CN106092094A - Hand receiver based on GNSS/INS/ laser ranging integrated positioning and measuring method - Google Patents

Abstract

The invention discloses hand receiver based on GNSS/INS/ laser ranging integrated positioning and measuring method, including housing and the range unit being arranged in housing hollow, described housing is T-shape, main body and the vertical handle tilted to the back-end including horizontal direction, the parallel above gun sight that is provided with of main body, described range unit includes that inertial navigation module is for obtaining the attitude measuring point；GNSS receiver module is used for receiving GNSS satellite signal；Kalman filter is for obtaining the attitude and coordinate information measuring point；Laser ranging module is for measuring the distance measured between point and impact point；Microprocessor according to measure point attitude and coordinate and and impact point between distance obtain impact point coordinate.The present invention makes user only need one-shot measurement can obtain coordinate of ground point information, reduces the work difficulty in field；When satellite-signal is more weak maybe cannot receive time, can by inertial navigation obtain measure point coordinates, improve work efficiency.

Description

Hand receiver based on GNSS/INS/ laser ranging integrated positioning and measuring method

Technical field

The present invention relates to a kind of be applied to field portable quick obtaining coordinates of targets information based on GNSS/INS/ Laser Measuring Away from the hand receiver of integrated positioning, further relate to the measuring method of this kind of hand receiver, belong to technical field of mapping.

Background technology

When actual field ground feature topographic feature survey, the circumstance complication of measurement is changeable, and the particular problem run into also is difficult to predict, Therefore it is required that instrument of surveying and mapping under the basic premise meeting basic accuracy must be requested that equipment has carries convenient, anti-interference Well, the advantages such as various complex environment ability is strong are tackled.At present, when working in the wild, use more for GNSS hand receiver (being called for short " GNSS hand-held set "), GNSS hand receiver, under ensureing preferable positioning precision, is also easy to carry.But, in reality During the field measurement of border, when being difficult to arrive by survey target, during as measured a stone of one piece of marine reef coordinate or mountain top, Hand-held set GNSS receiver is difficult to play a role, it is impossible to obtain the coordinate of target；Additionally, be frequently encountered by GNSS when mountain area operation Signal occlusion issue, causes hand-held GNSS receiver to use.

Summary of the invention

It is an object of the invention to overcome deficiency of the prior art, it is provided that a kind of based on GNSS/INS/ laser ranging The hand receiver of integrated positioning and measuring method, when solving operation in the wild in prior art, GNSS hand-held set is difficult to obtain The technical problem that cannot normally work when the more difficult coordinate arriving at impact point and GNSS signal difference.

For solving above-mentioned technical problem, the invention provides a kind of hands based on GNSS/INS/ laser ranging integrated positioning Holding receiver, it is characterized in that, including housing and the range unit being arranged in housing hollow, described housing is T-shape, including water Square to main body and the handle that vertically tilts to the back-end, the parallel above gun sight that is provided with of main body, described range unit bag Include inertial navigation module, GNSS receiver module, Kalman filter, microprocessor and be arranged on the laser ranging mould of body front end Block, wherein,

The outfan Connection Card Thalmann filter of inertial navigation module, for obtaining the attitude information measuring point；

The outfan Connection Card Thalmann filter of GNSS receiver module, is used for receiving GNSS satellite signal；

The outfan of Kalman filter connects microprocessor, for being merged with GNSS satellite signal by attitude information Obtain attitude and the coordinate information measuring point；

The outfan of laser ranging module connects microprocessor, for measuring the distance measured between point and impact point；

Microprocessor according to measure point attitude and coordinate and and impact point between distance obtain impact point coordinate.

Further, also including power module, power module output power supply to inertial navigation module, GNSS receive mould Block, Kalman filter, microprocessor and laser ranging module, described power module is arranged in the cavity of handle.

Further, also including display module, the input of display module connects microprocessor, and display module is display Device, described display is arranged on the rear end of main body.

Further, also including memory module, memory module connects microprocessor.

