CN109917432A - RTK measuring system and measurement method in a kind of restricted clearance - Google Patents
RTK measuring system and measurement method in a kind of restricted clearance Download PDFInfo
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- CN109917432A CN109917432A CN201910096480.9A CN201910096480A CN109917432A CN 109917432 A CN109917432 A CN 109917432A CN 201910096480 A CN201910096480 A CN 201910096480A CN 109917432 A CN109917432 A CN 109917432A
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Abstract
The present invention provides the RTK measuring systems and measurement method in a kind of restricted clearance, and solving existing measuring system can not be the technical issues of narrow landform be accurately measured.System includes: GNSS receiver, for receiving satellite-signal, base station data-link and amendment data, forms location data；Centering rod, it is controlled to provide to the fixed support of top device or movable supporting for forming controlled support structure on top, horizontal bearing face is provided in movable supporting；Laser ranging system forms amendment data for measuring GNSS receiver using the difference in height between when centering rod movable supporting and ground.Creative activity level is formed using centering rod to support.Centering bar body forms horizontal bearing face carrying GNSS receiver and laser ranging system as grip part gripping, the controlled support structure on top, and horizontal bearing face is stretched to positioning measurement of the open top completion to space bottom position of small space using grip part.
Description
Technical field
The present invention relates to field of locating technology, and in particular to RTK measuring system and measurement method in a kind of restricted clearance.
Background technique
In the prior art, the measurement of location data mainly uses RTK measuring system.General RTK measuring system includes
GNSS receiver and centering rod, GNSS receiver use carrier phase difference technology, utilize at least four satellite-signal combination bases
Quasi- station data-link calculates accurately centimeter-level positioning data, and centering rod vertical support GNSS receiver simultaneously connects with ground vertically
Touching, GNSS receiver is according to centering rod height optimization location data.But landform is limited near fields such as some narrow, gullies and is carried out
When measurement, can cause because of landform GNSS receiver cannot connect to the wireless data chain of enough satellite-signals and base station from
And lead to not obtain location data.
Summary of the invention
In view of the above problems, the embodiment of the present invention provides the RTK measuring system and measurement method in a kind of restricted clearance, solution
Certainly existing RTK measuring system can not be the technical issues of narrow landform be accurately measured.
RTK measuring system in the restricted clearance of the embodiment of the present invention, comprising:
GNSS receiver forms location data for receiving satellite-signal, base station data-link and amendment data；
Centering rod, for forming controlled support structure, controlled offer GNSS receiver and laser described in top on top
The fixed support of range unit or movable supporting form quantization amendment data in fixed support, provide water in movable supporting
Flat loading end；
Laser ranging system, for measuring the GNSS receiver using the height between when centering rod movable supporting and ground
Difference forms amendment data.
In one embodiment of the invention, the centering rod includes the centering bar body of connection and stablizes holder, the stable cloud
Platform includes:
Tilt angle servo motor, for the angle between controlled adjustment tip stabilization holder and centering bar body；
First rotation servo motor, for maintaining the x-axis horizontal stable in the horizontal bearing face；
Second rotation servo motor, for maintaining the y-axis horizontal stable in the horizontal bearing face；
Horizontal bearing plate is used to provide the described horizontal bearing face, carries the GNSS at the top of the horizontal bearing plate and connects
Receipts machine carries the laser ranging system in bottom.
In one embodiment of the invention, the fixed company of the pedestal of the tilt angle servo motor and centering bar body top
It connects, the tilt angle servo motor output shaft is vertical with the centering bar body, the tilt angle servo motor output shaft
It is fixedly connected with the first rotation servo motor pedestal, the first rotation servo motor output shaft and the tilt angle servo
Motor output shaft is vertical, and the first rotation servo motor output shaft passes through connecting rod and the second rotation servo motor base
Seat is fixedly connected, and it is vertical that the first rotation servo motor output shaft with described second rotates servo motor output shaft, and described the
Two rotation servo motor output shafts are fixedly connected with the horizontal bearing plate and form the horizontal bearing face.
