CN111708063A - RTK-based measurement method and RTK measurement system - Google Patents
RTK-based measurement method and RTK measurement system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
The invention provides a measurement method based on RTK and an RTK measurement system, wherein the measurement method comprises the following steps: s101: acquiring a measured point, and selecting at least three measuring points according to the measured point, wherein at least one measuring point is not positioned on a plane formed by the measured point and other measuring points; s102: acquiring coordinates of a visible light ranging module and a distance from the visible light ranging module to a measured point when the RTK is located at the measuring point; s103: and acquiring the coordinates of the measured point according to the coordinates and the distance. The invention measures the coordinates of at least three measuring points and the distances from the measuring points to the measured points through the RTK and visible light distance measuring modules, obtains the coordinates of the measured points according to the coordinates and the distances, does not need to contact the measured points, protects the safety of users and equipment, does not need other equipment for measurement, improves the measuring efficiency, saves the workload, realizes the measurement of the measuring points, and eliminates the measuring blind areas.
Description
Technical Field
The invention relates to the field of RTK measurement, in particular to a measurement method based on RTK and an RTK measurement system.
Background
The RTK (Real-time kinematic) carrier phase difference technology is a new common satellite positioning measurement method, and RTK can obtain centimeter-level positioning accuracy in Real time outdoors. Therefore, RTKs are often used in a variety of environments where measurement positioning is required.
However, when the RTK equipment is used for measurement, the instrument is required to be placed on a measuring point directly or through a centering rod and a support so as to carry out accurate measurement. This can make it difficult to measure at some dangerous or inaccessible point using RTK equipment when actually measuring.
To measure these points, it is often necessary to take the risk of reaching the measurement point to make the measurement, or to use other equipment or tools to assist in the measurement, or even to discard the measurement. The risk measurement method harms the safety of users and equipment, the method using other equipment is tedious and increases the workload, and the measurement blind area is easy to occur when the measurement mode is abandoned.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a measuring method and a RTK measuring system based on RTK, coordinates of at least three measuring points and distances from the measuring points to measured points are measured through RTK and visible light ranging modules, the coordinates of the measured points are obtained according to the coordinates and the distances, the measured points do not need to be contacted, the safety of users and equipment is protected, other equipment is not needed for measurement, the measuring efficiency is improved, the workload is saved, the measurement of the measuring points is realized, and the measuring blind area is eliminated.
In order to solve the above problems, the present invention adopts a technical solution as follows: an RTK-based measurement method in which a visible light ranging module is disposed at an antenna phase center of an RTK, the measurement method comprising: s101: acquiring a measured point, and selecting at least three measuring points according to the measured point, wherein at least one measuring point is not positioned on a plane formed by the measured point and other measuring points; s102: acquiring the coordinates of the visible light ranging module and the distance from the visible light ranging module to the measured point when the RTK is positioned at the measuring point; s103: and acquiring the coordinates of the measured point according to the coordinates and the distance.
Further, the visible light ranging module is a visible laser ranging module.
Further, the step of acquiring the coordinates of the visible ranging module when the RTK is located at the measurement point specifically includes: and acquiring coordinates at the center of the antenna phase, and determining the coordinates of the visible light ranging module according to the coordinates.
Further, the step of obtaining the coordinates of the measured point according to the coordinates and the distance specifically includes: and forming a three-dimensional structure by a measuring point which is not positioned on a plane formed by other measuring points and the measured point, any two other measuring points and the measured point, and determining the coordinates of the measured point according to the three-dimensional structure and an electronic compass built in the RTK.
Further, the step of obtaining the coordinates of the measured point according to the coordinates and the distance specifically includes: and forming a three-dimensional structure by a measuring point which is not positioned on a plane formed by other measuring points and the measured point, any two other measuring points and the measured point, and acquiring the coordinates of the measured point according to the three-dimensional structure and the measuring point which is not positioned on the plane formed by the measuring points.
Based on the same inventive concept, the invention further provides an RTK measurement system, which includes an RTK and a visible light ranging module, wherein the visible light ranging module is arranged at the antenna phase center of the RTK, and the RTK measurement system executes the RTK measurement method through the RTK and the visible light ranging module as follows: s201: acquiring a measured point, and selecting at least three measuring points according to the measured point, wherein at least one measuring point is not positioned on a plane formed by the measured point and other measuring points; s202: acquiring the coordinates of the visible light ranging module and the distance from the visible light ranging module to the measured point when the RTK is positioned at the measuring point; s203: and acquiring the coordinates of the measured point according to the coordinates and the distance.
Further, the visible light ranging module is a visible laser ranging module.
Further, the step of acquiring the coordinates of the visible ranging module when the RTK is located at the measurement point specifically includes: and acquiring coordinates at the center of the antenna phase, and determining the coordinates of the visible light ranging module according to the coordinates.
Further, the step of obtaining the coordinates of the measured point according to the coordinates and the distance specifically includes: and forming a three-dimensional structure by a measuring point which is not positioned on a plane formed by other measuring points and the measured point, any two other measuring points and the measured point, and determining the coordinates of the measured point according to the three-dimensional structure and an electronic compass built in the RTK.
Further, the step of obtaining the coordinates of the measured point according to the coordinates and the distance specifically includes: and forming a three-dimensional structure by a measuring point which is not positioned on a plane formed by other measuring points and the measured point, any two other measuring points and the measured point, and acquiring the coordinates of the measured point according to the three-dimensional structure and the measuring point which is not positioned on the plane formed by the measuring points.
