CN110850453A - GPS differential positioning precision electric measurement system and implementation method thereof - Google Patents
GPS differential positioning precision electric measurement system and implementation method thereof Download PDFInfo
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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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- 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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential 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
Technical Field
The invention relates to the field of surveying and mapping, in particular to a GPS differential positioning precision electric measuring system and an implementation method thereof.
Background
In the work of GPS precision measurement, a positioning platform special for testing GPS positioning precision does not exist in the prior art, people generally judge whether the positioning precision reaches the standard or not through manual analysis of obtained data, the existing precision measurement method is basically to compare the measurement precision after the longitude and latitude coordinates sent by a GPS are manually converted into plane coordinates, but no method is available for verifying the precision and consistency of the moving distance, and the measurement precision can be operated by skilled personnel, so that the operation is complicated.
Disclosure of Invention
In order to solve the technical problems, the technical scheme provided by the invention is as follows: the utility model provides a GPS difference positioning accuracy electric measuring system, includes the RTK host computer, the RTK host computer passes through the feedback line and is connected with survey and drawing receiving antenna, the RTK host computer is connected with the 4G module through the serial ports and receives the basic station difference signal, the RTK host computer passes through the power cord and is connected the realization equipment power supply with the power, the RTK host computer passes through 232 USB serial ports of commentaries on classics and host computer communication send data, survey and drawing receiving antenna, 4G module all set up on electric positioning platform.
As an improvement, the electric positioning platform comprises a surveying and mapping receiving antenna, an antenna bracket and a base bracket, the surveying and mapping receiving antenna is arranged at two ends of the antenna bracket, the antenna bracket is provided with a 4G module and a GPS module at the middle position of the two surveying and mapping receiving antennas, a sliding table is arranged between the antenna bracket and the base bracket, two ends of the bottom surface of the sliding table are respectively provided with a guide slot, two sides of the top of the base bracket are fixedly provided with a slide rail along the length direction, the guide slots are slidably connected with the slide rails, a rotating motor and a rotating angle encoder are fixedly arranged below the sliding table, an output shaft of the rotating motor is meshed with a second gear through a first gear, a transmission shaft connected with the rotating angle encoder penetrates through the second gear and is fixedly connected with the antenna bracket, the center of the antenna bracket is clamped with the part of the transmission shaft extending out of the sliding table, a transverse motor and a transverse position encoder are fixedly arranged at one end, close to the sliding table, of the inner frame of the base support, and a gear belt connected with the shaft end of the transverse motor sequentially penetrates through the first belt guide wheel, the second belt guide wheel and the third belt guide wheel along the axial direction of the base support.
As an improvement, the inner frame of the base support is uniformly provided with at least two transverse supports along the axial direction, and the second belt guide wheel and the third belt guide wheel are fixedly arranged on one side, close to the antenna support, of the transverse supports.
As an improvement, one end of the sliding rail, which is close to the transverse motor, is fixedly provided with a front stopper, and one end of the sliding rail, which is far away from the transverse motor, is fixedly provided with a rear stopper.
As an improvement, a connecting steel wire is arranged between the transverse position encoder and the sliding platform.
As an improvement, the gear belt is fixedly connected with the lower side of the sliding table through a fixing buckle.
As an improvement, the antenna bracket can rotate around the axis of the transmission shaft.
As an improvement, the realization method comprises the following steps:
(1) connecting the system according to the connection mode, then opening a serial port according to the serial port number of the connection in the upper computer, receiving the positioning data of the differential module through the serial port, and analyzing the longitude, the latitude, the altitude and the course angle according to the protocol;
(2) converting the longitude and latitude into a northeast coordinate system according to a formula of converting the longitude and latitude into a plane coordinate system, and simultaneously taking the average value of the front 10 groups of data after difference as an origin;
(2-1) WGS84 (Earth coordinate System) rotating earth center rectangular coordinate System
For one point in space, the geodetic coordinate system (L, B, H) is transformed into a rectangular coordinate system (X, Y, Z), where L (longitude), B (latitude), H (altitude):
in the above formula:
n is the curvature radius of the prime circle of the shop;
a. b and e are respectively a long half shaft, a short half shaft and a first eccentricity of the geodetic coordinate system corresponding to the reference ellipsoid; the major half axis a is 6378137 +/-2 m, the minor half axis b is 6356.7523142km, e2＝0.00669437999013；
(2-2) the earth center rectangular coordinate system is converted into the northeast coordinate system
Wherein (L0, B0, H0) in the formula is longitude and latitude and altitude of a reference zero point of a northeast coordinate system, and (L, B, H) is longitude and latitude and altitude of the current position, and X isRight angle、YRight angle、ZRight angleThe coordinate of a space rectangular coordinate system of the current point is taken as the coordinate of the space rectangular coordinate system of the current point;
(3) and finally, calculating the distances from the east (X axis) and the north (Y axis) of the origin (X0, Y0) from the received coordinate data in real time, displaying the coordinates on a coordinate system in the upper computer, and synchronously updating the distances from the origin.
