CN105445774B - Measuring system and measuring method that a kind of GNSS is combined with laser ranging - Google Patents
Measuring system and measuring method that a kind of GNSS is combined with laser ranging Download PDFInfo
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- CN105445774B CN105445774B CN201510802099.1A CN201510802099A CN105445774B CN 105445774 B CN105445774 B CN 105445774B CN 201510802099 A CN201510802099 A CN 201510802099A CN 105445774 B CN105445774 B CN 105445774B
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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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Abstract
When point to be located can not directly be determined with GNSS methods, the present invention provides the measuring system and measuring method that a kind of GNSS is combined with laser ranging, and its installation cost is cheap, be easy to carry, and scheme is simple and easy to apply.Laser ranging system only needs to provide apart from observation, the dependence for orientation, angular observation is broken away from, ranging is up to hundreds of meters, sharp work on multiple known points can be achieved, it is minimum only to be measured on two points, weighed by least square and Rational Determination, can finally obtain the optimal solution of fixed point coordinate.The defect of the invention that effectively compensate for prior art, has broad application prospects.
Description
Technical field
The invention belongs to survey field, more particularly to a kind of measuring systems that are combined with laser ranging of GNSS and measurement side
Method.
Background technology
GNSS (GPS) is the general designation of all kinds of global position systems such as GPS, GLONASS, BDS, due to
Its round-the-clock, round-the-clock, wide covering, high-precision feature, are used widely in survey field at present.GNSS measurements include quiet
Two kinds of operating types of state and dynamic；Wherein dynamic measurement such as RTK (real time dynamic measurement) or PPK (postprocessed dynamic surveying) mould
Formula, can reach the positioning precision of Centimeter Level.Dynamically measurement is generally equipped with centering rod to GNSS, so as to realize that rapidly centering is flattened
And movement, it is particularly convenient when carrying out the work such as cadastration, topography mapping.But if point has electromagnetic interference near position, or
Measured position can not receive the signal of more than four satellites simultaneously, then GNSS positioning can not obtain the positioning result of Centimeter Level very
To can not implement completely.
Total powerstation be it is a kind of can while measure the instrument of horizontal angle, vertical angle and distance, angle measurement accuracy generally have 0.5 second, 1
Second, 2 seconds, 5 seconds several grades；Range accuracy has the several grades of 0.5mm+1ppm, 1mm+1ppm, 2mm+2ppm.Ranging can make
With cooperative target, non-prism pattern can also be used.Its advantage protruded is that precision is high, without satellite-signal；Have the disadvantage a little and
Must intervisibility between point.
When point to be located can not directly determine (hereinafter referred to as " point to be located ") with GNSS methods, solution party the most frequently used at present
Case is to be combined total powerstation with GNSS, i.e., at point to be located selected around at least two GNSS observation conditions preferably and at a distance of compared with
Remote position, is measured on each position with RTK methods, obtains several known points, and one leads to point to be located wherein
Depending on known point on set up total powerstation, and aim at another known point and be oriented, then determine undetermined further according to method of polar coordinates
The coordinate of point.The shortcoming of such a method is：1) total powerstation is more heavy, also needs to be equipped with tripod, carries inconvenient；2) whole station
The centering flattening operation of instrument more takes；3) two known points must intervisibility, but distance can not be too near, and otherwise orientation error is very
Greatly；4) total powerstation cost is higher, and price is generally in tens thousand of members.
Hand-held laser rangefinder is a kind of portable laser range finder, and range accuracy is generally grade.Its advantage
It is portable, cheap (only needing hundreds of to thousands of members), shortcoming is to be only capable of providing apart from observation, and ranging is shorter, leads to
Often within 200m, being equipped with prism or reflector plate then makes ranging extend 2~3 times.It is generally used for the neck such as House property survey, archaeology
Domain.
