CN107085223A - One kind automation base line measurement system - Google Patents
One kind automation base line measurement system Download PDFInfo
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- CN107085223A CN107085223A CN201710404947.2A CN201710404947A CN107085223A CN 107085223 A CN107085223 A CN 107085223A CN 201710404947 A CN201710404947 A CN 201710404947A CN 107085223 A CN107085223 A CN 107085223A
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- module
- measurement
- base line
- casing
- measurement system
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- 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
Abstract
Base line measurement system is automated the invention discloses one kind, including casing, data processing and control module and the locating module that is electrically connected with data processing and control module of casing internal are arranged on, automation base line measurement system also includes optical ranging module, Angle Measurement Module, measurement data display module and/or the measurement data interface module electrically connected with data processing and control module.Locating module of the present invention is by information transfers such as the longitudes and latitudes of acquisition to data processing and control module.Optical ranging module measurement distance information is simultaneously transferred to data processing and control module.Angle Measurement Module measures attitude value, such as azimuth and the angle of pitch etc., and is transferred to data processing and control module.Longitude and latitude, attitude value and range data are carried out data fusion by the present invention, and do not recycle geographical coordinate to resolve acquisition when measuring distance between two points, but directly carry out ranging using optical principle, and invention has the advantages of high efficiency, error is small.
Description
Technical field
The invention belongs to information control technology field, and in particular to one kind automation base line measurement system.
Background technology
Base line measurement, refers to the absolute location information between 2 points under accurate measurement geographic coordinate system, herein, absolute position
Confidence breath refers to the relative azimuth for determining point in certain point under geographic coordinate system, the angle of site, distance and determines longitude and latitude a little
The summation of the information such as degree, elevation.Accurate measurement baseline is to realize the key of the accurate control of information and information fusion.
At present, the technology of relatively advanced base line measurement is in the prior art：GPS or BDS base line measurements, its principle is：
2 points of geographical coordinate is obtained using GPS or BDS positioner measurements；Calculate under geocentric rectangular coordinate system, 2 points in the earth's core
Coordinate in system；To determine that point sets up local rectangular coordinate system for origin, then again by selecting using Globe polar projection method, geography
Coordinate transformation method or coordinate translation method etc., calculate the absolute location information obtained between tested point and determination point.
The shortcoming of this method is：
(1) this measuring method is the geographical coordinate obtained using measurement, is calculated by using coordinate transformation method and obtains at 2 points
Position relationship information, although improve precision using high-order approximation, but the systematic error introduced is larger, it is difficult to meet information fusion
Or the required precision of information control.Particularly as 2 points of (such as 2 points at a distance of 500m) closer to the distance, its error is more difficult to
Meet the requirement accurately controlled.
(2) obtaining for base-line data need to pass through the resolving of third party software.
(3) such a measurement scheme is to obtain baseline information using measurement plus the mode resolved, and efficiency is low, time-consuming.
(4) such a measurement scheme does not have information output interface, and the positional information of acquisition cannot function as information source directly by
Tripartite uses.
The content of the invention
The present invention solves the technical problem of a kind of automation base line measurement system is provided, realize automation positioning,
Angle measurement and ranging, improve the automaticity and precision of base line measurement.
In order to solve the above technical problems, the technical scheme that the automation base line measurement system of the present invention is used is to include machine
Shell, the data processing for being arranged on the casing internal and control module and with determining that the data processing and control module are electrically connected
Position module, the automation base line measurement system also includes the optical ranging mould electrically connected with the data processing and control module
Block, Angle Measurement Module, measurement data display module and/or measurement data interface module.
The optical ranging module is infrared distance measurement module, including the range sensor that is arranged in the casing and with institute
The corner reflector that range sensor is used cooperatively is stated, the range sensor includes infrared transmitter, infrared receiving set, infrared light
Learn component, signal processor.
The infrared optics component includes the infrared receiving/transmission optical lens for being arranged on the casing front end.
The casing upper end is provided with the white light sight collimation device for aiming at the corner reflector.
The casing lower end is provided with sucker.
The startup locating module, the infrared distance measurement module, the Angle Measurement Module are additionally provided with the casing
The work button measured.
