CN107806858A - A kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one - Google Patents
A kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one Download PDFInfo
- Publication number
- CN107806858A CN107806858A CN201610816128.4A CN201610816128A CN107806858A CN 107806858 A CN107806858 A CN 107806858A CN 201610816128 A CN201610816128 A CN 201610816128A CN 107806858 A CN107806858 A CN 107806858A
- Authority
- CN
- China
- Prior art keywords
- measuring method
- location information
- mapping
- tilt measuring
- ball
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The present invention relates to technical field of mapping, and the invention provides a kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one, the tilt measuring method includes：Location information of the mapping all-in-one output with witness marker with carrier phase differential positioning (RTK) function；The tilt measurement module of mapping all-in-one obtains the location information of several diverse locations and judges whether the location information can be used for carrying out next step calculating according to witness marker, if can be with, least square ball be carried out according to qualified location information and is fitted to obtain the position of final centering rod bottom measured point.The present invention realizes the inclination measurement of mapping all-in-one, simple using process, and measurement accuracy is high and is not disturbed by external environmental factor.
Description
Technical field
The present invention relates to technical field of mapping, more particularly to a kind of inclination measurement side for being used for high accuracy and surveying and drawing all-in-one
Method.
Background technology
GNSS (satellite navigation) mapping all-in-one extensive uses and various mapping fields of measurement.In mapping process, to protect
Demonstrate,prove measured point positional precision, it is desirable to survey and draw all-in-one according to physics horizontal bubble instruction carry out centering operation, and use pair
Middle operation is as process is relatively cumbersome, technical difficulty is big and easily causes the course of work of error.Incline if mapping all-in-one carries
Tiltedly measurement function so that accurate position measurement can be achieved without the centering of physics horizontal bubble in mapping worker, will greatly simplify
The labor intensity and raising efficiency of mapping worker.
Inclination measurement compensation function is integrated in high-end GNSS mappings all-in-one at present, such as public with U.S. trimble
The R10 of department is representative, and due to technical difficulty and confidentiality reasons, separate unit product is not present in inclination measurement function, so tilting
Measure function can not by commonly used general GNSS mappings all-in-one, also, traditional obliquity sensor due to volume is larger,
Precision is relatively low, and functional form and mapping all-in-one application difference are very big, and the inclination measurement that can not be applied to mapping all-in-one is mended
Repay.In summary, being unable to inclination measurement in the presence of mapping all-in-one in the prior art causes measurement process cumbersome and measurement error
The problem of big.
The content of the invention
The invention provides a kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one, it is intended to which solution is directed to existing skill
Being unable to inclination measurement in the presence of mapping all-in-one in art causes the problem of measurement process is cumbersome and measurement error is big, concrete scheme
For：
A kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one, the tilt measuring method include：
Location information of the mapping all-in-one output with witness marker with carrier phase differential positioning (RTK) function；
The tilt measurement module of mapping all-in-one obtains the location information of several diverse locations and sentenced according to witness marker
Whether the location information of breaking can be used for carrying out next step calculating, if can be with according to qualified location information progress least square
Ball is fitted to obtain the position of final centering rod bottom measured point.
Above-mentioned tilt measuring method, wherein, the mapping all-in-one output with carrier phase differential positioning (RTK) function
The GPGGA sentences of the NMEA0183 agreements of standard.
Above-mentioned tilt measuring method, wherein, according to the GPGGA languages of the NMEA0183 agreements of mapping all-in-one outputting standard
Witness marker in sentence judges whether the location information accurately can use, and witness marker judges that positioning result judges available situation
For：Differential positioning solution state is fixed solution.
Tilt measuring method as claimed in claim 1, it is characterised in that the tilt measurement module for surveying and drawing all-in-one obtains
The location information of at least four diverse location point；
The position distribution of variant location point is wider, available position information is more, and computational accuracy is higher.
Tilt measuring method as claimed in claim 1, it is characterised in that survey and draw the middle bar of all-in-one in measurement process
Length to be fixed from changing, and centering rod bottom is immovable.