What documents CN101490505A was related to that a kind of use gps receiver provides two-dimensional position data has height correction
Handheld laser light detector, but point to be located coordinate, it is necessary to by gravity sensing device, so as to inclination angle calculate point to be located with
Geometrical relationship between gps antenna phase center.Similar, documents CN102540200A discloses a kind of worldwide navigation and defended
Star system receiver and location measurement method；Documents CN104931976A discloses a kind of geography information scene of pocket
Real-time mapping method；The two is all referred to laser range finder and GPS combinations, but it needs laser range finder to provide the angle of pitch, side
Parallactic angle.And the laser range finder that can provide angular observation is different from common hand-held laser rangefinder, it is substantially hand-held complete
Stand instrument, such as Trimble LaserAce1000, laica DISTO, its shortcoming is：1) built in gravity sensor (or electricity
Sub- compass, gyroscope, MEMS), its north is to the north with geographical coordinate to (in the north that China is gauss projection central meridian
Direction) there is an angle, the angle numerical value be can not ignore and simultaneously on-fixed, can be changed as its present position changes, because
And need scene orientation and correct, weaken its convenience significantly；2) this systematic error is eliminated even across correction, its fixed north
Middle error still has, and is typically larger than ± 1 °；3) angle error is larger, can reach that ± 0.1 ° has belonged to top grade；4) due to foregoing original
Cause, its precision positioned is difficult to reach Centimeter Level；5) cost is high, generally up to tens thousand of members.Also just because of above-mentioned reason, although
This quasi-instrument comes out for some time, but occupation rate of market is relatively low.
The GNSS receiver that a kind of inside carries MEMS sensor is have also appeared on the market at present, when centering rod bottom is placed
On point to be located and shaft makees a vertical when tilting certain angle (generally within 30 °) by the phase center of GNSS antenna
Line, the intersection point on itself and ground can deviate centering rod bottom a certain distance, because MEMS sensor can provide the angle of pitch, orientation
Angle, just can calculate corresponding coordinate correction amount, the level(l)ing bubble so when field operation is measured without accurately leveling centering rod, from
And the efficiency that GNSS is dynamically measured can be improved to a certain extent.For industry personnel, leveling centering rod
Bubble only needs the several seconds originally, thus the cost performance of such a equipment is not high, but utilizes this feature also it can be used for into measurement portion
Divide the immesurable points of GNSS, but except foregoing various shortcomings (being forbidden caused azimuth angle error big in mainly fixed north), go back
It should be noted that the bottom of centering rod need to be placed on point to be located, it means that (centering rod is generally long in the range of point to be located 1m
2m, is calculated for 30 ° according to inclination angle) there must be the good position of GNSS observation conditions, otherwise it can not equally measure.
Therefore study it is a kind of be easy to carry, cheap system and corresponding efficient method, make GNSS
Can not the coordinate precision of measuring point can reach Centimeter Level in certain ranging, before very real meaning and wide application
Scape.
The content of the invention
To solve the above problems, the present invention proposes the measuring system and measurement side that a kind of GNSS is combined with laser ranging
Method, so as to make up prior art in many defects such as transport, efficiency, cost, precision.
According to the present invention, skeleton of the whole measuring system using centering rod as physical connection：GNSS receiver is located at centering
The top of bar；Data recorder is fixed on the appropriate location of centering rod by handbook bracket, certainly, and operating personnel can also be by handbook
Remove it is hand held in, but be so unfavorable for the leveling of centering rod；Center of the bottom tip of centering rod just to point to be located mark, when
When centering rod stands on the top of point to be located and keeps level(l)ing bubble placed in the middle, the central axis of centering rod will be with GNSS antenna phase
Center, the bottom centre of centering rod are occupy on same plumb line, so that the plane coordinates and height of GNSS antenna phase center
Journey can be with reduction to point to be located at.
According to an aspect of of the present present invention, it is possible to provide the measuring system that a kind of GNSS is combined with laser ranging, including it is following
Part：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 working condition, the coordinate of record institute measuring point position calculates unknown point and sat
Mark；3. the centering rod of level(l)ing bubble is housed, for installing former components and beneficial to implementation measurement；4. handbook bracket, for will
Data recorder is fixed on the correct position on centering rod；5. laser ranging system, for determining it the distance between with target point.
As preferred, above-mentioned laser ranging system carries out data communication by bluetooth or WIFI with data recorder, so as to
Operating personnel can be sent to instruction by data recorder, and know the result of laser ranging automatically.
