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

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

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

technical field

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.

Background technique

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.

SUMMARY OF THE INVENTION

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.

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.

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.

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.

As an improvement, a connecting wire is provided between the lateral position encoder and the sliding table.

As an improvement, the gear belt is fixedly connected with the lower side of the sliding platform through a fixing buckle.

As an improvement, the antenna support can be rotated around the axis of the transmission shaft.

As an improvement, the implementation method includes the following steps:

(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) 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 (geodetic coordinate system) to earth-centered Cartesian coordinate system

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):

N为该店的卯酉圈曲率半径；

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;

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) The earth-centered rectangular coordinate system is converted to the northeast celestial coordinate system

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) 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) 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) 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) 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) 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.

After adopting the above structure, the present invention has the following advantages:

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.

Description of drawings

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;

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;

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;

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;

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;

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;

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;

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.

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.

Detailed ways

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.

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 .

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 .

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 .

As a preferred implementation of this embodiment, a connecting wire 23 is provided between the lateral position encoder 7 and the sliding table 3 .

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 .

As a preferred implementation of this embodiment, the antenna support 2 can rotate around the axis of the transmission shaft 21 .

As the preferred embodiment of this embodiment, its realization method includes the following steps:

(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) 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 (geodetic coordinate system) to earth-centered Cartesian coordinate system

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):

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;

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) The earth-centered rectangular coordinate system is converted to the northeast celestial coordinate system

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) 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) 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) 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) 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) 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.

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.

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.

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. 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. 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. 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. 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 . 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 . 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 . 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. 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) 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) 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 (geodetic coordinate system) to earth-centered Cartesian coordinate system 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): In the above formula:

N is the radius of curvature of the unitary circle of the store;

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) The earth-centered rectangular coordinate system is converted to the northeast celestial coordinate system

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) 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) 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) 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) 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) 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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