Tilt measuring method as claimed in claim 1, it is characterised in that the location information is passed through into least square ball
Fitting is calculated, and directly exports the positional information of centering rod bottom.
Above-mentioned tilt measuring method, wherein, the least square ball fitting is specially：
If the equation for being fitted the least square ball of incomplete sphere is
(x-a)2+(y-b)2+(z-c)2=R2,
Deploy and arrange：
x2+y2+z2+ 2ax+2by+2cz+d=0；
Dimensionless number d=a2+b2+c2-R2；
Actual equations formula may be not equal to zero, i.e.,
In formula, kiIt is inclined for each sampled point on actual incomplete sphere and the function of respective point on fitting least square ball sphere
Difference,
WhenFor minimum when, fitting
Least square ball approaches actual incomplete ball, according to the method minimized, by
It is a, b, c to obtain one group of unknown number, and d system of linear equations is simultaneously solved with least square method, obtains sphere centre coordinate a,
B, c are centering rod bottom position coordinate, and the radius of a ball is bar length
Wherein, a, b, c are respectively longitude, latitude and the height coordinate value of centering rod bottom position that RTK resolves to obtain,
xi、yi、ziFor the latitude and longitude coordinates of middle bar top receiver position in measurement, F is each sampled point and plan on incomplete sphere
Close the sum of squares function of corresponding deviation on least square ball sphere.
The advantage of the invention is that：
1st, tilt measuring method of the present invention only needs the high accuracy mapping one with carrier phase difference function
Machine, it is not necessary to extra hardware cost.
3rd, tilt measuring method of the present invention and traditional inclination measurement by measuring receiver attitude angle information
Module is compared, and is not influenceed by any external environment condition (magnetic disturbance, temperature change etc.).
4th, tilt measuring method of the present invention is compared with traditional tilt measuring method, it is not necessary to carries out in advance horizontal
Calibration, magnetic calibration, can accomplish to measure at any time, operating method is simple.
5th, tilt measuring method of the present invention is compared with traditional tilt measuring method, the survey of centering rod bottom position
Accuracy of measurement depends on carrier phase differential positioning precision, and measurement result is more stable, measurement accuracy is higher.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is a kind of stream for being used for high accuracy and surveying and drawing the tilt measuring method of all-in-one that an embodiment of the present invention provides
Cheng Tu.
Embodiment
In the following description, a large amount of concrete details are given to provide more thorough understanding of the invention.So
And it is obvious to the skilled person that the present invention can be able to without one or more of these details
Implement.In other examples, in order to avoid obscuring with the present invention, do not enter for some technical characteristics well known in the art
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Explain technical scheme.Presently preferred embodiments of the present invention is described in detail as follows, but in addition to these detailed descriptions, this
Invention can also have other embodiment.
Being presently used for the mapping all-in-one without inclination measurement function of mapping needs centering operation to complete centering rod
The measurement of bottom position coordinate, centering rod bottom is calculated with the attitude angle for generally requiring measuring receiver of inclination measurement function
The measurement of portion's position coordinates.The former can not be difficult to complete accurate position measurement work, the latter in the case of (corner) in
In the case where magnetic environment has interference or temperature change, measurement accuracy is poor and unstable.
Herein the invention provides a kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one, disclosure satisfy that anti-interference
The requirement that ability is strong, measurement accuracy is high, stability is good.
In the present embodiment, the invention provides a kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one, reference
Fig. 1, comprise the following steps：
Step 1：Pass through the high accuracy mapping all-in-one outputting standard with carrier phase differential positioning (RTK) function
The GPGGA sentences of NMEA0183 agreements；
Step 2：Obtaining receiver must not lack with respect to several diverse locations of centering rod bottom, several described diverse locations
In the positional information of 4 points, and the position distribution of each point is wider, the more computational accuracies of available position information are higher.
It is right to be fixed from changing also to include the length of centering rod in use in inclination measurement in the step 2
Middle bar bottom is immovable.