Further, also include GPRS wireless communication module, the outfan Connection Card Germania filter of GPRS wireless communication module Ripple device, for obtaining from CORS station or the GNSS difference information of base station；GPRS wireless communication module include communication antenna, GPRS module and SIM card holder, communication antenna connects GPRS module, and GPRS module connects SIM card holder, and SIM card holder outfan connects Kalman filter.

Further, inertial navigation module includes an inertial measurement cluster (IMU) and magnetometer, and IMU includes that three add Velocity sensor and three gyroscopes, IMU is placed in hand-held set centroid position, and hand-held set barycenter is calculating during whole measurement Reference origin, described three orthogonal settings of acceleration transducer, three orthogonal settings of gyroscope, IMU and the output of magnetometer End Connection Card Thalmann filter.

Further, described GNSS receiver module includes being sequentially connected in series GNSS reception antenna, preamplifier, converter With the signal processing circuit for amplifying Filtering Processing, the outfan Connection Card Thalmann filter of signal processing circuit.

Further, described laser ranging module includes generating laser, described generating laser is provided with corresponding its " switching " button of function, described button is positioned at the upper front end of handle.

Accordingly, present invention also offers a kind of measuring method using the above hand receiver, including following step Rapid:

Step one, obtains and measures some P₀Coordinate in rectangular coordinate system in spaceBow with hand-held set Elevation angle ε and yaw angle

Step 2, according to the transformational relation of rectangular coordinate system in space to earth coordinates, it is thus achieved that measure some P₀Sit at the earth Coordinate (B in mark system₀, L₀, H₀)；

Step 3, obtains and measures some P₀Spacing D with impact point S；

Step 4, according to measuring the angle of pitch ε of point, yaw angleObtain impact point S to measure some P₀Leading for initial point Boat coordinate system coordinate (x_S, y_S, z_S)；

Step 5, according to the transformational relation of navigational coordinate system Yu rectangular coordinate system, obtains impact point S at rectangular space coordinate Coordinate (X in system_S, Y_S, Z_S)。

Further, in described step 2, measure point coordinates be transformed into the calculating public affairs of earth coordinates from rectangular coordinate system Formula is:

$L=arctan\left(\frac{Y}{X}\right)---\left(1\right)$

$\left\{\begin{array}{c}\tan u=\frac{bZ}{ar}(1+a)\\ \tan B=\frac{Z+e^{\′2}b{\sin }^{3}u}{r-e^{2}a{\cos }^{3}u}\end{array}\right.---\left(2\right)$

$H=r\cos B+Z\sin B-a\sqrt{1-e^2{\sin }^{2}B}---\left(3\right)$

Wherein, r²=X²+Y², R=r²+Z², X is for measuring some X-axis coordinate in rectangular coordinate system, and Y is for measuring point at right angle Y-axis coordinate in coordinate system, Z is for measuring some Z axis coordinate in rectangular coordinate system, and a is semimajor axis of ellipsoid, b semiminor axis of ellipsoid, and e is First eccentricity of ellipsoid, e' is the second eccentricity of ellipsoid.

Further, in described step 4, impact point S is to measure some P₀Navigational coordinate system coordinate (x for initial point_S, y_S, z_S) it is:

Further, in described step 6, navigation coordinate is tied to the rotation parameter R of rectangular coordinate system and is:

Thus calculate S space of points rectangular coordinate (X_S, Y_S, Z_S) it is:

$\left(\begin{array}{c}{X}_S\\ Y_S\\ Z_S\end{array}\right)=\left(\begin{array}{c}{X}_{P_0}\\ Y_{P_0}\\ Z_{P_0}\end{array}\right)+R\left(\begin{array}{c}{x}_S\\ y_S\\ z_S\end{array}\right).$

Compared with prior art, the present invention is reached to provide the benefit that:

1) it is achieved with the more accurate coordinate information of target without direct contact target during user's operation in the wild, helps User obtains the coordinate information being difficult to arrive target；

2) user only needs one-shot measurement can obtain coordinate of ground point information, reduces the work difficulty in field；

3) when satellite-signal is more weak maybe cannot receive satellite-signal time, hand-held set coordinate can be obtained by inertial navigation system, protect Card user normally measures work, improves field work efficiency.