According to another aspect of the present invention, it is possible to provide the measuring system that a kind of GNSS is combined with laser ranging, including with
Lower component：1. GNSS receiver, for receiving GNSS satellite signal and differential signal, to determine the coordinate of antenna phase center；
2. the data recorder of laser ranging system, including computing module and the Laser emission mould that is connected respectively with computing module are carried
Block, laser pick-off module, power supply, (electronics) level(l)ing bubble, WIFI module, bluetooth module, camera, touch display screen, button,
Distance measurement result can be by any reference point locations outside reduction to handbook, for controlling GNSS receiver and showing its work shape
State, the coordinate of record institute measuring point position determines it the distance between with target point, calculates unknown point coordinates；3. level(l)ing bubble is housed
Centering rod, for install former components and beneficial to implement measurement；4. handbook bracket, for data recorder to be fixed on into centering
Correct position on bar.Laser ranging system is incorporated into inside data recorder, therefore laser ranging system can be common with data recorder
A part of circuit is enjoyed so as to reduce cost, distance measurement result also can just be meaned by any reference point locations outside reduction to handbook
The relative position relation for range unit and centering rod axis can be determined accurately, so that the result of ranging can accurately return
Calculate.Camera can be pointed to unanimously with laser ranging system, can amplify the target pointed by display laser with zoom mode, so that auxiliary
The accurate run-home of operating personnel is helped, further scale can be read at a distance from data recorder screen when equipped with scale
On reading.Bracket can be further equipped with, laser above barrier or point to be located is anti-when having between point to be located and laser ranging system
Penetrate situation it is bad when, laser ranging system can be slided and can fixed at any time on centering rod, range unit and centering rod axis
Relative position relation can be determined accurately；When level(l)ing bubble is placed in the middle, it is ensured that the laser sent is a horizontal line.
A kind of another further aspect according to invention, it is possible to provide the measuring system that GNSS is combined with laser ranging, including it is following
Part：1. the GNSS receiver of laser ranging system is carried, including position resolves module and resolves module with position respectively and connects
GNSS antenna, laser sending module, laser pick-off module, power supply, WIFI, bluetooth, CDMA/GPRS modules, the data radio station connect
Module, button, for receiving GNSS satellite signal and differential signal, to determine the coordinate of antenna phase center, and determine its with
The distance between target point；2. data recorder, for controlling GNSS receiver and showing its working condition, records institute's measuring point position
Coordinate, calculates unknown point coordinates；3. the centering rod of level(l)ing bubble is housed, for installing former components and beneficial to implementation measurement；
4. handbook bracket, for the correct position being fixed on data recorder on centering rod.Laser ranging system is incorporated into GNSS receptions
Inside machine, therefore laser ranging system can share a part of circuit to reduce cost with GNSS receiver；Range unit with
The relative position relation of GNSS antenna phase center can be determined accurately, thus ranging result can accurately reduction to undetermined
At point.
As preferred, centering rod is marked with scale, arrives the length of its bottom everywhere for identifying centering rod, so as to when swashing
When optical range finding apparatus or data recorder containing laser ranging system are slided on centering rod, it can be directly read to centering rod
The distance (height) of bottom, this distance can be used for calculating the discrepancy in elevation between point to be located and known point.
As preferred, it may also include in system and level(l)ing bubble, scale surface be housed on the graduated scale of a mark, scale
The material beneficial to reflection laser is covered with, scale and system remainder are relatively independent, for calculating the discrepancy in elevation, while can be with Laser Measuring
Distance meter is used cooperatively, and this scale is used for the top for standing on point to be located, and when bubble is placed in the middle, axis and the point to be located of scale are located at
On same plumb line；When performing range operation, laser ranging system is aimed at into this scale, hot spot is fallen within scale；It is carved
The distance for reading hot spot distance scale bottom is spent, the material on its surface can be easy to operating personnel to observe whether hot spot falls within mark
It is especially advantageous under a bright ambient environment on chi, and the ranging of laser ranging system can be increased.