Step 3：Pass through the positioning shape in the GPGGA sentences of the NMEA0183 agreements of high accuracy mapping all-in-one outputting standard
Whether the condition judgment such as the state and number of satellite positioning result accurately can use；
Witness marker in the step 3 judges that the available situation of positioning result is that Differential positioning solution state is fixed solution.
Step 4：The available location information is calculated by the fitting of least square ball, directly exports centering rod bottom
The positional information in portion.
Specifically, the fitting of least square ball described in step 4 is specially：
If the equation for being fitted the least square ball of incomplete sphere is
(x-a)2+(y-b)2+(z-c)2=R2,
Deploy and arrange：
x2+y2+z2+ 2ax+2by+2cz+d=0；
Dimensionless number d=a2+b2+c2-R2；
Actual equations formula may be not equal to zero, i.e.,
In formula, kiIt is inclined for each sampled point on actual incomplete sphere and the function of respective point on fitting least square ball sphere
Difference,
WhenFor minimum when, fitting
Least square ball approaches actual incomplete ball, according to the method minimized, by
It is a, b, c to obtain one group of unknown number, and d system of linear equations is simultaneously solved with least square method, obtains sphere centre coordinate a,
B, c are centering rod bottom position coordinate, and the radius of a ball is bar length
Wherein, a, b, c are respectively longitude, latitude and the height coordinate value of centering rod bottom position that RTK resolves to obtain,
xi、yi、ziFor the latitude and longitude coordinates of middle bar top receiver position in measurement, F is each sampled point and plan on incomplete sphere
Close the sum of squares function of corresponding deviation on least square ball sphere.
Purport of the present invention surveys and draws all-in-one for GNSS and Related product provides a kind of tool and has high-precision inclination measurement function
Product, it is contemplated that helping GNSS mapping all-in-one development and production units to develop the mapping one for possessing inclination measurement function
Machine.Inclination measurement function refers in the case where not needing centering rod physics vertical, by directly complete to the method for the invention
Into required GNSS position locations measurement of coordinates, the accurate location of centering club head bottom measured point is obtained.
The present invention is innovated by software algorithm so that practicality, reliability, the stability of slope compensation function significantly carry
Rise, it will be apparent that be different from other inclination sensors and compensating module so that inclination measurement function can be used for GNSS mapping one
Machine product, realize high-precision obliquity measurement compensation.The product form of realization has distinguishing feature.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this area
Apply；Any those skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this has no effect on the substantive content of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit of the present invention still falls within the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments
In the range of technical scheme protection.
Claims (7)
1. a kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one, it is characterised in that the tilt measuring method includes：
Location information of the mapping all-in-one output with witness marker with carrier phase differential positioning (RTK) function；
The tilt measurement module of mapping all-in-one obtains the location information of several diverse locations and judges to be somebody's turn to do according to witness marker
Whether location information can be used for carrying out next step calculating, if can be with according to qualified location information progress least square ball plan
Conjunction obtains the position of final centering rod bottom measured point.
2. tilt measuring method as claimed in claim 1, it is characterised in that with carrier phase differential positioning (RTK) function
Mapping all-in-one outputting standard NMEA0183 agreements GPGGA sentences.
3. tilt measuring method as claimed in claim 2, it is characterised in that according to mapping all-in-one outputting standard
Witness marker in the GPGGA sentences of NMEA0183 agreements judges whether the location information accurately can use, and witness marker judges fixed
Position result judges that available situation is：Differential positioning solution state is fixed solution.
4. tilt measuring method as claimed in claim 1, it is characterised in that survey and draw all-in-one tilt measurement module obtain to
The location information of few 4 diverse location points；
The position distribution of variant location point is wider, available position information is more, and computational accuracy is higher.
5. tilt measuring method as claimed in claim 1, it is characterised in that survey and draw the middle bar of all-in-one in measurement process
Length is is fixed from changing, and centering rod bottom is immovable.
