CN108469626A - One kind filling compacting machinary digitlization construction precise positioning air navigation aid - Google Patents
One kind filling compacting machinary digitlization construction precise positioning air navigation aid Download PDFInfo
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- CN108469626A CN108469626A CN201810136701.6A CN201810136701A CN108469626A CN 108469626 A CN108469626 A CN 108469626A CN 201810136701 A CN201810136701 A CN 201810136701A CN 108469626 A CN108469626 A CN 108469626A
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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
- G01S19/38—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
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single system
-
- 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
- G01S19/14—Receivers specially adapted for specific applications
-
- 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
- G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The present invention relates to one kind filling compacting machinary digitlization construction precise positioning air navigation aid, which is characterized in that includes the following steps：S1：Obtain the GNSS data of first antenna；S2：Obtain the inclination angle between the first, second antenna and course angle；The first antenna is the first GNSS antenna being arranged in roller left front end, second antenna is the second GNSS antenna being arranged in roller right front ends, first GNSS antenna and the second GNSS antenna are arranged on same straight line, and the first GNSS antenna is identical as the second GNSS antenna level height；S3：The spatial position data of muller left and right edges is calculated by the GNSS data of first antenna, course angular data；S4：By course angle, angular data is tilted, corrects the data of muller left and right edges；S5：By the position data of muller left and right edges, the calculating for rolling path, number of rolling is carried out.
Description
Technical field
The invention belongs to Construction Control fields, and in particular to one kind filling compacting machinary digitlization construction precise positioning
Air navigation aid.
Background technology
In the prior art, the method for determining roller spatial position is being rolled by installing single satellite receiver antenna
Machine obtains the position data of antenna.By the processing to this position data, it is described as the current location of roller, passes through acquisition
Position data is connected as a broken line, which is described as to the stone roller of broken line by the position data in a period of time
The movement locus of press；After the sub-line segment data of broken line is longitudinally extended, number of rolling (the muller stone roller of the roller is calculated
Press range or muller job area).
Above-mentioned technology has the following defects：
The first, can not accurate description roller sphere of action；
Since the mechanical structure of roller is the front and back rigid structure that can be driven, centre is connected by shaft.Installation
Individual antenna can only obtain the single-point local location data of roller, and the spatial data that can not obtain roller entirety (such as is ground
The current course of press, the inclined angle of muller etc.), it is caused the result is that can not accurately calculate especially muller acts on soil
The position of the construction materials such as the cubic meter of stone).Due to only acquiring single locus data, rail is rolled by the way that this data reasoning is calculated
Mark, number of rolling are all inaccurate：Roller muller be a line segment, obtain data be a bit, under plane coordinates, Wu Fatong
" point " is crossed accurately to describe one " line ", especially the rerouting the case where and in the case of changing front and back course, mistake
Difference is larger.It follows that：Position data is connected as line chart by the method for acquiring data in a period of time
It is not rigorous that mode, which calculate,.
The second, when ground is not accurate horizontal plane, there are errors.
(in practice of construction environment, horizontal feelings are not present when the construction object of roller is not severity
Condition), car body run-off the straight, at this point, it is inaccurate only to calculate the position of roller and ground contact points with the position data of single-point
's.This is in place of the deficiencies in the prior art.
Therefore, in view of the above-mentioned drawbacks in the prior art, design one kind is provided and fills compacting machinary digitlization construction precisely
Positioning navigation method；To solve the above problem in the prior art, it is necessary.
Invention content
It is an object of the present invention to which in view of the above-mentioned drawbacks of the prior art, providing design one kind filling compacting machinary
Digitlization construction precise positioning air navigation aid, to solve the above technical problems.
To achieve the above object, the present invention provides following technical scheme：
One kind filling compacting machinary digitlization construction precise positioning air navigation aid, which is characterized in that includes the following steps：
S1：Obtain the GNSS data of first antenna；
S2：Obtain the inclination angle between the first, second antenna and course angle；
Inclination angle：Using the second antenna as starting point, first antenna is that terminal is connected as a vector line segment, the line segment and level
The angle in face is inclination angle；
Course angle：Using the second antenna as starting point, first antenna is that terminal is connected as a vector line segment, the line segment and due north
Angle between direction is course angle；
The first antenna is the first GNSS antenna being arranged in roller left front end, and second antenna is that setting is being ground
Second GNSS antenna of press right front ends, the first GNSS antenna and the second GNSS antenna are arranged on same straight line, and first
GNSS antenna is identical as the second GNSS antenna level height；
S3：The spatial position data of muller left and right edges is calculated by the GNSS data of first antenna, course angular data；
S4：By course angle, angular data is tilted, corrects the data of muller left and right edges；
S5：By the position data of muller left and right edges, the calculating for rolling path, number of rolling is carried out.