(4) During testing, firstly, the mapping receiving antenna in the electric positioning platform is moved to the leftmost end to be kept still, and data acquisition is started.
(5) When the precision test is carried out, the surveying and mapping receiving antenna in the electric positioning platform is moved to the leftmost end and is kept still, whether a data display point exceeds a scale mark of 2cm from the original point in a coordinate system displayed by software of an upper computer is observed, the product which exceeds the scale mark is unqualified, and the next test is carried out after the product is qualified;
(6) when a moving distance test is carried out, moving a mapping receiving antenna in the electric positioning platform to the rightmost end and keeping the mapping receiving antenna still, observing whether a data display point is 100cm +/-0.5 cm away from an original point in a coordinate system displayed by upper computer software, judging that a product is unqualified when the distance exceeds 0.5cm, and carrying out the next test after the product is qualified;
(7) and (3) testing consistency: the surveying and mapping receiving antenna in the electric positioning platform is moved from the leftmost end to the rightmost end, stops at the leftmost end after reciprocating for more than or equal to 10 times, and watches the coordinate system displayed by the upper computer software to display whether a display point exceeds a scale mark of 2cm or not, and the product which exceeds the scale mark is unqualified.
After adopting the structure, the invention has the following advantages:
the invention solves the problems that the precision of a manual GPS is difficult to measure, and the moving distance and the moving consistency can not be measured, the invention finishes the movement of a surveying and mapping receiving antenna through a base support, a transverse motor, a sliding table, an antenna support and a rotating motor in an electric positioning platform, thereby realizing the moving distance detection and the detection of the reciprocating consistency.
Drawings
FIG. 1 is a schematic diagram of a GPS differential positioning precision electric measurement system and a system structure of an implementation method thereof;
FIG. 2 is a schematic diagram of a top view structure of an electric positioning platform in the GPS differential positioning precision electric measuring system and the implementation method thereof of the present invention;
FIG. 3 is a schematic view of an electric positioning platform of the GPS differential positioning accuracy electric measuring system and the implementation method thereof;
FIG. 4 is a schematic diagram of a gear belt connection structure in the GPS differential positioning precision electric measurement system and the implementation method thereof;
FIG. 5 is a schematic structural diagram of a connection mode between a rotary motor and a rotary angle encoder in the GPS differential positioning precision electric measurement system and the implementation method thereof of the present invention;
FIG. 6 is a schematic structural diagram of a connection mode between a rotary angle encoder and an antenna bracket in the GPS differential positioning precision electric measurement system and the implementation method thereof of the present invention;
FIG. 7 is a schematic structural diagram of a connection mode of a gear belt and a sliding platform in the GPS differential positioning precision electric measurement system and the realization method thereof;
FIG. 8 is a schematic diagram of an upper computer coordinate system in the GPS differential positioning precision electric measurement system and the implementation method thereof.
As shown in fig. 1-8: 1. surveying and mapping receiving antenna, 2, an antenna bracket, 3, a sliding platform, 4, a transverse motor, 5, a front limiter, 6, a rear limiter, 7, a transverse position encoder, 8, a base bracket, 9, a gear belt, 10, a 4G module, 11, a GPS module, 12, a rotating motor, 13, a rotating angle encoder, 14, a first belt guide wheel, 15, a second belt guide wheel, 16, a third belt guide wheel, 17, a first gear, 18, a second gear, 19, a sliding rail, 20, a guide groove, 21, a transmission shaft, 22, a transverse support, 23, a connecting steel wire, 24 and a fixing buckle.
Detailed Description
With reference to fig. 1 to 8, an electric measurement system for GPS differential positioning accuracy is characterized in that: including the RTK host computer, the RTK host computer passes through the feedback line and is connected with survey and drawing receiving antenna 1, the RTK host computer passes through the serial ports and is connected the receiving base station difference signal with 4G module 10, the RTK host computer passes through the power cord and is connected the realization equipment power supply with the power, the RTK host computer passes through 232 commentaries on classics USB serial ports and host computer communication send data, survey and drawing receiving antenna 1, 4G module all 10 set up on electronic positioning platform.