The work button is locating module described in synchronous averaging, the infrared distance measurement module, the Angle Measurement Module
Start the single key of measurement.
The casing internal is provided with measurement data display module and measurement data interface module simultaneously when, on the casing
The LCD display electrically connected with the measurement data display module is provided with, and is electrically connected with the measurement data interface module
The outbound data interface socket connect.
The locating module is to be provided with to defend with the GPS and the Big Dipper on GPS and big-dipper satellite locating module, the casing
The gps antenna and Beidou antenna of star locating module electrical connection.
The data processing and control module use microcontroller STM32F100R1, and the Angle Measurement Module uses 10
Axle MPU9250 gyroscope Kalman's Angle Measurement Modules.
The beneficial effects of the invention are as follows：The automation base line measurement system that the present invention is provided, locating module, optical ranging mould
Block, Angle Measurement Module work simultaneously, locating module by information transfers such as the longitudes and latitudes of acquisition to data processing and control module,
Optical ranging module measures the distance between tested point and basic point, and by distance data transmission to data processing and control module.
Angle Measurement Module measures attitude value of the tested point under geographical coordinate, such as azimuth and the angle of pitch etc., and attitude value is passed
Data processing and control module are defeated by, data processing and control module are respectively to the longitude and latitude of input, attitude value and range data
Smothing filtering is carried out etc. information and is exported, and obtains high-precision above- mentioned information.The present invention realizes automation positioning, angle measurement and survey
Away from, the automaticity and precision of base line measurement are improved, and longitude and latitude, attitude value and range data are subjected to data fusion,
Measurement efficiency is high, error is small.
It is further preferred that optical ranging module be infrared distance measurement module, using obtain transmission signal with receive signal it
Between phase difference value as the foundation of distance transform, through multiple phase-detecting, then average, obtained after filtering operation apart from number
According to the range data for further ensuring measurement is accurate.
It is further preferred that the present invention, can both be adsorbed on other servo pointing devices by the sucker set, can also
As independent device, such as it is placed on rock type tripod.
It is further preferred that the startup of the present invention uses one-touch design, the convenient operation to the present invention is further improved
The efficiency of the invention measured.
It is further preferred that the present invention is additionally provided with measurement data interface module, the measurement data interface module can be by
Longitude and latitude, attitude value and range data are effectively exported, and are used for third party.
Brief description of the drawings
Fig. 1 is the modular structure schematic diagram of the embodiment of present invention automation base line measurement system；
Fig. 2 is the signal annexation figure between the module of the embodiment of present invention automation base line measurement system；
Fig. 3 is the optical ranging module component relationship figure in the embodiment of Fig. 1 automation base line measurement system；
Fig. 4 is the structural representation of the embodiment of present invention automation base line measurement system；
Fig. 5 is the GPS/BDS locating module measurement procedure figures in the embodiment of present invention automation base line measurement system；
Fig. 6 is the optical ranging module measurement procedure figure in the embodiment of present invention automation base line measurement system；
Fig. 7 is the Angle Measurement Module measurement procedure figure in the embodiment of present invention automation base line measurement system；
Fig. 8 is the instrumentation plan of the embodiment of present invention automation base line measurement system；
Fig. 9 is the measurement data display module display example in the embodiment of present invention automation base line measurement system.
Embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element or element with same or like function are represented to same or similar label eventually.Below by ginseng
The embodiment for examining accompanying drawing description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are it is understood that the correlation module and its function of realization that are related in the present invention
It is that computer software programs conventional in the prior art are carried in device, device or the system of hardware after improvement and its composition
It is not that computer software programs of the prior art or relevant agreement are improved or relevant agreement is achieved that.For example,
Computer hardware system after improvement still can realize the spy of the hardware system by loading existing operation system of software
Determine function.It is understood, therefore, that the innovation of the present invention is the improvement to hardware module in the prior art and its company
Syntagmatic is connect, rather than is only the improvement to realizing the software carried about function or agreement in hardware module.