Accompanying drawing explanation

Fig. 1 is the structural representation of hand receiver of the present invention；

Fig. 2 is the principle assumption diagram of range unit of the present invention；

Fig. 3 is the cut-away view of inertial measurement cluster of the present invention；

Fig. 4 is the instrumentation plan of one embodiment of the invention；

Fig. 5 is navigation system attitude angle schematic diagram of the present invention；

Fig. 6 is rectangular coordinate system in space and the navigational coordinate system transition diagram of one embodiment of the invention impact point.

Reference: 1, inertial measurement cluster；2, magnetometer；3, acceleration transducer；4, gyroscope；5, Kalman filtering Device；6, GNSS reception antenna；7, preamplifier；8, converter；9, signal processing circuit；10, microprocessor；11, laser is sent out Emitter；12, beam splitter；13, illuminator；14, detector；15, preamplifier；16, main amplifier；17, gate circuit；18, time Clock agitator；19, enumerator；20, communication antenna；21, GPRS module；22, SIM card holder；23, display；24, memory module； 25, power module；26, button；27, gun sight.

Detailed description of the invention

The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating the present invention Technical scheme, and can not limit the scope of the invention with this.

As shown in Figure 1, Figure 2 with shown in Fig. 3, a kind of based on GNSS/INS/ laser ranging integrated positioning hand-held the connecing of the present invention Receipts machine (can be called for short " hand receiver " or " hand-held set " or " handheld terminal "), it is characterized in that, including housing and be arranged on shell Range unit in body cavity, described housing is T-shape, including main body and the vertical handle tilted to the back-end of horizontal direction, The parallel above gun sight 27 that is provided with of main body, described range unit includes inertial navigation module, GNSS receiver module, Kalman Wave filter 5, microprocessor 10 and be arranged on the laser ranging module of body front end, wherein,

The outfan Connection Card Thalmann filter 5 of inertial navigation module, for obtaining the attitude information measuring point；

The outfan Connection Card Thalmann filter 5 of GNSS receiver module, is used for receiving GNSS satellite signal；

The outfan of Kalman filter 5 connects microprocessor 10, for being carried out with GNSS satellite signal by attitude information Merge and obtain attitude and the coordinate information measuring point；

The outfan of laser ranging module connects microprocessor 10, for measuring the distance measured between point and impact point；

Microprocessor 10 according to measure point attitude and coordinate and and impact point between distance obtain impact point seat Mark.

The principle of the present invention be by one-shot measurement obtain the attitude of hand-held set and coordinate and and impact point between away from From, calculate and obtain impact point coordinate in rectangular coordinate system in space, without direct contact target when making user's operation in the wild It is achieved with the more accurate coordinate information of target, improves working performance, reduce work difficulty, simultaneously in the good feelings of satellite-signal Rely on GNSS to obtain under condition and measure point coordinates, rely on when satellite-signal is poor inertial navigation system to obtain and measure point coordinates, gram Take GNSS hand-held set in the case of satellite is second-rate, is difficult to the difficulty of work；The housing of hand receiver is T-shaped to be additionally provided with Being easy to the handle that user holds, volume the little user of being easy to carry.

Further, power module 25, power module 25 output power supply to GNSS receiver module, micro-process are also included Device and laser ranging module, as it is shown in figure 1, described power module 25 is arranged in the cavity of handle.Power module can use existing There is the power supply product of energy-conservation low-power consumption in technology.Power supply product is arranged in the cavity of handle, by high voltage power supply and main body Range unit electronic chip is isolated, and reduces electromagnetic interference；And power supply can increase the weight of handle portion, it is possible to keep T-shaped The stationarity of housing.When power module uses battery, it is arranged on handle position and is conveniently replaceable battery, if power supply product is for filling During electricity battery, it is arranged on handle position and also allows for opening the lower end of handle and utilize charging inlet to be charged for rechargeable battery.

