CN105652281A - Method and system for photoelectric ranging meteorological correction - Google Patents
Method and system for photoelectric ranging meteorological correction Download PDFInfo
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- CN105652281A CN105652281A CN201610113744.3A CN201610113744A CN105652281A CN 105652281 A CN105652281 A CN 105652281A CN 201610113744 A CN201610113744 A CN 201610113744A CN 105652281 A CN105652281 A CN 105652281A
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
Abstract
The invention provides a method and system for photoelectric ranging meteorological correction. An unmanned aerial vehicle and a corresponding ground control module are arranged, and wireless communication of a ground control system and the unmanned aerial vehicle is established; a communication module, a GNSS module, a temperature sensor, a barometric sensor, a humidity sensor and a storage module are arranged on the unmanned aerial vehicle in a carrying mode; the unmanned aerial vehicle flies back and forth along a designed air route, a photoelectric ranging instrument performs repeated ranging on a target point many times in the period, and meteorological elements on a ranging signal transmission route are measured while ranging is performed; the average value of temperature, barometric pressure, humidity and distance is solved, and meteorological correction is achieved. The system is simple in structure, and labor division of modules is clear, steps of the method are clear, and the scheme can be achieved easily. By means of the method and system, the meteorological elements on the ranging signal transmission route can be accurately measured, meteorological element representativeness in the prior art can be greatly reduced, and therefore photoelectric ranging precision is improved, and a reliable guarantee is provided for high-precision measurement.
Description
Technical field
The invention belongs to geodesic survey and engineering survey field, relate in particular to a kind of method for electro-optical distance measurement atmospheric correction and beSystem.
Background technology
Current, electro-optical distance measurement is applied to geodesic survey and engineering survey field widely. So-called electro-optical distance measurement comprises electromagnetic wave surveyDistance, laser ranging and infrared light range finding, typical instrument comprises laser range finder, total powerstation, three-dimensional laser scanner etc. ByIn the time that light wave or electromagnetic wave are propagated in atmosphere, can to produce the change of speed and cause the impact of can not ignore, therefore in order to obtainHigh-precision range finding result, the observation of need to adjusting the distance applies atmospheric correction. Due to the restriction of condition, the most frequently used method at presentBe to measure the Meteorological Elements such as dry humidity and air pressure at instrument and target place, the mean value substitution formula of then getting two places calculates simultaneouslyAtmospheric correction. Because distributing, the Meteorological Elements on distance measuring signal actual propagation path do not have fixing rule, thereby this methodError larger, particularly, in the time of the skewness of atmosphere, will bring great error to range finding.
Summary of the invention
For addressing the above problem, the invention provides the Meteorological Elements on a kind of Accurate Measurement distance measuring signal propagation path and calculate lightElectrical measurement is apart from the method and system of atmospheric correction.
Technical solution of the present invention provides a kind of method for electro-optical distance measurement atmospheric correction, and unmanned plane and corresponding ground control mould are setPiece, ground control system and unmanned plane are set up wireless telecommunications; On described unmanned plane, carry arrange communication module, GNSS module,Temperature sensor, baroceptor, humidity sensor and memory module;
Carry out following steps,
Step 1, obtains the rough coordinates of electro-optical distance measuring instrument and impact point, and obtains the two determined linear equation, asThe design course line of unmanned plane during flying;
Step 2, will design course line input ground control module, and relevant parameter is set, and relevant parameter comprises between Meteorological Elements samplingCome and go number of times every, flying speed and flight;
Step 3, unmanned plane is along design course line shuttle flight, and electro-optical distance measuring instrument repeatedly repeats for impact point during this periodRange finding is measured the Meteorological Elements on distance measuring signal propagation path in range finding simultaneously;
Measuring the implementation of Meteorological Elements is, in the time that electro-optical distance measuring instrument starts to find range, and at electro-optical distance measuring instrument or target proximity,Open communication module, GNSS module, temperature sensor, baroceptor, humidity sensor, the storage of unmanned plane and lift-launchModule, let fly away unmanned plane make its according to design airline operation, and by the sampling interval by obtained time, coordinate, temperature, gasPressure, humidity information write memory module;
Step 4, according to the temperature of obtaining, air pressure, moisture measurement value, asks for corresponding mean value respectively, as distance measuring signalAverage Meteorological Elements measured value on propagation path; Total powerstation range finding during unmanned plane during flying, from averaged, is rejectedRough error, as distance value D to be corrected0；
Step 5, the temperature that step 4 gained is asked for, air pressure, humidity, the default atmospheric correction formula of range averaging value substitution,Calculate atmospheric correction value Δ D;
Step 6, puts on distance value D to be corrected by atmospheric correction value Δ D0, obtain the distance value D=D after correcting0+ΔD，Complete atmospheric correction.
