CN106988312B - Mechanical equipment correction to centre method and system based on Beidou direction and location technology - Google Patents
Mechanical equipment correction to centre method and system based on Beidou direction and location technology Download PDFInfo
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- CN106988312B CN106988312B CN201710271590.5A CN201710271590A CN106988312B CN 106988312 B CN106988312 B CN 106988312B CN 201710271590 A CN201710271590 A CN 201710271590A CN 106988312 B CN106988312 B CN 106988312B
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- mechanical equipment
- beidou
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- dipper satellite
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
- E02D13/04—Guide devices; Guide frames
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
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- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
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- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to the mechanical equipment correction to centre method and system based on Beidou direction and location technology, method includes: to send real-time stream to the Beidou direction and location receiver to orient and position by the Beidou receiver, the Beidou direction and location receiver includes: the first Big Dipper satellite signal receiving antenna R1 and the second Big Dipper satellite signal receiving antenna R2, and the bottom end of the mechanical equipment is directed at known stake point T0It is calibrated, and above-mentioned car body is calculated relative to direction change amount when calibrating for the first time by the Beidou receiver in looking for point process, it is counted in stating plane vector of the first Big Dipper satellite signal receiving antenna R1 relative to target point according to the direction change meter, be calculated: the first Big Dipper satellite signal receiving antenna and target point T1Target point is found after being adjusted in distance and direction in engineering coordinate system, position and orientation to the mechanical equipment of the first Big Dipper satellite signal receiving antenna of installation.High-precision searching target point can be realized convenient for control mechanical equipment in Specific construction setting-out using method of the invention, be convenient for automatic operation.
Description
Technical field
The present invention relates to Beidou positioning and directing fields and Mechanical course field, in particular to are based on Beidou direction and location technology
Mechanical equipment correction to centre method and system, method can convenient for control mechanical equipment be realized in Specific construction setting-out it is high-precision
The searching target point of degree is convenient for automatic operation.
Background technique
Chinese Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS) be China from
The Global Satellite Navigation System that row is developed.It is after american global positioning system (GPS), Russian Glonass satellite navigation system
(GLONASS) satellite navigation system of third maturation after.Beidou Navigation System is the China domestic area navigation system of covering
System, about 70 °~140 ° of coverage area east longitude, 5 °~55 ° of north latitude.The positioning and directing technology of Chinese Beidou satellite navigation system belongs to
A kind of high-precision solution: the vector being made up of two or more GNSS antennas, while realizing high accuracy positioning,
High-precision azimuth information can also be measured, can be used for the positioning and directing of all kinds of motion carriers and surveys appearance.
Although Beidou positioning and directing technology is applied to Mechanical course process and has obtained big rule extensively at present in engineering construction
The use of mould, but some specific demands in reply engineering are unable to satisfy, and for example solve the mechanical equipment operation controlled
The problem of middle realization high-precision searching target point, to carry out setting-out and construction according to design requirement, to need to installation
The mechanical equipment of positioning and directing receiving device carries out correction to centre.For this purpose, there is a set of effective solution to be supplied.
Solution in the actual engineering construction is, to obtain under the construction coordinate system of the mechanical equipment controlled place
Orientation and position generally can set up total station on the known control point under construction coordinate system, then set to the machinery controlled
Prism is observed in standby upper installation, is observed using total station angle and distance measuring to obtain orientation and position.It but has the disadvantage that: cannot be real-time
The direction and position of mechanical equipment are obtained, observation slowly, can not automatically control mechanical equipment and find layout point, precision is difficult to protect
Card, observation is complicated, needs to spend biggish human cost and time cost.
Summary of the invention
To solve the above-mentioned problems, the present invention provides control mechanical equipment can be convenient for realize in Specific construction setting-out
High-precision searching target point, convenient for the mechanical equipment correction to centre method of automatic operation.
