CN109696153B - RTK tilt measurement accuracy detection method and system - Google Patents
RTK tilt measurement accuracy detection method and system Download PDFInfo
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- CN109696153B CN109696153B CN201811589079.0A CN201811589079A CN109696153B CN 109696153 B CN109696153 B CN 109696153B CN 201811589079 A CN201811589079 A CN 201811589079A CN 109696153 B CN109696153 B CN 109696153B
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- 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
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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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Abstract
The invention relates to a method and a system for detecting RTK tilt measurement accuracy, a computer device and a computer storage medium. The RTK tilt measurement accuracy detection method comprises the following steps: acquiring RTK tilt measurement data obtained by performing RTK tilt measurement for a measurement target point; constructing a distance back intersection adjustment model according to RTK inclination measurement data, and determining a design matrix, a prior variance matrix and an observed value-calculated value vector according to the distance back intersection adjustment model; the distance rear intersection adjustment model is a model for representing earth coordinate sequence residual error data and variance data; calculating the position precision of the measurement target point according to the prior variance matrix and the observed value-calculated value vector, calculating a geometric precision factor according to the design matrix, and detecting the precision of the estimated coordinate of the measurement target point according to the position precision and the geometric precision factor. The method reduces the cost for acquiring the estimated coordinates of the high-precision measurement target point on the basis of ensuring the extraction stability of the high-precision RTK tilt measurement data.
Description
Technical Field
The present invention relates to the field of RTK measurement technologies, and in particular, to a method and a system for detecting RTK tilt measurement accuracy, a computer device, and a computer storage medium.
Background
The high-precision GNSS (Global Navigation Satellite System) dynamic positioning mainly adopts an RTK (Real-time kinematic) positioning technology, and the Real-time dynamic positioning precision can reach centimeter level. The RTK positioning directly determines the position of the GNSS receiver antenna phase center, and the position of the measured target point needs to be passed by the antenna phase center position according to the space geometry relationship between the two. In the traditional RTK operation process, the circular level bubble on the centering rod needs to be measured in the middle, the centering rod is ensured to be perpendicular to the horizontal plane where the measurement target point is located, so that the connecting line of the antenna phase center and the measurement target point is perpendicular to the horizontal plane where the measurement target point is located, the plane coordinate of the measurement target point is the same as that of the antenna phase center, and the geodetic height of the measurement target point can be obtained only by correcting the geodetic height of the antenna phase center and the antenna phase center parameters and correcting the rod length. The operation scene of RTK measurement is complicated, and the centering rod can not be vertically arranged in partial scene, so that the coordinate precision of the measurement target point obtained by derivation is reduced. The problem of high-precision positioning of the RTK in the scene needs to be solved, and the geometric relation between the antenna phase center and a measurement target point in the inclined state of the measuring rod needs to be accurately determined. The common method is to determine the azimuth angle and the inclination angle of the measuring rod through an inertial device to determine the geometric relationship between the phase center of the antenna and the measured target point.
In the traditional scheme, the azimuth angle and the inclination angle of the measuring rod are determined through an inertial device to determine the geometric relationship between the phase center of the antenna and a measuring target point, and high-precision inclination measurement data is acquired. The inertial device-based RTK tilt measurement scheme can achieve high-precision RTK tilt measurement, but needs to add extra inertial devices. Based on the thought of back intersection in the measurement field, the bottom of the centering rod can be aligned to a measurement target point, the point position of the measurement target point is taken as the sphere center, the distance from the measurement target point to the antenna phase center is taken as the radius, the centering rod is shaken to collect the coordinate sequence of the antenna phase center position, and the coordinate of the measurement target point is estimated through a back intersection method. The method does not depend on an inertia device, so that the hardware cost of the inclination measurement can be reduced. Due to the influence of the tilt measurement working environment, the coordinate accuracy of the measurement target point estimated by the back intersection may not be high, and therefore, it is necessary to give quality assessment to the strength of the model and the point position accuracy of the tilt measurement.
Disclosure of Invention
Based on this, there is a need for providing an RTK tilt measurement accuracy detection method and system, a computer device, a computer storage medium.
An RTK tilt measurement accuracy detection method, comprising:
acquiring RTK tilt measurement data obtained by performing RTK tilt measurement for a measurement target point;
constructing a distance back intersection adjustment model according to the RTK inclination measurement data, and determining a design matrix, a prior variance matrix and an observed value-calculated value vector according to the distance back intersection adjustment model; the distance rear intersection adjustment model is a model for representing residual data and variance data of the geodetic coordinate sequence;
and calculating the position precision of the measurement target point according to the prior variance matrix and the observed value-calculated value vector, calculating a geometric precision factor according to the design matrix, and detecting the precision of the estimated coordinate of the measurement target point according to the position precision and the geometric precision factor.
The RTK inclination measurement accuracy detection method can acquire RTK inclination measurement data obtained by performing RTK inclination measurement on a measurement target point, construct a distance back intersection adjustment model to determine a design matrix, a prior variance matrix and an observed value-calculated value vector, calculate the position accuracy of the measurement target point according to the prior variance matrix and the observed value-calculated value vector, calculate a geometric accuracy factor according to the design matrix, detect the accuracy of the estimated coordinate of the measurement target point according to the position accuracy and the geometric accuracy factor to acquire the estimated coordinate of the measurement target point with the accuracy reaching a required measurement standard or required measurement target point, has simple operation mode and high detection accuracy without depending on other devices such as inertial devices and the like in the RTK inclination measurement accuracy detection process, and ensures the extraction stability of the high-accuracy RTK inclination measurement data, the cost of obtaining the estimated coordinates of the high-precision measurement target points is reduced.
