CN109975848B - Precision optimization method of mobile measurement system based on RTK technology - Google Patents

Precision optimization method of mobile measurement system based on RTK technology Download PDF

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CN109975848B
CN109975848B CN201910317396.5A CN201910317396A CN109975848B CN 109975848 B CN109975848 B CN 109975848B CN 201910317396 A CN201910317396 A CN 201910317396A CN 109975848 B CN109975848 B CN 109975848B
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rtk
data
time
value
measurement system
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CN109975848A (en
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向泽君
苟永刚
李锋
朱勃
张彦
龙川
黄志�
胡小林
陈汉
刘杨
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Chongqing Institute Of Surveying And Mapping Science And Technology Chongqing Map Compilation Center
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CHONGQING CYBERCITY SCI-TECH CO LTD
Chongqing Survey Institute
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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 discloses a precision optimization method of a mobile measurement system based on an RTK technology, which comprises the following steps: s1, acquiring original data of a mobile measurement system, and measuring the relative position relation between an RTK receiver and the mobile measurement system to obtain an offset; s2, carrying out primary processing on the original data in the step S1 to obtain POS data; s3, calculating an RTK estimation value according to the POS data obtained in the step S2; s4, collecting data of the RTK receiver to obtain RTK data; s5, filtering a threshold value H according to the plane precision Threshold And elevation precision filtering threshold value V Threshold Filtering the RTK data collected in the step S4; s7, aligning the RTK estimated value and the RTK data, and calculating an RTK correction value; and S8, calculating new latitude values, longitude values and elevation values of the POS data at each moment based on the RTK correction values, and optimizing the POS data. The measurement data is optimized by the optimization method, and the measurement precision is improved.

Description

Precision optimization method of mobile measurement system based on RTK technology
Technical Field
The invention relates to the field of mobile measurement, in particular to a precision optimization method of a mobile measurement system based on an RTK technology.
Background
The mobile measurement system is a hardware system integrating sensors such as a satellite navigation system (GNSS), an Inertial Measurement Unit (IMU), and a LiDAR (LiDAR). According to different carriers, the carrier is divided into vehicle (ship) carrying, vehicle carrying, portable carrying and the like. The device can rapidly acquire surrounding three-dimensional laser point cloud data in the moving process, and is a surveying and mapping device.
When the existing mobile measurement system is used, firstly, a reference station is erected at a known point position near a measurement area, and original observation data of a GNSS satellite are collected; then, starting a mobile measurement system, initializing the IMU, and synchronously storing and recording data of the GNSS and IMU of the mobile station; secondly, synchronously recording the data of GNNS, IMU and LiDAR in the advancing process of the mobile carrier; and finally, performing data processing, namely performing differential processing on the original data of the GNSS reference station and the GNSS mobile station, then fusing IMU data, resolving POS data (position and attitude data), then obtaining the position and attitude information of the platform at each point cloud acquisition time according to the time difference, and then converting point cloud coordinates from an equipment coordinate system to a world coordinate system to obtain point cloud result data.
However, in the POS solution, GNSS data is easily affected by an ionosphere and a distance between a GNSS reference station and a mobile station is limited, and therefore, the position accuracy of the POS is generally not high, and generally only can reach a decimeter level, and in a poor case, an elevation error exceeds 1m. In the acquisition process, no feasible index is used for evaluating the accuracy of the acquired data.
To improve the accuracy, the general practice includes:
1. the distance between the GNSS reference station and the GNSS mobile station is shortened, and is generally within 5Km according to experience.
2. And measuring an external control point at certain intervals (such as 50 m), locally adjusting the POS through the external control point, and then performing point cloud calculation.
3. Ionospheric active period acquisitions are avoided.
In summary, in order to obtain high-precision point cloud data, the existing method has the following defects:
1. the scheme of erecting the GNSS base station in the vicinity of the survey area is time-consuming, labor-consuming and large in workload. The general survey area can exceed the limit of 5Km, additional personnel and equipment are needed, the survey area is required to be surveyed in the early stage, and the field cost can be obviously increased in specific operation.
2. The problem of POS optimization can be effectively solved by using an external control point, but the field work load is very large, and the control point is difficult to control and is easily shielded by traffic vehicles; and because the error of POS is uneven, so need a large amount of control points; therefore, there is a great difficulty in implementation, and the implementation cost is also significantly increased, and the precision of the external control point is also not well controlled.
