step 3 to 5, until meet aforementioned condition.

Step 6,3 elevation initial values of calculation level P:

$\left\{\begin{array}{c}{H}_P\left(1\right)=H_1+h_1-h_1^{\′}\\ H_P\left(2\right)=H_2+h_2-h_2^{\′}\\ H_P\left(3\right)=H_3+h_3-h_3^{\′}\end{array}\right.$

The vertical adjustment value of calculation level P:

${\hat{H}}_0=\frac{\underset{i=1}{\overset{k}{\Σ}}\frac{H_P\left(i\right)}{{\mathrm{\δ}}_{Hi}^2+{\mathrm{\δ}}_{hi}^2}}{\underset{i=1}{\overset{k}{\Σ}}\frac{1}{{\mathrm{\δ}}_{Hi}^2+{\mathrm{\δ}}_{hi}^2}}$

Specific embodiment described herein is only to the explanation for example of the present invention's spirit, and do not mean that the present invention is limited to lifted example, those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.

Claims (8)

1. the measuring system that combines with laser ranging of GNSS, is characterized in that, comprise with lower component:

GNSS receiver, for receiving GNSS satellite signal and differential signal, to determine the coordinate of antenna phase center;

The data recorder be connected with GNSS receiver, for controlling GNSS receiver and showing its duty, the coordinate of record institute's measuring point position, calculates unknown point coordinate;

The centering rod of leveling bubble is housed, for installing GNSS receiver and data recorder;

Handbook bracket, for being fixed on the correct position on centering rod by data recorder;

Laser ranging system, for measuring the distance between itself and impact point; Laser ranging system carries out data communication by bluetooth or WIFI mode and data recorder.

2. the measuring system that combines with laser ranging of GNSS, is characterized in that, comprise with lower component:

GNSS receiver, for receiving GNSS satellite signal and differential signal, to determine the coordinate of antenna phase center;

With the data recorder of laser ranging system, described data recorder comprises computing module and the laser emitting module be connected with computing module respectively, laser pick-off module, power supply, electronic leveler bubble, WIFI module, bluetooth module, camera, touch display screen, button, for controlling GNSS receiver and showing its duty, the coordinate of record institute's measuring point position, measure the distance between itself and impact point, calculate unknown point coordinate;

The centering rod of leveling bubble is housed, for installing GNSS receiver and the data recorder with laser ranging system;

Handbook bracket, for being fixed on the correct position on centering rod by data recorder.

3. the measuring system that combines with laser ranging of GNSS, is characterized in that, comprise with lower component:

With the GNSS receiver of laser ranging system, described GNSS receiver comprise location compute module and respectively with GNSS antenna, laser emitting module, laser pick-off module, power supply, WIFI module, bluetooth, CDMA/GPRS module, data radio station module, the button of location compute model calling, for receiving GNSS satellite signal and differential signal, to determine the coordinate of antenna phase center, and measure the distance between itself and impact point;

Data recorder, for controlling GNSS receiver and showing its duty, the coordinate of record institute's measuring point position, calculates unknown point coordinate;

The centering rod of leveling bubble is housed, for installing GNSS receiver with laser ranging system and data recorder;

Handbook bracket, for being fixed on the correct position on centering rod by data recorder.

4. as the measuring system that a kind of GNSS in claims 1 to 3 as described in any one combines with laser ranging, it is characterized in that, centering rod is marked with scale, arrives length bottom it everywhere for identifying centering rod.

5. the measuring system that combines with laser ranging of a kind of GNSS as claimed in claim 4, is characterized in that, comprise a graduated scale of mark further, scale is equipped with leveling bubble, and scale surface is covered with the material being beneficial to reflects laser.

6. the measuring method that combines with laser ranging of GNSS, is characterized in that, comprise the following steps: step 1, near point to be located P, select n the point that GNSS method can be utilized to measure, n >=2, P1 is designated as respectively, P2 by observation order ... Pi ..., Pn, on Pi point simultaneously or complete following operation, i=1,2 by any order,, n:

1) measure the some position of Pi by GNSS method, its northern coordinate, eastern coordinate, elevation are expressed as (x _i, y _i, H _i), plane medial error, mean square error of height are designated as δ respectively _pi, δ _hi,

2) the flat apart from D of Pi to P point is measured with laser ranging system _i, mean square distance error is designated as δ _di;

Step 2, calculation level P (x ₀, y ₀) coordinate initial value,

$x_0=\frac{x_{j}ctgB+x_{m}ctgA+(y_j-y_m)}{ctgA+ctgB}$

$y_0=\frac{y_{j}ctgB+y_{m}ctgA+(x_j-x_m)}{ctgA+ctgB}$

Wherein, $ctgA=\frac{q}{h},ctgB=\frac{g}{h},g=\frac{D_j^2+D_{jm}^2-D_m^2}{2D_{jm}},q=\frac{D_m^2+D_{jm}^2-D_j^2}{2D_{jm}},h=\sqrt{D_j^2-g^2},$