As a preferred embodiment 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 disposed at two ends of the antenna support 2, the antenna support 2 is disposed at a middle position between the two surveying and mapping receiving antennas 1 and is provided with a 4G module 10 and a GPS module 11, a sliding platform 3 is disposed between the antenna support 2 and the base support 8, two ends of a bottom surface of the sliding platform 3 are respectively and fixedly provided with a guide slot 20, two sides of a top of the base support 8 are fixedly provided with a slide rail 19 along a length direction thereof, the guide slot 20 is slidably connected with the slide rail 19, a rotating electrical machine 12 and a rotation angle encoder 13 are fixedly disposed below the sliding platform 3, an output shaft of the rotating electrical machine 12 is engaged with a second gear 18 through a first gear 17, a transmission shaft 21 connected with the rotation angle encoder 13 penetrates the second gear 18, antenna support 2 center and transmission shaft 21 stretch out the partial joint of slipway 3 and make antenna support 2 rotate under the drive of rotating electrical machines 12, 8 inside casings of base support are close to the fixed transverse electric machine 4 and the transverse position encoder 7 that are equipped with of slipway 3 one end, gear belt 9 that transverse electric machine 4 axle head is connected passes first belt leading wheel 14, second belt leading wheel 15 and third belt leading wheel 16 along 8 axial of base support in proper order.
As a preferred embodiment of this embodiment, at least two transverse supports 22 are uniformly arranged on the inner frame of the base support 8 along the axial direction, and the second belt guide pulley 15 and the third belt guide pulley 16 are both fixedly arranged on one side of the transverse support 22 close to the antenna support 2.
As a preferred embodiment of this embodiment, a front stopper 5 is fixedly disposed at one end of the slide rail 19 close to the transverse motor 4, and a rear stopper 6 is fixedly disposed at one end of the slide rail 19 far from the transverse motor 4.
As a preferred embodiment of this embodiment, a connecting wire 23 is provided between the lateral position encoder 7 and the sliding platform 3.
As a preferred embodiment of this embodiment, the gear belt 9 is fixedly connected to the lower side of the sliding platform 3 through a fixing buckle 24.
As a preferred embodiment of the present embodiment, the antenna bracket 2 can rotate around the axis of the transmission shaft 21.
As a preferred embodiment of the present embodiment, the implementation method comprises the following steps:
(1) connecting the system according to the connection mode, then opening a serial port according to the serial port number of the connection in the upper computer, receiving the positioning data of the differential module through the serial port, and analyzing the longitude, the latitude, the altitude and the course angle according to the protocol;
(2) converting the longitude and latitude into a northeast coordinate system according to a formula of converting the longitude and latitude into a plane coordinate system, and simultaneously taking the average value of the front 10 groups of data after difference as an origin;
(2-1) WGS84 (Earth coordinate System) rotating earth center rectangular coordinate System
For one point in space, the geodetic coordinate system (L, B, H) is transformed into a rectangular coordinate system (X, Y, Z), where L (longitude), B (latitude), H (altitude):
in the above formula:n is the curvature radius of the prime circle of the shop;
a. b and e are respectively a long half shaft, a short half shaft and a first eccentricity of the geodetic coordinate system corresponding to the reference ellipsoid; the major half axis a is 6378137 +/-2 m, the minor half axis b is 6356.7523142km, e2＝0.00669437999013；
(2-2) the earth center rectangular coordinate system is converted into the northeast coordinate system
Wherein (L0, B0, H0) in the formula is longitude and latitude and altitude of a reference zero point of a northeast coordinate system, and (L, B, H) is longitude and latitude and altitude of the current position, and X isRight angle、YRight angle、ZRight angleThe coordinate of a space rectangular coordinate system of the current point is taken as the coordinate of the space rectangular coordinate system of the current point;
(3) and finally, calculating the distances from the east (X axis) and the north (Y axis) of the origin (X0, Y0) from the received coordinate data in real time, displaying the coordinates on a coordinate system in the upper computer, and synchronously updating the distances from the origin.
(4) During testing, firstly, the mapping receiving antenna in the electric positioning platform is moved to the leftmost end to be kept still, and data acquisition is started.
