CN110850453A - A kind of GPS differential positioning accuracy electric measurement system and its realization method - Google Patents

A kind of GPS differential positioning accuracy electric measurement system and its realization method Download PDF

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CN110850453A
CN110850453A CN201911169690.2A CN201911169690A CN110850453A CN 110850453 A CN110850453 A CN 110850453A CN 201911169690 A CN201911169690 A CN 201911169690A CN 110850453 A CN110850453 A CN 110850453A
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coordinate system
surveying
antenna
bracket
electric
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CN110850453B (en
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于洪达
李朝
张太龙
王鸿捷
顾强
刘银哲
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Anhui Jiuyao Intelligent Technology Co ltd
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Beijing Jiuquan Intelligent Technology Co ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/40Correcting position, velocity or attitude
    • G01S19/41Differential correction, e.g. DGPS [differential GPS]

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Abstract

The invention discloses a GPS differential positioning precision electric measuring system and a realization method thereof, comprising an RTK host, wherein the RTK host is connected with a surveying and mapping receiving antenna through a feedback line, the RTK host is connected with a 4G module through a serial port to receive a base station differential signal, the RTK host is connected with a power supply through a power line to realize equipment power supply, the RTK host communicates with an upper computer through a 232-turn USB serial port to send data, and the surveying and mapping receiving antenna and the 4G module are both arranged on an electric positioning platform. And the test result is visual and clear.

Description

一种GPS差分定位精度电动测量系统及其实现方法A kind of GPS differential positioning accuracy electric measurement system and its realization method

技术领域technical field

本发明涉及测绘领域,具体是指一种GPS差分定位精度电动测量系统及其实现方法。The invention relates to the field of surveying and mapping, in particular to a GPS differential positioning accuracy electric measuring system and a realization method thereof.

背景技术Background technique

在GPS精度测量的工作中,现有技术里还没有一个专门用于测试GPS定位精度的定位平台,大家都是通过得到的数据通过人工分析来大致判断定位精度是否达标,现有精度测量方法基本是通过读取GPS发出的经纬度坐标,在人工转换成平面坐标后人工对比测量精度,但是没有办法验证移动距离精度和一致性,并且测量精度需要熟练人员才能操作,操作繁琐。In the work of GPS accuracy measurement, there is no positioning platform specially used to test GPS positioning accuracy in the existing technology. Everyone roughly judges whether the positioning accuracy meets the standard through manual analysis of the obtained data. The existing accuracy measurement methods are basically It reads the latitude and longitude coordinates sent by GPS, and manually compares the measurement accuracy after manually converting them into plane coordinates, but there is no way to verify the accuracy and consistency of the moving distance, and the measurement accuracy requires skilled personnel to operate, which is cumbersome.

发明内容SUMMARY OF THE INVENTION

为解决上述技术问题,本发明提供的技术方案为:一种GPS差分定位精度电动测量系统,包括RTK主机,所述RTK主机通过反馈线与测绘接收天线连接,所述RTK主机通过串口与4G模块连接接收基站差分信号,所述RTK主机通过电源线与电源连接实现设备供电,所述RTK主机通过232转USB串口与上位机通信发送数据,所述测绘接收天线、4G模块均设置于电动定位平台上。In order to solve the above technical problems, the technical solution provided by the present invention is: a GPS differential positioning accuracy electric measurement system, including an RTK host, the RTK host is connected to a surveying and mapping receiving antenna through a feedback line, and the RTK host is connected to a 4G module through a serial port. Connect to receive the differential signal of the base station, the RTK host is connected to the power supply through the power cord to realize the power supply of the device, the RTK host communicates with the host computer through the 232 to USB serial port to send data, and the surveying and mapping receiving antenna and 4G module are set on the electric positioning platform. superior.

作为改进,所述电动定位平台包括测绘接收天线、天线支架及底座支架,所述测绘接收天线设置于天线支架的两端,所述天线支架位于两测绘接收天线中间位置设有4G模块与GPS模块,所述天线支架与底座支架之间设有滑行台,所述滑行台底面两端各设固定设有导槽,所述底座支架顶部两侧沿其长度方向固定设有滑轨,所述导槽与滑轨可滑动连接,所述滑行台下方固定设有旋转电机及旋转角度编码器,所述旋转电机输出轴通过第一齿轮与第二齿轮啮合,所述旋转角度编码器连接的传动轴贯穿第二齿轮后与天线支架固定连接,所述天线支架中心与传动轴伸出滑行台的部分卡接使得天线支架可在旋转电机的带动下转动,所述底座支架内框靠近滑行台一端固定设有横向电机与横向位置编码器,所述横向电机轴端所连接的齿轮皮带沿底座支架轴向依次穿过第一皮带导向轮、第二皮带导向轮及第三皮带导向轮。As an improvement, the electric positioning platform includes a surveying and mapping receiving antenna, an antenna support and a base support, the surveying and mapping receiving antennas are arranged at both ends of the antenna support, and the antenna support is located in the middle of the two surveying and mapping receiving antennas with a 4G module and a GPS module. A sliding table is arranged between the antenna bracket and the base bracket, and guide grooves are fixed at both ends of the bottom surface of the sliding table, and sliding rails are fixed on both sides of the top of the base bracket along its length direction. The slot is slidably connected to the slide rail, a rotary motor and a rotary angle encoder are fixed under the slide table, the output shaft of the rotary motor is meshed with the second gear through the first gear, and the transmission shaft connected to the rotary angle encoder After passing through the second gear, it is fixedly connected to the antenna bracket. The center of the antenna bracket is clamped with the part of the transmission shaft extending out of the sliding table, so that the antenna bracket can be rotated under the driving of the rotating motor. The inner frame of the base bracket is fixed at one end of the sliding table. A transverse motor and a transverse position encoder are provided, and the gear belt connected to the shaft end of the transverse motor sequentially passes through the first belt guide wheel, the second belt guide wheel and the third belt guide wheel along the axial direction of the base bracket.