Those skilled in the art of the present technique are it is understood that the correlation module mentioned in the present invention is performed for the application
Described in one or more of hardware device in step in operation, method, flow, measure, scheme.The hardware device can
Purpose needed for thinking and specially design and manufacture, or can also use known device in all-purpose computer or it is known its
His hardware device.The all-purpose computer is activated or reconstructed with having the procedure selection being stored in it.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is individual ", " described " and "the" may also comprise plural form.It is to be further understood that what is used in the specification of the present invention arranges
Diction " comprising " refer to there is the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or can also exist
Intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or coupling.Wording used herein
"and/or" includes one or more associated any cells for listing item and all combined.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology) with the general understanding identical meaning with the those of ordinary skill in art of the present invention.Should also
Understand, those terms defined in such as general dictionary, which should be understood that, to be had and the meaning in the context of prior art
The consistent meaning of justice, and unless defined as here, will not be explained with idealization or excessively formal implication.
The embodiment to the automation base line measurement system of the present invention is described in detail below.
As shown in Fig. 1~9, the automation base line measurement system of the present embodiment includes casing 9, is arranged on inside casing 9
Data processing and control module 1 and the locating module 5 electrically connected with data processing and control module 1, locating module 5 by GPS and
Big-dipper satellite locating module (big-dipper satellite locating module is also referred to as BDS locating modules) is collectively constituted.The automation of the present embodiment
Base line measurement system also includes optical ranging module 2, the Angle Measurement Module electrically connected respectively with data processing and control module 1
3rd, measurement data display module 4 and measurement data interface module 6.
Locating module 5 use GPS/BDS locating modules, be mainly used in obtain geographic coordinate information, including longitude, latitude and
Elevation.Optical ranging module 2 is mainly used in the distance between 2 points measurements.Angle Measurement Module 3 is mainly used in automatic seeking north, and
The attitude value that energy automatic measurement goes out under the azimuth of tested point, pitching angle value, i.e. geographic coordinate system.Measurement data display module 4
It is upper to be used to show the information such as longitude, latitude, elevation, azimuth, the angle of pitch, range data.Measurement data interface module 6 is used for defeated
Go out the information such as longitude, latitude, azimuth, the angle of pitch and range data, used for third party.
As shown in Fig. 2 above-mentioned data processing and control module 1, GPS/BDS locating modules 5, optical ranging module 2, angle
The signal annexation spent between measurement module 3, measurement data display module 4 and measurement data interface module 6, GPS/BDS is fixed
The longitude, latitude and elevation information of acquisition are transferred to data processing and control module 1 by position module 5, and Angle Measurement Module 3 will be surveyed
The azimuth that measures, the angle of pitch are transferred to data processing and control module 1, and optical ranging module 2 is by the range data measured
Be transferred to data processing and control module 1, data processing and control module 1 by the longitude received, latitude, elevation information, away from
Be transferred to measurement data display module 4 from data, measurement data display module 4 is shown these data, data processing and
The longitude received, latitude, elevation information, distance data transmission to measurement data interface module 6, are measured number by control module 1
It is supplied to third party to use these data according to interface module 6.
Work button 15 is additionally provided with casing 9, the work button 15 is synchronous averaging GPS/BDS locating modules 5, optics
Range finder module 2, Angle Measurement Module 3 start the single key of measurement.Work button 15 mode of operation for start, close and from
Three kinds of mode of operations are examined, when long-press work button 15 under off-mode, such as the time for pinning work button 15 is more than 5S clocks
When, the present embodiment startup self-detection confirms GPS/BDS locating modules 5, optical ranging module 2, Angle Measurement Module 3, data processing
And the work of the normal power-up such as control module 1, measurement data display module 4.When pressing work button 15, the GPS/ of the present embodiment
BDS locating modules 5, optical ranging module 2, Angle Measurement Module 3 start simultaneously at the measurement work for carrying out related data.In start
Under state, long-press work button 15 closes GPS/BDS locating modules 5, optical ranging module 2, Angle Measurement Module 3.