3. The ionosphere activity time of different regions is different, and in the same region, under different seasons and different weather, the ionosphere activity degree is not well grasped, and whether the ionosphere is active or not can not be judged by an operator, and only can the experience be relied on.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a precision optimization method of a mobile measurement system based on an RTK technology, which optimizes the measurement data of the mobile measurement system and improves the measurement precision.
In order to achieve the above purpose, the invention provides the following technical scheme:
a precision optimization method of a mobile measurement system based on an RTK technology comprises the following steps:
s1, acquiring original data of a mobile measurement system, and measuring a relative position relation between an RTK receiver antenna center and a reference center of the mobile measurement system to obtain an offset;
s2, carrying out primary processing on the original data in the step S1 to obtain POS data;
s3, calculating an RTK estimation value according to the POS data obtained in the step S2; calculating a geodetic coordinate system coordinate estimation value of the RTK receiver antenna center based on the POS data, the offset value of the RTK receiver antenna center relative to the reference center of the mobile measurement system and the mobile measurement equipment attitude;
s4, collecting data of the RTK receiver to obtain RTK data;
s5, filtering a threshold value H according to the plane precision Threshold And elevation precision filtering threshold value V Threshold Filtering the RTK data collected in the step S4;
s7, aligning the RTK estimated value and the RTK data, and calculating an RTK correction value;
and S8, calculating new latitude values, longitude values and elevation values of the POS data at each moment based on the RTK correction values, and optimizing the POS data.
Preferably, the step S3 calculates a rotation matrix according to the mobile measurement device attitude
Figure BDA0002033569170000031
Rotating matrix->
Figure BDA0002033569170000032
The calculation method is shown in formula (1) and formula (2):
Figure BDA0002033569170000033
Figure BDA0002033569170000034
Figure BDA0002033569170000041
Figure BDA0002033569170000042
wherein R is i Is t i Attitude roll angle at time, P i Is t i Attitude pitch angle of time, Y i Is t i The attitude heading angle at the moment.
Preferably, the calculation formula of the RTK estimated value in step S3 is as shown in formula (3):
Figure BDA0002033569170000043
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002033569170000044
t recorded for POS data i Latitude at that moment>
Figure BDA0002033569170000045
T recorded for POS data i The longitude of the time of day is,
Figure BDA0002033569170000046
t recorded for POS data i The elevation of the moment>
Figure BDA0002033569170000047
Is t i X-axis offset of the time RTK receiver antenna center from the reference center of the movement measurement system, or combination thereof>
Figure BDA0002033569170000048
Is the Y-axis offset of the RTK receiver antenna center at time ti from the reference center of the motion measurement system, < >>
Figure BDA0002033569170000049
Is t i And Z-axis offset parameters of the antenna center of the time RTK receiver and the reference center of the mobile measurement system.
Preferably, the step S5 has the planar filtering condition of H Dop Satisfy | H Dop |<H Threshold (ii) a The elevation filtering condition is, | V Dop |<V Threshold (ii) a Wherein H Dop Indicating the plane accuracy, V, at time t Dop Indicating the elevation accuracy at time t, H Threshold Filtering the threshold for planar precision, V Threshold A threshold is filtered for elevation accuracy.