In one embodiment, the process of detecting the accuracy of the estimated coordinates of the measurement target points based on the positional accuracy and the geometric accuracy factor includes:
if the geometric precision factor is smaller than a first geometric precision threshold value and the position precision is smaller than a position precision threshold value, judging that the precision of the estimated coordinates of the measurement target point reaches a set standard;
if the geometric precision factor is smaller than a first geometric precision threshold value and the position precision is greater than or equal to a position precision threshold value, judging that the precision of the estimated coordinates of the measurement target point does not reach a set standard;
and if the geometric precision factor is larger than a first geometric precision threshold and smaller than a second geometric precision threshold, and the position precision is smaller than a position precision threshold, judging that the precision of the estimated coordinates of the measurement target point reaches a set standard.
The embodiment can accurately detect the precision of the estimated coordinates of the measurement target point to obtain the high-precision estimated coordinates with the precision reaching the set standard, and discard the estimated coordinates with errors or large errors, which have the precision not reaching the set standard, so that the accuracy of the obtained estimated coordinates of the measurement target point is ensured.
In one embodiment, the process of detecting the accuracy of the estimated coordinates of the measurement target points based on the positional accuracy and the geometric accuracy factor further includes:
and if the geometric accuracy factor is larger than or equal to the second geometric accuracy threshold, returning to execute the process of acquiring the RTK tilt measurement data obtained by performing the RTK tilt measurement aiming at the measurement target point.
In one embodiment, the process of detecting the accuracy of the estimated coordinates of the measurement target points based on the positional accuracy and the geometric accuracy factor further includes:
and if the geometric accuracy factor is larger than the first geometric accuracy threshold and smaller than the second geometric accuracy threshold, and the position accuracy is larger than or equal to the position accuracy threshold, returning to execute the process of acquiring RTK tilt measurement data obtained by performing RTK tilt measurement on the measurement target point.
In one embodiment, the RTK tilt measurement data includes a sequence of receiver antenna phase center coordinates;
the process of constructing a distance backward crossing adjustment model from the RTK tilt measurement data includes:
converting the phase center coordinate sequence of the receiver antenna into an ENU coordinate sequence;
constructing a distance observation equation of the measurement target point according to the ENU coordinate sequence, and determining a prior variance matrix of the measurement target point according to the distance observation equation;
converting the distance observation equation into an error observation equation, and extracting a design matrix and an observed value-calculated value vector from the error observation equation;
and constructing a distance rear intersection adjustment model according to the prior variance matrix, the design matrix and the observed value-calculated value vector.
As an embodiment, the process of determining a design matrix and an observation-calculation value vector according to the distance backward intersection adjustment model includes:
solving the error observation equation to obtain the coordinate correction number of the measurement target point;
and updating the design matrix and the observed value-calculated value vector of the distance backward intersection adjustment model according to the coordinate correction.
In one embodiment, the process of calculating a geometric dilution of precision from the design matrix includes:
calculating a geometric matrix according to the design matrix, and performing inversion operation on the geometric matrix to determine an inverse matrix of the geometric matrix;
and calculating a geometric precision factor according to the diagonal elements of the inverse matrix.
An RTK tilt measurement accuracy detection system, comprising:
an acquisition module for acquiring RTK tilt measurement data obtained by performing RTK tilt measurement for a measurement target point;
the construction module is used for constructing a distance backward convergence adjustment model according to the RTK inclination measurement data, and determining a design matrix, a prior variance matrix and an observed value-calculated value vector according to the distance backward convergence adjustment model; the distance rear intersection adjustment model is a model for representing residual data and variance data of the geodetic coordinate sequence;
and the calculation module is used for calculating the position precision of the measurement target point according to the prior variance matrix and the observed value-calculation value vector, calculating a geometric precision factor according to the design matrix, and detecting the precision of the estimated coordinates of the measurement target point according to the position precision and the geometric precision factor.
The RTK inclination measurement accuracy detection system can acquire RTK inclination measurement data obtained by performing RTK inclination measurement on a measurement target point, construct a distance back intersection adjustment model to determine a design matrix, a prior variance matrix and an observed value-calculated value vector, calculate the position accuracy of the measurement target point according to the prior variance matrix and the observed value-calculated value vector, calculate a geometric accuracy factor according to the design matrix, detect the accuracy of an estimated coordinate of the measurement target point according to the position accuracy and the geometric accuracy factor to acquire the estimated coordinate of the measurement target point with the accuracy reaching a required measurement standard or required measurement target point, has simple operation mode and high detection accuracy without depending on other devices such as inertial devices and the like in the RTK inclination measurement accuracy detection process, and ensures the extraction stability of the high-accuracy RTK inclination measurement data, the cost of obtaining the estimated coordinates of the high-precision measurement target points is reduced.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the RTK tilt measurement accuracy detection method provided by any of the above embodiments when executing the computer program.
A computer storage medium having stored thereon a computer program that, when executed by a processor, implements the RTK tilt measurement accuracy detection method provided by any of the above embodiments.