And, in step 1, described linear equation is added to a deviant as design course line, the design course line before and after skewKeeping parallelism.
And in step 3, unmanned plane, by communication module, sends observation to ground control system, for ground observation peopleMember checks and as Backup Data.
And in step 3, unmanned plane is every one section of predeterminable range hovering a period of time, so that temperature sensor, air pressure sensingDevice and humidity sensor adapt to the atmospheric environment of hovering position.
And in step 3, unmanned plane is every one section of predeterminable range hovering a period of time, so that temperature sensor, air pressure sensingDevice and humidity sensor adapt to the atmospheric environment of hovering position.
For a system for electro-optical distance measurement atmospheric correction, comprise following part,
Ground control module, for controlling the state of flight of unmanned plane;
Unmanned plane, for flying along distance measuring signal propagation path;
Communication module, for the data interaction between unmanned plane and ground control module;
GNSS module, for coordinate and temporal information are provided, comprise antenna and receives board;
Temperature sensor, for measuring the temperature of current location;
Baroceptor, for measuring the air pressure of current location;
Humidity sensor, for measuring the humidity of current location;
Memory module, for recording aforesaid time, coordinate, temperature, air pressure, humidity information;
Described ground control system and unmanned plane are set up wireless telecommunications; Described communication module, GNSS module, temperature sensor,Baroceptor, humidity sensor and memory module are all equipped on unmanned plane.
And, automatic Pilot module is set, and is equipped on unmanned plane.
And the precision of described temperature sensor reaches 0.2 DEG C, the precision of described baroceptor reaches 0.5hpa, described humidityThe precision of sensor reaches 10%.
And described GNSS module adopts difference locate mode, described difference locate mode be single base station RTK, network RTK,Single base station RTD, network RTD, GPS wide area differential GPS, spaceborne difference, post processing pseudo range difference or post processing phase difference.
And described GNSS module adopts difference locate mode, described difference locate mode be single base station RTK, network RTK,Single base station RTD, network RTD, GPS wide area differential GPS, spaceborne difference, post processing pseudo range difference or post processing phase difference.
The invention provides a kind of method and system for electro-optical distance measurement atmospheric correction, system architecture is simple, and the module division of labor is clear and definite;Method step is clear, and scheme is easy to realize. The present invention can accurately measure the Meteorological Elements on distance measuring signal propagation path, canGreatly to reduce Meteorological Elements representive error of the prior art, thereby the precision of raising electro-optical distance measurement is high-acruracy surveyReliable guarantee is provided.
Brief description of the drawings
Fig. 1 is that the embodiment of the present invention forms schematic diagram for the system of electro-optical distance measurement atmospheric correction.
Fig. 2 is the method flow diagram of the embodiment of the present invention for electro-optical distance measurement atmospheric correction.
Fig. 3 is embodiments of the invention application schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical solution of the present invention is described.
Core concept of the present invention is to utilize unmanned plane to measure the Meteorological Elements of each point on distance measuring signal propagation path, thereby eliminatesThe Meteorological Elements representive error that traditional technology method brings.