作为改进,所述底座支架内框沿轴向均匀设有不少于两道横向支撑,所述第二皮带导向轮与第三皮带导向轮均固定设置于横向支撑靠近天线支架一侧。As an improvement, the inner frame of the base bracket is uniformly provided with no less than two lateral supports along the axial direction, and the second belt guide pulley and the third belt guide pulley are fixedly arranged on the side of the lateral support close to the antenna support.

作为改进,所述滑轨靠近横向电机一端固定设有前限位器,所述滑轨远离横向电机一端固定设有后限位器。As an improvement, a front limiter is fixedly arranged at one end of the slide rail close to the transverse motor, and a rear stopper is fixed at one end of the slide rail away from the transverse motor.

作为改进,所述横向位置编码器与滑行台之间设有连接钢丝。As an improvement, a connecting wire is provided between the lateral position encoder and the sliding table.

作为改进,所述齿轮皮带通过固定扣与滑行台下侧固定连接。As an improvement, the gear belt is fixedly connected with the lower side of the sliding platform through a fixing buckle.

作为改进,所述天线支架可绕传动轴轴心转动。As an improvement, the antenna support can be rotated around the axis of the transmission shaft.

作为改进,其实现方法,包括以下步骤:As an improvement, the implementation method includes the following steps:

(1)将系统按照上述连接方式连接好,然后在上位机中,根据连接的串口号打开串口,通过串口接收差分模块的定位数据,针对协议将经度、纬度、海拔高度、航向角解析出来;(1) Connect the system according to the above connection method, then in the host computer, open the serial port according to the connected serial port number, receive the positioning data of the differential module through the serial port, and analyze the longitude, latitude, altitude, and heading angle according to the protocol;

(2)据经纬度转东北天坐标系公式将其转换为平面坐标系,同时将差分后的前10组数据的平均值作为原点;(2) Convert it to a plane coordinate system according to the longitude and latitude to northeast sky coordinate system formula, and use the average value of the first 10 groups of data after the difference as the origin;

(2-1)WGS84(大地坐标系)转地心直角坐标系(2-1) WGS84 (geodetic coordinate system) to earth-centered Cartesian coordinate system

对于空间中一点,大地坐标系(L,B,H)转直角坐标系(X,Y,Z),其中L(经度)、B(纬度)、H(海拔高度):For a point in space, the geodetic coordinate system (L, B, H) is turned into a rectangular coordinate system (X, Y, Z), where L (longitude), B (latitude), and H (altitude):

Figure BDA0002288372900000021
Figure BDA0002288372900000021

上式中:

Figure BDA0002288372900000022
N为该店的卯酉圈曲率半径;
Figure BDA0002288372900000023
a、b、e分别为该大地坐标系对应参考椭球的长半轴、短半轴和第一偏心率;长半轴a=6378137±2m,短半轴b=6356.7523142km,e2=0.00669437999013;In the above formula:
Figure BDA0002288372900000022
N is the radius of curvature of the unitary circle of the store;
Figure BDA0002288372900000023
a, b and e are the major semi-axis, minor semi-axis and first eccentricity of the reference ellipsoid corresponding to the geodetic coordinate system; major semi-axis a=6378137±2m, minor semi-axis b=6356.7523142km, e 2 =0.00669437999013 ;

(2-2)地心直角坐标系转东北天坐标系(2-2) The earth-centered rectangular coordinate system is converted to the northeast celestial coordinate system

Figure BDA0002288372900000024
Figure BDA0002288372900000024

其中,公式中的(L0,B0,H0)为东北天坐标系的基准零点的经纬度和海拔高度,(L,B,H)为当前位置的经纬度和海拔高度,X直角、Y直角、Z直角为当前点的空间直角坐标系坐标;Among them, (L0, B0, H0) in the formula is the longitude, latitude and altitude of the reference zero point of the northeast sky coordinate system, (L, B, H) is the longitude, latitude and altitude of the current position, X right angle , Y right angle , Z right angle is the coordinate of the current point in the space Cartesian coordinate system;

(3)最后实时将接收到坐标数据计算出距离原点(X0,Y0)的东向(x轴)和北向(y轴)的距离,并将坐标显示在上位机中坐标系上并同步更新距离原点的距离。(3) Finally, calculate the distance to the east (x-axis) and north (y-axis) of the origin (X0, Y0) from the received coordinate data in real time, and display the coordinates on the coordinate system of the host computer and update the distance synchronously distance from the origin.