According to the RTK tilt measurement accuracy detection method of the present invention, the present invention also provides a computer device and a computer storage medium for implementing the above RTK tilt measurement accuracy detection method by a program. The above-described computer apparatus and computer storage medium can reduce the cost of acquiring estimated coordinates of high-precision measurement target points.
Drawings
FIG. 1 is a flow chart of a RTK tilt measurement accuracy detection method of an embodiment;
FIG. 2 is a schematic diagram of an embodiment of a process for obtaining estimated coordinates of a target point for high-precision measurement;
FIG. 3 is a schematic diagram of an RTK tilt measurement accuracy detection system of an embodiment;
FIG. 4 is a block diagram of a computer system, according to one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that the terms "first \ second \ third" related to the embodiments of the present invention only distinguish similar objects, and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may exchange a specific order or sequence when allowed. It should be understood that the terms first, second, and third, as used herein, are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or otherwise described herein.
The terms "comprises" and "comprising," and any variations thereof, of embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or modules is not limited to the listed steps or modules but may alternatively include other steps or modules not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Reference herein to "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Referring to fig. 1, fig. 1 is a flowchart of an RTK tilt measurement accuracy detection method according to an embodiment, including:
s10, acquiring RTK tilt measurement data obtained by performing RTK tilt measurement aiming at the measurement target point;
the RTK tilt measurement data may include data such as a distance from a measurement target point to each receiver antenna phase center point, estimated coordinates of the measurement target point, and an RTK position geodetic coordinate sequence; the RTK position geodetic coordinate sequence comprises RTK position geodetic coordinates of the measurement target points measured by the phase center points of the receiver antennas respectively.
In one embodiment, the above process of acquiring RTK tilt measurement data obtained by performing RTK tilt measurement with respect to the measurement target point may include:
adjusting the measuring centering rod to a set rod length;
the bottom of a measurement centering rod is arranged on a measurement target point, and when the solution state of the GNSS receiver is an RTK fixed solution, the measurement centering rod is shaken to acquire a geodetic coordinate sequence of the antenna phase center of the receiver;
and determining RTK tilt measurement data according to the geodetic coordinate sequence of the phase center of the receiver antenna, the distance from the phase center to the measurement target point and the rough coordinate of the measurement target point.
The set rod length can be determined according to specific measurement requirements, such as setting to be 1.8-2 m in equivalent. The adjusted rod length of the measured centering rod may be input into the RTK handbook software for subsequent reading.
S20, constructing a distance back intersection adjustment model according to the RTK inclination measurement data, and determining a design matrix, a prior variance matrix and an observed value-calculated value vector according to the distance back intersection adjustment model; the distance rear intersection adjustment model is a model for representing the earth coordinate sequence residual error data and the variance data;
the steps can convert a receiver antenna phase center geodetic coordinate sequence in RTK tilt measurement data into an ENU (projection plane coordinate system) coordinate sequence, specifically can convert the antenna phase center geodetic coordinate sequence into the ENU coordinate sequence based on coordinate projection parameters set by RTK handbook software, and then construct the distance backward convergence adjustment model so as to ensure the accuracy of the constructed distance backward convergence adjustment model.
S30, calculating the position precision of the measurement target point according to the prior variance matrix and the observed value-calculated value vector, calculating a geometric precision factor (PDOP value) according to the design matrix, and detecting the precision of the estimated coordinate of the measurement target point according to the position precision and the geometric precision factor.
The steps can identify the estimated coordinates of the high-precision measurement target point with the precision reaching the set standard according to the position precision and the geometric precision factor so as to extract the estimated coordinates of successful measurement and process the RTK tilt measurement data of failed measurement, thereby ensuring the accuracy of the extracted estimated coordinates of the measurement target point.
The RTK tilt measurement accuracy detection method provided by the invention can acquire RTK tilt measurement data obtained by performing RTK tilt measurement on a measurement target point, construct a distance back intersection adjustment model to determine a design matrix, a prior variance matrix and an observed value-calculated value vector, thereby calculating the position accuracy of the measurement target point according to the prior variance matrix and the observed value-calculated value vector, calculating a geometric accuracy factor according to the design matrix, detecting the accuracy of an estimated coordinate of the measurement target point according to the position accuracy and the geometric accuracy factor to acquire the estimated coordinate of the measurement target point with the accuracy reaching a required measurement standard or required measurement target point, wherein the RTK tilt measurement accuracy detection process has a simple operation mode, high detection accuracy and no need of relying on other devices such as inertial devices, on the basis of ensuring the extraction stability of the high-accuracy RTK tilt measurement data, the cost for obtaining the estimated coordinates of the high-precision measurement target point is reduced, and the reliability of the obtained estimated coordinates of the measurement target point is improved.
In one embodiment, the process of detecting the accuracy of the estimated coordinates of the measurement target points based on the positional accuracy and the geometric accuracy factor includes:
if the geometric precision factor is smaller than a first geometric precision threshold value and the position precision is smaller than a position precision threshold value, judging that the precision of the estimated coordinates of the measurement target point reaches a set standard;
if the geometric precision factor is smaller than a first geometric precision threshold value and the position precision is greater than or equal to a position precision threshold value, judging that the precision of the estimated coordinates of the measurement target point does not reach a set standard;
and if the geometric precision factor is larger than a first geometric precision threshold and smaller than a second geometric precision threshold, and the position precision is smaller than a position precision threshold, judging that the precision of the estimated coordinates of the measurement target point reaches a set standard.