(5) When the precision test is carried out, the surveying and mapping receiving antenna in the electric positioning platform is moved to the leftmost end and is kept still, whether a data display point exceeds a scale mark of 2cm from the original point in a coordinate system displayed by software of an upper computer is observed, the product which exceeds the scale mark is unqualified, and the next test is carried out after the product is qualified;
(6) when a moving distance test is carried out, moving a mapping receiving antenna in the electric positioning platform to the rightmost end and keeping the mapping receiving antenna still, observing whether a data display point is 100cm +/-0.5 cm away from an original point in a coordinate system displayed by upper computer software, judging that a product is unqualified when the distance exceeds 0.5cm, and carrying out the next test after the product is qualified;
(7) and (3) testing consistency: the surveying and mapping receiving antenna in the electric positioning platform is moved from the leftmost end to the rightmost end, stops at the leftmost end after reciprocating for more than or equal to 10 times, and watches the coordinate system displayed by the upper computer software to display whether a display point exceeds a scale mark of 2cm or not, and the product which exceeds the scale mark is unqualified.
In the specific implementation of the invention, as shown in fig. 1-6, two surveying and mapping receiving antennas are connected with a movable sliding table through an antenna bracket, the movable sliding table is connected with a ground bracket, a transverse motor drives a sliding table and the antenna bracket through a toothed belt so as to move 2 surveying and mapping antennas, a transverse position encoder is used for sensing the moving distance of the antenna bracket of the movable sliding table, two ends of the ground bracket are provided with limit stoppers, a rotating motor is used for rotating the angle of the antenna bracket to simulate a course angle, a rotating angle sensor arranged on the sliding table is used for sensing the rotating angle, the moving modes are all automatic, and the total stroke of the antenna bracket is 1000mm +/-0.1 mm.
The invention automatically analyzes the test result through the program, and the test result is visual, visual and clear. And the movement of the surveying and mapping receiving antenna is completed through the structural platform, so that the detection of the movement distance and the detection of the reciprocating consistency are realized.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides a GPS difference positioning accuracy electric measuring system which characterized in that: including the RTK host computer, the RTK host computer passes through the feedback line and is connected with survey and drawing receiving antenna (1), the RTK host computer passes through the serial ports and is connected the receipt basic station difference signal with 4G module (10), the RTK host computer passes through the power cord and is connected the realization equipment power supply with the power, the RTK host computer passes through 232 USB serial ports and host computer communication sending data of changeing, survey and drawing receiving antenna (1), 4G module all (10) set up on electronic positioning platform.
2. The GPS differential positioning accuracy electric measurement system according to claim 1, wherein: the electric positioning platform comprises 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 two ends of the antenna support (2), the antenna support (2) is positioned at the middle position of the two surveying and mapping receiving antennas (1) and is provided with a 4G module (10) and a GPS module (11), a sliding table (3) is arranged between the antenna support (2) and the base support (8), two ends of the bottom surface of the sliding table (3) are respectively and fixedly provided with a guide slot (20), two sides of the top of the base support (8) are fixedly provided with a slide rail (19) along the length direction thereof, the guide slot (20) is slidably connected with the slide rail (19), a rotating motor (12) and a rotating angle encoder (13) are fixedly arranged below the sliding table (3), an output shaft of the rotating motor (12) is meshed with a second gear (18) through a first gear (17, transmission shaft (21) that rotation angle encoder (13) are connected run through behind second gear (18) with antenna boom (8) fixed connection, antenna boom (2) center and transmission shaft (21) stretch out the part joint that slides platform (3) and make antenna boom (2) rotate under the drive of rotating electrical machines (12), base support (8) inside casing is close to and slides platform (3) one end and fix and be equipped with transverse motor (4) and transverse position encoder (7), gear belt (9) that transverse motor (4) axle head is connected passes first belt leading wheel (14), second belt leading wheel (15) and third belt leading wheel (16) along base support (8) axial in proper order.
3. The GPS differential positioning accuracy electric measurement system according to claim 2, wherein: the antenna support is characterized in that the inner frame of the base support (8) is uniformly provided with at least two transverse supports (22) along the axial direction, and the second belt guide wheel (15) and the third belt guide wheel (16) are fixedly arranged on one side, close to the antenna support (2), of the transverse support (22).
4. The GPS differential positioning accuracy electric measurement system according to claim 2, wherein: slide rail (19) are close to horizontal motor (4) one end and are fixed stopper (5) before being equipped with, slide rail (19) are kept away from horizontal motor (4) one end and are fixed stopper (6) after being equipped with.
