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 the field of surveying and mapping, and particularly relates to a measuring system and a measuring method combining GNSS and laser ranging.
Background
GNSS (global navigation satellite system) is a generic name of various satellite positioning systems such as GPS, GLONASS, BDS, etc., and is currently widely used in the field of surveying and mapping due to its characteristics of all weather, all time, wide coverage, and high precision. The GNSS measurement comprises a static operation mode and a dynamic operation mode; wherein dynamic measurements, such as RTK (real time kinematic measurement) or PPK (post processing kinematic measurement) modes, can achieve centimeter-level positioning accuracy. The GNSS dynamic measurement is usually matched with a centering rod, so that the fast centering, leveling and moving can be realized, and the GNSS dynamic measurement is particularly convenient and fast when the cadastral measurement, topographic map surveying and mapping and the like are carried out. However, if there is electromagnetic interference near the point location, or the measured location cannot receive signals of more than four satellites at the same time, the GNSS positioning cannot obtain a centimeter-level positioning result, or even cannot be implemented at all.
The total station is an instrument capable of measuring horizontal angle, vertical angle and distance simultaneously, and the angle measurement precision is generally in the order of 0.5 second, 1 second, 2 seconds and 5 seconds; the precision of the distance measurement is graded by 0.5mm +1ppm, 1mm +1ppm and 2mm +2 ppm. The range finding may use a cooperative target or may use a prism-free mode. The method has the outstanding advantages of high precision and no need of satellite signals; the disadvantage is that the dots must be viewed from each other.
When the undetermined point cannot be directly determined by a GNSS method (hereinafter referred to as an undetermined point), the most common solution at present is to combine a total station with the GNSS, namely, at least two positions with better observation conditions and far distance of the GNSS are selected near the undetermined point, each position is measured by an RTK method to obtain a plurality of known points, the total station is erected on one known point which is in sight with the undetermined point, the other known point is aimed for orientation, and then the coordinate of the undetermined point is determined according to a polar coordinate method. The disadvantages of this method are: 1) the total station is heavy and is also provided with a tripod, so that the total station is inconvenient to carry; 2) the centering and leveling operation of the total station is time-consuming; 3) two known points must be viewed through, but the distance cannot be too close, otherwise, the orientation error is large; 4) total stations are expensive, often in tens of thousands of dollars.
The hand-held laser range finder is a portable laser range finder, and the range finding precision is generally the millimeter level. The portable distance measuring instrument has the advantages of portability, low price (only hundreds of yuan to thousands of yuan), short measuring range (usually within 200 m) and capability of prolonging the measuring range by 2-3 times by matching with a prism or a reflector plate, and can only provide a distance observation value. The method is generally applied to the fields of house property measurement, archaeology and the like.
The reference CN101490505A relates to a hand-held laser probe with height correction using a GPS receiver to provide two-dimensional position data, but the coordinates of the point to be determined need to be assisted by a gravity sensing device in order to calculate the geometric relationship between the point to be determined and the phase center of the GPS antenna by using the tilt angle. Similarly, the reference CN102540200A discloses a gnss receiver and a position measurement method; the reference CN104931976A discloses a portable geographic information field real-time mapping method; both involve combining a laser rangefinder and a GPS, but they require the laser rangefinder to provide pitch, azimuth angles. The laser range finder capable of providing an angle observation value is different from a common handheld laser range finder and is a handheld total station, such as Trimble Laserace1000 and laica DISTO, and the laser range finder has the following defects: 1) the built-in gravity sensor (or called electronic compass, gyroscope and MEMS) has an included angle between the north direction and the north direction of the geographic coordinate (the north direction of the Gaussian projection central meridian in China), the included angle is not negligible and fixed in value and can change along with the change of the position of the included angle, so that the on-site orientation and correction are needed, and the convenience is greatly weakened; 2) even if the system error is eliminated through correction, the north determination intermediate error still exists, and is usually more than +/-1 degrees; 3) the angle measurement error is large and can reach +/-0.1 degrees, which belongs to the top grade; 4) for the foregoing reasons, the positioning accuracy thereof is difficult to reach the centimeter level; 5) the cost is not very high and usually reaches tens of thousands of yuan. Also for the reasons mentioned above, although such instruments have been available for some time, they have a low market share.