The first geometric precision threshold, the second geometric precision threshold, and the position precision threshold may be set according to specific precision requirements, where the second geometric precision threshold is greater than the first geometric precision threshold, for example, the first geometric precision threshold may be set to 1.8, the second geometric precision threshold may be set to 3.0, and the position precision threshold may be set to 0.05 cm. The precision of the estimated coordinate of the measured target point reaches a set standard, which indicates that the corresponding RTK tilt measurement data is the required high-precision RTK tilt measurement data, and the current calculation can be finished if the RTK tilt measurement is successful; the accuracy of the estimated coordinates of the measured target points does not reach the set standard, indicating that the corresponding RTK tilt measurement data is the RTK tilt measurement data with errors or large errors, and the RTK tilt measurement or the calculation of the related data therein fails.
The embodiment can accurately detect the precision of the estimated coordinates of the measured target point to obtain the high-precision estimated coordinates with the precision reaching the set standard, and discard the estimated coordinates with errors or large errors, which have the precision not reaching the set standard, so that the accuracy of the obtained estimated coordinates of the measured target point is ensured.
In one embodiment, the process of detecting the accuracy of the estimated coordinates of the measurement target points based on the positional accuracy and the geometric accuracy factor further includes:
and if the geometric accuracy factor is larger than or equal to the second geometric accuracy threshold, returning to execute the process of acquiring the RTK tilt measurement data obtained by performing the RTK tilt measurement aiming at the measurement target point.
The second geometric accuracy threshold may be set according to specific accuracy requirements. If the geometric accuracy factor is greater than or equal to the second geometric accuracy threshold, indicating that the accuracy of the estimated coordinates of the current measurement target point has not reached the set standard, the process of acquiring the RTK tilt measurement data obtained by performing the RTK tilt measurement on the measurement target point may be returned to execute, and the RTK tilt measurement data may be acquired again for accuracy detection until the acquired estimated coordinates of the measurement target point reach the set standard, which is the required RTK tilt measurement data.
In one embodiment, the process of detecting the accuracy of the estimated coordinates of the measurement target points based on the positional accuracy and the geometric accuracy factor further includes:
and if the geometric accuracy factor is larger than the first geometric accuracy threshold and smaller than the second geometric accuracy threshold, and the position accuracy is larger than or equal to the position accuracy threshold, returning to execute the process of acquiring RTK tilt measurement data obtained by performing RTK tilt measurement on the measurement target point.
The first geometric accuracy threshold, the second geometric accuracy threshold and the position accuracy threshold may be set according to specific accuracy requirements, respectively, and the second geometric accuracy threshold is greater than the first geometric accuracy threshold.
If the geometric accuracy factor is larger than the first geometric accuracy threshold and smaller than the second geometric accuracy threshold, and the position accuracy is larger than or equal to the position accuracy threshold, indicating that the accuracy of the estimated coordinates of the current measurement target point has not reached the set standard, the process of obtaining the RTK tilt measurement data obtained by performing the RTK tilt measurement on the measurement target point may be returned to the execution, and the RTK tilt measurement data may be re-obtained for accuracy detection until the obtained estimated coordinates of the measurement target point reach the set standard, which is the required RTK tilt measurement data.
In one embodiment, the RTK tilt measurement data includes a sequence of receiver antenna phase center geodetic coordinates;
the process of constructing the distance backward crossing adjustment model according to the RTK tilt measurement data comprises the following steps:
converting the phase center geodetic coordinate sequence of the receiver antenna into an ENU coordinate sequence, and converting the phase center geodetic coordinate sequence of the receiver antenna into the ENU coordinate sequence based on preset coordinate projection parameters such as the settings of handbook software;
constructing a distance observation equation of the measurement target point according to the ENU coordinate sequence, and determining a prior variance matrix of the measurement target point according to the distance observation equation;
converting the distance observation equation into an error observation equation, and extracting a design matrix and an observed value-calculated value vector from the error observation equation;
and constructing a distance rear intersection adjustment model according to the prior variance matrix, the design matrix and the observed value-calculated value vector.
The process of determining the prior variance matrix of the measured target point according to the distance observation equation may include:
the distance observation equation is subjected to linearization processing, an error observation equation is determined, the estimated distances from the measurement target points to the antenna phase center points of the receivers are determined according to the error observation equation, and a prior variance matrix is determined according to the prior variance of the estimated distances.
Specifically, the above distance observation equation may be:
in the formula, the superscript i represents the phase center point of the receiver antenna with the number i, and the subscriptoRepresenting a measurement target point;
representing measured target pointsoTo the receiver antenna phase center pointi(receiver antenna phase center point numbered i); r iso＝(Xo,Yo,Zo)TThe coordinates of the measurement target point are represented,
coordinates representing the phase center point i of the receiver antenna; epsilon represents the unmodeled error, which includes the pole length reading error, the antenna phase center parameter PCO antenna direction component error.
Note the book
To measure the approximate vector of the target point, equation (1) is linearized:
obtaining an error observation equation:
in the formula: v. ofiRepresenting the residual error, l, corresponding to the phase center point i of the receiver antennaiRepresents the observed value-calculated value corresponding to the phase center point i of the receiver antenna,
a first error coefficient corresponding to the receiver antenna phase center point i,
a second error coefficient corresponding to the phase center point i of the receiver antenna,
a third error coefficient corresponding to the receiver antenna phase center point i,
(x y z)Tthe correction number (coordinate correction number) of the measurement target point is indicated.