Based on above-mentioned, the present invention provides the mechanical equipment correction to centre methods based on Beidou direction and location technology, including
Following step:
A Beidou receiver is arranged in known location point in S1, by the Beidou receiver to the north to orient and position
The direction and location receiver that struggles against sends real-time stream, and the Beidou direction and location receiver includes: that the first Big Dipper satellite signal connects
Antenna R1 and the second Big Dipper satellite signal receiving antenna R2 is received, the R1 is set to the mechanical equipment for needing to find layout point
On, it will be set on the car body to install mechanical equipment to the R2 for obtaining mechanical equipment position and direction；
S2 needs to carry out correction to centre when finding target point by the Beidou receiver: being defended by that will install the first Beidou
The mechanical equipment of star signal receiving antenna is disposed vertically, to be two-dimensional plane coordinate by three dimensional space coordinate naturalization；
The bottom end of the mechanical equipment is directed at known stake point T by S30It is calibrated, and passes through institute in looking for point process
It states Beidou receiver and calculates above-mentioned car body relative to direction change amount when calibrating for the first time.Above-mentioned calculating process specifically:
It looks in point process, firstly, the R1 real time position (X obtained according to Beidou direction and location receiver1 R1,Y1 R1) carry out mechanically moving and set
It is standby, by the upright projection position setting-out of R1 antenna to target point T1 (X1,Y1) in point, at this moment since mechanical equipment and car body exist
Azimuth under engineering coordinate system changes, and can obtain R1 antenna and R2 antenna at this time by Beidou direction and location receiver
VectorAzimuth angle alpha under engineering coordinate system1 R1R2, while utilizing the azimuth angle alpha obtained when calibrating0 R1R2, can calculate
Direction change amount Δ α of the mechanical equipment under engineering coordinate system outR1R2=α1 R1R2-α0 R1R2。
S4 counts stating the first Big Dipper satellite signal receiving antenna R1 in relative to target point according to the direction change meter
Plane vector, calculate: the first Big Dipper satellite signal receiving antenna and target point T1Distance and side in engineering coordinate system
To passing through and obtain when calibrationWith car body direction change amount Δ α obtained aboveR1R2It can count
Calculate correction to centre (Δ X of the O point projected position relative to target point T11,ΔY1)。
Wherein,
Correction to centre (Δ X of the O point projected position relative to target point T11,ΔY1)。
O point is that the installation site of Beidou antenna R1 ideally needs that is, in practice of construction setting-out by mechanical equipment
The upright projection position of O point carries out setting-out.
S5 is according to the real time position and orientation for acquiring above-mentioned mechanical equipment in the engineering coordinate system obtained, to the first north of installation
Target point is found after being adjusted in the position and orientation of the mechanical equipment of bucket satellite signal receiving antenna.
Beneficial effects of the present invention:
The present invention is changed by combining Beidou positioning and directing technology to realize in construction lofting to by the return heart of control mechanical equipment
Normal operation method, consequently facilitating control mechanical equipment realizes high-precision searching target point in Specific construction setting-out.Further, energy
Enough it is convenient for automatic operation, greatly improves construction lofting efficiency and construction quality, reduces cost, while also improving operation
Safety.
Detailed description of the invention
Fig. 1 is the correction to centre method flow schematic diagram in one embodiment of the invention；
Fig. 2 is the realization system structure diagram of the correction to centre method in one embodiment of the invention；
Fig. 3 is the relation schematic diagram of R1 and mechanical equipment when carrying out correction to centre；
Fig. 4 is the schematic illustration of searching target point during mechanical execution.
Specific embodiment
The principle of the disclosure is described referring now to some example embodiments.It is appreciated that these embodiments are merely for saying
It is bright and help it will be understood by those skilled in the art that with the purpose of the embodiment disclosure and describe, rather than suggest the model to the disclosure
Any restrictions enclosed.Content of this disclosure described herein can be implemented in the various modes except mode described below.
As described herein, term " includes " and its various variants are construed as open-ended term, it means that " packet
It includes but is not limited to ".Term "based" is construed as " being based at least partially on ".Term " one embodiment " it is understood that
For " at least one embodiment ".Term " another embodiment " is construed as " at least one other embodiment ".
The noun being defined as follows in this application:
Correction to centre is by the centre of survey station to the direction value or distance sighted between target's center, naturalization two
The correction putting the direction value or distance between markstone center and carrying out.