(4)在测试时,首先将电动定位平台中测绘接收天线移动至最左端保持不动,开始采集数据。(4) During the test, first move the surveying and mapping receiving antenna in the electric positioning platform to the leftmost end and keep it still, and start collecting data.

(5)进行精度测试时,将电动定位平台中测绘接收天线移动至最左端保持不动,观察上位机软件显示的坐标系中,数据显示点是否距离原点超出2cm刻度线,超出刻度线为不合格产品,合格后进行下一项测试;(5) During the accuracy test, move the surveying and mapping receiving antenna in the electric positioning platform to the far left and keep it still, and observe whether the data display point is beyond the 2cm scale line from the origin in the coordinate system displayed by the host computer software. Qualified products, after passing the next test;

(6)进行移动距离测试时,将电动定位平台中测绘接收天线移动至最右端保持不动,观察上位机软件显示的坐标系中,数据显示点是否距离原点是否为100cm±0.5cm,超出0.5cm为不合格产品,合格后进行下一项测试;(6) During the moving distance test, move the surveying and mapping receiving antenna in the electric positioning platform to the far right and keep it still, and observe whether the data display point is 100cm±0.5cm away from the origin in the coordinate system displayed by the host computer software, and it exceeds 0.5 cm is an unqualified product, after passing the next test;

(7)一致性测试:将将电动定位平台中测绘接收天线移动由最左端移动至最右端,往复≥10次后停留在最左端位置,观看上位机软件显示的坐标系中,显示点是否超出2cm刻度线,超出刻度线为不合格产品。(7) Consistency test: move the surveying and mapping receiving antenna in the electric positioning platform from the left end to the right end, stay at the left end position after reciprocating ≥ 10 times, and watch the coordinate system displayed by the host computer software to see if the displayed point exceeds the 2cm scale line, beyond the scale line is an unqualified product.

采用以上结构后,本发明具有如下优点:After adopting the above structure, the present invention has the following advantages:

本发明解决了人工测量GPS精度难,无法测量移动距离及移动一致性的问题,本发明通过电动定位平台中的底座支架、横向电机、滑行台、天线支架、旋转电机完成测绘接收天线的移动,从而实现移动距离检测及往复一致性的检测,本发明通过程序自动分析测试结果,并且测试结果是可视化的,直观明了。The present invention solves the problem of difficulty in manually measuring GPS accuracy, and cannot measure the moving distance and consistency of movement. The present invention completes the movement of the surveying and mapping receiving antenna through the base bracket, the transverse motor, the sliding table, the antenna bracket and the rotating motor in the electric positioning platform. Thereby, the detection of moving distance and the detection of reciprocating consistency are realized. The present invention automatically analyzes the test results through the program, and the test results are visualized and clear.

附图说明Description of drawings

图1是本发明一种GPS差分定位精度电动测量系统及其实现方法的系统结构示意图;Fig. 1 is the system structure schematic diagram of a kind of GPS differential positioning accuracy electric measurement system of the present invention and its realization method;

图2是本发明一种GPS差分定位精度电动测量系统及其实现方法中电动定位平台俯视结构示意图;Fig. 2 is a kind of GPS differential positioning accuracy electric measurement system of the present invention and its realization method in the electric positioning platform top view structure schematic diagram;

图3是本发明一种GPS差分定位精度电动测量系统及其实现方法中电动定位平台仰视结构示意图;Fig. 3 is a kind of GPS differential positioning accuracy electric measurement system of the present invention and its realization method in the electric positioning platform top view structure schematic diagram;

图4是本发明一种GPS差分定位精度电动测量系统及其实现方法中齿轮皮带连接结构示意图;4 is a schematic diagram of a gear-belt connection structure in a GPS differential positioning accuracy electric measurement system and a method for realizing the same according to the present invention;

图5是本发明一种GPS差分定位精度电动测量系统及其实现方法中旋转电机与旋转角度编码器连接方式结构示意图;Fig. 5 is a kind of GPS differential positioning accuracy electric measurement system of the present invention and its realization method in the rotating electrical machine and the rotational angle encoder connection mode structure schematic diagram;

图6是本发明一种GPS差分定位精度电动测量系统及其实现方法中旋转角度编码器与天线支架连接方式结构示意图;Fig. 6 is a kind of GPS differential positioning accuracy electric measurement system of the present invention and its realization method in the rotation angle encoder and the antenna bracket connection mode structure schematic diagram;

图7是本发明一种GPS差分定位精度电动测量系统及其实现方法中齿轮皮带与滑行台连接方式结构示意图;7 is a schematic structural diagram of the connection mode between the gear belt and the sliding table in a GPS differential positioning accuracy electric measurement system and its realization method according to the present invention;

图8是本发明一种GPS差分定位精度电动测量系统及其实现方法中上位机坐标系的示意图。FIG. 8 is a schematic diagram of the coordinate system of the host computer in a GPS differential positioning accuracy electric measurement system and its implementation method of the present invention.