Preferably, the step S7 is performed by calculating RTK data at the ith time
Figure BDA00020335691700000410
And RTK estimated value
Figure BDA00020335691700000411
The corrected value at the ith moment is obtained, and the calculation formula is shown as formula (4):
Figure BDA00020335691700000412
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002033569170000051
is a latitude correction value at the i-th moment>
Figure BDA0002033569170000052
Is the longitude correction value at the i-th instant>
Figure BDA0002033569170000053
Is an elevation correction value at the i-th time, i.e. the RTK correction value at the i-th time is recorded as->
Figure BDA0002033569170000054
Figure BDA0002033569170000055
Preferably, the method for optimizing the POS data in step 8 is as follows;
t 1 POS data of time is P t1 ＝(t 1 ，B P1 ，L P1 ，H P1 R, P, Y), first in accordance with the planar filtration conditions
Figure BDA00020335691700000510
The search time in the data is not more than t 1 T 'of' 1 And time greater than t 1 Minimum time t ″ 1 Then t is 1 、t′ 1 And t ″) 1 The following relation is satisfied: t' 1 ≤t 1 <t″ 1 ；
Correcting value corresponding to RTK data according to t1
Figure BDA0002033569170000056
t″ 1 Correction value based on RTK data at time->
Figure BDA0002033569170000057
Calculating t using an interpolation algorithm 1 Time of day new POS longitude B' 1 L 'weft value' 1 And an elevation value H' 1 。
Preferably, the interpolation algorithm adopts a time-based linear interpolation method, and the interpolation calculation method is as shown in formula (5) and formula (6):
Figure BDA0002033569170000058
Figure BDA0002033569170000059
wherein B' 1 、L′ 1 And H' 1 T obtained for interpolation respectively 1 And calculating the new latitude value, longitude value and elevation value of the POS data at each moment according to the optimization method, and optimizing the POS data.
Preferably, the precision optimization method for the mobile measurement system based on the RTK technology further includes step S6, where step S6 is located between step S5 and step S7, and the filtered data obtained in step S5 are sorted according to time respectively.
Compared with the prior art, the invention has the beneficial effects that:
1. positioning data is acquired based on an RTK technology, and because most areas cover a CORS system at present, any RTK equipment can be accessed to the CORS system to acquire high-precision mapping-level positioning data, so that the method is convenient to implement and high in usability;
2. the data of the existing CORS base station is used for POS resolving, a GNSS reference station does not need to be erected independently, and if the reference station needs to be erected, the distance limit of 5Km does not exist, so that the method is feasible within dozens of kilometers, the operation range is greatly enlarged, and manpower and equipment are saved;
3. the positioning accuracy of the current equipment can be obtained through the plane accuracy and the elevation accuracy obtained by the RTK receiver, and the accuracy is basically consistent with the accuracy of the result data, so that an operator can know the approximate accuracy of the result data through the plane accuracy and the elevation accuracy in the acquisition process, and can perform accurate indication control on the operation process according to the plane accuracy and the elevation accuracy, for example, an instruction of deceleration parking can be issued under the condition of poor accuracy;
4. the data are optimized, the measurement precision is improved, a large amount of external control point measurement work is not needed, a large amount of manpower is saved, and the field operation period is shortened.
Description of the drawings:
fig. 1 is a flowchart of a method for optimizing the accuracy of a mobile measurement system based on an RTK technique according to an exemplary embodiment 1 of the present invention;
fig. 2 is a flowchart of a method for optimizing the accuracy of a mobile measurement system based on an RTK technique according to an exemplary embodiment 2 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
Example 1
A CORS (continuous Operating Reference Stations) system is a high-precision measurement means commonly used in the surveying and mapping field, generally uses an RTK (Real-time kinematic) carrier-phase differential technique to perform point-by-point measurement, and has high precision but low efficiency. In the embodiment, a CORS (continuous operational reference system), an RTK (real-time kinematic) technology and a movement measurement technology are combined together, so that the absolute accuracy problem of point cloud result data of the movement measurement system is solved.
The basic idea is as follows: an RTK receiver is fixedly connected with a mobile measurement system, RTK positioning data in the acquisition process is synchronously recorded, the RTK positioning data is recorded once at regular time, and the recorded data comprises the following information: time (year, month, day, hour, minute, second), longitude, latitude, elevation, planar accuracy, and elevation accuracy. The relative positional relationship of the RTK receiver antenna center to the mobile measurement system reference center is obtained by measurement, the offset relationship comprising: x-axis offset, Y-axis offset, and Z-axis offset (using a right-handed coordinate system, i.e., X-axis to the right, Y-axis to the front, Z-axis to the up).