Construction lofting, the plan-position and elevation of (setting out) engineering works on design drawing, with certain
Measuring instrument and method survey the measurement work being set on the spot up and are known as construction lofting (also referred to as the construction line-putting).Mapping work is benefit
With landform characteristic point on determination of control point ground, contracting is drawn on figure.Construction lofting is then the design according to building in contrast
Size finds out the geometrical relationship of position between building each section characteristic point and control point, calculates to obtain distance, angle, elevation, coordinate
Then equal setting out data utilize control point, on the spot on make the characteristic point of building, construct accordingly.
Engineering coordinate system is also known as building coordinate system, and reference axis is parallel or vertical with key construction main shaft, so as to
The setting-out of method of direct coordinate progress building.
The building baseline and building square grid of Control Survey for Construction generally use engineering coordinate system, and engineering coordinate system and survey
Amount coordinate system is often inconsistent, and the coordinate for therefore, before construction survey usually needing to carry out construction coordinate system and measurement coordinate system changes
It calculates.
The mechanical equipment correction to centre method based on Beidou direction and location technology of base in this present embodiment, can be preferably
Orientation and position under construction coordinate system where obtaining the mechanical equipment controlled.
Please referring to Fig. 1 is the correction to centre method flow schematic diagram in one embodiment of the invention, includes such as in the present embodiment
Under step:
A Beidou receiver is arranged in known location point in step S1, by the Beidou receiver to orient and position
Beidou direction and location receiver send real-time stream, the Beidou direction and location receiver include: the first big-dipper satellite letter
The R1 is set to and needs to find the machinery of layout point and set by number receiving antenna R1 and the second Big Dipper satellite signal receiving antenna R2
It is standby upper, it will be set on the car body to install mechanical equipment to the R2 for obtaining mechanical equipment position and direction；Wherein, BB
For the Beidou receiver installed in the point of known location, real time differential number is sent on direction-finding receiver using data link
According to stream.Installation has the Beidou receiver of positioning and directing function in equipment；R1 and R2 is respectively two that direction-finding receiver is connected
One of Beidou antenna R1 is placed in the equipment for needing to find layout point by a Big Dipper satellite signal receiving antenna, another
A Beidou antenna R2 is placed on the car body of installation mechanical equipment, and received machine resolves the position and side that can obtain mechanical equipment
To.
Step S2 needs to carry out correction to centre when finding target point by the Beidou receiver: by that will install the first north
The mechanical equipment of bucket satellite signal receiving antenna is disposed vertically, to be two-dimensional surface seat by three dimensional space coordinate naturalization
Mark.Since Beidou antenna R1 can not be placed in the center of mechanical equipment, as shown in Fig. 2, therefore being connect using Beidou positioning and directing
Receipts machine needs to carry out correction to centre when finding target point, and the mechanical equipment that install R1 antenna should be disposed vertically by when correction to centre,
So as to by three dimensional space coordinate naturalization be two-dimensional plane coordinate.