In one embodiment of the invention, the laser ranging system includes:
Laser range finder, for laser formation distance measuring signal to be obtained to the vertical height on the horizontal bearing face to ground,
And preset optical design is formed using laser；
Level meter, for acquiring the real-time horizontal sextant angle in the horizontal bearing face；
Temperature compensation means, the steady working condition for keeping level meter for providing working temperature；
First axis view finder acquires the preset optical design on ground for the X-axis end in the horizontal bearing face
The projection pattern that face is formed；
Second axial view finder acquires the preset optical design on ground for the Y-axis end in the horizontal bearing face
The projection pattern that face is formed；
Ranging Processor forms amendment data for correcting distance measuring signal according to the horizontal error in the horizontal bearing face.
In one embodiment of the invention, following processing module is disposed in the Ranging Processor:
Viewfinder image judgment module identifies that the first axis view finder and the second axial view finder are same for quantifying
Deformation degree of the projected image obtained in the projection plane in two vertical direction is walked, the horizontal bearing plate is formed
Pattern error data；
Level meter judgment module, for quantifying the identification horizontal bearing face with the tilt variation shape in hand-held Drift Process
At the angular error data of the horizontal bearing plate；
Levelness weighting block, for being sentenced according to the Error Trend of the pattern error data and the angular error data
On the opportunity and time point that disconnected optimum level degree occurs, form the optimum level time；
Laser ranging receiving module, the range data formed for persistently receiving the distance measuring signal；
Timestamp generation module, for forming amendment number according to the timestamp of the optimum level time-labeling range data
According to；
Line control of communication module is used to form the transmission of controlled communication link control amendment data.
In one embodiment of the invention, the GNSS receiver disposes following processing module:
Location data correction module is used for according to the amendment data to received satellite-signal and/or data-link data
Solution process be modified, formed ground position to be measured accurate coordinate data；
Coordinate data display module, for by the figure of the accurate coordinate data and the ground position to be measured of acquisition
Image is positioned in real time as fusion is formed, and is transmitted by communication link to mobile terminal.
Measurement method in the restricted clearance of the embodiment of the present invention, using the RTK measuring system in above-mentioned restricted clearance,
Include:
The centering rod freedom of entry state, it is hand-held to hover over above the position to be measured of ground；
The location drawing picture to be measured on ground is obtained by the laser ranging system；
Height off the ground is obtained by the laser ranging system；
Height off the ground is carried out positioning calculation as the amendment data and obtains location data by the GNSS receiver；
The GNSS receiver is sent to the movement on ground after merging the location data with the location drawing picture to be measured
Terminal.
It is described to include: by laser ranging system acquisition height off the ground in one embodiment of the invention
The ground image that synchronous acquisition is obtained by the first axis view finder and the second axial view finder, utilizes
The viewfinder image judgment module quantifies the deformation length in the ground image in vertical direction；
The horizontal bearing plate angle degree error information that synchronous acquisition is obtained by the level meter is judged using the level meter
The tilt angle in module quantifies horizontal bearing face；
It is generated when the tilt angle and the deformation length are in minimal error range simultaneously using the timestamp
Range data within the scope of the minimal error is carried out timestamp label by module, forms one group of correspondence minimal error
The amendment data of range.
RTK measuring system and measurement method in the restricted clearance of the embodiment of the present invention utilize the support flexibility of centering rod
Form traditional fixed support and creative activity level support.It is carved in fixed support using to the quantization in middle bar body
Degree and electronics bubble obtain amendment data, complete the positioning measurement of centering rod bottom contact position.Activity level support from
When by state, centering bar body is held as grip part, and the controlled support structure on top forms horizontal bearing face carrying GNSS and connects
Horizontal bearing face is stretched to the open top of small space using grip part, utilizes laser ranging by receipts machine and laser ranging system
Device obtains the height correction data of small space bottom position and horizontal bearing face, completes the positioning to space bottom position and surveys
Amount.