如图1-图8所示:1、测绘接收天线,2、天线支架,3、滑行台,4、横向电机,5、前限位器,6、后限位器,7、横向位置编码器,8、底座支架,9、齿轮皮带,10、4G模块,11、GPS模块,12、旋转电机,13、旋转角度编码器,14、第一皮带导向轮,15、第二皮带导向轮,16、第三皮带导向轮,17、第一齿轮,18、第二齿轮,19、滑轨,20、导槽,21、传动轴,22、横向支撑,23、连接钢丝,24、固定扣。As shown in Figure 1-Figure 8: 1. Surveying and mapping receiving antenna, 2. Antenna bracket, 3. Sliding platform, 4. Lateral motor, 5. Front limiter, 6. Rear limiter, 7. Lateral position encoder , 8, base bracket, 9, gear belt, 10, 4G module, 11, GPS module, 12, rotary motor, 13, rotation angle encoder, 14, first belt guide wheel, 15, second belt guide wheel, 16 , The third belt guide wheel, 17, the first gear, 18, the second gear, 19, the slide rail, 20, the guide groove, 21, the drive shaft, 22, the lateral support, 23, the connecting wire, 24, the fixed buckle.

具体实施方式Detailed ways

结合附图1-附图8,一种GPS差分定位精度电动测量系统,其特征在于:包括RTK主机,所述RTK主机通过反馈线与测绘接收天线1连接,所述RTK主机通过串口与4G模块10连接接收基站差分信号,所述RTK主机通过电源线与电源连接实现设备供电,所述RTK主机通过232转USB串口与上位机通信发送数据,所述测绘接收天线1、4G模块均10设置于电动定位平台上。With reference to the accompanying drawings 1-8, a GPS differential positioning accuracy electric measurement system is characterized in that: comprising an RTK host, the RTK host is connected to the surveying and mapping receiving antenna 1 through a feedback line, and the RTK host is connected to a 4G module through a serial port 10 is connected to receive the differential signal of the base station, the RTK host is connected to the power supply to realize the power supply of the device, the RTK host communicates with the host computer through the 232-to-USB serial port to send data, and the surveying and mapping receiving antennas 1 and 4G modules are both set at 10 . on the electric positioning platform.

作为本实施例较佳实施方案的是,电动定位平台包括测绘接收天线1、天线支架2及底座支架8,所述测绘接收天线1设置于天线支架2的两端,所述天线支架2位于两测绘接收天线1中间位置设有4G模块10与GPS模块11,所述天线支架2与底座支架8之间设有滑行台3,所述滑行台3底面两端各设固定设有导槽20,所述底座支架8顶部两侧沿其长度方向固定设有滑轨19,所述导槽20与滑轨19可滑动连接,所述滑行台3下方固定设有旋转电机12及旋转角度编码器13,所述旋转电机12输出轴通过第一齿轮17与第二齿轮18啮合,所述旋转角度编码器13连接的传动轴21贯穿第二齿轮18后与天线支架8固定连接,所述天线支架2中心与传动轴21伸出滑行台3的部分卡接使得天线支架2可在旋转电机12的带动下转动,所述底座支架8内框靠近滑行台3一端固定设有横向电机4与横向位置编码器7,所述横向电机4轴端所连接的齿轮皮带9沿底座支架8轴向依次穿过第一皮带导向轮14、第二皮带导向轮15及第三皮带导向轮16。As a preferred implementation of this embodiment, the electric positioning platform includes a surveying and mapping receiving antenna 1, an antenna support 2 and a base support 8, the surveying and mapping receiving antenna 1 is arranged at both ends of the antenna support 2, and the antenna support 2 is located at two A 4G module 10 and a GPS module 11 are arranged in the middle of the surveying and mapping receiving antenna 1 , a sliding table 3 is arranged between the antenna bracket 2 and the base bracket 8 , and guide grooves 20 are fixed at both ends of the bottom surface of the sliding table 3 . Both sides of the top of the base bracket 8 are fixedly provided with slide rails 19 along its length direction, the guide groove 20 is slidably connected to the slide rail 19, and a rotary motor 12 and a rotary angle encoder 13 are fixed below the sliding table 3 , the output shaft of the rotary motor 12 meshes with the second gear 18 through the first gear 17, the transmission shaft 21 connected to the rotation angle encoder 13 passes through the second gear 18 and is fixedly connected to the antenna bracket 8, the antenna bracket 2 The part of the center and the transmission shaft 21 protruding from the sliding table 3 is clamped so that the antenna bracket 2 can be rotated under the driving of the rotating motor 12. The inner frame of the base bracket 8 is fixed with a transverse motor 4 and a transverse position code at one end close to the sliding table 3. The gear belt 9 connected to the shaft end of the transverse motor 4 passes through the first belt guide pulley 14 , the second belt guide pulley 15 and the third belt guide pulley 16 in sequence along the axial direction of the base bracket 8 .