The present invention also provides the measuring method that a kind of GNSS of are combined with laser ranging, comprises the following steps：Step 1, exist
Near point to be located P, the point that selection n (n >=2) is measured using GNSS methods is designated as P1, P2 ... respectively by observation order,
Pi ..., Pn, in Pi, (i=1,2 ... ... n) are put upper simultaneously or by any order completion operations described below：1) determined with GNSS methods
Pi point position, its northern coordinate, eastern coordinate, elevation are expressed as (xi,yi,Hi), error, mean square error of height are remembered respectively in plane
For δpi、δHi, 2) and determine the flat away from D of Pi to P points with laser ranging systemi, mean square distance error is designated as δDi；
Step 2, point P coordinate initial value is calculated,
Wherein,
Wherein Dj、DmPoint P is represented respectivelyj、PmTo point P it is flat away from,Represent known point Pj, Pm
Between it is flat away from xj、yjPoint P is represented respectivelyjNorthern coordinate, eastern coordinate, xm、ymPoint P is represented respectivelymNorthern coordinate, eastern coordinate, j, m
Foregoing n is represented using any two in GNSS methods institute measuring point；
Step 3, error equation under row Liru,
V=B ω-l
Wherein,Each correction apart from observation is represented,
Point P coordinate corrective value is represented,
Represent that point Pi's to point P is flat away from outline value；
Step 4, point P coordinate corrective value is calculated,
ω=(BTWB)-1BTWl
Wherein,δiRepresent DiMiddle error；
Step 5, point P coordinate adjustment value is calculated,
As preferred, m (m >=1) secondary adjustment is carried out using iterative manner, wherein 1 adjustment refer to step 3 to 5 one
Secondary order is performed, i.e., by ith adjustment acquired resultsIt is considered as the input x of i+1 time adjustment0、y0, calculate repeatedly, directly
To Δx、ΔyAbsolute value be respectively less than a certain threshold value.
As preferred, increase following operate in step 1：Laser ranging system geometric center is measured to centering rod bottom
Discrepancy in elevation hi, while the discrepancy in elevation h ' at measuring point P to laser faculai, h 'iMeasurement in error be designated asIt is used as preferred, increase
Following process is used as step 6：
Point P k (1≤k≤n) individual initial height value is calculated as follows：
Hpi=Hi+hi-h′i
Point P vertical adjustment value is calculated,
K can be selected as needed, can select 1 point, and whole points or partial dot participate in calculating；Use and add simultaneously
The mode of weight average, can improve the precision of vertical adjustment value.
The technical scheme that the present invention is provided, its installation cost is cheap, be easy to carry, and scheme is simple and easy to apply.Laser ranging is filled
Putting only needs to provide apart from observation, without the assistance of gravity sensor, has broken away from the dependence for orientation, angular observation, surveys
Hundreds of meters of Cheng Keda, can be achieved sharp work on multiple known points, minimum only to be measured on two points, pass through a most young waiter in a wineshop or an inn
Multiply and weighed with Rational Determination, can finally obtain the optimal solution of fixed point coordinate.The defect of the invention that effectively compensate for prior art, has
Wide application prospect.
Brief description of the drawings
Accompanying drawing 1 is the sketch for the measuring system that a GNSS constructed according to the invention is combined with laser ranging, wherein
Laser ranging system is an independent unit, and equipped with scale.
Accompanying drawing 2 is the sketch for the measuring system that a GNSS constructed according to the invention is combined with laser ranging, wherein
Laser ranging system is incorporated into inside data recorder, and equipped with scale.
Accompanying drawing 3 is the sketch for the measuring system that a GNSS constructed according to the invention is combined with laser ranging, wherein
Laser ranging system is incorporated into inside receiver, and equipped with scale.
Accompanying drawing 4 is constructed according to the invention as the attached data recorder employed in figure 2 comprising laser ranging system shows
It is intended to.
Accompanying drawing 5 is constructed according to the invention such as the attached GNSS receiver employed in figure 3 for including laser ranging system
Schematic diagram.
Accompanying drawing 6 is a kind of schematic diagram of measuring method constructed according to the invention, and it uses device as shown in Figure 1,
And same point to be located is observed on the good position of 3 GNSS observation conditions.
Specific embodiment
In conjunction with accompanying drawing, to describe the several preferred schemes drawn according to the present invention in detail.