At present, a GNSS receiver with an MEMS sensor inside is also available on the market, when the bottom of a centering rod is placed on a to-be-determined point and a rod body inclines for a certain angle (generally within 30 degrees), a plumb line is made through the phase center of a GNSS antenna, the intersection point of the GNSS antenna and the ground deviates from the bottom of the centering rod for a certain distance, and the corresponding coordinate correction amount can be calculated because the MEMS sensor can give a pitch angle and an azimuth angle, so that leveling bubbles of the centering rod are not required to be accurately leveled during field measurement, and the GNSS dynamic measurement efficiency can be improved to a certain extent. In fact, for the skilled person, it would take only a few seconds to level the bubble of the centering rod, so that the cost performance of this device is not high, but with this feature it can also be used to measure some points not measurable by GNSS, but in addition to the aforementioned drawbacks (mainly large azimuth error due to north-orientation misalignment), it is also necessary to note that the bottom of the centering rod has to be placed on the point to be measured, which means that within 1m of the point to be measured (the centering rod is usually 2m long, calculated from an inclination of 30 °) it is necessary to have a position with good GNSS observation conditions, otherwise it is also impossible to measure.
Therefore, the system which is convenient to carry and low in manufacturing cost and the corresponding high-efficiency method are researched, so that the coordinate precision of the GNSS non-measurable point can reach a centimeter level in a certain measuring range, and the method has very practical significance and wide application prospect.
Disclosure of Invention
In order to solve the problems, the invention provides a measuring system and a measuring method combining GNSS and laser ranging, thereby overcoming the defects of the prior art in various aspects such as transportation, efficiency, cost, precision and the like.
According to the invention, the whole measuring system takes the centering rod as a skeleton of the physical connection: the GNSS receiver is positioned at the top of the centering rod; the electronic handbook is fixed at a proper position of the centering rod through the handbook bracket, and of course, the operator can take down the handbook to take the handbook in the hand, but the handbook is not beneficial to leveling the centering rod; the top end of the bottom of the centering rod is over against the center of the mark of the point to be determined, when the centering rod is erected above the point to be determined and the leveling bubble is kept centered, the central axis of the centering rod, the phase center of the GNSS antenna and the center of the bottom of the centering rod are on the same plumb line, and therefore the plane coordinate and the elevation of the phase center of the GNSS antenna can be reduced to the point to be determined.
According to an aspect of the present invention, there is provided a measurement system combining GNSS and laser ranging, comprising the following components: the GNSS receiver is used for receiving GNSS satellite signals and differential signals to determine coordinates of an antenna phase center; the electronic handbook is used for controlling the GNSS receiver and displaying the working state of the GNSS receiver, recording the coordinates of the measured point and calculating the coordinates of the unknown point; the centering rod is provided with leveling bubbles and is used for installing the components and facilitating measurement; the handbook bracket is used for fixing the electronic handbook at a proper position on the centering rod; the laser ranging device is used for measuring the distance between the laser ranging device and a target point.
Preferably, the laser ranging device is in data communication with the electronic handbook through Bluetooth or WIFI, so that an operator can send an instruction to the electronic handbook through the electronic handbook and automatically know the laser ranging result.