作为本实施例较佳实施方案的是,所述底座支架8内框沿轴向均匀设有不少于两道横向支撑22,所述第二皮带导向轮15与第三皮带导向轮16均固定设置于横向支撑22靠近天线支架2一侧。As a preferred implementation of this embodiment, the inner frame of the base bracket 8 is uniformly provided with no less than two lateral supports 22 in the axial direction, and the second belt guide pulley 15 and the third belt guide pulley 16 are both fixed It is arranged on the side of the lateral support 22 close to the antenna bracket 2 .

作为本实施例较佳实施方案的是,所述滑轨19靠近横向电机4一端固定设有前限位器5,所述滑轨19远离横向电机4一端固定设有后限位器6。As a preferred implementation of this embodiment, the front limiter 5 is fixedly fixed at one end of the slide rail 19 close to the transverse motor 4 , and the rear stopper 6 is fixed at the end of the slide rail 19 away from the transverse motor 4 .

作为本实施例较佳实施方案的是,所述横向位置编码器7与滑行台3之间设有连接钢丝23。As a preferred implementation of this embodiment, a connecting wire 23 is provided between the lateral position encoder 7 and the sliding table 3 .

作为本实施例较佳实施方案的是,所述齿轮皮带9通过固定扣24与滑行台3下侧固定连接。As a preferred implementation of this embodiment, the gear belt 9 is fixedly connected to the lower side of the sliding table 3 through a fixing buckle 24 .

作为本实施例较佳实施方案的是,所述天线支架2可绕传动轴21轴心转动。As a preferred implementation of this embodiment, the antenna support 2 can rotate around the axis of the transmission shaft 21 .

作为本实施例较佳实施方案的是,其实现方法,包括以下步骤:As the preferred embodiment of this embodiment, its realization method includes the following steps:

(1)将系统按照上述连接方式连接好,然后在上位机中,根据连接的串口号打开串口,通过串口接收差分模块的定位数据,针对协议将经度、纬度、海拔高度、航向角解析出来;(1) Connect the system according to the above connection method, then in the host computer, open the serial port according to the connected serial port number, receive the positioning data of the differential module through the serial port, and analyze the longitude, latitude, altitude, and heading angle according to the protocol;

(2)据经纬度转东北天坐标系公式将其转换为平面坐标系,同时将差分后的前10组数据的平均值作为原点;(2) Convert it to a plane coordinate system according to the longitude and latitude to northeast sky coordinate system formula, and use the average value of the first 10 groups of data after the difference as the origin;

(2-1)WGS84(大地坐标系)转地心直角坐标系(2-1) WGS84 (geodetic coordinate system) to earth-centered Cartesian coordinate system

对于空间中一点,大地坐标系(L,B,H)转直角坐标系(X,Y,Z),其中L(经度)、B(纬度)、H(海拔高度):For a point in space, the geodetic coordinate system (L, B, H) is turned into a rectangular coordinate system (X, Y, Z), where L (longitude), B (latitude), and H (altitude):

Figure BDA0002288372900000041
Figure BDA0002288372900000041

上式中:N为该店的卯酉圈曲率半径;

Figure BDA0002288372900000043
a、b、e分别为该大地坐标系对应参考椭球的长半轴、短半轴和第一偏心率;长半轴a=6378137±2m,短半轴b=6356.7523142km,e2=0.00669437999013;In the above formula: N is the radius of curvature of the unitary circle of the store;
Figure BDA0002288372900000043
a, b and e are the major semi-axis, minor semi-axis and first eccentricity of the reference ellipsoid corresponding to the geodetic coordinate system; major semi-axis a=6378137±2m, minor semi-axis b=6356.7523142km, e 2 =0.00669437999013 ;

(2-2)地心直角坐标系转东北天坐标系(2-2) The earth-centered rectangular coordinate system is converted to the northeast celestial coordinate system

Figure BDA0002288372900000044
Figure BDA0002288372900000044

其中,公式中的(L0,B0,H0)为东北天坐标系的基准零点的经纬度和海拔高度,(L,B,H)为当前位置的经纬度和海拔高度,X直角、Y直角、Z直角为当前点的空间直角坐标系坐标;Among them, (L0, B0, H0) in the formula is the longitude, latitude and altitude of the reference zero point of the northeast sky coordinate system, (L, B, H) is the longitude, latitude and altitude of the current position, X right angle , Y right angle , Z right angle is the coordinate of the current point in the space Cartesian coordinate system;

(3)最后实时将接收到坐标数据计算出距离原点(X0,Y0)的东向(x轴)和北向(y轴)的距离,并将坐标显示在上位机中坐标系上并同步更新距离原点的距离。(3) Finally, calculate the distance to the east (x-axis) and north (y-axis) of the origin (X0, Y0) from the received coordinate data in real time, and display the coordinates on the coordinate system of the host computer and update the distance synchronously distance from the origin.

(4)在测试时,首先将电动定位平台中测绘接收天线移动至最左端保持不动,开始采集数据。(4) During the test, first move the surveying and mapping receiving antenna in the electric positioning platform to the leftmost end and keep it still, and start collecting data.