With the construction of China's Beidou II satellite navigation system, the precision of Big Dipper positioning has connect very much with GPS accuracy
Closely.Normal domestic GPS location precision is in 20m or so.Examined in terms of the reliability and precision two of the present embodiment is further improved
Consider, the locating module 5 of the present embodiment uses GPS/BDS dual system location technology schemes.The GPS/BDS of GPS/BDS locating modules 5
Dual mode receiver can use ATGM332D chips, and the high sensitivity of the chip is high, two frequency range difference of GPS/BDS dual mode receivers
For 1575.42MHz and 1561.098MHz, sensitivity is up to -160dBm, comprising 32 tracking channels, can receive all simultaneously
GPS and BDS visible satellites.BDS, GPS single system positioning and dual system alignment by union are supported, it is fixed when only GPS single systems are positioned
Position precision is 3m, and positioning precision is 5m when only BDS single systems are positioned, positioning accurate when using GPS and BDS dual system alignment by union
Spend 2.5m, positioned update 1~10Hz of rate, cold start-up primary positioning time ＜ 32s, thermal starting positioning time ＜ 1s.
As shown in figure 5, the positioning measurement flow of GPS/BDS locating modules 5 comprises the following steps：
Step 51：Long-press work button 15, the automation base line measurement system of the present embodiment starts self-inspection.
Step 52：Work button 15 is pressed, starts GPS/BDS locating modules 5.
Step 53：Geographic coordinate information is obtained, GPS/BDS dual mode receivers are filtered flat to geographic coordinate information data
It is sliding.
Step 54：Positioning precision is judged, as positioning precision≤2.5m, step 55, step 56 are performed successively；When
During positioning precision ＞ 2.5m, step 57, step 58 are performed successively.
Step 55：Geographic coordinate information is transferred to measurement data display module 4 and survey by data processing and control module 1
Data interface module 6 is measured, geographic coordinate information is shown by measurement data display module 4, by measurement data interface module 6
Geographic coordinate information is transmitted.
Step 56：Long-press work button 15, closes GPS/BDS locating modules 5 under open state.
Step 57：Data processing and the control measurement data of control module 1 display module 4 show Wrong localization information, such as
“LOCAT ERR”。
Step 58：Work button 15 is pressed, GPS/BDS locating modules 5 are carried out into reset restarts, return to step 53.
As shown in figure 3, the optical ranging module 2 of the present embodiment is preferably infrared distance measurement module, including it is arranged in casing 9
Range sensor 7 and the corner reflector 8 that is used cooperatively with range sensor 7, range sensor 7 include infrared transmitter 71,
Infrared receiving set 72, infrared optics component 73, signal processor 74.
The range sensor 7 of the present embodiment uses active infra-red phase ranging technology, using gallium arsenide light emitting diode as
Light source, simple in construction with small volume, small power consumption, reliability is high, and precision is high, the advantages of not injured to human body.
The present embodiment is it is further preferred that infrared optics component 73 includes the infrared receiving/transmission optics for being arranged on the front end of casing 9
Camera lens 75.Infrared receiving/transmission optical lens 75 uses many microscope group Common-path methods, reduces module volume, and make transmitting light beam more accurate
Directly, energy is concentrated, and is received light beam and is received luminous energy as far as possible, improves the signal to noise ratio for receiving signal.
Infrared transmitter 71 is main by GaAs luminous tubes (wavelength is 0.72-0.94 μm), modulating driver, filter circuit etc.
Composition, at accurate measurement (or bigness scale), modulating driver is luminous to GaAs in current-modulation mode with 1MHz (125KHz) frequency
Pipe is modulated, and is generated and transmitted by the infrared modulated light wave of infrared phase ranging.
Infrared receiving set 72 is made up of photoelectric switching circuit, amplifier etc., realizes opto-electronic conversion, amplification, input impedance
Match somebody with somebody, the function such as automatic growth control.
Signal processor 74 by measurement signal passage, reference signal passage and local oscillator, master oscillator frequenc generator,Count
The part such as device, 2 π counters is constituted, and for obtaining transmission signal and receiving the phase difference value between signal, is used as distance transform
Foundation, through multiple phase-detecting, then averages, range data is obtained after filtering operation.
Corner reflector 8 is placed in tested point, for the infrared beam that infrared transmitter 71 is launched to be reflexed into infrared receiving set
On 72.The quality of corner reflector 8 directly affects range accuracy and ranging operating efficiency.Preferably, angle transmitter 8 is right-angled edge
Mirror, its incident light is pressed former direction and returned, i.e., with self-collimation characteristic.It has reflector efficiency high, convenient to light, light small nimble
Advantage.