Distance measuring signal of the present invention comprises electromagnetic wave, laser, infrared light, and described electro-optical distance measuring instrument refers to and uses aforementioned range findingThe instrument that at least one signal in signal is found range, sweeps including but not limited to laser range finder, total powerstation, three-dimensional laserRetouch instrument.
Referring to Fig. 1, the embodiment of the present invention provides a kind of system for electro-optical distance measurement atmospheric correction, comprising:
Ground control module 12, for controlling the state of flight of unmanned plane; Unmanned plane 11, for flying along distance measuring signal propagation pathOK; Communication module 13, for the data interaction between unmanned plane and ground control module; GNSS module 14, further comprisesAntenna and reception board, for coordinate and temporal information are provided, antenna and dash receiver link and connect; Temperature sensor 15, for surveyingThe temperature of settled front position; Baroceptor 16, for measuring the air pressure of current location; Humidity sensor 17, works as for measuringThe humidity of front position; Memory module 18, for recording aforesaid time, coordinate, temperature, air pressure, humidity information. Described groundFace control system 12 and unmanned plane 11 carry out communication by radio communication mode; Described communication module 13, GNSS module 14,Temperature sensor 15, baroceptor 16, humidity sensor 17, memory module 18 are all equipped on unmanned plane 11. SpecificallyWhen enforcement, each several part can adopt existing procucts. Because unmanned plane 11 volumes are little, it is convenient to move flexibly, manipulate, and be equipped with GNSSLocation, therefore can be accurately according to predetermined airline operation. Unmanned plane 11 is generally built-in with central processing element, communication module13, GNSS module 14, temperature sensor 15, baroceptor 16, humidity sensor 17, memory module 18 respectively with inCentre process chip connects, and realizes the controls such as data acquisition storage. Prebriefed pattern is according to the rough coordinates of electro-optical distance measuring instrument and targetGenerate, and the rough coordinates of electro-optical distance measuring instrument and target can obtain by multiple prior art in advance easily, comprises useGNSS method or electro-optical distance measuring instrument are measured (now can adopt for the time being prior art for the correction of distance), and its precision does not needToo high, reach decimetre even meter level it is enough; Described geodimeter comprises laser range finder, total powerstation, 3 D laser scanningInstrument etc. in employing electromagnetic wave near the ground, laser, infrared light at least one signal as the instrument of distance measuring signal.
As preferably, unmanned plane can further carry automatic Pilot module 19, so as its can with ground control system communicationInterrupt, even do not need in the situation of ground control system, still can be according to projected path and scheme flight.
As preferably, the precision of temperature sensor 15 should reach 0.2 DEG C, and the precision of baroceptor should reach 0.5hpa, wetThe precision of degree sensor should reach 10%, to guarantee surveyed Meteorological Elements and the precision of the atmospheric correction value that calculates thus.
As preferably, GNSS module 14 can further adopt difference locate mode, and described difference locate mode comprises single base stationRTK, network RTK, single base station RTD, network RTD, GPS wide area differential GPS, spaceborne difference, post processing pseudo range difference, post processingPhase difference grades, and adopts difference locate mode further to improve GNSS positioning precision, makes course line more accurately approach range finding letterNumber propagation path.
In the present embodiment, unmanned plane adopts four rotor types; GNSS module 14 comprises GNSS antenna and receives board, whereinGNSS antenna is fixed on unmanned plane top, and dash receiver is placed in unmanned plane inside, GNSS location Adoption Network RTK method,Thereby can obtain in real time the coordinate of cm class precision; Each sensor accuracy that unmanned plane carries is: temperature sensor precision0.1 DEG C, baroceptor precision 0.3hPa, humidity sensor precision 10%; Memory module internal memory 8G; Unmanned plane simultaneously withAutomatic Pilot module, will design course line and relative parameters setting and can realize automated intelligent flight after good.