Preferably, the step S4 includes the following steps：
S41：Work coordinate system is defined, coordinate system is using due north as X-axis axis direction, with X-axis positive direction for 0 degree of prime direction,
It is augment direction clockwise；
S42：Second GNSS antenna is directed toward the vector of the first GNSS antenna and the angle of due north is set to Head；
Remember α=Head+90, is the course angle of current roller；
Wherein, the range of α is [0,360]；In calculating process, it is less than 0 and increases by 360,360 are subtracted more than 360；
Remember that d1 is：First GNSS antenna center line and roller muller left side edge extended line distance (when d1 is less than 0,
Antenna is on the right side of muller；When d1 is more than 0, antenna is on the left of muller；When d1 is equal to 0, antenna center line and muller left side edge
In same straight line)；
Remember that h1 is：The vertical range of first GNSS antenna and roller muller center line；
Remember that d2 is：The extended line distance of second GNSS antenna center line and roller muller left side edge is (when d2 is less than 0
When, antenna is on the right side of muller；When d2 is more than 0, antenna is on the left of muller；When d2 is equal to 0, antenna center line and muller right edge
Edge is in same straight line)；
Remember that h2 is：The vertical range of second GNSS antenna and roller muller center line；
As shown in Figure 2；
Remember that A points are：First GNSS antenna position；
Remember that B points are：The coordinate of muller left side edge and ground contact points；
Remember that C points are：The coordinate of muller right side edge and ground contact points；As shown in Figure 1；
Remember that γ is：The inclination angle of GNSS antenna and ground；When the first GNSS antenna is higher than the second GNSS antenna, γ<0；
When the first GNSS antenna is less than the second GNSS antenna, γ>0；When the first GNSS antenna height is equal to the second GNSS antenna, γ
=0；
Remember that l is：Length of first GNSS antenna to ground；As shown in Figure 3；
Remember that (XA, YA) is coordinate position of the A points in operating coordinates, (XB, YB) is coordinate bit of the B points in operating coordinates
It sets, (XC, YC) is coordinate position of the C points in operating coordinates, and (XB ', YB ') is the temporal coordinate of B points, (XC ', YC ') it is C points
Temporal coordinate；
S43：Calculating B point temporal coordinates is：
C point temporal coordinates are：
B, C point coordinates are as follows after amendment：
B point coordinates：
C point coordinates：
By the point coordinates of antenna, it is scaled the point coordinates of muller and the contact point on ground；To reduce Uneven road to output
The influence of coordinate；
Preferably, the step S5 includes the following steps：
S51：The contact point on muller left and right edges and ground point when acquiring t1, t2, t3, t4, t5 according to chronological order
Not Wei (a, a '), (b, b '), (c, c '), (d, d '), (e, e ')；
Left-hand point, right-hand point connection are connected by the collected point coordinates of t1-t5 according to timestamp ordering and according to left-hand point
The mode of right-hand point connects, and obtained polygon is the information of road surface of muller effect；
S52：The contact point for continuing to acquire t6, t7, t8, t9, t10 moment muller left and right edges and ground be respectively (f,
F '), (g, g '), (h, h '), (i, i '), (j, j ')；
Temporally adjacent muller position is connected, obtains rolling track.The more position of number is overlapped, shows rolling layer
It is more.
Preferably, the obtained polygon information of road surface in the step S5 is labeled with different rgb values；It is multiple
It is saturate to show that rolling layer is more after polygon re-posted.
The beneficial effects of the present invention are two antennas are separately mounted to the both sides of roller muller, can obtain muller side
The attitude data of edge, to accurate description muller posture；The calculating of roll angular data is added, roller run-off the straight can be eliminated
When error.In addition, design principle of the present invention is reliable, there is very extensive application prospect.
It can be seen that compared with prior art, the present invention with substantive distinguishing features outstanding and significantly improving, implementation
Advantageous effect be also obvious.
Description of the drawings
Fig. 1 is the positional structure schematic diagram of A points, B points, C points.
Fig. 2 is the positional structure schematic diagram of A points, d1, d2, h1, h2.
Fig. 3 is the positional structure schematic diagram of A points, B points, h1, l.
Fig. 4 is the roller track schematic diagram provided in embodiment.
Specific implementation mode
The present invention will be described in detail below in conjunction with the accompanying drawings and by specific embodiment, and following embodiment is to the present invention
Explanation, and the invention is not limited in following implementation.