Position where corner reflector 8 is tested point, and the position where the present embodiment is basic point.The upper end of casing 9 is provided with
The white light for aiming at corner reflector 8 sees collimation device 14, and seeing collimation device 14 first with white light puts the alignment of infrared receiving/transmission optical lens 75
Put in the center of the angle transmitter 8 of tested point, the transmitting infrared modulated light wave of infrared transmitter 71, infrared modulated light wave is passed through
The infrared receiving/transmission optical lens 75 of the front end of casing 9 is injected on angle transmitter 8, and angle transmitter 8 arrives infrared modulated light wave reflection
On infrared receiving set 72, signal processor 74 receives the transmission signal and reflected signal of infrared modulated light wave, and calculating is tried to achieve to be measured
The distance between point and basic point data.
As shown in fig. 6, the range measurement flow of optical ranging module 2 comprises the following steps：
Step 61：Long-press work button 15, the automation base line measurement system of the present embodiment starts self-inspection.
Step 62：Work button 15 is pressed, starts optical ranging module 2.
Step 63：Judge whether the range data in 80s of optical ranging module 2 has output, when optical ranging module 2 exists
When range data has output in 80s, step 64, step 65 are performed successively；When optical ranging module 2, range data does not have in 80s
When having output, step 66, step 67 are performed successively.
Step 64：By data processing and control module 1 by distance data transmission to measurement data display module 4 and measurement number
According to interface module 6, shown, adjusted the distance number by measurement data interface module 6 by the data of adjusting the distance of measurement data display module 4
According to being transmitted.
Step 65：Long-press work button 15, closes optical ranging module 2 under open state.
Step 66：Data processing and the control measurement data of control module 1 display module 4 show ranging error message, such as aobvious
Show " RANGE ERR ".
Step 67：Work button 15 is pressed, optical ranging module 2 is carried out into reset restarts, return to step 63.
The present embodiment is it is further preferred that the design of Angle Measurement Module 3 uses 10 axle MPU9250 gyroscope Kalman's angles
Measurement module.The integrated high-precision gyroscope of Angle Measurement Module 3 of the present embodiment, geomagnetic field sensors, using high performance
Microprocessor and advanced dynamics resolve with Kalman's dynamic filter algorithm, can rapid solving go out Angle Measurement Module 3 and work as
Preceding real time kinematics posture.Angle Measurement Module 3 uses advanced digital filtering technique, can effectively reduce measurement noise, carry
High measurement accuracy.Angle Measurement Module 3 has been internally integrated attitude algorithm device, coordinates Dynamic Kalman Filtering algorithm, can be dynamic
The current pose of accurate output module, 0.01 ° of attitude measurement accuracy under state environment, stability is high.Data output rate is
0.1Hz~200Hz；Data-interface is UART serial ports (Transistor-Transistor Logic level, baud rate supports that 2400~921600bps is adjustable)；Angle is surveyed
Voltage stable circuit is carried inside amount module 3,3~6V of operating voltage, pin level compatibility 3.3V/5V embedded system connects
Connect conveniently.
As shown in fig. 7, the angular surveying flow of Angle Measurement Module 3 comprises the following steps：
Step 91：Long-press work button 15, the automation base line measurement system of the present embodiment starts self-inspection.
Step 92：Work button 15 is pressed, starts Angle Measurement Module 3.
Step 93：The attitude information of Angle Measurement Module 3 is obtained, attitude information includes azimuth, the angle of pitch, angular surveying
Module 3 is simultaneously filtered smoothly to attitude information.
Step 94：The angle precision of attitude information is judged, when angle precision≤0.01 ° of attitude information, according to
Secondary execution step 95, step 96；As 0.01 ° of the angle precision ＞ of attitude information, step 97, step 98 are performed successively.
Step 95：Attitude information is transferred to measurement data display module 4 and measurement data by data processing and control module 1
Interface module 6, is shown by measurement data display module 4 to attitude information, by measurement data interface module 6 to attitude information
It is transmitted.
Step 96：Long-press work button 15, closing angle measurement module 3 under open state.
Step 97：Data processing and the angles of display error message of the control measurement data of control module 1 display module 4, such as
Show " ANGEL ERR ".