While realizing the method that is used for electro-optical distance measurement atmospheric correction, only unmanned plane and corresponding ground operational module, ground control need be setSystem and unmanned plane are set up wireless telecommunications; On described unmanned plane, carry arrange communication module, GNSS module, temperature sensor,Baroceptor, humidity sensor and memory module. Referring to Fig. 2, in an embodiment, total powerstation 21 for determining instrument to orderThe distance at mark place 22, described impact point 22 is added has reflecting prism, reflecting prism and total powerstation 21 to be all placed in observation pier 23Upper, for reducing the Meteorological Elements representive error of traditional measurement method, the present embodiment adopts following steps:
Step 1, obtains the rough coordinates of electro-optical distance measuring instrument and impact point, and obtains the two determined linear equation, asThe design course line 31 of unmanned plane during flying; On described impact point, can set up reflecting prism, reflector plate or directly utilize object self tableFace reflection distance measuring signal, the precision of described rough coordinates is 10 meters of left and right:
As preferably, can add a deviant to linear equation described in step 1, the course line keeping parallelism before and after skew,The direction of its skew can be at the arbitrary orientation of former straight line, so that total powerstation can be found range without barrier when unmanned plane during flying.
In embodiment, measure the coordinate of total powerstation 21 and impact point 22 by network RTK method, precision ± 2cm; To the two seatMark applies identical a, side-play amount of 2m vertically upward, then obtains the two determined straight line sides of place's coordinate according to mathematical methodThe design course line of Cheng Zuowei unmanned plane during flying.
Step 2, will design course line input ground control module, set Meteorological Elements sampling interval, flying speed, flight pastReturn the parameters such as number of times:
In embodiment, will design course line input ground control module 12 and automatic Pilot module 19, arrange each meteorological sensor 15,16,17 sampling interval is 5 seconds, GPGGA information output (comprising coordinate and temporal information) interval of GNSS module 14Be 1 second, 2 meters per second of unmanned plane 11 flying speeds be set, come and go each flight 1 time. GPGGAG is the main of GPS locationData are also to use the widest data.
Step 3, unmanned plane is along design course line shuttle flight, and electro-optical distance measuring instrument repeatedly repeats for impact point during this periodRange finding, measure the Meteorological Elements on distance measuring signal propagation path in range finding simultaneously:
Range finding implementation be, unmanned plane along design course line shuttle flight, electro-optical distance measuring instrument repeatedly repeats during this periodRange finding, until unmanned plane during flying finishes; The single range finding of described geodimeter, it is consuming time conventionally between 1～5 second, but anti-Repetition measurement amount repeatedly can improve the reliability of result, when using when total powerstation, and also can simultaneous observation horizontal angle, vertical angle:
In embodiment, unmanned plane is along design course line shuttle flight, and electro-optical distance measuring instrument repeatedly repeats range finding during this period, everyMinor tick 30 seconds, until unmanned plane during flying finishes.
Measuring the implementation of Meteorological Elements is, in the time that electro-optical distance measuring instrument starts to find range, and at electro-optical distance measuring instrument or target proximity,Open unmanned plane power and lift-launch thereof communication module, GNSS module, temperature sensor, baroceptor, humidity sensor,Memory module, lets unmanned plane fly away and makes it according to design airline operation, and by aforementioned sample interval by obtained time, coordinate,Temperature, air pressure, humidity information write memory module.
As preferably, unmanned plane is by communication module, sends observation to ground control system with the time interval of presetting,Check and as Backup Data for ground observation personnel.
As preferably, unmanned plane was set to every one period of predeterminable range hovering a period of time, so that aforementioned temperature sensor, air pressureSensor, humidity sensor can adapt to better the to hover atmospheric environment of position provides meteorological more accurately in each hover pointElements are contained value.