The main error sources of the above distance observation equation (1) may include 3 parts: and the position error of the antenna phase center, the antenna phase center reference direction error and the rod length reading error.
By linear expansion of formula (1), we can obtain:
in the formula (I), the compound is shown in the specification,
representing the error of the receiver antenna phase center point i. Comparing the equations (3) and (4), it can be seen that the error observation equation (3) ignores the influence of the error of the receiver antenna phase center point i
It is not known that this error can be compensated in a stochastic model.
Setting receiver antenna phase central point i to estimate distance
To pair
By estimating the range of (c), we can obtain:
obtainable from the cauchy inequality:
due to the fact that
Note the book
Representing the position error of the phase center point i of the receiver, equation (6) can be converted into:
the distance from the measured target point o to the phase center point i of the receiver antenna
The method comprises the following two parts, wherein one part is the rod length reading, and the other part is the antenna parameter antenna direction component. The accuracy of the rod length readings is better than 1mm (millimeter) and the accuracy of the antenna parameters for the azimuthal component is better than 5 mm. Therefore, it is not only easy to use
The accuracy of (2) can be considered to be better than 6 mm. The error in the position of the receiver phase center point i can be derived from the receiver output. The distance is estimated considering that the error in the position given by the GNSS positioning is generally smaller than the true value
The a priori variance of (a) may take the maximum value, i.e.:
the prior variance matrix Q is:
in the formula, diag (. cndot.) represents a diagonal matrix.
The weight matrix P is:
in the formula (I), the compound is shown in the specification,
the error in the pre-test unit weight can be set according to the specific configuration characteristics of the receiver.
If the number of the phase center points of the receiver antenna is n, that is, n points are collected for oblique measurement back intersection, a distance back intersection adjustment model can be obtained according to the formula (3) and the formula (8):
wherein V is [ V ]1 v2 … vn]TRepresenting a residual vector; the design matrix a is:
dr＝(x y z)Ta correction vector representing a measurement target point;
L＝[l1 l2 … ln]Trepresents an observation-calculation vector; p represents a weight matrix;
representing the error in the unit weights before the experiment, and Q represents the prior variance matrix.
As an embodiment, the process of determining a design matrix and an observation-calculation value vector according to the distance backward intersection adjustment model includes:
solving the error observation equation to obtain the coordinate correction number of the measurement target point;
and updating the design matrix and the observed value-calculated value vector of the distance backward intersection adjustment model according to the coordinate correction.
Specifically, the coordinates of the measurement target point may be updated according to the coordinate correction number, and then the design matrix and the observation-calculation value vector of the distance backward convergence adjustment model are updated.
In this embodiment, a least square method may be adopted to solve the adjustment of the error observation equation, obtain the correction number of the position coordinates of the measurement target point, update the coordinates of the measurement target point, substitute the coordinates into the distance back intersection adjustment model, and update the design matrix and the observation value-calculation value vector therein.
As an embodiment, the process of solving the error observation equation to obtain the coordinate correction number of the measurement target point may include:
and (3) carrying out adjustment calculation on the error observation by adopting a least square method to obtain the position of a measurement target point:
(ATPA)·dr＝ATPL (10)
in the formula, P represents a weight matrix, A represents a design matrix, dr represents a correction vector (namely coordinate correction) of a measurement target point, and L represents an observation value-calculation value vector;
according to the above equation (10), the coordinate correction number (correction number vector) of the measurement target point is obtained:
dr＝(ATPA)-1·ATPL (11)
measuring the position solution of the target point:
in the formula, roThe coordinates representing the updated measurement target point,
the coordinates of the measurement target point before updating are indicated. Updated coordinates r of the measurement target pointoCan be usedAnd recalculating the design matrix A and the observation value-calculation value vector L for subsequent position precision calculation.
As an example, the position accuracy of the measured target point, i.e., the error σ in the posterior unit weightoComprises the following steps:
where n represents the number of phase centers of the receiver antenna and sqrt () represents the square root.
Coordinate covariance matrix D under target point ENU coordinate systemENUComprises the following steps:
DENU＝σo 2(ATPA)-1 (14)
and further obtaining the error sigma H in the plane of the measured target point and the error sigma V in the direction of the sky.
In one embodiment, the process of calculating a geometric dilution of precision from the design matrix includes:
calculating a geometric matrix according to the design matrix, and performing inversion operation on the geometric matrix to determine an inverse matrix of the geometric matrix;
and calculating a geometric precision factor according to the diagonal elements of the inverse matrix.
Specifically, the present embodiment may calculate the sum of diagonal elements on the main diagonal of the inverse matrix of the geometric matrix, and determine the geometric precision factor from the square root of the sum of the diagonal elements.