6. tilt measuring method as claimed in claim 1, it is characterised in that intend the location information by least square ball
Conjunction is calculated, and directly exports the positional information of centering rod bottom.
7. tilt measuring method as claimed in claim 6, it is characterised in that the least square ball, which is fitted, is specially：
If the equation for being fitted the least square ball of incomplete sphere is
(x-a)2+(y-b)2+(z-c)2=R2,
Deploy and arrange：
x2+y2+z2+ 2ax+2by+2cz+d=0；
Dimensionless number d=a2+b2+c2-R2；
Actual equations formula may be not equal to zero, i.e.,
In formula, kiFor each sampled point on actual incomplete sphere and the function deviation of respective point on fitting least square ball sphere,
WhenFor minimum when, a most young waiter in a wineshop or an inn for fitting
Multiply ball and approach actual incomplete ball, according to the method minimized, by
It is a, b, c to obtain one group of unknown number, and d system of linear equations is simultaneously solved with least square method, obtains sphere centre coordinate a, b, c and is
For centering rod bottom position coordinate, the radius of a ball is bar length
Wherein, a, b, c are respectively longitude, latitude and the height coordinate value of centering rod bottom position that RTK resolves to obtain, xi、yi、
ziFor the latitude and longitude coordinates of middle bar top receiver position in measurement, F is each sampled point on incomplete sphere with being fitted most
A young waiter in a wineshop or an inn multiplies the sum of squares function of corresponding deviation on ball sphere.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610816128.4A CN107806858A (en) | 2016-09-09 | 2016-09-09 | A kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610816128.4A CN107806858A (en) | 2016-09-09 | 2016-09-09 | A kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107806858A true CN107806858A (en) | 2018-03-16 |
Family
ID=61576337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610816128.4A Pending CN107806858A (en) | 2016-09-09 | 2016-09-09 | A kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107806858A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110298536A (en) * | 2019-05-20 | 2019-10-01 | 北京讯腾智慧科技股份有限公司 | Burning line quality of data evaluation method, device and collecting method |
| CN110488325A (en) * | 2019-08-02 | 2019-11-22 | 广州市中海达测绘仪器有限公司 | Precision automated detection method and storage medium based on GNSS receiver |
| CN111077558A (en) * | 2019-12-25 | 2020-04-28 | 交控科技股份有限公司 | Positioning system of rail vehicle and rail transit system |
| US11215688B2 (en) | 2016-09-20 | 2022-01-04 | Deeyook Location Technologies Ltd. | Identifying angle of departure of multi-antenna transmitters |
| US11550024B2 (en) | 2016-09-20 | 2023-01-10 | Deeyook Location Technologies Ltd. | Interferometric location sensing |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103439727A (en) * | 2013-08-29 | 2013-12-11 | 广州吉欧电子科技有限公司 | Method for measuring geographical coordinates |
| CN104482911A (en) * | 2014-12-12 | 2015-04-01 | 燕山大学 | Sphericity error evaluation method based on error balls |
| CN104613936A (en) * | 2014-12-05 | 2015-05-13 | 深圳市华颖泰科电子技术有限公司 | Inclination measure method of surveying-mapping integrated machine |
| CN104776835A (en) * | 2015-03-20 | 2015-07-15 | 深圳市华颖泰科电子技术有限公司 | Surveying and mapping all-in-one (AIO) machine compensation device, compensation system, and compensation method |
| EP2904351A2 (en) * | 2012-10-05 | 2015-08-12 | Trimble Navigation Limited | Enhanced position measurement systems and methods |
-
2016
- 2016-09-09 CN CN201610816128.4A patent/CN107806858A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2904351A2 (en) * | 2012-10-05 | 2015-08-12 | Trimble Navigation Limited | Enhanced position measurement systems and methods |
| CN103439727A (en) * | 2013-08-29 | 2013-12-11 | 广州吉欧电子科技有限公司 | Method for measuring geographical coordinates |