(5)进行精度测试时,将电动定位平台中测绘接收天线移动至最左端保持不动,观察上位机软件显示的坐标系中,数据显示点是否距离原点超出2cm刻度线,超出刻度线为不合格产品,合格后进行下一项测试;(5) During the accuracy test, move the surveying and mapping receiving antenna in the electric positioning platform to the far left and keep it still, and observe whether the data display point is beyond the 2cm scale line from the origin in the coordinate system displayed by the host computer software. Qualified products, after passing the next test;

(6)进行移动距离测试时,将电动定位平台中测绘接收天线移动至最右端保持不动,观察上位机软件显示的坐标系中,数据显示点是否距离原点是否为100cm±0.5cm,超出0.5cm为不合格产品,合格后进行下一项测试;(6) During the moving distance test, move the surveying and mapping receiving antenna in the electric positioning platform to the far right and keep it still, and observe whether the data display point is 100cm±0.5cm away from the origin in the coordinate system displayed by the host computer software, and it exceeds 0.5 cm is an unqualified product, after passing the next test;

(7)一致性测试:将将电动定位平台中测绘接收天线移动由最左端移动至最右端,往复≥10次后停留在最左端位置,观看上位机软件显示的坐标系中,显示点是否超出2cm刻度线,超出刻度线为不合格产品。(7) Consistency test: move the surveying and mapping receiving antenna in the electric positioning platform from the left end to the right end, stay at the left end position after reciprocating ≥ 10 times, and watch the coordinate system displayed by the host computer software to see if the displayed point exceeds the 2cm scale line, beyond the scale line is an unqualified product.

本发明在具体实施时,如图1-图6所示,两个测绘接收天线通过天线支架与移动滑台连接,移动滑台与地面支架连接,横向电机通过齿形皮带来带动滑行台和天线支架从而使2个测绘天线移动,横向位置编码器用于感知移动滑台天线支架的移动距离,并且地面支架两端装有限位器,旋转电机用于旋转天线支架的角度来模拟航向角,滑行台上安装的旋转角度传感器用于感知旋转的角度,移动方式均为自动,天线支架的总行程是1000mm±0.1mm。In the specific implementation of the present invention, as shown in Figures 1 to 6, two surveying and mapping receiving antennas are connected to the mobile sliding table through the antenna bracket, the mobile sliding table is connected to the ground bracket, and the transverse motor drives the sliding table and the antenna through the toothed belt The bracket makes the 2 surveying and mapping antennas move, the lateral position encoder is used to sense the moving distance of the antenna bracket of the mobile sliding table, and the limiters are installed at both ends of the ground bracket, and the rotating motor is used to rotate the angle of the antenna bracket to simulate the heading angle. The rotation angle sensor installed on the top is used to sense the rotation angle, the movement mode is automatic, and the total stroke of the antenna bracket is 1000mm±0.1mm.

本发明通过程序自动分析测试结果,并且测试结果是可视化的,直观明了。并通过结构平台完成测绘接收天线的移动,从而实现移动距离检测及往复一致性的检测。The present invention automatically analyzes the test results through the program, and the test results are visualized and clear. And the movement of the surveying and mapping receiving antenna is completed through the structural platform, so as to realize the detection of moving distance and the detection of reciprocating consistency.

以上对本发明及其实施方式进行了描述,这种描述没有限制性,附图中所示的也只是本发明的实施方式之一,实际的结构并不局限于此。总而言之如果本领域的普通技术人员受其启示,在不脱离本发明创造宗旨的情况下,不经创造性的设计出与该技术方案相似的结构方式及实施例,均应属于本发明的保护范围。The present invention and its embodiments have been described above, and the description is not restrictive, and what is shown in the accompanying drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. All in all, if those of ordinary skill in the art are inspired by it, and without departing from the purpose of the present invention, any structural modes and embodiments similar to this technical solution are designed without creativity, all should belong to the protection scope of the present invention.

Claims (8)