One embodiment of the present invention make use of existing equipment as much as possible, and it is combined as shown in Figure 1
Measuring system.The diagram for certain all-in-one provided in GNSS receiver, accompanying drawing, can be using on the market in actual use
Any geodetic type all-in-one or split air conditioner, such as the U.S. Trimble companies production R8, data recorder can be used matches somebody with somebody therewith
The TSC2 handbooks of set.The stretchable insulation centering rod of 2.2m carbon fibers that centering rod can be produced using southern china company, can enter one
Step apolegamy centering rod support, so that centering rod can be flattened rapidly and keep stable.Laser range finder can select any millimeter
The X310 Hand-hold Distance Finders of the product of level range accuracy, such as production of Switzerland leica companies, range accuracy ± 1.0mm, ranging
0.05m~120m.Rangefinder can be fixed on centering rod with bracket and can be slided up and down along shaft, to find optimal ranging figures
Put, it is noted that when ranging centering rod axis, ranging geometric center, hot spot should be located on same vertical guide；Its geometric center
Distance to centering rod axis can accurately be determined with modes such as slide measures, so as to accurately be changed to distance measurement result
Just；Optionally, also by operating personnel with hand-held mode its geometric center can be allowed to paste the axis of quasi- centering rod simultaneously
Optimal ranging position is slid into along centering rod.During ranging, the level(l)ing bubble of centering rod and the level(l)ing bubble of rangefinder should ensure that
(optical or electronics) is placed in the middle.The instruction of ranging can directly operate button on 75m, can also be by setting up electricity
The connection of sub- handbook and rangefinder, sends from data recorder；Likewise, distance measurement result can be read and manual by operating personnel
Data recorder is inserted, also can automatically be read by data communication.Scale is optional, can use water level box staff or pair with a scale
Middle bar, is easy to carry and can reach mm class precisions；The atural object of point to be located vertical direction even can be directly utilized in some cases
(such as corner point, the wall directly over it can be used as laser reflection thing), and with the discrepancy in elevation of tape measure hot spot to point to be located.
Or on the basis of existing scale, such as moved up and down by the reflector plate of another operating personnel's Hand-hold Distance Finder along scale
At hot spot, or whole chi coats the high material of reflectivity, to increase the ranging of rangefinder.
Second embodiment of the present invention is similar with one embodiment, as shown in Figure 2, primary difference is that will swash
Optical range finding apparatus is incorporated into the inside of data recorder, the two is united two into one, such benefit be further reduction hardware into
This, make the communication of the two more direct, while also further expanded the function of handbook, being allowed to can be directly as in some occasions
Rangefinder is used.Laser ranging system can be arranged on to the inside of handbook housing, its laser can be received from the top of handbook or right side
Hair, in order to operate.Should there are level(l)ing bubble or built-in electronic level(l)ing bubble on handbook.
The 3rd embodiment of the present invention is similar with second embodiment, as shown in Figure 3, primary difference is that by laser
Range unit is incorporated into the inside of GNSS receiver, the two is united two into one, and such be advantageous in that can further reduce hardware
Cost.Meanwhile, laser ranging system be preferably with GNSS antenna phase center it is coaxial, otherwise should be accurate by its geometrical relationship
Ground is determined with reduction distance.Because laser ranging system is close with antenna phase center, therefore, now centering rod on known point
Leveling becomes not to be too important.If being equipped with stretchable centering rod, can as far as possible reduction GNSS receiver height (but also will
Consider the Receiver Problem of satellite-signal), to reduce the influence that scale Setting error is brought.
In a second embodiment of the present invention, laser ranging system can be integrated into a unit, its structure with data recorder
Into figure as shown in Figure 4.
One embodiment of the present of invention as shown in Figure 6, directly can not using GNSS because point to be located P is located under eaves
Its coordinate is measured, therefore employs system as shown in Figure 1, GNSS observation conditions are good at point to be located selected around three
Position P1, P2 and P3, are carried out according to the following steps：
Step 1, operations described below is performed in any order or simultaneously on each point：
1) the northern coordinate, eastern coordinate, elevation that Pi is measured with RTK methods are designated as x respectivelyi、yi、Hi；In point Pi planar point position
Error is designated as δPi, mean square error of height is designated as δHi, it is necessary to which explanation, can also use PPK methods；
2) the flat away from D of Pi to P points is determined with laser ranging systemi, mean square distance error is designated as δDi；Read laser ranging system
Altitude reading h on centering rodi, hot spot is read to point P discrepancy in elevation h 'i；
Step 2, in known point, two points are arbitrarily picked out, such as P1 and P3 calculate point P coordinate using equation below
Initial value：
Wherein,
Step 3, vertical error equation is arranged：
Wherein,
Step 4, point P coordinate corrective value is calculated,
ω=(BTWB)-1BTWl
Wherein,
Step 5, point P coordinate adjustment value is calculated：
And judge Δx、ΔyAbsolute value whether be less than 1mm, if being otherwise iterated, repeat step 3 to 5, until meet
Aforementioned condition.