Further, also including display module, the input of display module connects microprocessor, and display module is display 23, as it is shown in figure 1, described display 23 is arranged on the rear end of main body.Display module measures point and the seat of impact point for showing Mark information, it is simple to user observes, and display module can use LCD display in prior art, it would however also be possible to employ in prior art Touch screen.

Further, also include that memory module 24, memory module 24 connect microprocessor.Memory module is used for storing measurement Coordinate information, it is simple to consulting the coordinate information of each impact point after user, memory module can use depositing of prior art Reservoir, it is also possible to SD storage card or employing portable hard drive.

Further, microprocessor can select the single-chip microcomputer or FPGA that in prior art, disposal ability is the most low in energy consumption.

Further, also include that GPRS wireless communication module, GPRS wireless communication module include communication antenna 20, GPRS mould Block 21 and SIM card holder 22, as in figure 2 it is shown, hand receiver obtains base station or CORS (satellite by GPRS communication module Position service CORS) difference information broadcast, difference information includes that satellite orbital error corrects, atmospheric effect corrects Deng, difference information is exported Kalman filter 5, measures point coordinates by correcting the final high accuracy hand receiver that obtains.

Further, inertial navigation module is strapdown inertial navigation system (being called for short " inertial navigation "), including an inertia measurement Assembly (IMU) 1 and magnetometer 2, IMU is made up of with three gyroscopes 4 three acceleration transducers 3, and described three acceleration pass The orthogonal setting of sensor 3, three orthogonal settings of gyroscope 4, as it is shown on figure 3, IMU and magnetometer 2 outfan Connection Card Kalman Filtering Device.Acceleration transducer and gyroscope concrete position relation in the housing is as it is shown on figure 3, IMU is placed in hand-held set barycenter position Putting, hand-held set barycenter is the reference origin calculated during whole measurement.Inertial navigation module is strap-down inertial navigation system, Need an initialization procedure to set up the pass between hand-held set carrier fixed reference system and navigation coordinate system during location every time System, during initialization, the longitudinal axis that inertial reference system makes earth axes by self-calibration process and the acceleration one detected Causing (leveling), and measure horizontal earth rate thus tentatively judge azimuth (gyroscope 4), gaussmeter 2 determines for auxiliary Initial position, it is possible to by magnetic field of the earth offer direction reference, gyroscope 4 provider's parallactic angle changes with three-axis attitude angular velocity Rate, acceleration transducer 3 calculates the acceleration in three directions.

Further, described GNSS receiver module includes being sequentially connected in series GNSS reception antenna 6, preamplifier 7, frequency conversion Device 8 and for amplifying the signal processing circuit 9 of Filtering Processing, as in figure 2 it is shown, the outfan of signal processing circuit 9 connects karr Graceful wave filter.Faint energy from satellite is converted into the corresponding magnitude of current by GNSS reception antenna 6, by preamplifier 7 Being amplified by GNSS satellite signal, the intermediate frequency that high frequency satellite-signal frequency conversion is low one or two rank is believed by converter 8 by signal Number, finally by signalling channel 9 signal carried out further frequency conversion, amplify, a series of process such as filtering, it is achieved to GNSS signal Tracking, lock, measure, it is provided that calculate the data message of position (measurement point).

Further, as in figure 2 it is shown, described laser ranging module includes laser emitting portion: generating laser 11, light splitting Device 12, illuminator 13；Laser pick-off part: detector 14, preamplifier 15, main amplifier 16；And signal processing: door Circuit 17, clock oscillator 18, enumerator 19.During system range finding, generating laser 11 launches laser pulse signal, clock oscillation Device 18 constantly produces the calibration pulse signal T with intervals₀, enumerator 19 starts timing, and laser passes through beam splitter 12 are divided into two parts, and a part is launched and reflected to target object, and a part is launched by illuminator 13, two parts light final the most all by Detector 14 receives, and analogue signal becomes the signal of telecommunication, and the signal of telecommunication amplifies shaping by preamplifier 15 and main amplifier 16 Laggard enter microprocessor, gate circuit 17 closes, and timer 19 stops timing.By clock pulse time interval and pulse number phase Take advantage of, it is simply that main ripple and the time interval of echo, just obtain distance of finding range.