In accordance with another aspect of the present invention, there is provided a GNSS and laser ranging combined surveying system, comprising the following components: the GNSS receiver is used for receiving GNSS satellite signals and differential signals to determine coordinates of an antenna phase center; the electronic handbook with the laser ranging device comprises an operation module, a laser emitting module, a laser receiving module, a power supply, an (electronic) level bubble, a WIFI module, a Bluetooth module, a camera, a touch display screen and a key which are respectively connected with the operation module, wherein the ranging result can be reduced to any reference point position outside the handbook and is used for controlling a GNSS receiver and displaying the working state of the GNSS receiver, recording the coordinate of the measured point position, measuring the distance between the measured point position and a target point and calculating the coordinate of an unknown point; the centering rod is provided with leveling bubbles and is used for installing the components and facilitating measurement; and the handbook bracket is used for fixing the electronic handbook at a proper position on the centering rod. The laser ranging device is integrated in the electronic handbook, so that the laser ranging device and the electronic handbook can share a part of circuits to reduce the cost, and the ranging result can be reduced to any reference point position outside the handbook, which means that the relative position relationship between the ranging device and the axis of the centering rod can be accurately measured, so that the ranging result can be accurately reduced. The camera can be consistent with the direction of the laser ranging device, and can amplify and display the target pointed by the laser in a zooming mode, so that an operator can be assisted in accurately aiming at the target, and further, when the scale is matched, the reading on the scale can be remotely read from the screen of the electronic handbook. When a barrier exists between the to-be-measured point and the laser ranging device or the laser above the to-be-measured point is poor in reflection condition, the laser ranging device can slide on the centering rod and can be fixed at any time, and the relative position relation between the ranging device and the axis of the centering rod can be accurately measured; when the level bubble is centered, the emitted laser light can be ensured to be a horizontal line.
According to still another aspect of the invention, there is provided a GNSS and laser ranging combined surveying system, comprising the following components: the GNSS receiver with the laser ranging device comprises a position calculating module, a GNSS antenna, a laser transmitting module, a laser receiving module, a power supply, WIFI, Bluetooth, a CDMA/GPRS module, a data transmission radio module and a key which are respectively connected with the position calculating module, and is used for receiving GNSS satellite signals and differential signals so as to determine coordinates of an antenna phase center and measure the distance between the antenna phase center and a target point; the electronic handbook is used for controlling the GNSS receiver and displaying the working state of the GNSS receiver, recording the coordinates of the measured point and calculating the coordinates of the unknown point; the centering rod is provided with leveling bubbles and is used for installing the components and facilitating measurement; and the handbook bracket is used for fixing the electronic handbook at a proper position on the centering rod. The laser ranging device is integrated in the GNSS receiver, so that the laser ranging device and the GNSS receiver can share a part of circuits, and the cost is reduced; the relative position relationship between the ranging device and the phase center of the GNSS antenna can be accurately determined, so that the ranging result can be accurately reduced to a point to be determined.
Preferably, the centering rod is marked with scales for identifying the length of the centering rod from the bottom of the centering rod, so that when the laser ranging device or an electronic handbook containing the laser ranging device slides on the centering rod, the distance (height) from the centering rod to the bottom of the centering rod can be directly read, and the distance can be used for calculating the height difference between a to-be-determined point and a known point.
Preferably, the system also comprises a scale marked with scales, leveling bubbles are arranged on the scale, materials which are beneficial to reflecting laser are coated on the surface of the scale, the scale is relatively independent from the rest part of the system and used for calculating height difference, and meanwhile, the scale can be matched with a laser range finder for use, the scale is used for standing above the undetermined point, and when the bubbles are centered, the axis of the scale and the undetermined point are positioned on the same plumb line; when the distance measurement operation is executed, the laser distance measurement device is aimed at the scale, so that the light spot falls on the scale; the scale is used for reading the distance between the light spot and the bottom of the scale, and the material on the surface of the scale is convenient for an operator to observe whether the light spot falls on the scale or not, so that the laser ranging device is particularly favorable in a bright environment and can increase the ranging distance of the laser ranging device.