One kind that the present embodiment provides fills compacting machinary digitlization construction precise positioning air navigation aid, which is characterized in that
Include the following steps：
S1：Obtain the GNSS data of first antenna；
S2：Obtain the inclination angle between the first, second antenna and course angle；
Inclination angle：Using the second antenna as starting point, first antenna is that terminal is connected as a vector line segment, the line segment and level
The angle in face is inclination angle；
Course angle：Using the second antenna as starting point, first antenna is that terminal is connected as a vector line segment, the line segment and due north
Angle between direction is course angle；
The first antenna is the first GNSS antenna being arranged in roller left front end, and second antenna is that setting is being ground
Second GNSS antenna of press right front ends, the first GNSS antenna and the second GNSS antenna are arranged on same straight line, and first
GNSS antenna is identical as the second GNSS antenna level height；
S3：The spatial position data of muller left and right edges is calculated by the GNSS data of first antenna, course angular data；
S4：By course angle, angular data is tilted, corrects the data of muller left and right edges；
S5：By the position data of muller left and right edges, the calculating for rolling path, number of rolling is carried out.
In the present embodiment, the step S4 includes the following steps：
S41：Work coordinate system is defined, coordinate system is using due north as X-axis axis direction, with X-axis positive direction for 0 degree of prime direction,
It is augment direction clockwise；
S42：Second GNSS antenna is directed toward the vector of the first GNSS antenna and the angle of due north is set to Head；
Remember α=Head+90, is the course angle of current roller；
Wherein, the range of α is [0,360]；In calculating process, it is less than 0 and increases by 360,360 are subtracted more than 360；
Remember that d1 is：First GNSS antenna center line and roller muller left side edge extended line distance (when d1 is less than 0,
Antenna is on the right side of muller；When d1 is more than 0, antenna is on the left of muller；When d1 is equal to 0, antenna center line and muller left side edge
In same straight line)；
Remember that h1 is：The vertical range of first GNSS antenna and roller muller center line；
Remember that d2 is：The extended line distance of second GNSS antenna center line and roller muller left side edge is (when d2 is less than 0
When, antenna is on the right side of muller；When d2 is more than 0, antenna is on the left of muller；When d2 is equal to 0, antenna center line and muller right edge
Edge is in same straight line)；
Remember that h2 is：The vertical range of second GNSS antenna and roller muller center line；
As shown in Figure 2；
Remember that A points are：First GNSS antenna position；
Remember that B points are：The coordinate of muller left side edge and ground contact points；
Remember that C points are：The coordinate of muller right side edge and ground contact points；As shown in Figure 1；
Remember that γ is：The inclination angle of GNSS antenna and ground；When the first GNSS antenna is higher than the second GNSS antenna, γ<0；
When the first GNSS antenna is less than the second GNSS antenna, γ>0；When the first GNSS antenna height is equal to the second GNSS antenna, γ
=0；
Remember that l is：Length of first GNSS antenna to ground；As shown in Figure 3；
Remember that (XA, YA) is coordinate position of the A points in operating coordinates, (XB, YB) it is coordinate bit of the B points in operating coordinates
It sets, (XC, YC) it is coordinate position of the C points in operating coordinates, (XB', YB') be B points temporal coordinate, (XC', YC') it is C points
Temporal coordinate；
S43：Calculating B point temporal coordinates is：
C point temporal coordinates are：
B, C point coordinates are as follows after amendment：
B point coordinates：
C point coordinates：
By the point coordinates of antenna, it is scaled the point coordinates of muller and the contact point on ground；To reduce Uneven road to output
The influence of coordinate；
In the present embodiment, the step S5 includes the following steps：
S51：The contact point on muller left and right edges and ground point when acquiring t1, t2, t3, t4, t5 according to chronological order
Not Wei (a, a '), (b, b '), (c, c '), (d, d '), (e, e ')；
Left-hand point, right-hand point connection are connected by the collected point coordinates of t1-t5 according to timestamp ordering and according to left-hand point
The mode of right-hand point connects, and obtained polygon is the information of road surface of muller effect；
S52：The contact point for continuing to acquire t6, t7, t8, t9, t10 moment muller left and right edges and ground be respectively (f,
F '), (g, g '), (h, h '), (i, i '), (j, j ')；
Temporally adjacent muller position is connected, obtains rolling track.The more position of number is overlapped, shows rolling layer
It is more.
In the present embodiment, the obtained polygon information of road surface in the step S5 is labeled with different rgb values；It is more
It is saturate to show that rolling layer is more after a polygon re-posted.
In the infrastructures such as dam, highway construction, placement grinding is important procedure, therefore is confronted during placement grinding
Amount control is always the pith of entire Engineering Quality Control, but traditional artificial other station method to number of rolling, roll and shake
The processes construction parameter such as flowing mode, speed is difficult to accurately measure, therefore the present invention is mainly used and mechanically disposed in placement grinding
Two GNSS antennas simultaneously can accurately determine the work progress parameter such as number of rolling, rolling speed using correlation space algorithm, no
But can remotely monitor Construction Condition can also precisely assist machinery operator to carry out construction navigation, greatly improve operating efficiency,
Reduce quality control cost.