5. The GPS differential positioning accuracy electric measurement system according to claim 2, wherein: and a connecting steel wire (23) is arranged between the transverse position encoder (7) and the sliding platform (3).
6. The GPS differential positioning accuracy electric measurement system according to claim 2, wherein: the gear belt (9) is fixedly connected with the lower side of the sliding platform (3) through a fixing buckle (24).
7. The GPS differential positioning accuracy electric measurement system according to claim 2, wherein: the antenna bracket (2) can rotate around the axis of the transmission shaft (21).
8. The method for implementing the GPS differential positioning accuracy electric measuring system according to claim 1, characterized by comprising the following steps:
(1) connecting the system according to the connection mode, then opening a serial port according to the serial port number of the connection in the upper computer, receiving the positioning data of the differential module through the serial port, and analyzing the longitude, the latitude, the altitude and the course angle according to the protocol;
(2) converting the longitude and latitude into a northeast coordinate system according to a formula of converting the longitude and latitude into a plane coordinate system, and simultaneously taking the average value of the front 10 groups of data after difference as an origin;
(2-1) WGS84 (Earth coordinate System) rotating earth center rectangular coordinate System
For one point in space, the geodetic coordinate system (L, B, H) is transformed into a rectangular coordinate system (X, Y, Z), where L (longitude), B (latitude), H (altitude):
in the above formula:
n is the curvature radius of the prime circle of the shop;
a. b and e are respectively a long half shaft, a short half shaft and a first eccentricity of the geodetic coordinate system corresponding to the reference ellipsoid; the major half axis a is 6378137 +/-2 m, the minor half axis b is 6356.7523142km, e2＝0.00669437999013；
(2-2) the earth center rectangular coordinate system is converted into the northeast coordinate system
Wherein (L0, B0, H0) in the formula is longitude and latitude and altitude of a reference zero point of a northeast coordinate system, and (L, B, H) is longitude and latitude and altitude of the current position, and X isRight angle、YRight angle、ZRight angleThe coordinate of a space rectangular coordinate system of the current point is taken as the coordinate of the space rectangular coordinate system of the current point;
(3) and finally, calculating the distances from the east (X axis) and the north (Y axis) of the origin (X0, Y0) from the received coordinate data in real time, displaying the coordinates on a coordinate system in the upper computer, and synchronously updating the distances from the origin.
(4) During testing, firstly, the mapping receiving antenna in the electric positioning platform is moved to the leftmost end to be kept still, and data acquisition is started.
(5) When the precision test is carried out, the surveying and mapping receiving antenna in the electric positioning platform is moved to the leftmost end and is kept still, whether a data display point exceeds a scale mark of 2cm from the original point in a coordinate system displayed by software of an upper computer is observed, the product which exceeds the scale mark is unqualified, and the next test is carried out after the product is qualified;
(6) when a moving distance test is carried out, moving a mapping receiving antenna in the electric positioning platform to the rightmost end and keeping the mapping receiving antenna still, observing whether a data display point is 100cm +/-0.5 cm away from an original point in a coordinate system displayed by upper computer software, judging that a product is unqualified when the distance exceeds 0.5cm, and carrying out the next test after the product is qualified;
(7) and (3) testing consistency: the surveying and mapping receiving antenna in the electric positioning platform is moved from the leftmost end to the rightmost end, stops at the leftmost end after reciprocating for more than or equal to 10 times, and watches the coordinate system displayed by the upper computer software to display whether a display point exceeds a scale mark of 2cm or not, and the product which exceeds the scale mark is unqualified.
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| CN114689031A (en) * | 2022-03-07 | 2022-07-01 | 中国科学院南海海洋研究所 | Artificial fish reef on-site surveying equipment and surveying method |
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| CN114280413B (en) * | 2021-11-29 | 2024-02-09 | 山东信通电子股份有限公司 | Positioning method and equipment for abnormal fault sound of power transmission channel |
| CN114689031A (en) * | 2022-03-07 | 2022-07-01 | 中国科学院南海海洋研究所 | Artificial fish reef on-site surveying equipment and surveying method |
| CN115164943A (en) * | 2022-09-08 | 2022-10-11 | 国网瑞嘉(天津)智能机器人有限公司 | Testing method and device for positioning equipment, electronic equipment and storage medium |
| CN115164943B (en) * | 2022-09-08 | 2022-12-23 | 国网瑞嘉(天津)智能机器人有限公司 | Testing method and device for positioning equipment, electronic equipment and storage medium |
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