In embodiment, total powerstation 21 range findings are set to fly to synchronize with unmanned plane 11 carry out; In the time that total powerstation 11 starts to find range,Near total powerstation 21, open unmanned plane 11 power and lift-launch thereof communication module 13, GNSS module 14, temperature sensor 15,Baroceptor 16, humidity sensor 17, memory module 18, let unmanned plane 11 fly away and make it according to design airline operation, described inDesign course line will exceed about 2m than distance measuring signal propagation path, but this is apart from concerning the mensuration of Meteorological Elements, its representative mistakeDifference can be ignored, and by aforementioned sample interval, obtained time, coordinate, temperature, air pressure, humidity information is write to memory module18, described information exchange is crossed to communication system simultaneously and be sent in real time ground control module 12.
Step 4, according to the temperature of obtaining, air pressure, moisture measurement value, asks for mean value separately, propagates as distance measuring signalAverage Meteorological Elements measured value on path; By total powerstation during unmanned plane during flying range finding from averaged, excluding gross error,As distance value D to be corrected0. When concrete enforcement, elimination of rough difference can adopt prior art, and it will not go into details in the present invention.
Step 5, the temperature that abovementioned steps 4 gained are asked for, air pressure, humidity, the default atmospheric correction of range averaging value substitutionFormula, the atmospheric correction formula that can adopt electro-optical distance measuring instrument manufacturer to provide while specifically enforcement, calculates atmospheric correction value Δ D; ByIn the distance measuring signal wavelength of each apparatus manufacture, every kind of instrument and all variant with reference to Meteorological Elements, atmospheric correction computing formula is eachNot identical, can consult instrument product description and confirm:
In embodiment, the meteorology that the aforementioned temperature of asking for, air pressure, humidity mean value substitution electro-optical distance measuring instrument manufacturer are provided changesPositive formula, calculates atmospheric correction value Δ D, and the atmospheric correction formula that producer provides is (unit is ppm):
ΔD＝ΔD′·D0·10-6
Wherein, Δ D ' is proportionality coefficient, and p represents atmospheric gas pressure (hPa), t represent atmospheric temperature (DEG C), e represents relative humidity (%),α＝1/273.16。
Step 6, puts on distance value D to be corrected by atmospheric correction value Δ D0, obtain the distance value D=D after correcting0+ΔD，Complete atmospheric correction.
When concrete enforcement, above step can adopt computer software technology to realize operation automatically.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit. The skill of the technical field of the inventionArt personnel can make various amendments or supplement or adopt similar mode to substitute described specific embodiment, but notCan depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (10)
1. for a method for electro-optical distance measurement atmospheric correction, it is characterized in that: unmanned plane and corresponding ground operational module are set, groundControl system and unmanned plane are set up wireless telecommunications; On described unmanned plane, carry communication module, GNSS module, TEMP are setDevice, baroceptor, humidity sensor and memory module;
Carry out following steps,
Step 1, obtains the rough coordinates of electro-optical distance measuring instrument and impact point, and obtains the two determined linear equation, asThe design course line of unmanned plane during flying;
Step 2, will design course line input ground control module, and relevant parameter is set, and relevant parameter comprises between Meteorological Elements samplingCome and go number of times every, flying speed and flight;
Step 3, unmanned plane is along design course line shuttle flight, and electro-optical distance measuring instrument repeatedly repeats for impact point during this periodRange finding is measured the Meteorological Elements on distance measuring signal propagation path in range finding simultaneously;
Measuring the implementation of Meteorological Elements is, in the time that electro-optical distance measuring instrument starts to find range, and at electro-optical distance measuring instrument or target proximity,Open communication module, GNSS module, temperature sensor, baroceptor, humidity sensor, the storage of unmanned plane and lift-launchModule, let fly away unmanned plane make its according to design airline operation, and by the sampling interval by obtained time, coordinate, temperature, gasPressure, humidity information write memory module;
Step 4, according to the temperature of obtaining, air pressure, moisture measurement value, asks for corresponding mean value respectively, as distance measuring signalAverage Meteorological Elements measured value on propagation path; Total powerstation range finding during unmanned plane during flying, from averaged, is rejectedRough error, as distance value D to be corrected0；
Step 5, the temperature that step 4 gained is asked for, air pressure, humidity, the default atmospheric correction formula of range averaging value substitution,Calculate atmospheric correction value Δ D;
Step 6, puts on distance value D to be corrected by atmospheric correction value Δ D0, obtain the distance value D=D after correcting0+ΔD，Complete atmospheric correction.