Detailed description of the invention
Fig. 1 show the configuration diagram of the RTK measuring system in one embodiment of the invention restricted clearance.
Fig. 2 show the vertical view connection signal of each component in the RTK measuring system in one embodiment of the invention restricted clearance
Figure.
The framework of laser ranging system shows in the RTK measuring system that Fig. 3 is shown in one embodiment of the invention restricted clearance
It is intended to.
Fig. 4 show ranging in the RTK measuring system laser ranging system in one embodiment of the invention restricted clearance and handles
The configuration diagram of device and the transmitting of GNSS receiver signal.
Fig. 5 show the measurement procedure schematic diagram of measurement method in one embodiment of the invention restricted clearance.
Specific embodiment
To be clearer and more clear the objectives, technical solutions, and advantages of the present invention, below in conjunction with attached drawing and specific embodiment party
The invention will be further described for formula.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art institute without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
RTK measuring system in one embodiment of the invention restricted clearance is as shown in Figure 1.In Fig. 1, in restricted clearance
RTK measuring system includes:
GNSS receiver 300 forms location data for receiving satellite-signal, base station data-link and amendment data；
Centering rod 200, for forming controlled support structure on top, controlled offer is to top GNSS receiver and Laser Measuring
Fixed support or movable supporting away from device, form quantization amendment data in fixed support, provide in movable supporting horizontal
Loading end；
Laser ranging system 100, for measuring GNSS receiver using the height between when centering rod movable supporting and ground
Difference forms amendment data.
RTK measuring system in restricted clearance of the embodiment of the present invention forms traditional consolidate using the support flexibility of centering rod
The free state of fixed support and creative activity level support.In fixed support using to the quantization scale in middle bar body
Amendment data are obtained with electronics bubble, complete the positioning measurement of centering rod bottom contact position.In activity level support, centering
Bar body is held as grip part, and the controlled support structure on top forms horizontal bearing face carrying GNSS receiver and laser ranging
Horizontal bearing face is stretched to the open top of small space using grip part, obtains narrow sky using laser ranging system by device
Between bottom position and horizontal bearing face height correction data, complete to the positioning measurement of space bottom position.
The connection of RTK measuring system in one embodiment of the invention restricted clearance is as shown in Figure 2.The centering rod packet in Fig. 2
It includes the centering bar body 210 of connection and stablizes holder 220, stablizing holder 220 includes:
Tilt angle servo motor 221, for the angle between controlled adjustment tip stabilization holder and centering bar body；
First rotation servo motor 222, the x-axis horizontal stable for maintenance level loading end；
Second rotation servo motor 223, the y-axis horizontal stable for maintenance level loading end；
Horizontal bearing plate 224 carries GNSS receiver at top for providing horizontal bearing face, carries laser in bottom
Range unit.
In an embodiment of the present invention, as shown in Fig. 2, the pedestal of tilt angle servo motor 221 and centering bar body 210
Top is fixedly connected, and 221 output shaft of tilt angle servo motor is vertical with centering bar body 210, tilt angle servo motor 221
Output shaft is fixedly connected with 222 pedestal of the first rotation servo motor, the first rotation 222 output shaft of servo motor and tilt angle servo
221 output shaft of motor is vertical, and the first rotation 222 output shaft of servo motor passes through connecting rod and the second rotation servo motor 223
Pedestal is fixedly connected, and the first rotation 222 output shaft of servo motor is vertical with the second rotation 223 output shaft of servo motor, and second turn
Dynamic 223 output shaft of servo motor is fixedly connected with horizontal bearing plate 224 and forms horizontal bearing face.