Step 98：Work button 15 is pressed, Angle Measurement Module 3 is carried out into reset restarts, return to step 93.
The present embodiment is it is further preferred that data processing and control module 1 are micro- using ST companies release 32 based on ARM
Controller STM32F100R1.The microcontroller use ARM Cortex M3 chips, possess LCD, TIMER, SPI, IIC, CAN,
Numerous peripheral hardwares such as ADC, DAC, RTC, DMA and function, with very high integrated level；84 interruptions, 16 grades of programmable priority, and
And all pins can be used as to the greatest extent interrupting input；Cost is low, low in energy consumption.
The present embodiment it is further preferred that measurement data display module 4 using ALIENTEK 2.4 cun of LCD displays 13,
And electrically connected with measurement data display module 4.Have in being shown on LCD display 13, when the present embodiment is in self-inspection state,
Show self-inspection information, such as, the information such as " just in self-inspection ", " self-inspection completion ", " normal "；When the present embodiment is in running order
When, the information such as display longitude, latitude, elevation, azimuth, the angle of pitch, distance.
The present embodiment is it is further preferred that the measurement data interface module 6 of the present embodiment uses above-mentioned microcontroller
The usb interface controller that STM32F100R1 is carried, valid data are exported.
The present embodiment is it is further preferred that the structure of the automation base line measurement system of the present embodiment as shown in Figure 4 is shown
It is intended to, infrared receiving/transmission optical lens 75 is arranged on the front end of casing 9, white light sees the upper end that collimation device 14 is arranged on casing 9, LCD
Display screen 13 is arranged on the preceding outer surface of casing 9, and work button 15 is arranged on the lower section of the preceding outer surface of casing 9.Set on casing 9
It is equipped with the gps antenna 11 and Beidou antenna 12 respectively with the corresponding electrical connection respectively of GPS and big-dipper satellite locating module.On casing 9
It is additionally provided with the outbound data interface socket 16 electrically connected with measurement data interface module 6.The lower end of casing 9 is provided with sucker 10.
The automation base line measurement system of the present embodiment is designed using sucked type, the present embodiment both can be adsorbed in it as annex
On its servo pointing device, self-contained unit is can act also as, is placed on support, such as with orientation, pitching adjustable rock type three
On foot stool.
The automation base line measurement system of the present embodiment is additionally provided with power module, and the power module uses chip MAX761
The 7.2V voltages provided battery with MAX765 carry out DC-DC conversion, for the present embodiment provide efficiently, stably, powerful electricity
Source.Power module has four kinds of output voltage+12V, -12V, 7.2V, 5V.
The technical indicator that the present embodiment can reach is as follows:
First, range measurement
The distance range of measurement：5~1500m；
Range accuracy：0.5m.
2nd, angular surveying
Azimuth coverage：Unrestrictedly；
Pitch range：- 3 °~87 °；
Angle measurement accuracy：0.01°.
3rd, presentation of information
Display information：Longitude, latitude, elevation, azimuth, the angle of pitch, distance.
4th, reliability index
MTBF：MTBF≥300h；
Average time for repair of breakdowns：MTTR≤20min；
Stream time：≥8h.
5th, environmental suitability
Operating temperature：- 20~40 DEG C (relative humidity 20-80%)；
Storage temperature:- 20~60 DEG C；
Vibratory impulse：Civil；
Electromagnetic compatibility：Technical grade.
6th, power supply mode
Lithium battery 7.2V powers.