The bottom end of the mechanical equipment is directed at known stake point T0 and calibrated by step S3, and is led in looking for point process
It crosses the Beidou receiver and calculates above-mentioned car body relative to direction change amount when calibrating for the first time, as shown in figure 3, applying in machinery
During work, the mechanical equipment bottom end for installing R1 antenna is directed at known stake point T0 first and is calibrated: being positioned by Beidou
Direction-finding receiver can accurately determine plane vector R1T0=(the Δ X of R1 antenna and known stake point T00,ΔY0) and R2 antenna
Relative to R1 plane vector R1R2；
Step S4 counts stating the first Big Dipper satellite signal receiving antenna R1 in relative to target according to the direction change meter
The plane vector of point, calculates: the first Big Dipper satellite signal receiving antenna and target point T1Distance in engineering coordinate system
With direction, is secondly looked in point process next, car body can be calculated relative to head by Beidou positioning and directing receiver
Direction change amount Δ α when secondary calibrationR1R2, plane vector of the R1 antenna relative to target point is calculated by direction change amount
R1T0=(Δ X1,ΔY1)
The real time position and orientation of above-mentioned mechanical equipment in the engineering coordinate system that step S5 is obtained according to acquisition, to installation the
Target point is found after being adjusted in the position and orientation of the mechanical equipment of one Big Dipper satellite signal receiving antenna.In this step again
The transformational relation of utilizing works coordinate system and the place datum mark BB coordinate system can calculate R1 and target point T1 in work in real time
Distance and direction in journey coordinate system.Real time position and orientation mechanical in the engineering coordinate system obtained in real time are recycled,
It is adjusted with the position and orientation of the mechanical equipment to installation R1 antenna, finds target point.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
In general, the various embodiments of the disclosure can be with hardware or special circuit, software, logic or any combination thereof
Implement.Some aspects can be implemented with hardware, and some other aspect can be implemented with firmware or software, which can
By controller, microprocessor or the execution of other calculating equipment.Although the various aspects of the disclosure be shown and described as block diagram,
Flow chart is indicated using some other drawing, but it is understood that frame described herein, equipment, system, techniques or methods can
In a non limiting manner with hardware, software, firmware, special circuit or logic, common hardware or controller or other calculating
Equipment or some combinations are implemented.
Although this is understood not to require this generic operation suitable shown in addition, operation is described with particular order
Sequence is executed or is executed with generic sequence, or require it is all shown in operate and be performed to realize expected result.In some feelings
Under shape, multitask or parallel processing can be advantageous.Similarly, although the details of several specific implementations is begged in above
By comprising but these are not necessarily to be construed as any restrictions to the scope of the present disclosure, but the description of feature is only needle in
To specific embodiment.Certain features described in some embodiments of separation can also be held in combination in a single embodiment
Row.Mutually oppose, various features described in single embodiment can also be implemented separately in various embodiments or to appoint
The mode of what suitable sub-portfolio is implemented.
Claims (8)
1. the mechanical equipment correction to centre method based on Beidou direction and location technology, which is characterized in that comprise the following steps that
A Beidou receiver is arranged as base station, by the Beidou receiver to orient and determine in known location point in S1
The Beidou direction and location receiver of position sends real-time stream, and the Beidou direction and location receiver includes: the first big-dipper satellite
The R1, is set to the machinery for needing to find layout point by signal receiving antenna R1 and the second Big Dipper satellite signal receiving antenna R2
In equipment, it will be set on the car body to install mechanical equipment to the R2 for obtaining mechanical equipment position and direction；
S2 needs to carry out correction to centre when finding target point by the Beidou receiver: by that will install the first big-dipper satellite letter
The mechanical equipment of number receiving antenna is disposed vertically, to be two-dimensional plane coordinate by three dimensional space coordinate naturalization；
The bottom end of the mechanical equipment is directed at known stake point T by S30It is calibrated, and passes through the north in looking for point process
Bucket receiver calculates direction change amount of the above-mentioned car body relative to calibration for the first time when,
S4 counts stating the first Big Dipper satellite signal receiving antenna R1 in relative to the flat of target point according to the direction change meter
Face vector, calculates: the first Big Dipper satellite signal receiving antenna and target point T1Distance and direction in engineering coordinate system,
S5 defends the first Beidou of installation according to the real time position and orientation of above-mentioned mechanical equipment in the engineering coordinate system of acquisition acquisition
Target point is found after being adjusted in the position and orientation of the mechanical equipment of star signal receiving antenna.
2. mechanical equipment correction to centre method according to claim 1, which is characterized in that above-mentioned mechanical equipment is piling
Machine, the piling machine have a drilling rod.
3. mechanical equipment correction to centre method according to claim 1, which is characterized in that mechanical equipment described in above-mentioned S3
Bottom end be directed at known stake point T0The method calibrated specifically: accurately determined by the Beidou direction and location receiver
The first Big Dipper satellite signal receiving antenna R1 and known stake point T0Plane vector R1T0=(Δ X0, Δ Y0) and
Plane vector R1R2 of the second Big Dipper satellite signal receiving antenna R2 relative to R1.