As an embodiment, the process of calculating the geometric matrix G according to the design matrix a may include:
determining a geometric matrix from the product of the transpose of the design matrix A and the design matrix A, i.e. G ═ ATA。
The inverse matrix of the geometric matrix may be:
at this time, the geometric precision factor PDOP value is:
PDOP＝sqrt(q11+q22+q22)。
in one embodiment, the process of acquiring the RTK tilt measurement data and performing the above-mentioned RTK tilt measurement data accuracy detection to identify the RTK tilt measurement data of measurement success or measurement failure may refer to fig. 2, and includes the following processes:
adjusting the measured centering rod to a proper rod length, and inputting the rod length reading into RTK handbook software;
the bottom of a measurement centering rod is arranged on a measurement target point, when the solution state of a GNSS receiver is an RTK fixed solution, inclination measurement is started on a handbook software, and the measurement centering rod is shaken to acquire a geodetic coordinate sequence of an RTK position of an antenna phase center of the receiver;
converting the antenna phase center RTK position geodetic coordinate sequence into an ENU coordinate sequence based on coordinate projection parameters set by the handbook software;
constructing a rear intersection adjustment model based on a formula (9);
solving the equation by adopting a formula (11) based on a least square adjustment method to obtain a coordinate correction dr of the measured target point;
updating the measurement target point ENU coordinates (X)o Yo Zo)TUpdating a design matrix A and an observed value-calculated value vector L of the model based on a formula (9), wherein the model residual error is represented at the moment;
calculating a geometric precision factor PDOP value of the calculated design matrix A;
calculating an error σ H in a plane of coordinates of the measurement target point ENU, an error σ V in a direction of the sky, and a position accuracy σ of the measurement target pointo；
When the PDOP value is smaller than the PDOP threshold value P1 (the first geometric precision threshold value), and the position precision of the measured target point is smaller than the precision threshold value delta0(position accuracy threshold), the measurement is successful (the accuracy of the corresponding RTK tilt measurement data reaches the set standard), and the calculation is finished; when the PDOP value is less than the PDOP threshold value P1, the position accuracy value of the measurement target point is greater than or equal to the accuracy threshold value delta0Then, thenThe calculation is failed (the precision of the corresponding RTK tilt measurement data does not reach the set standard), and the calculation is finished; when the PDOP value is greater than the PDOP threshold P1 and the PDOP value is greater than or equal to the PDOP threshold P2 (the second geometric accuracy threshold), the measuring rod needs to be shaken continuously to add the antenna phase center position point, and the antenna phase center coordinate sequence is collected again to acquire the RTK tilt measurement data until the RTK tilt measurement data meets the end calculation condition; when the PDOP value is larger than the PDOP threshold value P1 and smaller than the PDOP threshold value P2, and the position accuracy value of the measurement target point is larger than or equal to the accuracy threshold value delta0When the measurement rod needs to be shaken continuously to add the antenna phase center position point, the antenna phase center coordinate sequence is collected again to obtain RTK tilt measurement data until the RTK tilt measurement data meet the end calculation condition; when the PDOP value is larger than the PDOP threshold P1 and smaller than the PDOP threshold P2, and the position accuracy of the measured target point is smaller than the accuracy threshold delta0And when the measurement is successful, the calculation is quitted.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an RTK tilt measurement accuracy detection system according to an embodiment, including:
an acquisition module 10 configured to acquire RTK tilt measurement data obtained by performing RTK tilt measurement with respect to a measurement target point;
a building module 20, configured to build a distance backward convergence adjustment model according to the RTK tilt measurement data, and determine a design matrix, a prior variance matrix, and an observation-calculation value vector according to the distance backward convergence adjustment model; the distance rear intersection adjustment model is a model for representing residual data and variance data of the geodetic coordinate sequence;
and the calculating module 30 is configured to calculate the position accuracy of the measurement target point according to the prior variance matrix and the observed value-calculated value vector, calculate a geometric accuracy factor according to the design matrix, and detect the accuracy of the estimated coordinates of the measurement target point according to the position accuracy and the geometric accuracy factor.
In one embodiment, the computing module is further configured to:
if the geometric precision factor is smaller than a first geometric precision threshold value and the position precision is smaller than a position precision threshold value, judging that the precision of the estimated coordinates of the measurement target point reaches a set standard;
if the geometric precision factor is smaller than a first geometric precision threshold value and the position precision is greater than or equal to a position precision threshold value, judging that the precision of the estimated coordinates of the measurement target point does not reach a set standard;
and if the geometric precision factor is larger than a first geometric precision threshold and smaller than a second geometric precision threshold, and the position precision is smaller than a position precision threshold, judging that the precision of the estimated coordinates of the measurement target point reaches a set standard.
In one embodiment, the RTK tilt measurement accuracy detection system further includes:
and the first returning module is used for returning and executing the process of acquiring the RTK tilt measurement data obtained by performing the RTK tilt measurement aiming at the measurement target point if the geometric precision factor is greater than or equal to the second geometric precision threshold.
In one embodiment, the RTK tilt measurement accuracy detection system further includes:
and the second returning module is used for returning to execute the process of acquiring the RTK tilt measurement data obtained by performing the RTK tilt measurement aiming at the measurement target point if the geometric precision factor is greater than the first geometric precision threshold and less than the second geometric precision threshold and the position precision is greater than or equal to the position precision threshold.
In one embodiment, the RTK tilt measurement data includes a sequence of receiver antenna phase center geodetic coordinates;
the build module is further to:
converting the receiver antenna phase center geodetic coordinate sequence into an ENU coordinate sequence;
constructing a distance observation equation of the measurement target point according to the ENU coordinate sequence, and determining a prior variance matrix of the measurement target point according to the distance observation equation;
converting the distance observation equation into an error observation equation, and extracting a design matrix and an observed value-calculated value vector from the error observation equation;
and constructing a distance rear intersection adjustment model according to the prior variance matrix, the design matrix and the observed value-calculated value vector.