Stablizing holder 220 has clean state setting and free state setting, and when being in clean state, centering rod is whole
Fixed support is formed, horizontal bearing plate 224 is parallel with the axis of centering bar body 210 or is overlapped.When right in a free state
Middle bar body 210 keeps intersecting with the axis for stablizing holder 220, forms movable supporting.Clean state setting and free state are set
Setting can be realized by the motor control strategy of centering rod 200.
In an embodiment of the present invention, GNSS receiver setting is in 224 top of horizontal bearing plate, laser ranging system setting
In 224 bottom of horizontal bearing plate, the mass center and centering bar body of GNSS receiver, horizontal bearing plate 224 and laser ranging system
210 axis is located on same vertical axis.
The framework of laser ranging system is as shown in Figure 3 in RTK measuring system in one embodiment of the invention restricted clearance.?
In Fig. 3, laser ranging system includes:
Laser range finder 120, for laser to be formed the vertical height that distance measuring signal obtains horizontal bearing face to ground, and
Preset optical design is formed using laser；
Level meter 130, for acquiring the real-time horizontal sextant angle in horizontal bearing face；
Temperature compensation means 140, the steady working condition for keeping level meter for providing working temperature；
First axis view finder 150 acquires preset optical design for the X-axis end in horizontal bearing face and is formed on ground
Projection pattern；
Second axial view finder 160, acquires preset optical design for the Y-axis end in horizontal bearing face and is formed on ground
Projection pattern；
Ranging Processor 170 forms amendment data for correcting distance measuring signal according to the horizontal error in horizontal bearing face.
In an embodiment of the present invention, its center is located at centering rod matter when the horizontal bearing face level of horizontal bearing plate 224
On vertical axis where the heart.Laser range finder 120 is set at the center in horizontal bearing face, the laser of laser range finder transmitting hangs down
Directly in horizontal bearing face.Level meter 130 is located at the edge in horizontal bearing face, the heat conducting parts water of temperature compensation means 140
The measurement structure of level 130 contacts.First axis view finder 150 is set to the first axle on horizontal bearing face by center
End, the second axial view finder 160 are set to the end of the second axis on horizontal bearing face by center, first axle and the
Two axis are vertical, and the axis in the optical sensor face of each view finder is vertical with horizontal bearing face.GNSS receiver 300 and movement are eventually
End, Ranging Processor 170 and GNSS receiver 300, laser range finder 120, level meter 130, temperature compensation means 140, first
Near field communication link is established respectively between the axial view finder 160 of axial view finder 150, second, and near field communication uses example
Such as bluetooth, NFC technology.
In an embodiment of the present invention, laser range finder 120 emits two laser beams of visible light and non-visible light, and first swashs
Light beam (non-visible light) is used as distance measuring signal, and second laser beam (visible light) diffuses to form directional light by lens, by preset
Pattern holes form preset optical design.Preset optical design can be cross pattern corresponding with view finder setting position or ten
Word pattern.It is coaxial with preset optical design that first laser beam is located at preset optical design center first laser beam.Actually make
In, simple marking usually is carried out in ground position to be measured, view finder captures preset optical design in the projected image on ground
Ground image is also obtained simultaneously, preset optical design symmetrical centre is directed at simple marking in operation, so that it may is real
The location matches of existing ground position to be measured and the projected image on the position to be measured of ground, by ground image be sent to mobile terminal into
Row observation, so that it may which in due course adjustment of displacement horizontal bearing face makes the symmetrical centre of preset optical design and ground position to be measured
Simple marking is overlapped, so that the first laser beam alignment simple marking as distance measuring signal completes range measurement.