Further, described generating laser is provided with corresponding its and " switchs " button 26 of function, as it is shown in figure 1, institute State button 26 and be positioned at the upper front end of handle.

Embodiment one

First, it is settled that each coordinate system definition of present invention design.The coordinate system being applied to when measuring includes: carrier Fixed coordinate system, navigational coordinate system, topocentric coordinate system, earth coordinates, rectangular coordinate system in space,

1) hand-held set fixed coordinate system is with hand-held set barycenter as initial point, y^bAxle is consistent with hand-held set Laser emission axle, x^bAxle Laser emission axle is vertical, and taking the right hand is just, z^bAxle and the first two direction meet right-handed helix theorem；

2) navigational coordinate system is the coordinate system that inertial navigation module uses when solving coordinate, and initial point is hand-held set barycenter, xⁿ Direction is east to, yⁿAxle is that the north is to, zⁿAxle is plumb line direction；

3) topocentric coordinate system is consistent with the definition of navigational coordinate system, is the proprietary coordinate system of geodesic survey industry, is used for needing The solution other object of which movement rules observation website characteristics of motion centered by observer, here by navigational coordinate system and topocentric coordinates System is collectively referred to as navigational coordinate system；

4) coordinate system that during earth coordinates are geodesic survey, face is set up on the basis of reference ellipsoid.Topocentric Position geodetic longitude (L), geodetic latitude (B) and geodetic altitude (H) represent；

5) rectangular coordinate system in space is defined as initial point O and overlaps with earth centroid, and Z axis points to the earth arctic, and X-axis points to lattice Lin Nizhi meridian plane and the intersection point of terrestrial equator, Y-axis is perpendicular to XOZ plane and constitutes right-handed coordinate system.

With from foot of the hill P₀It is practical measuring examples that point measures mountain top point S, as shown in Figure 4.Measure and need before to connect the most hand-held Receipts machine is initially directed at, and after having initialized, by gun sight 27 run-home, utilizes firing button 26 to carry out Laser Measuring Amount, obtains distance D, and the yardstick of all coordinate systems related to of the present invention is the most identical, so distance D is united in different coordinates Under length constant, it is not necessary to mark particular system under distance.

Hand-held set P₀Coordinate obtain: all right at satellite, and in the case of difference information being received, hand-held set P₀Send out Penetrate the high-precision three-dimensional rectangular space coordinate of momentCan be obtained by difference GNSS/INS integrated positioning, And when satellite-signal all cannot receive with differential signal, hand-held set coordinate obtains also by inertial navigation system, it is ensured that hands Hold machine can normally work under severe wild environment.Inertial navigation system obtains the process of hand-held set coordinate All need to obtain hand-held set coordinate space at the preferable depletion region of signal by difference GNSS (if difference information can be received) Rectangular coordinate, the coordinate initial value calculated as inertial navigation, inertial navigation sets up carrier fixed coordinate system with initial point for initial point, with newton Based on mechanics theorem, by accelerometer acquisition hand-held set at the acceleration of carrier fixed coordinate system, the time is carried out by it Quadratic integral obtains carrier fixed coordinates, is transformed to navigational coordinate system (carrier fixed coordinate system and navigational coordinate system afterwards Conversion can by gyroscope measure the angle of roll of hand-held set, the angle of pitch, yaw angle rotate realize), finally hand-held set is led Boat Coordinate Conversion is to changing to rectangular space coordinate.