Disclosed above is only the preferred embodiment of the present invention, but the present invention is not limited to this, any this field
What technical staff can think does not have a creative variation, and without departing from the principles of the present invention made by several improvement and
Retouching, should all be within the scope of the present invention.
Claims (4)
1. one kind filling compacting machinary digitlization construction precise positioning air navigation aid, which is characterized in that include the following steps：
S1：Obtain the GNSS data of first antenna；
S2：Obtain the inclination angle between the first, second antenna and course angle；
Inclination angle：Using the second antenna as starting point, first antenna is that terminal is connected as a vector line segment, the line segment and horizontal plane
Angle is inclination angle；
Course angle：Using the second antenna as starting point, first antenna is that terminal is connected as a vector line segment, the line segment and direct north
Between angle be course angle；
The first antenna is the first GNSS antenna being arranged in roller left front end, and second antenna is to be arranged in roller
Second GNSS antenna of right front ends, the first GNSS antenna and the second GNSS antenna are arranged on same straight line, the first GNSS days
Line is identical as the second GNSS antenna level height；
S3：The spatial position data of muller left and right edges is calculated by the GNSS data of first antenna, course angular data；
S4：By course angle, angular data is tilted, corrects the data of muller left and right edges；
S5：By the position data of muller left and right edges, the calculating for rolling path, number of rolling is carried out.
2. one kind according to claim 1 fills compacting machinary digitlization construction precise positioning air navigation aid, feature exists
In the step S4 includes the following steps：
S41：Work coordinate system is defined, coordinate system is using due north as X-axis axis direction, with X-axis positive direction for 0 degree of prime direction, up time
Needle is augment direction；
S42：Second GNSS antenna is directed toward the vector of the first GNSS antenna and the angle of due north is set to Head；
Remember α=Head+90, is the course angle of current roller；
Wherein, the range of α is [0,360]；In calculating process, it is less than 0 and increases by 360,360 are subtracted more than 360；
Remember that d1 is：First GNSS antenna center line and roller muller left side edge extended line distance (when d1 is less than 0, antenna
On the right side of muller；When d1 is more than 0, antenna is on the left of muller；When d1 is equal to 0, antenna center line is with muller left side edge same
One straight line)；
Remember that h1 is：The vertical range of first GNSS antenna and roller muller center line；
Remember that d2 is：The extended line distance of second GNSS antenna center line and roller muller left side edge for (when d2 is less than 0, day
Line is on the right side of muller；When d2 is more than 0, antenna is on the left of muller；When d2 is equal to 0, antenna center line exists with muller right side edge
Same straight line)；
Remember that h2 is：The vertical range of second GNSS antenna and roller muller center line；
Remember that A points are：First GNSS antenna position；
Remember that B points are：The coordinate of muller left side edge and ground contact points；
Remember that C points are：The coordinate of muller right side edge and ground contact points；
Remember that γ is：The inclination angle of GNSS antenna and ground；When the first GNSS antenna is higher than the second GNSS antenna, γ<0；When
When one GNSS antenna is less than the second GNSS antenna, γ>0；When the first GNSS antenna height is equal to the second GNSS antenna, γ=0；
Remember that l is：Length of first GNSS antenna to ground；
Remember (XA, YA) it is coordinate position of the A points in operating coordinates, (XB, YB) it is coordinate position of the B points in operating coordinates,
(XC, YC) it is coordinate position of the C points in operating coordinates, (XB', YB') be B points temporal coordinate, (XC', YC') it is facing for C points
When coordinate；
S43：Calculating B point temporal coordinates is：
C point temporal coordinates are：
B, C point coordinates are as follows after amendment：
B point coordinates：
C point coordinates：
3. one kind according to claim 2 fills compacting machinary digitlization construction precise positioning air navigation aid, feature exists
In the step S5 includes the following steps：
S51：The contact point on muller left and right edges and ground is respectively when acquiring t1, t2, t3, t4, t5 according to chronological order
(a, a '), (b, b '), (c, c '), (d, d '), (e, e ')；
Left-hand point, right-hand point connection right side are connected by the collected point coordinates of t1-t5 according to timestamp ordering and according to left-hand point
The mode of point connects, and obtained polygon is the information of road surface of muller effect；
S52：The contact point for continuing to acquire t6, t7, t8, t9, t10 moment muller left and right edges and ground is respectively (f, f '), (g,
G '), (h, h '), (i, i '), (j, j ')；
Temporally adjacent muller position is connected, obtains rolling track.
4. one kind according to claim 3 fills compacting machinary digitlization construction precise positioning air navigation aid, feature exists
In the obtained polygon information of road surface in the step S5 is labeled with different rgb values.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239636A (en) * | 2019-06-25 | 2019-09-17 | 天津大学 | A kind of the coordinate modification system and modification method of unmanned equipment |
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