As shown in fig. 1, the present embodiment provides a method for optimizing precision of a mobile measurement system based on an RTK technique, which specifically includes the following steps:
s1, collecting sensor data such as a satellite navigation system (GNSS), an Inertial Measurement Unit (IMU), a laser radar (LiDAR) and the like in a mobile measurement system and data of a CORS system; measuring the relative position relation between the RTK receiver antenna center and the mobile measurement system reference center to obtain the offset;
s2, carrying out primary processing on the original data in the step S1 to obtain POS data;
the method comprises the steps of processing raw data of a satellite navigation system (GNSS) in a CORS system and a mobile measurement system, fusing IMU data and LiDAR data, and resolving POS data. The POS data at the t moment represent the coordinates of the geodetic coordinate system of the reference center of the mobile measuring system, which are marked as P t ＝(t，B P ，L P ，H P R, P, Y), where t denotes the t-th instant, B P Indicates the latitude, L, at time t P Indicates the longitude, H, at time t P Indicates the elevation at the t-th time, and R indicates the t-th timeThe roll angle of the equipment at the moment, P represents the pitch angle of the equipment at the t-th moment, and Y represents the heading angle of the equipment at the t-th moment.
S3, calculating an RTK estimation value according to the POS data obtained in the step S2;
the RTK estimate at time t indicates the geodetic coordinate estimate of the RTK receiver antenna center calculated based on the POS data, the offset of the RTK receiver antenna center relative to the reference center of the rover system, and the pose of the rover.
For example, find t i POS data of time, note
Figure BDA0002033569170000081
Latitude recorded according to POS data>
Figure BDA0002033569170000082
Longitude->
Figure BDA0002033569170000083
Height->
Figure BDA0002033569170000084
And t i X-axis offset ≧ between the time RTK receiver antenna center and the mobile measurement system reference center>
Figure BDA0002033569170000085
Y-axis offset pick>
Figure BDA0002033569170000086
Z-axis offset parameter->
Figure BDA0002033569170000087
And from t i Attitude roll angle R at time i Angle of pitch P i Course angle Y i Constructed rotation matrix->
Figure BDA0002033569170000088
Is calculated at t i Time-of-day corresponding RTK estimate
Figure BDA0002033569170000089
Wherein +>
Figure BDA00020335691700000810
Represents t i The latitude of the time estimate, ->
Figure BDA00020335691700000811
Represents t i The longitude of the time estimate, based on the time of day>
Figure BDA00020335691700000812
Represents t i Elevation of the time of day estimate. Rotation matrix>
Figure BDA00020335691700000813
The calculation method is shown in formula (1) and formula (2):
Figure BDA00020335691700000814
Figure BDA00020335691700000815
Figure BDA00020335691700000816
Figure BDA00020335691700000817
the calculation formula of the RTK estimate value is shown in formula (3):
Figure BDA0002033569170000091
s4, collecting data of the RTK receiver to obtain RTK data;
the RTK data at time t represents the RTK receiver dayGeodetic coordinate system coordinate of line center, denoted as R t ＝(t，B R ，L R ，H R ，H Dop ，V Dop ) Wherein t represents time, B R Denotes the latitude, L, at the time t R Indicates the longitude at time t, H R Indicates elevation at time t, H Dop Indicating the plane accuracy, V, at time t Dop Indicating elevation accuracy at time t.
S5, filtering a threshold value H according to the plane precision Threshold And elevation precision filtering threshold value V Threshold Filtering the RTK data collected in the step S4;
setting a planar precision filtering threshold H Threshold And elevation precision filtering threshold value V Threshold . The plane filtration conditions are, H Dop Satisfy | H Dop |<H Threshold (|H Dop I represents the pair H Dop Taking an absolute value), RTK data meeting the plane filtering condition is recorded as
Figure BDA0002033569170000092
The elevation filtering condition is, | V Dop |<V Threshold (|V Dop | represents a pair V Dop Absolute value is taken), RTK data meeting elevation filtering conditions are recorded
Figure BDA0002033569170000093
RTK data is filtered to obtain a series of->
Figure BDA0002033569170000094
And
Figure BDA0002033569170000095
data are recorded as ^ er>
Figure BDA0002033569170000096
And &>
Figure BDA0002033569170000097
S7, aligning the RTK estimated value and the RTK data, and calculating an RTK correction value;
for example, calculating RTK data at the ith time
Figure BDA0002033569170000098
And the RTK estimate->
Figure BDA0002033569170000099
The difference value of (a) is obtained, namely the correction value at the ith moment, and the calculation formula is shown as formula (4):
Figure BDA00020335691700000910
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002033569170000101
for a latitude correction value at instant i>
Figure BDA0002033569170000102
Is a longitude correction value at instant i>
Figure BDA0002033569170000103
Is an elevation correction value at the i-th time, i.e. the RTK correction value at the i-th time is recorded as->
Figure BDA0002033569170000104
Figure BDA0002033569170000105
And calculating the RTK correction values corresponding to all the RTK data by the method.