The invention also provides a measuring method combining GNSS and laser ranging, which comprises the following steps: step 1, near a pending point P, selecting n (n is larger than or equal to 2) points which can be measured by using a GNSS method, respectively marking as P1, P2, …, Pi, … and Pn according to an observation sequence, and simultaneously or in any order, completing the following operations on Pi (i is 1,2, … … and n): 1) the point position of Pi is determined by GNSS method, and its north coordinate, east coordinate and elevation are respectively expressed as (x)i,yi,Hi) The error in the plane and the error in the elevation are respectively recorded aspi、HiAnd 2) measuring the distance D from Pi to P by using a laser distance measuring deviceiError in range finding is notedDi；
Step 2, calculating the initial value of the coordinate of the point P,
wherein,wherein Dj、DmRespectively represent points Pj、PmThe flat distance to the point P is,represents the flat distance, x, between known points Pj, Pmj、yjRespectively represent points PjNorth, east coordinates of (x)m、ymRespectively represent points PmThe north coordinates, the east coordinates, j and m of (a) represent any two of the n measured points by using the GNSS method;
step 3, the following error equation is listed,
V＝Bω-l
wherein,indicates the number of corrections for each distance observation,
the number of coordinate corrections of the point P is represented,
represents a square pitch sketch from point Pi to point P;
step 4, calculating the coordinate correction number of the point P,
ω＝(BTWB)-1BTWl
wherein, irepresents DiA median error of (2);
step 5, calculating the coordinate adjustment value of the point P,
preferably, m (m is more than or equal to 1) times of adjustment are carried out in an iterative mode, wherein 1 time of adjustment refers to one time of sequential execution of steps 3 to 5, namely the result obtained by the ith adjustmentInput x considered as the i +1 th adjustment0、y0Repeatedly calculating until deltax、ΔyAre all less than a certain threshold.
Preferably, the following operations are added in step 1: height difference h from geometric center of measuring laser ranging device to bottom of centering rodiSimultaneously measuring the height difference h from the point P to the laser spot'i，h′iThe error in the measurement is recorded asPreferably, the following procedure is added as step 6:
calculating k (1 ≦ k ≦ n) initial elevation values for point P according to the following equation:
Hpi＝Hi+hi-h′i
the elevation adjustment value of the point P is calculated,
k can be selected according to the needs, 1 point can be selected, and all points or part of points participate in calculation; meanwhile, the accuracy of the elevation adjustment value can be improved by adopting a weighted average mode.
The technical scheme provided by the invention has the advantages of low device cost, portability and simple and feasible scheme. The laser ranging device only needs to provide a distance observation value, does not need the assistance of a gravity sensor, gets rid of the dependence on direction and angle observation values, has a ranging distance of hundreds of meters, can realize quick operation on a plurality of known points, at least only needs to measure on two points, and finally can obtain the optimal solution of the coordinates of the undetermined point through least square and reasonable weighting. The invention effectively makes up the defects of the prior art and has wide application prospect.
Drawings
FIG. 1 is a simplified diagram of a combined GNSS and laser ranging surveying system constructed in accordance with the present invention, wherein the laser ranging device is a stand-alone unit and is provided with a scale.
FIG. 2 is a simplified diagram of a GNSS combined laser ranging surveying system constructed in accordance with the present invention, wherein the laser ranging device is integrated within an electronic handbook and is equipped with a ruler.
FIG. 3 is a simplified diagram of a GNSS combined laser ranging surveying system constructed in accordance with the present invention, wherein the laser ranging device is integrated within the receiver and is equipped with a scale.
Fig. 4 is a schematic diagram of an electronic handbook constructed in accordance with the present invention incorporating the laser ranging device as employed in fig. 2.
FIG. 5 is a schematic diagram of a GNSS receiver incorporating a laser ranging device as employed in FIG. 3 and constructed in accordance with the present invention.
FIG. 6 is a schematic diagram of a survey method constructed in accordance with the present invention using the apparatus of FIG. 1 and observing the same point of interest at 3 locations where GNSS observations are in good condition.
Detailed description of the preferred embodiments
Several preferred embodiments according to the present invention will now be described in detail with reference to the accompanying drawings.