RTK measuring system in restricted clearance of the embodiment of the present invention keeps the base of hand-held preliminarily stabilised using horizontal bearing plate
The horizontal bearing face with more high dynamic lasting accuracy is further formed on plinth, so that laser range finder, which has, obtains more acurrate hang down
The benchmark of straight height.Due to being influenced horizontal bearing face by temperature change and natural wind direction and can be constantly in dynamic adjustment state, make
It obtains distance measuring signal and keeps drift, the embodiment of the present invention utilizes two using the optical design instruction terrestrial positioning position of synchronized projection
View finder acquisition negatively correlated pairs of ground projection pattern can obtain projection pattern in different directions by image analysis
Deformation obtains the quantization drift data of ground survey.Horizontal bearing face ontology is obtained using the level meter of stable conditions simultaneously
Horizontal gradient error, obtain horizontal bearing face by it is hand-held hovering swings influenced occur angle change data, by image deformation with
The distance measuring signal of the error signal amendment first laser beam of two kinds of approach of angle change forms amendment data, guarantees hand-held hovering shape
The GNSS receiver satellite signal receiving error of state and the height error between ground of measurement are eliminated to greatest extent.
The processing module disposed in the Ranging Processor of RTK measuring system in one embodiment of the invention restricted clearance is as schemed
Shown in 4.Ranging Processor passes through the corresponding data handling procedure of following processing modules implement:
Viewfinder image judgment module 171 is synchronized and is obtained for quantifying identification first axis view finder and the second axial view finder
The projected image taken the deformation degree in two vertical direction in the projection plane, forms the pattern error of horizontal bearing plate 224
Data；
Pattern error data embody distance measuring signal to the intuitive alignment error of ground survey position, have to ground sprocket bit
Set the measurement advantage of Real-time Feedback.The drift of current measuring signal can be determined by deformation degree in two perpendicular direction
Azimuth-range.
Level meter judgment module 173 identifies horizontal bearing face with the tilt variation shape in hand-held Drift Process for quantifying
At the angular error data of horizontal bearing plate；
Angular error data embody horizontal bearing wrench and hold drift posture to the side of horizontal bearing face ontology baseline impact
To and degree, with real-time perception horizontal bearing plate attitudes vibration measurement advantage.It is anti-before horizontal bearing plate can be helped to provide
Feedback signal, loading end of improving the standard level response efficiency.
Levelness weighting block 172, for being judged most according to the Error Trend of pattern error data and angular error data
The opportunity and time point that good levelness occurs form the optimum level time；
Laser ranging receiving module 174, for persistently receiving the range data of distance measuring signal formation；
Timestamp generation module 175, for forming amendment number according to the timestamp of optimum level time-labeling range data
According to；
Line control of communication module 176 is used to form the transmission of controlled communication link control amendment data.
RTK measuring system in restricted clearance of the embodiment of the present invention utilizes angular error and image error combination real time distance
The measurement process of signal, using simultaneously meet minimal error angular error and image error distance measuring signal as exact height away from
From data, so that hand-held drift and the error component swung are overcome, the accuracy of amendment data is effectively increased.
In an embodiment of the present invention, as shown in figure 4, GNSS receiver 300 disposes following processing module:
Location data correction module 310, for according to amendment data to received satellite-signal and/or data-link data
Solution process is modified, and forms the accurate coordinate data of ground position to be measured；
Coordinate data display module 320, for melting the image of the ground of accurate coordinate data and acquisition position to be measured
It closes and forms positioning image in real time, transmitted by communication link to mobile terminal.
RTK measuring system in restricted clearance of the embodiment of the present invention GNSS receiver is resolved after location data and find a view
The ground image that device obtains blends, and real-time Transmission is to the mobile terminal of earth's surface, so that the measurement freedom degree of position fixing process has
Biggish promotion, it is particularly possible to the ground region range measurement suitable for barrier of marching into the arena more.
Ranging Processor can use DSP (Digital Signal Processing) digital signal processor, FPGA
(Field-Programmable Gate Array) field programmable gate array, MCU (Microcontroller Unit) system
Plate, SoC (system on a chip) system board or PLC (Programmable Logic Controller) including I/O are most
Mini system.