Wherein D _j, D _mrepresent some P respectively _j, P _mto the flat distance of a P, represent the flat distance between known point Pj, Pm, xj, yj represent a P respectively _jnorthern coordinate, eastern coordinate, x _m, y _mrepresent some P respectively _mnorthern coordinate, eastern coordinate, j, m represent any two that aforementioned n to utilize in GNSS method institute measuring point;

Step 3, error equation under row Liru,

V＝Bω-l

Wherein, $V=\left[\begin{array}{c}{v}_{D_1}\\ .\\ .\\ .\\ v_{D_i}\\ .\\ .\\ .\\ v_{D_n}\end{array}\right],$ represent the correction of each distance observed reading, $B=\left[\begin{array}{cc}\frac{\left(x_0-x_1\right)}{D_1^0}& \frac{\left(y_0-y_1\right)}{D_1^0}\\ \begin{array}{c}.\\ .\\ .\end{array}& \begin{array}{c}.\\ .\\ .\end{array}\\ \frac{\left(x_0-x_i\right)}{D_i^0}& \frac{\left(y_0-y_i\right)}{D_i^0}\\ \begin{array}{c}.\\ .\\ .\end{array}& \begin{array}{c}.\\ .\\ .\end{array}\\ \frac{\left(x_0-x_n\right)}{D_n^0}& \frac{\left(y_0-y_n\right)}{D_n^0}\end{array}\right],$ $\mathrm{\ω}=\left[\begin{array}{c}{\mathrm{\Δ}}_x\\ {\mathrm{\Δ}}_y\end{array}\right],$ Represent the coordinate corrective value of some P, Δ _x, Δ _yrepresent the point northern coordinate x of P, the correction of eastern coordinate y respectively, $l=\left[\begin{array}{c}{D}_1-D_1^0\\ .\\ .\\ .\\ D_i-D_i^0\\ .\\ .\\ .\\ D_n-D_n^0\end{array}\right],$ $D_i^0=\sqrt{{(x_i-x_0)}^2+{(y_i-y_0)}^2}$ Represent the flat distance outline value of some Pi to some P;

Step 4, the coordinate corrective value of calculation level P,

ω＝(B ^TWB) ^-1B ^TWl

Wherein, $W=diag(\frac{1}{{\mathrm{\δ}}_1^2},\frac{1}{{\mathrm{\δ}}_2^2},...,\frac{1}{{\mathrm{\δ}}_i^2},...,\frac{1}{{\mathrm{\δ}}_n^2}),$ δ _irepresent D _imedial error;

Step 5, the coordinate adjustment value of calculation level P

$\left[\begin{array}{c}{\hat{x}}_0\\ {\hat{y}}_0\end{array}\right]=\left[\begin{array}{c}{x}_0\\ y_0\end{array}\right]+\mathrm{\ω}=\left[\begin{array}{c}{x}_0\\ y_0\end{array}\right]+\left[\begin{array}{c}{\mathrm{\Δ}}_x\\ {\mathrm{\Δ}}_y\end{array}\right].$

7. the measuring method that combines with laser ranging of a kind of GNSS as claimed in claim 6, is characterized in that,

Adopt iterative manner to carry out m adjustment, m>=1, wherein 1 adjustment refers to that the once order of step 3 to 5 performs, by i-th adjustment acquired results be considered as the input x of the i-th+1 time adjustment ₀, y ₀, repeatedly calculate, until Δ _x, Δ _yabsolute value be all less than threshold value.

8. the measuring method that a kind of GNSS as described in claim 6 to 7 any one combines with laser ranging, is characterized in that,

Following operation is increased in step 1:

Measure the discrepancy in elevation h bottom laser ranging system geometric center to centering rod _i, gauge point P is to the discrepancy in elevation h ' at laser facula place simultaneously _i, h ' _imeasurement medial error be designated as

Increase step 6:

Be calculated as follows k the initial height value of a P, 1≤k≤n:

H _p(i)＝H _i+h _i-h′ _i

And the vertical adjustment value of calculation level P,

${\hat{H}}_0=\frac{\underset{i=1}{\overset{k}{\Σ}}\frac{H_P\left(i\right)}{{\mathrm{\δ}}_{Hi}^2+{\mathrm{\δ}}_{hi}^2}}{\underset{i=1}{\overset{k}{\Σ}}\frac{1}{{\mathrm{\δ}}_{Hi}^2+{\mathrm{\δ}}_{hi}^2}}.$