There is provided baseline information as third party using the automation base line measurement system of the present embodiment as self-contained unit below is
Example, measures base-line data of the tested point relative to basic point, to illustrate the course of work of the present embodiment：
As shown in figure 8, BDS antennas 12 and gps antenna 11 on the casing 9 of connection the present embodiment, and the present embodiment is put
At basic point O, corner reflector 8 is placed in tested point M.Work button 15 on long-press casing 9, the present embodiment startup self-detection, display
After the completion of self-inspection, display the present embodiment is normal.Then the fine sight of collimation device 14 is seen by the white light on the casing 9 of the present embodiment
The center of angle transmitter 8, then presses the work button 15 on casing 9, and GPS/BDS locating modules 5 obtain point O geography
Coordinate information, including longitude λ, latitude φ and elevation h, and send longitude λ, latitude φ and elevation h to microcontroller
STM32F100R1.The measurement point O of optical ranging module 2, apart from D, and will send microcontroller to point M apart from D
STM32F100R1.The measurement point M of Angle Measurement Module 3 attitude information, including azimuthal angle beta, angle of pitch ε, and by azimuthal angle beta, bow
Elevation angle ε sends microcontroller STM32F100R1 to.The longitude λ, latitude φ, height of microcontroller STM32F100R1 respectively to input
Journey h, apart from D, azimuthal angle beta, the angle of pitch ε digital filtering resolving is carried out, obtain precise information and be simultaneously sent to measurement data display module
4.Accurate data message, whole process about 80s are received from work button 15 is pressed to measurement data display module 4.
After 80s, as shown in figure 9, on LCD display 13 by longitude λ, latitude φ, elevation h, apart from D, azimuthal angle beta, angle of pitch ε numerical value
Information is shown that longitude λ value is 113.630197 in figure, and latitude φ values are 34.755238, and elevation h values are 79, are apart from D
471.0m, azimuth β value is 252.16 °, and angle of pitch ε values are 5.16 °.Microcontroller STM32F100R1 is by the warp of input simultaneously
Degree λ, latitude φ, elevation h, apart from D, azimuthal angle beta, angle of pitch ε send measurement data interface module 6 to, and connect by outbound data
Mouth socket uses these information transmissions to third party.
Embodiments of the invention realize automation positioning, angle measurement and ranging, improve the automaticity and essence of base line measurement
Degree, measurement efficiency is high, and configures measurement data interface, facilitates third party to use.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure transformation that bright specification and accompanying drawing content are made, or other related technical fields are directly or indirectly used in,
It is included within the scope of the present invention.
Claims (10)
1. one kind automation base line measurement system, including casing, be arranged on the casing internal data processing and control module
And the locating module electrically connected with the data processing and control module, it is characterised in that the automation base line measurement system
Optical ranging module, Angle Measurement Module, the measurement data for also including electrically connecting with the data processing and control module are shown
Module and/or measurement data interface module.
2. base line measurement system is automated according to claim 1, it is characterised in that the optical ranging module is infrared survey
Away from module, including the range sensor being arranged in the casing and the corner reflector used cooperatively with the range sensor,
The range sensor includes infrared transmitter, infrared receiving set, infrared optics component, signal processor.
3. base line measurement system is automated according to claim 2, it is characterised in that the infrared optics component includes setting
Infrared receiving/transmission optical lens in the casing front end.
4. base line measurement system is automated according to claim 3, it is characterised in that the casing upper end is provided with aiming institute
The white light for stating corner reflector sees collimation device.
5. base line measurement system is automated according to claim 4, it is characterised in that the casing lower end is provided with sucker.
6. base line measurement system is automated according to claim 5, it is characterised in that startup institute is additionally provided with the casing
State the work button that locating module, the infrared distance measurement module, the Angle Measurement Module are measured.
7. base line measurement system is automated according to claim 6, it is characterised in that the work button is synchronous averaging institute
State the single key that locating module, the infrared distance measurement module, the Angle Measurement Module start measurement.
8. base line measurement system is automated according to claim 7, it is characterised in that the casing internal is provided with survey simultaneously
When measuring data disaply moudle and measurement data interface module, it is provided with and is electrically connected with the measurement data display module on the casing
The LCD display connect, and the outbound data interface socket electrically connected with the measurement data interface module.
9. base line measurement system is automated according to claim 8, it is characterised in that the locating module is GPS and the Big Dipper
The gps antenna and the Big Dipper electrically connected with the GPS and big-dipper satellite locating module is provided with satellite positioning module, the casing
Antenna.
10. base line measurement system is automated according to claim 9, it is characterised in that the data processing and control module
Using microcontroller STM32F100R1, the Angle Measurement Module uses 10 axle MPU9250 gyroscope Kalman's angular surveying moulds
Block.
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Family
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| CN201710404947.2A Pending CN107085223A (en) | 2017-06-01 | 2017-06-01 | One kind automation base line measurement system |
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