Measurement method in one embodiment of the invention restricted clearance is as shown in Figure 5.In Fig. 5, measurement method utilizes this hair
RTK measuring system in the restricted clearance of bright embodiment, comprising:
Step 10: the setting of centering rod freedom of entry state, it is hand-held to hover over above the position to be measured of ground；
Step 20: the location drawing picture to be measured on ground is obtained by laser ranging system；
Step 30: height off the ground is obtained by laser ranging system；
Height off the ground is carried out positioning calculation as amendment data and obtains location data by step 40:GNSS receiver；
Step 50:GNSS receiver is sent to the mobile terminal on ground after merging location data with location drawing picture to be measured.
Measurement method of the embodiment of the present invention effectively overcomes the measurement defect of near field obstacle formation, preferably improves and measured
The freedom degree of journey.
In an embodiment of the present invention, as shown in figure 5, step 30 includes:
Step 31: obtaining the ground image of synchronous acquisition by first axis view finder and the second axial view finder, utilize
Viewfinder image judgment module quantifies the deformation length in ground image in vertical direction；
Step 32: obtaining the 224 angular error data of horizontal bearing plate of synchronous acquisition by level meter, sentenced using level meter
The tilt angle in disconnected module quantifies horizontal bearing face；
Step 33: will using timestamp generation module when tilt angle and deformation length are in minimal error range simultaneously
Range data within the scope of minimal error carries out timestamp label.Form the amendment number of one group of corresponding minimal error range
According to.
The amendment data for the correspondence minimal error range that measurement method of the embodiment of the present invention is formed can be further improved fixed
The calculation accuracy of position measurement forms the amendment data in time range corresponding with minimal error range, is approached using precision is met
The data of trend improve ultimate measurement accuracy.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (8)
1. the RTK measuring system in a kind of restricted clearance characterized by comprising
GNSS receiver forms location data for receiving satellite-signal, base station data-link and amendment data；
Centering rod, for forming controlled support structure, controlled offer GNSS receiver and laser ranging described in top on top
The fixed support of device or movable supporting form quantization amendment data in fixed support, and in movable supporting, offer level is held
Section；
Laser ranging system, difference in height when for measuring the GNSS receiver using centering rod movable supporting between ground,
Form amendment data.
2. the RTK measuring system in restricted clearance as described in claim 1, which is characterized in that the centering rod includes connection
Centering bar body and stablize holder, the stable holder includes:
Tilt angle servo motor, for the angle between controlled adjustment tip stabilization holder and centering bar body；
First rotation servo motor, for maintaining the x-axis horizontal stable in the horizontal bearing face；
Second rotation servo motor, for maintaining the y-axis horizontal stable in the horizontal bearing face；
Horizontal bearing plate is used to provide the described horizontal bearing face, the carrying GNSS receiver at the top of the horizontal bearing plate,
The laser ranging system is carried in bottom.
3. the RTK measuring system in restricted clearance as claimed in claim 2, which is characterized in that the tilt angle servo electricity
The pedestal of machine is fixedly connected with centering bar body top, the tilt angle servo motor output shaft and the centering rod sheet
Body is vertical, the tilt angle servo motor output shaft be fixedly connected it is described first rotation servo motor pedestal, described first turn
Dynamic servo motor output shaft is vertical with the tilt angle servo motor output shaft, and the first rotation servo motor output shaft is logical
Cross connecting rod with it is described second rotation servo motor pedestal be fixedly connected, it is described first rotation servo motor output shaft with it is described
Second rotation servo motor output shaft is vertical, and the second rotation servo motor output shaft is fixedly connected with the horizontal bearing plate shape
At the horizontal bearing face.