As an embodiment, the building module is further configured to:
solving the error observation equation to obtain the coordinate correction number of the measurement target point;
and updating the coordinates of the measurement target point according to the coordinate correction number, and further updating the design matrix and the observed value-calculated value vector of the intersection adjustment model behind the distance.
In one embodiment, the calculation module is further configured to:
calculating a geometric matrix according to the design matrix, and performing inversion operation on the geometric matrix to determine an inverse matrix of the geometric matrix;
and calculating a geometric precision factor according to the diagonal elements of the inverse matrix.
FIG. 4 is a block diagram of a computer system 1000 upon which embodiments of the present invention may be implemented. The computer system 1000 is only one example of a suitable computing environment for the invention and is not intended to suggest any limitation as to the scope of use of the invention. Neither should the computer system 1000 be interpreted as having a dependency or requirement relating to a combination of one or more components of the exemplary computer system 1000 illustrated.
The computer system 1000 shown in FIG. 4 is one example of a computer system suitable for use with the present invention. Other architectures with different subsystem configurations may also be used. Such as desktop computers, notebooks, and the like, as are well known to those of ordinary skill, may be suitable for use with some embodiments of the present invention. But are not limited to, the devices listed above.
As shown in fig. 4, the computer system 1000 includes a processor 1010, a memory 1020, and a system bus 1022. Various system components including the memory 1020 and the processor 1010 are connected to the system bus 1022. The processor 1010 is hardware for executing computer program instructions through basic arithmetic and logical operations in a computer system. Memory 1020 is a physical device used for temporarily or permanently storing computing programs or data (e.g., program state information). The system bus 1020 may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus. The processor 1010 and the memory 1020 may be in data communication via a system bus 1022. Wherein memory 1020 includes Read Only Memory (ROM) or flash memory (neither shown), and Random Access Memory (RAM), which typically refers to main memory loaded with an operating system and application programs.
The computer system 1000 also includes a display interface 1030 (e.g., a graphics processing unit), a display device 1040 (e.g., a liquid crystal display), an audio interface 1050 (e.g., a sound card), and an audio device 1060 (e.g., speakers).
Computer system 1000 typically includes a storage device 1070. Storage device 1070 may be selected from a variety of computer readable media, which refers to any available media that may be accessed by computer system 1000, including both removable and non-removable media. For example, computer-readable media includes, but is not limited to, flash memory (micro SD cards), CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by computer system 1000.
Computer system 1000 also includes input device 1080 and input interface 1090 (e.g., an IO controller). A user may enter commands and information into computer system 1000 through input device 1080, such as a keyboard, a mouse, a touch-panel device on display device 1040. Input device 1080 is typically connected to system bus 1022 through an input interface 1090, but may be connected by other interface and bus structures, such as a Universal Serial Bus (USB).
Computer system 1000 may logically connect with one or more network devices in a network environment. The network device may be a personal computer, a server, a router, a tablet, or other common network node. The computer system 1000 is connected to a network device through a Local Area Network (LAN) interface 1100 or a mobile communication unit 1110. A Local Area Network (LAN) refers to a computer network formed by interconnecting within a limited area, such as a home, a school, a computer lab, or an office building using a network medium. WiFi and twisted pair wiring ethernet are the two most commonly used technologies to build local area networks. WiFi is a technology that enables computer systems 1000 to exchange data between themselves or to connect to a wireless network via radio waves. The mobile communication unit 1110 is capable of making and receiving calls over a radio communication link while moving throughout a wide geographic area. In addition to telephony, the mobile communication unit 1110 also supports internet access in a 2G, 3G or 4G cellular communication system providing mobile data services.
It should be noted that other computer systems, including more or less subsystems than computer system 1000, can also be suitable for use with the invention. As described in detail above, the computer system 1000 adapted to the present invention can perform the designated operations of the RTK tilt measurement accuracy detection method. The computer system 1000 performs these operations in the form of software instructions executed by the processor 1010 in a computer-readable medium. These software instructions may be read into memory 1020 from storage device 1070 or from another device via local network interface 1100. The software instructions stored in the memory 1020 cause the processor 1010 to perform the RTK tilt measurement accuracy detection method described above. Furthermore, the present invention can be implemented by hardware circuits or by a combination of hardware circuits and software instructions. Thus, implementations of the invention are not limited to any specific combination of hardware circuitry and software.
The RTK tilt measurement accuracy detection system of the present invention corresponds to the RTK tilt measurement accuracy detection method of the present invention one to one, and the technical features and the advantageous effects explained in the embodiments of the RTK tilt measurement accuracy detection method are applicable to the embodiments of the RTK tilt measurement accuracy detection system.
Based on the examples described above, there is also provided in one embodiment a computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements any one of the RTK tilt measurement accuracy detection methods described in the embodiments above.
The computer equipment reduces the cost for obtaining the estimated coordinates of the high-precision measurement target points through the computer program running on the processor.