1.一种GPS差分定位精度电动测量系统,其特征在于:包括RTK主机,所述RTK主机通过反馈线与测绘接收天线(1)连接,所述RTK主机通过串口与4G模块(10)连接接收基站差分信号,所述RTK主机通过电源线与电源连接实现设备供电,所述RTK主机通过232转USB串口与上位机通信发送数据,所述测绘接收天线(1)、4G模块均(10)设置于电动定位平台上。1. a GPS differential positioning accuracy electric measurement system, is characterized in that: comprise RTK host, described RTK host is connected with surveying and mapping receiving antenna (1) by feedback line, and described RTK host is connected with 4G module (10) by serial port to receive The base station differential signal, the RTK host is connected to the power supply through the power cord to realize the power supply of the device, the RTK host communicates with the host computer through the 232-to-USB serial port to send data, and the surveying and mapping receiving antenna (1) and the 4G module are both set (10) on the electric positioning platform. 2.根据权利要求1所述的一种GPS差分定位精度电动测量系统,其特征在于:所述电动定位平台包括测绘接收天线(1)、天线支架(2)及底座支架(8),所述测绘接收天线(1)设置于天线支架(2)的两端,所述天线支架(2)位于两测绘接收天线(1)中间位置设有4G模块(10)与GPS模块(11),所述天线支架(2)与底座支架(8)之间设有滑行台(3),所述滑行台(3)底面两端各设固定设有导槽(20),所述底座支架(8)顶部两侧沿其长度方向固定设有滑轨(19),所述导槽(20)与滑轨(19)可滑动连接,所述滑行台(3)下方固定设有旋转电机(12)及旋转角度编码器(13),所述旋转电机(12)输出轴通过第一齿轮(17)与第二齿轮(18)啮合,所述旋转角度编码器(13)连接的传动轴(21)贯穿第二齿轮(18)后与天线支架(8)固定连接,所述天线支架(2)中心与传动轴(21)伸出滑行台(3)的部分卡接使得天线支架(2)可在旋转电机(12)的带动下转动,所述底座支架(8)内框靠近滑行台(3)一端固定设有横向电机(4)与横向位置编码器(7),所述横向电机(4)轴端所连接的齿轮皮带(9)沿底座支架(8)轴向依次穿过第一皮带导向轮(14)、第二皮带导向轮(15)及第三皮带导向轮(16)。2. The electric measurement system for GPS differential positioning accuracy according to claim 1, wherein the electric positioning platform comprises a surveying and mapping receiving antenna (1), an antenna bracket (2) and a base bracket (8), the The surveying and mapping receiving antenna (1) is arranged at both ends of the antenna bracket (2), and the antenna bracket (2) is provided with a 4G module (10) and a GPS module (11) in the middle of the two surveying and mapping receiving antennas (1). A sliding table (3) is arranged between the antenna bracket (2) and the base bracket (8), and guide grooves (20) are fixed at both ends of the bottom surface of the sliding table (3), and the top of the base bracket (8) Slide rails (19) are fixed on both sides along the length direction, the guide grooves (20) are slidably connected with the slide rails (19), and a rotary motor (12) and a rotary motor are fixed under the slide table (3). The angle encoder (13), the output shaft of the rotary motor (12) is engaged with the second gear (18) through the first gear (17), and the transmission shaft (21) connected with the rotary angle encoder (13) penetrates through the first gear (17). The second gear (18) is then fixedly connected with the antenna bracket (8). The center of the antenna bracket (2) is clamped with the part of the transmission shaft (21) extending out of the sliding table (3), so that the antenna bracket (2) can rotate on the motor. (12), the inner frame of the base bracket (8) is fixed with a transverse motor (4) and a transverse position encoder (7) at one end close to the sliding table (3). The shaft end of the transverse motor (4) The connected gear belt (9) passes through the first belt guide pulley (14), the second belt guide pulley (15) and the third belt guide pulley (16) in sequence along the axial direction of the base bracket (8). 3.根据权利要求2所述的一种GPS差分定位精度电动测量系统,其特征在于:所述底座支架(8)内框沿轴向均匀设有不少于两道横向支撑(22),所述第二皮带导向轮(15)与第三皮带导向轮(16)均固定设置于横向支撑(22)靠近天线支架(2)一侧。3. A kind of GPS differential positioning accuracy electric measurement system according to claim 2, characterized in that: the inner frame of the base bracket (8) is evenly provided with no less than two lateral supports (22) along the axial direction, so The second belt guide pulley (15) and the third belt guide pulley (16) are fixedly arranged on the side of the lateral support (22) close to the antenna bracket (2). 4.根据权利要求2所述的一种GPS差分定位精度电动测量系统,其特征在于:所述滑轨(19)靠近横向电机(4)一端固定设有前限位器(5),所述滑轨(19)远离横向电机(4)一端固定设有后限位器(6)。4. A GPS differential positioning accuracy electric measurement system according to claim 2, characterized in that: a front limiter (5) is fixedly provided at one end of the slide rail (19) close to the transverse motor (4), and the A rear limiter (6) is fixedly arranged at one end of the slide rail (19) away from the transverse motor (4). 5.根据权利要求2所述的一种GPS差分定位精度电动测量系统,其特征在于:所述横向位置编码器(7)与滑行台(3)之间设有连接钢丝(23)。5 . The electric measurement system for GPS differential positioning accuracy according to claim 2 , wherein a connecting wire ( 23 ) is provided between the lateral position encoder ( 7 ) and the sliding table ( 3 ). 6 . 6.根据权利要求2所述的一种GPS差分定位精度电动测量系统,其特征在于:所述齿轮皮带(9)通过固定扣(24)与滑行台(3)下侧固定连接。6 . The electric measuring system for GPS differential positioning accuracy according to claim 2 , wherein the gear belt ( 9 ) is fixedly connected to the lower side of the sliding table ( 3 ) through a fixing buckle ( 24 ). 