4. mechanical equipment correction to centre method according to claim 1, which is characterized in that the R1 is relative to target point
Plane vector R1T1=(Δ X1, Δ Y1) are as follows:
Wherein,
ΔαR1R2For direction change amount.
5. mechanical equipment correction to centre method according to claim 1, which is characterized in that the Beidou direction and location receives
Machine is to receive differential data signals.
6. the mechanical equipment correction to centre system based on Beidou direction and location technology characterized by comprising
Beidou receiver, to send number in real time to the Beidou direction and location receiver to orient and position in known location point
According to stream,
Beidou direction and location receiver is configured as: there is the first Big Dipper satellite signal receiving antenna R1 and the second big-dipper satellite to believe
Number receiving antenna R2, the R1 is set on the mechanical equipment for needing to find layout point, will be to obtain mechanical equipment position
It is set on the car body to install mechanical equipment with the R2 in direction, and executes following step in the construction process:
It needs to carry out correction to centre when finding target point by the Beidou receiver: by the way that the first Big Dipper satellite signal will be installed
The mechanical equipment of receiving antenna is disposed vertically, to be two-dimensional plane coordinate by three dimensional space coordinate naturalization；
The bottom end of the mechanical equipment is directed at known stake point T0It is calibrated, and passes through the Beidou in looking for point process
Receiver calculates direction change amount of the above-mentioned car body relative to calibration for the first time when,
It is counted in stating plane of the first Big Dipper satellite signal receiving antenna R1 relative to target point according to the direction change meter
Vector calculates: the first Big Dipper satellite signal receiving antenna and target point T1Distance and direction in engineering coordinate system,
The real time position and orientation of above-mentioned mechanical equipment in the engineering coordinate system obtained according to acquisition, to installing the first big-dipper satellite
Target point is found after being adjusted in the position and orientation of the mechanical equipment of signal receiving antenna.
7. mechanical equipment correction to centre system according to claim 6, which is characterized in that the mechanical equipment is piling
Machine.
8. mechanical equipment correction to centre system according to claim 6, which is characterized in that the Beidou direction and location receives
Machine is to receive differential data signals.
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| CN201710271590.5A CN106988312B (en) | 2017-04-24 | 2017-04-24 | Mechanical equipment correction to centre method and system based on Beidou direction and location technology |
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| CN201710271590.5A CN106988312B (en) | 2017-04-24 | 2017-04-24 | Mechanical equipment correction to centre method and system based on Beidou direction and location technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107269267A (en) * | 2017-07-31 | 2017-10-20 | 中国铁道科学研究院 | The measuring method and system of a kind of machine drill hole depth and speed |
| CN108345010A (en) * | 2018-02-12 | 2018-07-31 | 中设设计集团股份有限公司 | The surveying and locating system and setting out method applied based on Big Dipper satellite signal and Android |
| CN110904968B (en) * | 2019-12-10 | 2021-05-04 | 西安科技大学 | Pile foundation point location real-time lofting device suitable for pile driver |
| CN111366961B (en) * | 2020-03-30 | 2022-05-20 | 中铁四局集团第五工程有限公司 | RTK axis lofting measurement method |
| CN117590435B (en) * | 2024-01-16 | 2024-04-16 | 福建福大北斗通信科技有限公司 | Beidou three-generation orientation automatic calibration device and calibration method thereof |
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| JP3676277B2 (en) * | 2001-09-27 | 2005-07-27 | 復建調査設計株式会社 | Pile driving method |
| CN205188970U (en) * | 2016-03-01 | 2016-04-27 | 上海联适导航技术有限公司 | Beidou navigation locating static pressure stake system |
| CN106013149B (en) * | 2016-06-20 | 2017-12-08 | 中汇建筑集团有限公司 | Full-automatic static pile press positioning control system based on GPS technology |
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Inventor after: Li Baojia Inventor after: Su Qing Inventor after: Zhang Rui Inventor after: Wang Jian Inventor after: Chen Shu Inventor after: Ren Yongchao Inventor after: Niu Ben Inventor before: Li Baojia Inventor before: Su Qing |