Step 6, point P 3 elevation initial values are calculated：
Calculate point P vertical adjustment value：
Specific embodiment described herein is only, to spirit explanation for example of the invention, to be not meant to send out this
Bright to be limited to lifted example, those skilled in the art can do various to described specific embodiment
The modification of various kinds or supplement are substituted using similar mode, but without departing from the spiritual of the present invention or surmount appended right
Scope defined in claim.
Claims (8)
1. the measuring method that a kind of GNSS is combined with laser ranging, it is characterised in that comprise the following steps：
Step 1, near point to be located P, the point that selection n is measured using GNSS methods, n >=2 are designated as respectively by observation order
P1, P2 ..., Pi ..., Pn complete operations described below, i=1,2 ... ..., n simultaneously or by any order on Pi points：
1) Pi point position is determined with GNSS methods, its northern coordinate, eastern coordinate, elevation are expressed as (xi,yi,Hi), in plane by mistake
Difference, mean square error of height are designated as δ respectivelypi、δHi,
2) the flat away from D of Pi to P points is determined with laser ranging systemi, mean square distance error is designated as δi；
Step 2, point P (x are calculated0, y0) coordinate initial value,
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Wherein Dj、DmPoint P is represented respectivelyj、PmTo point P it is flat away from,Represent between known point Pj, Pm
It is flat away from xj、yjPoint P is represented respectivelyjNorthern coordinate, eastern coordinate, xm、ymPoint P is represented respectivelymNorthern coordinate, eastern coordinate, j, m generation
Foregoing n of table utilizes any two in GNSS methods institute measuring point；
Step 3, error equation under row Liru,
V=B ω-l
Wherein, Each correction apart from observation is represented,
Represent point P coordinate corrective value, Δx、ΔyPoint P northern coordinate x, eastern coordinate y correction is represented respectively,Represent that point Pi's to point P is flat away from outline value；
Step 4, point P coordinate corrective value is calculated,
ω=(BTWB)-1BTWl
Wherein,δiRepresent DiMean square distance error；
Step 5, point P coordinate adjustment value is calculated
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</mtr>
<mtr>
<mtd>
<msub>
<mi>y</mi>
<mn>0</mn>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>&Delta;</mi>
<mi>x</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>&Delta;</mi>
<mi>y</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>.</mo>
</mrow>
2. the measuring method that a kind of GNSS as claimed in claim 1 is combined with laser ranging, it is characterised in that
M adjustment, m >=1 are carried out using iterative manner, wherein 1 adjustment refers to the once order execution of step 3 to 5, i.e., by the
I adjustment acquired resultsIt is considered as the input x of i+1 time adjustment0、y0, calculate repeatedly, until Δx、ΔyAbsolute value it is equal
Less than threshold value.