4. the RTK measuring system in restricted clearance as claimed in claim 2, which is characterized in that the laser ranging system packet
It includes:
Laser range finder, for laser formation distance measuring signal to be obtained to the vertical height on the horizontal bearing face to ground, and benefit
Preset optical design is formed with laser；
Level meter, for acquiring the real-time horizontal sextant angle in the horizontal bearing face；
Temperature compensation means, the steady working condition for keeping level meter for providing working temperature；
First axis view finder acquires the preset optical design in ground shape for the X-axis end in the horizontal bearing face
At projection pattern；
Second axial view finder acquires the preset optical design in ground shape for the Y-axis end in the horizontal bearing face
At projection pattern；
Ranging Processor forms amendment data for correcting distance measuring signal according to the horizontal error in the horizontal bearing face.
5. the RTK measuring system in restricted clearance as claimed in claim 4, which is characterized in that in the middle part of the Ranging Processor
Affix one's name to following processing module:
Viewfinder image judgment module, for quantify to identify the first axis view finder and the described second axial view finder synchronize obtain
The projected image taken the deformation degree in two vertical direction in the projection plane, forms the figure of the horizontal bearing plate
Error information；
Level meter judgment module identifies that the horizontal bearing face forms institute with the tilt variation in hand-held Drift Process for quantifying
State the angular error data of horizontal bearing plate；
Levelness weighting block, for being judged most according to the Error Trend of the pattern error data and the angular error data
The opportunity and time point that good levelness occurs form the optimum level time；
Laser ranging receiving module, the range data formed for persistently receiving the distance measuring signal；
Timestamp generation module, for forming amendment data according to the timestamp of the optimum level time-labeling range data；
Line control of communication module is used to form the transmission of controlled communication link control amendment data.
6. the RTK measuring system in restricted clearance as claimed in claim 4, which is characterized in that the GNSS receiver deployment
Following processing module:
Location data correction module, for the solution according to the amendment data to received satellite-signal and/or data-link data
Calculation process is modified, and forms the accurate coordinate data of ground position to be measured；
Coordinate data display module, for melting the image of the accurate coordinate data and the ground position to be measured of acquisition
It closes and forms positioning image in real time, transmitted by communication link to mobile terminal.
7. the measurement method in a kind of restricted clearance, which is characterized in that utilize the limited sky as described in claim 1 to 6 is any
Interior RTK measuring system, comprising:
The centering rod freedom of entry state, it is hand-held to hover over above the position to be measured of ground；
The location drawing picture to be measured on ground is obtained by the laser ranging system；
Height off the ground is obtained by the laser ranging system；
Height off the ground is carried out positioning calculation as the amendment data and obtains location data by the GNSS receiver；
The GNSS receiver is sent to the mobile terminal on ground after merging the location data with the location drawing picture to be measured.
8. the measurement method in restricted clearance as claimed in claim 7, mentions and being characterized in that, described to be filled by the laser ranging
Setting acquisition height off the ground includes:
The ground image that synchronous acquisition is obtained by the first axis view finder and the second axial view finder, using described
Viewfinder image judgment module quantifies the deformation length in the ground image in vertical direction；
The horizontal bearing plate angle degree error information that synchronous acquisition is obtained by the level meter, utilizes the level meter judgment module
The tilt angle of quantization level loading end；
The timestamp generation module is utilized when the tilt angle and the deformation length are in minimal error range simultaneously
Range data within the scope of the minimal error is subjected to timestamp label, forms one group of correspondence minimal error range
The amendment data.
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| CN110274575A (en) * | 2019-07-17 | 2019-09-24 | 伟志股份公司 | A kind of route survey system and method based on GPS technology |
| CN111504281A (en) * | 2020-04-24 | 2020-08-07 | 广西华蓝岩土工程有限公司 | Tilt RTK measuring method and system |
| CN112964252A (en) * | 2021-03-29 | 2021-06-15 | 上海井融网络科技有限公司 | Positioning method and system based on inertial measurement unit and RTK receiver |
| CN113324482A (en) * | 2021-02-04 | 2021-08-31 | 长沙理工大学 | Indirect rapid measuring device and method for three-dimensional coordinates |
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