And S8, calculating new latitude values, longitude values and elevation values of the POS data at each moment based on the RTK correction values, and optimizing the POS data.
For example, let t 1 POS data of time is P t1 ＝(t 1 ，B P1 ，L P1 ，H P1 R, P, Y), first in accordance with the planar filtration conditions
Figure BDA0002033569170000106
The search time in the data is not more than t 1 T 'of' 1 And time greater than t 1 Minimum time t ″ 1 Then t is 1 、t′ 1 And t ″) 1 Satisfies the relationship: t' 1 ≤t 1 <t″ 1 。
According to t' 1 Correction value corresponding to RTK data of time
Figure BDA0002033569170000107
t″ 1 Correction value corresponding to RTK data at time &>
Figure BDA0002033569170000108
Calculating t by interpolation 1 Time of day new POS longitude B' 1 L 'weft value' 1 And an elevation value H' 1 The other values remain unchanged. Taking a time-based linear interpolation method as an example, the interpolation calculation method is as shown in formula (5) and formula (6):
Figure BDA0002033569170000109
Figure BDA00020335691700001010
wherein B' 1 、L′ 1 And H' 1 T obtained for interpolation respectively 1 And calculating the new latitude value, longitude value and elevation value of the POS data at each moment according to the method, and optimizing the POS data.
The positioning data of the embodiment is obtained based on the RTK technology, and because most areas cover the CORS system at present, any RTK equipment can be accessed to the CORS system to obtain high-precision mapping-level positioning data, so that the method is convenient to implement and high in usability; the data of the existing CORS base station is used for POS resolving, a GNSS reference station does not need to be erected independently, and if the reference station needs to be erected, the distance limit of 5Km does not exist, so that the method is feasible within dozens of kilometers, the operation range is greatly enlarged, and manpower and equipment are saved; the positioning accuracy of the current equipment can be obtained through the plane accuracy and the elevation accuracy obtained by the RTK receiver, and the accuracy is basically consistent with the accuracy of the result data, so that an operator can know the approximate accuracy of the result data through the plane accuracy and the elevation accuracy in the acquisition process, and can perform accurate indication control on the operation process according to the plane accuracy and the elevation accuracy, for example, an instruction of deceleration parking can be issued under the condition of poor accuracy; by adopting the technical scheme of the embodiment to optimize the data, the measurement precision is improved, a large amount of external control point measurement work is not needed, a large amount of manpower is saved, and the field operation period is shortened.
Example 2
As shown in fig. 2, the present embodiment provides a precision optimization method for a mobile measurement system based on an RTK technique, which further includes a step S6 compared with the precision optimization method described in embodiment 1; the step S6 is positioned between the step S5 and the step S7, and the result obtained in the step S5 is used
Figure BDA0002033569170000111
And &>
Figure BDA0002033569170000112
Data, which are respectively sorted according to time t; the data are sequenced, so that the subsequent data can be conveniently processed, and the processing speed is improved.
The foregoing is merely a detailed description of specific embodiments of the invention and is not intended to limit the invention. Various alterations, modifications and improvements will occur to those skilled in the relevant art without departing from the spirit and scope of the invention.