7 . 7.根据权利要求2所述的一种GPS差分定位精度电动测量系统,其特征在于:所述天线支架(2)可绕传动轴(21)轴心转动。7 . The electric measurement system for GPS differential positioning accuracy according to claim 2 , wherein the antenna bracket ( 2 ) can rotate around the axis of the transmission shaft ( 21 ). 8 . 8.根据权利要求1所述的一种GPS差分定位精度电动测量系统的实现方法,其特征在于,包括以下步骤:8. the realization method of a kind of GPS differential positioning accuracy electric measurement system according to claim 1, is characterized in that, comprises the following steps: (1)将系统按照上述连接方式连接好,然后在上位机中,根据连接的串口号打开串口,通过串口接收差分模块的定位数据,针对协议将经度、纬度、海拔高度、航向角解析出来;(1) Connect the system according to the above connection method, then in the host computer, open the serial port according to the connected serial port number, receive the positioning data of the differential module through the serial port, and analyze the longitude, latitude, altitude, and heading angle according to the protocol; (2)据经纬度转东北天坐标系公式将其转换为平面坐标系,同时将差分后的前10组数据的平均值作为原点;(2) Convert it to a plane coordinate system according to the longitude and latitude to northeast sky coordinate system formula, and use the average value of the first 10 groups of data after the difference as the origin; (2-1)WGS84(大地坐标系)转地心直角坐标系(2-1) WGS84 (geodetic coordinate system) to earth-centered Cartesian coordinate system 对于空间中一点,大地坐标系(L,B,H)转直角坐标系(X,Y,Z),其中L(经度)、B(纬度)、H(海拔高度):For a point in space, the geodetic coordinate system (L, B, H) is turned into a rectangular coordinate system (X, Y, Z), where L (longitude), B (latitude), and H (altitude): 上式中:
Figure FDA0002288372890000022
N为该店的卯酉圈曲率半径;
Figure FDA0002288372890000023
a、b、e分别为该大地坐标系对应参考椭球的长半轴、短半轴和第一偏心率;长半轴a=6378137±2m,短半轴b=6356.7523142km,e2=0.00669437999013;
In the above formula:
Figure FDA0002288372890000022
N is the radius of curvature of the unitary circle of the store;
Figure FDA0002288372890000023
a, b and e are the major semi-axis, minor semi-axis and first eccentricity of the reference ellipsoid corresponding to the geodetic coordinate system; major semi-axis a=6378137±2m, minor semi-axis b=6356.7523142km, e 2 =0.00669437999013 ;
(2-2)地心直角坐标系转东北天坐标系(2-2) The earth-centered rectangular coordinate system is converted to the northeast celestial coordinate system
Figure FDA0002288372890000024
Figure FDA0002288372890000024
其中,公式中的(L0,B0,H0)为东北天坐标系的基准零点的经纬度和海拔高度,(L,B,H)为当前位置的经纬度和海拔高度,X直角、Y直角、Z直角为当前点的空间直角坐标系坐标;Among them, (L0, B0, H0) in the formula is the longitude, latitude and altitude of the reference zero point of the northeast sky coordinate system, (L, B, H) is the longitude, latitude and altitude of the current position, X right angle , Y right angle , Z right angle is the coordinate of the current point in the space Cartesian coordinate system; (3)最后实时将接收到坐标数据计算出距离原点(X0,Y0)的东向(x轴)和北向(y轴)的距离,并将坐标显示在上位机中坐标系上并同步更新距离原点的距离。(3) Finally, calculate the distance to the east (x-axis) and north (y-axis) of the origin (X0, Y0) from the received coordinate data in real time, and display the coordinates on the coordinate system of the host computer and update the distance synchronously distance from the origin. (4)在测试时,首先将电动定位平台中测绘接收天线移动至最左端保持不动,开始采集数据。(4) During the test, first move the surveying and mapping receiving antenna in the electric positioning platform to the leftmost end and keep it still, and start collecting data. (5)进行精度测试时,将电动定位平台中测绘接收天线移动至最左端保持不动,观察上位机软件显示的坐标系中,数据显示点是否距离原点超出2cm刻度线,超出刻度线为不合格产品,合格后进行下一项测试;(5) During the accuracy test, move the surveying and mapping receiving antenna in the electric positioning platform to the far left and keep it still, and observe whether the data display point is beyond the 2cm scale line from the origin in the coordinate system displayed by the host computer software. Qualified products, after passing the next test; (6)进行移动距离测试时,将电动定位平台中测绘接收天线移动至最右端保持不动,观察上位机软件显示的坐标系中,数据显示点是否距离原点是否为100cm±0.5cm,超出0.5cm为不合格产品,合格后进行下一项测试;(6) During the moving distance test, move the surveying and mapping receiving antenna in the electric positioning platform to the far right and keep it still, and observe whether the data display point is 100cm±0.5cm away from the origin in the coordinate system displayed by the host computer software, and it exceeds 0.5 cm is an unqualified product, after passing the next test; (7)一致性测试:将将电动定位平台中测绘接收天线移动由最左端移动至最右端,往复≥10次后停留在最左端位置,观看上位机软件显示的坐标系中,显示点是否超出2cm刻度线,超出刻度线为不合格产品。(7) Consistency test: move the surveying and mapping receiving antenna in the electric positioning platform from the left end to the right end, stay at the left end position after reciprocating ≥ 10 times, and watch the coordinate system displayed by the host computer software to see if the displayed point exceeds the 2cm scale line, beyond the scale line is an unqualified product.
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