3. the measuring method that a kind of GNSS as described in claim 1 to 2 any one is combined with laser ranging, its feature exists
In,
Increase following operate in step 1：
Laser ranging system geometric center is measured to the discrepancy in elevation h of centering rod bottomi, while the discrepancy in elevation at measuring point P to laser facula
h′i, h 'iMeasurement in error be designated as
Increase step 6：
Point P k initial height values, 1≤k≤n are calculated as follows：
Hp(i)=Hi+hi-h′i
And calculate point P vertical adjustment value,
<mrow>
<msub>
<mover>
<mi>H</mi>
<mo>^</mo>
</mover>
<mn>0</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>k</mi>
</munderover>
<mfrac>
<mrow>
<msub>
<mi>H</mi>
<mi>P</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>i</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msubsup>
<mi>&delta;</mi>
<mrow>
<mi>H</mi>
<mi>i</mi>
</mrow>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>&delta;</mi>
<mrow>
<mi>h</mi>
<mi>i</mi>
</mrow>
<mn>2</mn>
</msubsup>
</mrow>
</mfrac>
</mrow>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>k</mi>
</munderover>
<mfrac>
<mn>1</mn>
<mrow>
<msubsup>
<mi>&delta;</mi>
<mrow>
<mi>H</mi>
<mi>i</mi>
</mrow>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>&delta;</mi>
<mrow>
<mi>h</mi>
<mi>i</mi>
</mrow>
<mn>2</mn>
</msubsup>
</mrow>
</mfrac>
</mrow>
</mfrac>
<mo>.</mo>
</mrow>
4. GNSS described in a kind of usage right requirement 1 is mutually tied with the GNSS for the measuring method that laser ranging is combined with laser ranging
The measuring system of conjunction, it is characterised in that including with lower component：
GNSS receiver, for receiving GNSS satellite signal and differential signal, to determine the coordinate of antenna phase center；
The data recorder being connected with GNSS receiver, for controlling GNSS receiver and showing its working condition, records institute's measuring point
The coordinate of position, calculates unknown point coordinates；
Centering rod equipped with level(l)ing bubble, for installing GNSS receiver and data recorder；
Handbook bracket, for the correct position being fixed on data recorder on centering rod；
Laser ranging system, for determining it the distance between with target point；Laser ranging system passes through bluetooth or WIFI modes
Data communication is carried out with data recorder.
5. GNSS described in a kind of usage right requirement 1 is mutually tied with the GNSS for the measuring method that laser ranging is combined with laser ranging
The measuring system of conjunction, it is characterised in that including with lower component：
GNSS receiver, for receiving GNSS satellite signal and differential signal, to determine the coordinate of antenna phase center；
Data recorder with laser ranging system, the data recorder is connected including computing module and respectively with computing module
Laser emitting module, laser pick-off module, power supply, electronic leveler bubble, WIFI module, bluetooth module, camera, touch it is aobvious
Display screen, button, for controlling GNSS receiver and showing its working condition, the coordinate of record institute measuring point position determines itself and target
The distance between point, calculates unknown point coordinates；
Centering rod equipped with level(l)ing bubble, for installing GNSS receiver and data recorder with laser ranging system；
Handbook bracket, for the correct position being fixed on data recorder on centering rod.
6. GNSS described in a kind of usage right requirement 1 is mutually tied with the GNSS for the measuring method that laser ranging is combined with laser ranging
The measuring system of conjunction, it is characterised in that including with lower component：
GNSS receiver with laser ranging system, the GNSS receiver include position resolve module and respectively with position
Resolve GNSS antenna, laser emitting module, laser pick-off module, power supply, WIFI module, bluetooth, the CDMA/GPRS of module connection
Module, data radio station module, button, for receiving GNSS satellite signal and differential signal, to determine the seat of antenna phase center
Mark, and it is determined the distance between with target point；
Data recorder, for controlling GNSS receiver and showing its working condition, the coordinate of record institute measuring point position calculates unknown point
Coordinate；
Centering rod equipped with level(l)ing bubble, the GNSS receiver and data recorder of laser ranging system are carried for installing；
Handbook bracket, for the correct position being fixed on data recorder on centering rod.
7. the measuring system that a kind of GNSS as described in any one in claim 4 to 6 is combined with laser ranging, its feature
It is, centering rod is marked with scale, arrives the length of its bottom everywhere for identifying centering rod.
8. the measuring system that a kind of GNSS as claimed in claim 7 is combined with laser ranging, it is characterised in that further wrap
A graduated scale of mark is included, scale is equipped with level(l)ing bubble, and scale surface is covered with the material beneficial to reflection laser.
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| WO2020155009A1 (en) * | 2019-01-31 | 2020-08-06 | 北京讯腾智慧科技股份有限公司 | Rtk measurement system and measurement method in confined space |
| CN111190205A (en) * | 2020-03-18 | 2020-05-22 | 南通四建集团有限公司 | Beidou/GNSS high-precision rapid positioning equipment and method for construction process |
| CN114459444A (en) * | 2022-02-28 | 2022-05-10 | 上海市基础工程集团有限公司 | Device and method for rapidly measuring outdoor hidden point by using RTK (real-time kinematic) |
| CN115096269B (en) * | 2022-07-06 | 2023-10-31 | 苏州天硕导航科技有限责任公司 | Photogrammetry method, photogrammetry system and GNSS receiver |
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