Claims (5)

1. A precision optimization method of a mobile measurement system based on an RTK technology is characterized by comprising the following steps:
s1, acquiring original data of a mobile measurement system, and measuring a relative position relation between an antenna center of an RTK receiver and a reference center of the mobile measurement system to obtain an offset;
s2, carrying out primary processing on the original data in the step S1 to obtain POS data;
s3, calculating an RTK estimation value according to the POS data obtained in the step S2; calculating a geodetic coordinate system coordinate estimation value of the RTK receiver antenna center based on the POS data, the offset value of the RTK receiver antenna center relative to the reference center of the mobile measurement system and the mobile measurement equipment attitude;
the calculation formula of the RTK estimated value is shown as formula (3):
Figure FDA0003982755760000011
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003982755760000012
t recorded for POS data i Latitude at that moment>
Figure FDA0003982755760000013
T recorded for POS data i The longitude of the moment in time>
Figure FDA0003982755760000014
T recorded for POS data i The elevation of the moment>
Figure FDA0003982755760000015
Is t i X-axis offset of the time RTK receiver antenna center from the reference center of the mobile measurement system, <' > or>
Figure FDA0003982755760000016
Is t i The Y-axis offset of the time RTK receiver antenna center from the mobile measurement system reference center,
Figure FDA0003982755760000017
is t i Z-axis offset parameter of antenna center and reference center of mobile measurement system of time RTK receiver；/>
Figure FDA0003982755760000018
Is a rotation matrix;
s4, collecting data of the RTK receiver to obtain RTK data;
s5, filtering a threshold value H according to the plane precision Threshold And height precision filtering threshold V Threshold Filtering the RTK data collected in the step S4;
s7, aligning the RTK estimated value and the RTK data, and calculating an RTK correction value;
by calculating the RTK data at the ith time
Figure FDA0003982755760000021
And the RTK estimate->
Figure FDA0003982755760000022
Figure FDA0003982755760000023
The corrected value at the ith moment is obtained, and the calculation formula is shown as formula (4):
Figure FDA0003982755760000024
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003982755760000025
is a latitude correction value at the i-th moment>
Figure FDA0003982755760000026
Is a longitude correction value at instant i>
Figure FDA0003982755760000027
Is an elevation correction value at the i-th time, i.e. the RTK correction value at the i-th time is recorded as->
Figure FDA0003982755760000028
Figure FDA0003982755760000029
S8, calculating new latitude values, longitude values and elevation values of the POS data at each moment based on the RTK correction values, and optimizing the POS data;
the method of optimizing POS data is as follows;
t 1 POS data of time is P t1 ＝(t 1 ，B P1 ，L P1 ，H P1 R, P, Y), first in accordance with the planar filtration conditions
Figure FDA00039827557600000210
The search time in the data is not more than t 1 Of maximum time t' 1 And time greater than t 1 Minimum time t " 1 Then t is 1 、t' 1 And t' 1 Satisfies the relationship: t' 1 ≤t 1 <t” 1 ；/>
According to t' 1 Correction value corresponding to RTK data of time
Figure FDA00039827557600000211
t” 1 Correction value based on RTK data at time->
Figure FDA00039827557600000212
Calculating t using an interpolation algorithm 1 Time of day new POS longitude B' 1 L 'weft value' 1 And an elevation value H' 1 。
2. The method for optimizing accuracy of a RTK-based mobile measurement system of claim 1, wherein said step S3 is to calculate a rotation matrix according to the attitude of the mobile measurement device
Figure FDA00039827557600000213
Rotating matrix->
Figure FDA00039827557600000214
The calculation method is shown in formula (1) and formula (2):
Figure FDA00039827557600000215
Figure FDA0003982755760000031
Figure FDA0003982755760000032
Figure FDA0003982755760000033
wherein R is i Is t i Attitude roll angle at time, P i Is t i Attitude pitch angle at time, Y i Is t i The attitude heading angle at the moment.
3. The RTK-based kinematic measurement system accuracy optimization method of claim 1, wherein the step S5 plane filtering condition is H Dop Satisfy | H Dop |<H Threshold (ii) a The elevation filtering condition is, | V Dop |<V Threshold (ii) a Wherein H Dop Indicating the plane accuracy, V, at time t Dop Indicating the elevation accuracy at time t, H Threshold Filtering the threshold for planar precision, V Threshold A threshold is filtered for elevation precision.
4. An RTK technology based movement measurement system accuracy optimization method according to claim 1, characterized in that the interpolation algorithm uses a time based linear interpolation method, the interpolation calculation method is shown in formula (5) and formula (6):
Figure FDA0003982755760000034
Figure FDA0003982755760000035
wherein B' 1 、L' 1 And H' 1 T obtained for interpolation respectively 1 And calculating the new latitude value, longitude value and elevation value of the POS data at each moment according to the optimization method, and optimizing the POS data.
5. A method for optimizing accuracy of a mobile measurement system based on an RTK technique according to any of claims 1 to 4, characterized in that it further comprises a step S6, wherein said step S6 is located between step S5 and step S7, and the filtered data obtained in step S5 are sorted according to time.
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