SINS provides hand receiver attitude now.Fig. 5 is attitude angle (yaw angle, roll angle, pitching Angle) schematic diagram: angle of pitch ε (pitch) is carrier fixed coordinate system y^bAxle and xⁿ、yⁿThe angle of plane；Yaw angle(yaw) it is Carrier fixed coordinate system y^bAxle is at xⁿ、yⁿProjection and navigational coordinate system y in planeⁿAxle is (at xⁿ、yⁿIn plane, pointing to target is just) Between angle；Roll angle Φ (roll) is carrier fixed coordinate system z^bAxle with by carrier y^bAngle between the vertical guide of axle.Logical Cross inertial navigation and obtain the angle of pitch ε of hand-held set, yaw angleI.e. during hand-held set run-home, hand-held set sighted direction is at xⁿ、yⁿFlat With the north of hand-held set navigational coordinate system to (y on faceⁿAxle) angleWith xⁿ、yⁿThe angle ε of plane.

Point P is measured according to known₀Coordinate and calculate the detailed process of coordinate of ground point with the spacing of impact point S For:

First obtain and measure some coordinate (B in earth coordinates₀, L₀, H₀), between rectangular space coordinate and geodetic coordinates Relation following formula shown in:

$L=arctan\left(\frac{Y}{X}\right)---\left(1\right)$

$\left\{\begin{array}{c}\tan u=\frac{bZ}{ar}(1+a)\\ \tan B=\frac{Z+e^{\′2}b{\sin }^{3}u}{r-e^{2}a{\cos }^{3}u}\end{array}\right.---\left(2\right)$

$H=r\cos B+Z\sin B-a\sqrt{1-e^2{\sin }^{2}B}---\left(3\right)$

Wherein, r²=X²+Y², R=r²+Z², X is for measuring some X-axis coordinate in rectangular coordinate system, and Y is for measuring point at right angle Y-axis coordinate in coordinate system, Z is for measuring some Z axis coordinate in rectangular coordinate system, and a is semimajor axis of ellipsoid, b semiminor axis of ellipsoid, and e is First eccentricity of ellipsoid, e' is the second eccentricity of ellipsoid.Therefore P can be obtained₀Geodetic coordinates (the B of point₀, L₀, H₀)。

S point is with P₀Point is the navigational coordinate system coordinate S (x of initial point_S, y_S, z_S) as shown in formula (4).

Again the navigation coordinate of S point is converted to rectangular space coordinate, as shown in Figure 6, first by navigational coordinate system axle around z Axle rotates L counterclockwise₀, turn (90 ° of+B further around y-axis₀), two coordinate system rotation parameter R can be obtained, as shown in formula (5).

Thus calculate S space of points rectangular coordinate (X_S, Y_S, Z_S), as shown in formula (6).

$\left(\begin{array}{c}{X}_S\\ Y_S\\ Z_S\end{array}\right)=\left(\begin{array}{c}{X}_{P_0}\\ Y_{P_0}\\ Z_{P_0}\end{array}\right)+R\left(\begin{array}{c}{x}_S\\ y_S\\ z_S\end{array}\right)---\left(6\right)$

To sum up, when measuring based on this equipment, equipment run-home obtains impact point and survey by laser range finder The spacing of amount point, utilizes instantaneous hand-held set coordinate and hand-held set attitude that GNSS/INS integrated positioning obtains, finally will be away from Substitute into formula (1)-(6) from information, coordinate information and attitude information to resolve, finally obtain coordinate of ground point, only reach Need one-shot measurement and without the most scalable purpose of arrival, improve work efficiency, reduce task difficulty.

The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and modification, these improve and modification Also should be regarded as protection scope of the present invention.

Claims (10)

1. a hand receiver based on GNSS/INS/ laser ranging integrated positioning, is characterized in that, including housing and being arranged on Range unit in housing hollow, described housing is T-shape, including main body and the vertical hands tilted to the back-end of horizontal direction Handle, the parallel above gun sight that is provided with of main body, described range unit includes inertial navigation module, GNSS receiver module, karr Graceful wave filter, microprocessor and be arranged on the laser ranging module of body front end, wherein,

The outfan Connection Card Thalmann filter of inertial navigation module, for obtaining the attitude information measuring point；

The outfan Connection Card Thalmann filter of GNSS receiver module, is used for receiving GNSS satellite signal；

The outfan of Kalman filter connects microprocessor, obtains for carrying out merging by attitude information and GNSS satellite signal Measure attitude and the coordinate information of point；

The outfan of laser ranging module connects microprocessor, for measuring the distance measured between point and impact point；

Microprocessor according to measure point attitude and coordinate and and impact point between distance obtain impact point coordinate.