The first embodiment of the invention makes use of existing equipment as much as possible and combines it into a measurement system as shown in figure 1. The GNSS receiver, which is shown in the figure as a kind of all-in-one machine, may be any one of the geodetic all-in-one machines or split machines on the market in practical use, such as R8 manufactured by Trimble corporation of usa, and the TSC2 handbook may be used in cooperation with the electronic handbook. The centering rod can adopt a 2.2m carbon fiber stretchable insulating centering rod produced by southern China company, and a centering rod support can be further selected and matched, so that the centering rod can be quickly leveled and can be kept stable. The laser range finder can be any product with millimeter-scale range finding precision, such as an X310 handheld laser range finder produced by leica of Switzerland, the range finding precision is +/-1.0 mm, and the range finding is 0.05-120 m. The distance measuring instrument can be fixed on the centering rod by a bracket and can slide up and down along the rod body to find the optimal distance measuring position, and the axial line of the centering rod, the geometric center of distance measurement and the light spot are required to be positioned on the same vertical plane during distance measurement; the distance from the geometric center to the axis of the centering rod can be accurately measured in a vernier caliper mode and the like, so that the distance measurement result can be accurately corrected; alternatively, the operator may manually align the geometric center of the centering rod with the axis of the centering rod and slide the centering rod to the optimal distance measurement position. During ranging, the level bubble of the centering rod and the level bubble (optical or electronic) of the range finder are both centered. The command of the distance measurement can be directly operated on the distance measuring instrument by a key, or can be sent out from the electronic handbook by establishing the connection between the electronic handbook and the distance measuring instrument; similarly, the distance measurement result can be read by an operator and manually filled into an electronic handbook, and can also be automatically read through data communication. The staff gauge is optional, a leveling tower ruler or a centering rod with scales can be adopted, the carrying is convenient, and the mm-level precision can be achieved; in some cases, ground objects in the vertical direction of the undetermined point (such as a corner point, and a wall right above the corner point can be used as a laser reflector) can be directly used, and the height difference from the light spot to the undetermined point can be measured by using a measuring tape. Or on the basis of the existing scale, for example, another operator holds a reflector plate of the laser range finder to move up and down to the spot along the scale, or the whole scale is coated with a material with high reflectivity, so as to increase the measuring range of the range finder.
The second embodiment of the present invention is similar to the first embodiment, as shown in fig. 2, and the main difference is that the laser distance measuring device is integrated inside the electronic handbook, so that the two are combined into one, which has the advantages of further reducing the hardware cost, making the communication between the two more direct, and further expanding the function of the handbook, so that the handbook can be directly used as a distance measuring instrument in some occasions. The laser ranging device can be installed inside the case of the handbook, and the laser can be transmitted and received from the top or right side of the handbook, so as to facilitate the operation. Leveling air bubbles or built-in electronic leveling air bubbles are arranged on the handbook.
The third embodiment of the present invention is similar to the second embodiment, as shown in fig. 3, and the main difference is that the laser ranging device is integrated inside the GNSS receiver, so that the two are integrated into one, which is advantageous in further reducing the hardware cost. Meanwhile, the laser ranging device and the phase center of the GNSS antenna are preferably coaxial, otherwise the geometrical relationship should be accurately determined to reduce the distance. Since the laser ranging device is very close to the antenna phase center, leveling of the centering rod at a known point becomes less important at this time. If a stretchable centering rod is arranged, the height of the GNSS receiver can be reduced as much as possible (but the problem of satellite signal receiving is also considered), so that the influence caused by the leveling error of the ruler is reduced.
In a second embodiment of the present invention, the laser ranging device can be integrated with the electronic handbook as a unit, which is shown in fig. 4.
In an embodiment of the present invention, as shown in fig. 6, because the undetermined point P is located under the eave, and the coordinates of the undetermined point P cannot be measured directly by using GNSS, the system shown in fig. 1 is adopted, and three positions P1, P2, and P3 with good GNSS observation conditions are selected near the undetermined point, and the method is performed according to the following steps:
step 1, the following operations are executed on each point in any sequence or simultaneously:
1) measuring the north coordinate, east coordinate and elevation of Pi by RTK method and recording as xi、yi、Hi(ii) a The error in the plane position of the point Pi is recorded asPiError in elevation is notedHiNote that the PPK method may also be used;
2) measuring the distance D from Pi to P by a laser distance measuring deviceiError in range finding is notedDi(ii) a Reading height reading h of laser ranging device on centering rodiReading the height difference h 'from the light spot to the point P'i；
Step 2, randomly selecting two points such as P1 and P3 from the known points, and calculating the initial value of the coordinate of the point P by adopting the following formula:
wherein,
step 3, listing an error equation:
wherein,
step 4, calculating the coordinate correction number of the point P,
ω＝(BTWB)-1BTWl
wherein,
step 5, calculating the coordinate adjustment value of the point P:
and determining Δx、ΔyIf not, iteration is carried out, and the steps 3 to 5 are repeated until the above conditions are met.