It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments may be implemented by a computer program, which may be stored in a non-volatile computer-readable storage medium, and executed by at least one processor in a computer system, as in the embodiments of the present invention, to implement the processes of the embodiments including the RTK tilt measurement accuracy detection method described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Accordingly, in an embodiment, there is also provided a computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements any one of the RTK tilt measurement accuracy detection methods as in the above embodiments.
The computer storage medium can reduce the cost of acquiring the estimated coordinates of the high-precision measurement target point on the basis of ensuring the extraction stability of the high-precision RTK tilt measurement data through the stored computer program.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An RTK tilt measurement accuracy detection method, comprising:
acquiring RTK tilt measurement data obtained by performing RTK tilt measurement for a measurement target point;
constructing a distance back intersection adjustment model according to the RTK inclination measurement data, and determining a design matrix, a prior variance matrix and an observed value-calculated value vector according to the distance back intersection adjustment model; the distance rear intersection adjustment model is a model for representing earth coordinate sequence residual error data and variance data;
and calculating the position precision of the measurement target point according to the prior variance matrix and the observed value-calculated value vector, calculating a geometric precision factor according to the design matrix, and detecting the precision of the estimated coordinate of the measurement target point according to the position precision and the geometric precision factor.
2. The RTK tilt measurement accuracy detection method according to claim 1, wherein the process of detecting the accuracy of the estimated coordinates of the measurement target point based on the position accuracy and the geometric accuracy factor includes:
if the geometric precision factor is smaller than a first geometric precision threshold value and the position precision is smaller than a position precision threshold value, judging that the precision of the estimated coordinates of the measurement target point reaches a set standard;
if the geometric precision factor is smaller than a first geometric precision threshold value and the position precision is greater than or equal to a position precision threshold value, judging that the precision of the estimated coordinates of the measurement target point does not reach a set standard;
and if the geometric precision factor is larger than a first geometric precision threshold and smaller than a second geometric precision threshold, and the position precision is smaller than a position precision threshold, judging that the precision of the estimated coordinates of the measurement target point reaches a set standard.
3. The RTK tilt measurement accuracy detection method according to claim 1, further comprising, after the process of detecting the accuracy of the estimated coordinates of the measurement target point based on the position accuracy and the geometric accuracy factor:
and if the geometric accuracy factor is larger than or equal to the second geometric accuracy threshold, returning to execute the process of acquiring the RTK tilt measurement data obtained by performing the RTK tilt measurement aiming at the measurement target point.
4. The RTK tilt measurement accuracy detection method according to claim 1, further comprising, after the process of detecting the accuracy of the estimated coordinates of the measurement target point based on the position accuracy and the geometric accuracy factor:
and if the geometric accuracy factor is larger than the first geometric accuracy threshold and smaller than the second geometric accuracy threshold, and the position accuracy is larger than or equal to the position accuracy threshold, returning to execute the process of acquiring RTK tilt measurement data obtained by performing RTK tilt measurement on the measurement target point.
5. The RTK tilt measurement accuracy detection method of claim 1, wherein the RTK tilt measurement data includes a receiver antenna phase center geodetic sequence;
the process of constructing a distance backward crossing adjustment model from the RTK tilt measurement data includes:
converting the receiver antenna phase center geodetic coordinate sequence into an ENU coordinate sequence;
constructing a distance observation equation of the measurement target point according to the ENU coordinate sequence, and determining a prior variance matrix of the measurement target point according to the distance observation equation;
converting the distance observation equation into an error observation equation, and extracting a design matrix and an observed value-calculated value vector from the error observation equation;
and constructing a distance rear intersection adjustment model according to the prior variance matrix, the design matrix and the observed value-calculated value vector.
6. The RTK tilt measurement accuracy detection method of claim 5, wherein the process of determining a design matrix and an observation-calculated value vector from the distance backward convergence adjustment model comprises:
solving the error observation equation to obtain the coordinate correction number of the measurement target point;
and updating the design matrix and the observed value-calculated value vector of the distance backward intersection adjustment model according to the coordinate correction.
7. The RTK tilt measurement accuracy detection method according to any one of claims 1 to 6, wherein the process of calculating a geometric accuracy factor from the design matrix includes:
calculating a geometric matrix according to the design matrix, and performing inversion operation on the geometric matrix to determine an inverse matrix of the geometric matrix;
and calculating a geometric precision factor according to the diagonal elements of the inverse matrix.
8. An RTK tilt measurement accuracy detection system, comprising:
an acquisition module for acquiring RTK tilt measurement data obtained by performing RTK tilt measurement for a measurement target point;
the construction module is used for constructing a distance backward convergence adjustment model according to the RTK inclination measurement data, and determining a design matrix, a prior variance matrix and an observed value-calculated value vector according to the distance backward convergence adjustment model; the distance rear intersection adjustment model is a model for representing earth coordinate sequence residual error data and variance data;
and the calculation module is used for calculating the position precision of the measurement target point according to the prior variance matrix and the observed value-calculated value vector, calculating a geometric precision factor according to the design matrix, and detecting the precision of the estimated coordinates of the measurement target point according to the position precision and the geometric precision factor.
9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the RTK tilt measurement accuracy detection method according to any one of claims 1 to 7 when executing the computer program.
10. A computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the RTK tilt measurement accuracy detection method of any one of claims 1 to 7.
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| CN112857396B (en) * | 2020-12-31 | 2023-01-03 | 南斗六星系统集成有限公司 | Method and system for calculating dynamic positioning accuracy of terminal |
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