2. according to claim 1 for the method for electro-optical distance measurement atmospheric correction, it is characterized in that: in step 1, to described straight lineEquation adds a deviant as design course line, the design course line keeping parallelism before and after skew.
According to described in claim 1 or 2 for the method for electro-optical distance measurement atmospheric correction, it is characterized in that: in step 3, unmanned planeBy communication module, send observation to ground control system, check and as Backup Data for ground observation personnel.
According to described in claim 1 or 2 for the method for electro-optical distance measurement atmospheric correction, it is characterized in that: in step 3, unmanned planeEvery one period of predeterminable range hovering a period of time, so that temperature sensor, baroceptor and humidity sensor adapt to hovering positionAtmospheric environment.
5. according to claim 3 for the method for electro-optical distance measurement atmospheric correction, it is characterized in that: in step 3, unmanned plane everyOne period of predeterminable range hovering a period of time, so that temperature sensor, baroceptor and humidity sensor adapt to the large of hovering positionCompression ring border.
6. for a system for electro-optical distance measurement atmospheric correction, it is characterized in that: comprise following part,
Ground control module, for controlling the state of flight of unmanned plane;
Unmanned plane, for flying along distance measuring signal propagation path;
Communication module, for the data interaction between unmanned plane and ground control module;
GNSS module, for coordinate and temporal information are provided, comprise antenna and receives board;
Temperature sensor, for measuring the temperature of current location;
Baroceptor, for measuring the air pressure of current location;
Humidity sensor, for measuring the humidity of current location;
Memory module, for recording aforesaid time, coordinate, temperature, air pressure, humidity information;
Described ground control system and unmanned plane are set up wireless telecommunications; Described communication module, GNSS module, temperature sensor,Baroceptor, humidity sensor and memory module are all equipped on unmanned plane.
7. according to claim 6 for the system of electro-optical distance measurement atmospheric correction, it is characterized in that: automatic Pilot module is set, andBe equipped on unmanned plane.
According to described in claim 6 or 7 for the system of electro-optical distance measurement atmospheric correction, it is characterized in that: described temperature sensorPrecision reaches 0.2 DEG C, and the precision of described baroceptor reaches 0.5hpa, and the precision of described humidity sensor reaches 10%.
According to described in claim 6 or 7 for the system of electro-optical distance measurement atmospheric correction, it is characterized in that: described GNSS module is adoptedUse difference locate mode, described difference locate mode be single base station RTK, network RTK, single base station RTD, network RTD,GPS wide area differential GPS, spaceborne difference, post processing pseudo range difference or post processing phase difference.
10. according to claim 8 for the system of electro-optical distance measurement atmospheric correction, it is characterized in that: it is poor that described GNSS module adoptsDivide locate mode, described difference locate mode is single base station RTK, network RTK, single base station RTD, network RTD, wide areaDifference, spaceborne difference, post processing pseudo range difference or post processing phase difference.
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| CN113899356B (en) * | 2021-09-17 | 2023-08-18 | 武汉大学 | Non-contact mobile measurement system and method |
| CN114265435A (en) * | 2021-12-27 | 2022-04-01 | 海兴东方新能源发电有限公司 | Method, system and device for realizing accurate landing of rotor unmanned aerial vehicle in multi-airport |
| CN115047916A (en) * | 2022-07-25 | 2022-09-13 | 南方电网电力科技股份有限公司 | Unmanned aerial vehicle control method, airborne terminal, electronic equipment and storage medium |
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