Step 6, calculating 3 initial elevation values of the point P:
calculating the elevation adjustment value of the point P:
the embodiments described herein are merely illustrative of the spirit of the invention and are not meant to limit the invention to the examples described, and various modifications or additions may be made to the described embodiments or substitutions by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the claims defined by the appended claims.
Claims (8)
1. A measuring method combining GNSS and laser ranging is characterized by comprising the following steps:
step 1, near a pending point P, selecting n points which can be measured by using a GNSS method, wherein n is greater than or equal to 2, and the n is respectively marked as P1, P2, …, Pi, … and Pn according to an observation sequence, and the following operations are completed on the Pi point simultaneously or in any order, i is 1,2, … … and n:
1) the point position of Pi is determined by GNSS method, and its north coordinate, east coordinate and elevation are respectively expressed as (x)i,yi,Hi) Error in plane, error in elevationIs otherwise noted aspi、Hi，
2) Measuring the distance D from Pi to P by a laser distance measuring deviceiError in range finding is notedi；
Step 2, calculate point P (x)0，y0) Is set to the initial value of the coordinates of (c),
<mrow> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>x</mi> <mi>j</mi> </msub> <mi>c</mi> <mi>t</mi> <mi>g</mi> <mi>B</mi> <mo>+</mo> <msub> <mi>x</mi> <mi>m</mi> </msub> <mi>c</mi> <mi>t</mi> <mi>g</mi> <mi>A</mi> <mo>+</mo> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mi>j</mi> </msub> <mo>-</mo> <msub> <mi>y</mi> <mi>m</mi> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mi>c</mi> <mi>t</mi> <mi>g</mi> <mi>A</mi> <mo>+</mo> <mi>c</mi> <mi>t</mi> <mi>g</mi> <mi>B</mi> </mrow> </mfrac> </mrow>
<mrow> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>y</mi> <mi>j</mi> </msub> <mi>c</mi> <mi>t</mi> <mi>g</mi> <mi>B</mi> <mo>+</mo> <msub> <mi>y</mi> <mi>m</mi> </msub> <mi>c</mi> <mi>t</mi> <mi>g</mi> <mi>A</mi> <mo>+</mo> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mi>j</mi> </msub> <mo>-</mo> <msub> <mi>x</mi> <mi>m</mi> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mi>c</mi> <mi>t</mi> <mi>g</mi> <mi>A</mi> <mo>+</mo> <mi>c</mi> <mi>t</mi> <mi>g</mi> <mi>B</mi> </mrow> </mfrac> </mrow>
wherein, wherein Dj、DmRespectively represent points Pj、PmThe flat distance to the point P is,represents the flat distance, x, between known points Pj, Pmj、yjRespectively represent points PjNorth, east coordinates of (x)m、ymRespectively represent points PmThe north coordinates, the east coordinates, j and m of (a) represent any two of the n measured points by using the GNSS method;
step 3, the following error equation is listed,
V＝Bω-l
wherein, indicates the number of corrections for each distance observation, indicating the coordinate correction, Δ, of the point Px、ΔyRespectively representing the correction numbers of north coordinate x and east coordinate y of point P,represents a square pitch sketch from point Pi to point P;
step 4, calculating the coordinate correction number of the point P,
ω＝(BTWB)-1BTWl
wherein, irepresents DiError in range finding of (2);
step 5, calculating the coordinate adjustment value of the point P
<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mover> <mi>x</mi> <mo>^</mo> </mover> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mover> <mi>y</mi> <mo>^</mo> </mover> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <mi>&omega;</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>0</mn> </msub> </mtd> </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 GNSS combined laser ranging measurement method according to claim 1,
performing adjustment m times in an iterative manner, wherein m is more than or equal to 1, wherein the adjustment 1 time refers to one time of sequential execution of the steps 3 to 5, namely the result obtained by the adjustment i timeInput x considered as the i +1 th adjustment0、y0Repeatedly calculating until deltax、ΔyAre all less than the threshold.