| CN104613936A (en) * | 2014-12-05 | 2015-05-13 | 深圳市华颖泰科电子技术有限公司 | Inclination measure method of surveying-mapping integrated machine |
| CN104482911A (en) * | 2014-12-12 | 2015-04-01 | 燕山大学 | Sphericity error evaluation method based on error balls |
| CN104776835A (en) * | 2015-03-20 | 2015-07-15 | 深圳市华颖泰科电子技术有限公司 | Surveying and mapping all-in-one (AIO) machine compensation device, compensation system, and compensation method |
Non-Patent Citations (2)
| Title |
|---|
| 任新生等: "拟合最小二乘球的球度测量", 《机械设计与研究》 * |
| 张鲜妮等: "一种改善RTK测量精度的新方法", 《大地测量与地球动力学》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11215688B2 (en) | 2016-09-20 | 2022-01-04 | Deeyook Location Technologies Ltd. | Identifying angle of departure of multi-antenna transmitters |
| US11550024B2 (en) | 2016-09-20 | 2023-01-10 | Deeyook Location Technologies Ltd. | Interferometric location sensing |
| CN110298536A (en) * | 2019-05-20 | 2019-10-01 | 北京讯腾智慧科技股份有限公司 | Burning line quality of data evaluation method, device and collecting method |
| CN110488325A (en) * | 2019-08-02 | 2019-11-22 | 广州市中海达测绘仪器有限公司 | Precision automated detection method and storage medium based on GNSS receiver |
| CN110488325B (en) * | 2019-08-02 | 2023-12-22 | 广州市中海达测绘仪器有限公司 | Precision automatic detection method based on GNSS receiver and storage medium |
| CN111077558A (en) * | 2019-12-25 | 2020-04-28 | 交控科技股份有限公司 | Positioning system of rail vehicle and rail transit system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107806858A (en) | A kind of tilt measuring method for being used for high accuracy and surveying and drawing all-in-one | |
| CN105910624B (en) | A kind of scaling method of used group of optical laying prism installation error | |
| Ellum et al. | The development of a backpack mobile mapping system | |
| CN104897154B (en) | Indoor earth-magnetism navigation method and device based on mobile phone | |
| CN105607093B (en) | A kind of integrated navigation system and the method for obtaining navigation coordinate | |
| CN108759834B (en) | Positioning method based on global vision | |
| CN101587132B (en) | Field weakening direction sensor calibration method | |
| US20100161272A1 (en) | Physical amount measuring device and physical amount measuring method | |
| CN104457688B (en) | High-precision automatic measurement device for batch equipment attitude angle matrix on satellite | |
| CN106556383B (en) | A kind of method of RTK slope compensation measurement accuracy verifying | |
| CN107144265B (en) | A kind of measuring method based on the graphic three-dimensional property right body space boundary mark of projection | |
| CN107390155B (en) | Magnetic sensor calibration device and method | |
| JP2016206178A (en) | Laser measurement method, laser measurement marker and coordinate calculation program | |
| CN103759743B (en) | When inertial measuring unit azimuth reference transfer device and high inclination-angle, orientation determines method | |
| CN106291609A (en) | A kind of RTK precision assessment method | |
| CN101266153B (en) | Mapping engineering top total station accuracy assessment method | |
| CN108710145A (en) | A kind of unmanned plane positioning system and method | |
| CN109405853A (en) | Star sensor integration calibrating installation and method | |
| CN102121825A (en) | Method for measuring river-crossing levelling altitude difference by using GPS (global positioning system) | |
| CN205352408U (en) | A device for assisting real estate unit is investigated on spot | |
| CN105651310B (en) | A kind of novel surveying instrument tilts amount correction method | |
| Franklin et al. | Centering error for range poles | |
| Poloprutský | Design of a survey net for metric survey documentation of a historical building | |
| CN107170333A (en) | A kind of celestial body azimuth and altitude angle measurements experiment instrument | |
| Spasov | METHOD FOR BUILDING A WORKING GEODETIC NETWORK OF REFLECTIVE MARKS FOR CONSTRUCTION NEEDS. |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180316 |