A kind of hand receiver based on GNSS/INS/ laser ranging integrated positioning the most according to claim 1, its feature It is also to include power module, power module output power supply to inertial navigation module, GNSS receiver module, Kalman filtering Device, microprocessor and laser ranging module, described power module is arranged in the cavity of handle.

A kind of hand receiver based on GNSS/INS/ laser ranging integrated positioning the most according to claim 1, its feature Being also to include display module, the input of display module connects microprocessor, and display module is display, and described display sets Put the rear end in main body.

A kind of hand receiver based on GNSS/INS/ laser ranging integrated positioning the most according to claim 1, its feature Being also to include memory module, memory module connects microprocessor.

A kind of hand receiver based on GNSS/INS/ laser ranging integrated positioning the most according to claim 1, its feature It is also to include GPRS wireless communication module, the outfan Connection Card Thalmann filter of GPRS wireless communication module, it is used for obtaining From CORS station or the GNSS difference information of base station.

A kind of hand receiver based on GNSS/INS/ laser ranging integrated positioning the most according to claim 1, its feature It is that inertial navigation module includes an inertial measurement cluster and a magnetometer, and wherein inertial measurement cluster includes three acceleration Degree sensor, three gyroscopes, described three orthogonal settings of acceleration transducer, three orthogonal settings of gyroscope, IMU and magnetic force The outfan Connection Card Thalmann filter of meter, IMU is placed in the centroid position of hand receiver.

A kind of hand receiver based on GNSS/INS/ laser ranging integrated positioning the most according to claim 1, its feature It is that described laser ranging module includes generating laser, generating laser is provided with corresponding its and " switchs " button of function, institute State button and be positioned at the upper front end of handle.

8. a measuring method for hand receiver based on GNSS/INS/ laser ranging integrated positioning, is characterized in that, including with Lower step:

Step one, obtains and measures some P₀Coordinate in rectangular coordinate system in spaceWith hand-held set angle of pitch ε And yaw angle

Step 2, according to the transformational relation of rectangular coordinate system in space to earth coordinates, it is thus achieved that measure some P₀In earth coordinates Coordinate (B₀, L₀, H₀)；

Step 3, obtains and measures some P₀Spacing D with impact point S；

Step 4, according to measuring the angle of pitch ε of point, yaw angleObtain impact point S to measure some P₀Navigation for initial point is sat Mark system coordinate (x_S, y_S, z_S)；

Step 5, according to the transformational relation of navigational coordinate system Yu rectangular coordinate system, obtains impact point S in rectangular coordinate system in space Coordinate (X_S, Y_S, Z_S)。

The measurement of a kind of hand receiver based on GNSS/INS/ laser ranging integrated positioning the most according to claim 8 Method, is characterized in that, in described step 4, impact point S is to measure some P₀Navigational coordinate system coordinate (x for initial point_S, y_S, z_S) it is:

The measurement of a kind of hand receiver based on GNSS/INS/ laser ranging integrated positioning the most according to claim 8 Method, is characterized in that, in described step 6, navigation coordinate is tied to the rotation parameter R of rectangular coordinate system and is:

Thus calculate S space of points rectangular coordinate (X_S, Y_S, Z_S) it is:

$\left(\begin{array}{c}{X}_S\\ Y_S\\ Z_S\end{array}\right)=\left(\begin{array}{c}{X}_{P_0}\\ Y_{P_0}\\ Z_{P_0}\end{array}\right)+R\left(\begin{array}{c}{x}_S\\ y_S\\ z_S\end{array}\right).$