3. The combined GNSS and laser ranging measurement method according to any of the claims 1-2,
the following operations are added in the step 1:
height difference h from geometric center of measuring laser ranging device to bottom of centering rodiSimultaneously measuring the height difference h from the point P to the laser spot'i，h′iThe error in the measurement is recorded as
And (6) adding:
calculating k initial elevation values of the point P according to the following formula, wherein k is more than or equal to 1 and less than or equal to n:
Hp(i)＝Hi+hi-h′i
and calculates the elevation adjustment value of the point P,
<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. a GNSS and laser ranging combined surveying system using the GNSS and laser ranging combined surveying method of claim 1, characterized by comprising the following components:
the GNSS receiver is used for receiving GNSS satellite signals and differential signals to determine coordinates of an antenna phase center;
the electronic handbook is connected with the GNSS receiver and is used for controlling the GNSS receiver, displaying the working state of the GNSS receiver, recording the coordinates of the measured point and calculating the coordinates of the unknown point;
the centering rod is provided with leveling bubbles and is used for installing the GNSS receiver and the electronic handbook;
the handbook bracket is used for fixing the electronic handbook at a proper position on the centering rod;
the laser ranging device is used for measuring the distance between the laser ranging device and a target point; the laser ranging device is in data communication with the electronic handbook in a Bluetooth or WIFI mode.
5. A GNSS and laser ranging combined surveying system using the GNSS and laser ranging combined surveying method of claim 1, characterized by comprising the following components:
the GNSS receiver is used for receiving GNSS satellite signals and differential signals to determine coordinates of an antenna phase center;
the electronic handbook with the laser ranging device comprises an operation module, and a laser emitting module, a laser receiving module, a power supply, an electronic level bubble, a WIFI module, a Bluetooth module, a camera, a touch display screen and a key which are respectively connected with the operation module, and is used for controlling the GNSS receiver, displaying the working state of the GNSS receiver, recording the coordinate of a measured point, measuring the distance between the measured point and a target point and calculating the coordinate of an unknown point;
the centering rod is provided with a leveling bubble and is used for installing a GNSS receiver and an electronic handbook with a laser ranging device;
and the handbook bracket is used for fixing the electronic handbook at a proper position on the centering rod.
6. A GNSS and laser ranging combined surveying system using the GNSS and laser ranging combined surveying method of claim 1, characterized by comprising the following components:
the GNSS receiver comprises a position resolving module, a GNSS antenna, a laser emitting module, a laser receiving module, a power supply, a WIFI module, a Bluetooth module, a CDMA/GPRS module, a data transmission radio module and a key which are respectively connected with the position resolving module, and is used for receiving GNSS satellite signals and differential signals so as to determine the coordinates of the phase center of the antenna and determine the distance between the antenna and a target point;
the electronic handbook is used for controlling the GNSS receiver and displaying the working state of the GNSS receiver, recording the coordinates of the measured point and calculating the coordinates of the unknown point;
the centering rod is provided with a leveling bubble and is used for installing a GNSS receiver with a laser ranging device and an electronic handbook;
and the handbook bracket is used for fixing the electronic handbook at a proper position on the centering rod.
7. The GNSS and laser ranging combined surveying system of any of the claims 4-6 wherein the centering rod is marked with a scale for identifying the length of the centering rod from its bottom.
8. The GNSS and laser ranging combined surveying system of claim 7, further comprising a graduated scale containing leveling bubbles, the scale surface being coated with a material that is conducive to laser light reflection.
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