Compared with the prior art, the invention has the beneficial effects that: the coordinates of at least three measuring points and the distances from the measuring points to the measured points are measured through the RTK and visible light distance measuring modules, the coordinates of the measured points are obtained according to the coordinates and the distances, the measured points do not need to be contacted, the safety of users and equipment is protected, other equipment is not needed for measurement, the measuring efficiency is improved, the workload is saved, the measurement of the measuring points is realized, and the measuring blind area is eliminated.
Drawings
FIG. 1 is a flow chart of one embodiment of an RTK-based measurement method of the present invention;
FIG. 2 is a schematic diagram of one embodiment of an RTK and a visible ranging module in a method of measuring an RTK of the present invention;
FIG. 3 is a schematic diagram of an embodiment of measuring points to be measured in the RTK measuring method of the present invention;
FIG. 4 is a schematic diagram of an embodiment of obtaining coordinates of a measured point in an RTK measurement method;
FIG. 5 is a block diagram of one embodiment of an RTK measurement system of the present invention;
fig. 6 is a flowchart of an embodiment of a RTK measurement method performed by the RTK measurement system of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Referring to fig. 1-4, fig. 1 is a flowchart illustrating an RTK-based measurement method according to an embodiment of the present invention; FIG. 2 is a schematic diagram of one embodiment of an RTK and a visible ranging module in a method of measuring an RTK of the present invention; FIG. 3 is a schematic diagram of an embodiment of measuring points to be measured in the RTK measuring method of the present invention; fig. 4 is a schematic diagram of an embodiment of acquiring coordinates of a measured point in an RTK measurement method. The RTK-based measurement method of the present invention is described in detail with reference to fig. 1 to 4.
In this embodiment, the visible ranging module is disposed at the antenna phase center of the RTK.
In a specific embodiment, the visible ranging module is installed at the phase center of the L1 frequency band of the RTK satellite antenna, and the coordinates of the visible ranging module are obtained by measuring the coordinates at the phase center of the antenna through the RTK.
In this embodiment, the frequency bands of the RTK satellite antenna may include a plurality of satellite frequency bands, and the current antenna mainly uses a two-layer measurement antenna structure, where the upper layer is a high frequency band and the lower layer is a low frequency band. The phase center of the high frequency band is above the antenna, so the visible light ranging module can also be placed at the phase centers of the frequency points of B1 of Beidou, L1 of Glonass and L1 of Galileo. Because there is high frequency range antenna structure in antenna phase place center department of low-frequency range, can not place the thing. However, RTK also exists in which a single-band satellite antenna or other type of antenna is provided, and it is also possible to place the visible light ranging module at the phase center of an arbitrary band of the satellite antenna and to take the coordinates at the phase center of the band as the coordinates of the visible light ranging module, as long as the antenna is provided with a space for accommodating the visible light ranging module.
In this embodiment, the coordinates of the RTK bottom and the centering rod of the RTK on the ground can be calculated from the coordinates at the antenna phase center.
In this embodiment, the visible light ranging module is connected to the RTK through the multi-core connector, and the RTK communicates and supplies power to the visible light ranging module through the multi-core connector.
S101: and acquiring a measured point, and selecting at least three measuring points according to the measured point, wherein at least one measuring point is not positioned on a plane formed by the measured point and other measuring points.
In this embodiment, the visible light ranging module is a visible laser ranging module.
In other embodiments, the infrared ranging module may also be disposed on the RTK, and the distance between the point and the measured point is measured by the infrared ranging module.
In this embodiment, the measured points to be measured are determined, and the measuring points are selected according to the measured points, the number of the measuring points can be 3, 4 or other numbers, and it is only necessary that at least one measuring point is not located on the plane formed by the measured points and other measuring points.
In a specific embodiment, the number of the measuring points is 3, and a connecting line of the 3 measuring points and the measured point forms a three-dimensional structure graph.
S102: and acquiring the coordinates of the visible light ranging module and the distance from the visible light ranging module to the measured point when the RTK is positioned at the measuring point.
In this embodiment, the step of acquiring the coordinates of the visible light ranging module when the RTK is located at the measurement point specifically includes: and when the RTK is positioned at the measuring point, acquiring the coordinate of the phase center of the antenna, and determining the coordinate of the visible light ranging module according to the coordinate.
In this embodiment, when the RTK is located at a measurement point, the distance between the visible ranging module and the measured point is obtained through the visible ranging module.
S103: and acquiring the coordinates of the measured point according to the coordinates and the distance.
In this embodiment, the step of obtaining the coordinates of the measured point according to the coordinates and the distance specifically includes: and forming a three-dimensional structure by a measuring point which is not positioned on a plane formed by other measuring points and the measured point, any two other measuring points and the measured point, and determining the coordinates of the measured point according to the three-dimensional structure and an electronic compass built in the RTK.
In a specific embodiment, the names of the 3 measurement points are A, B, C respectively, the measured point is M, the equation is solved for the three-dimensional structure formed by the measurement points and the measured point, and under the condition that the coordinates of A, B, C and the distance from A, B, C to M are known, two solutions can be obtained, and the coordinate points corresponding to the two solutions are symmetrical about the plane formed by the three measurement points. Because the distance measurement module has directivity, the mirror image points in two solutions can be removed through the electronic compass built in the RTK (the laser distance measurement is installed on the instrument in a directional mode, for example, only the front side of the instrument can be faced, the square of the instrument is used for aligning the measured point in each measurement, the electronic compass is a three-axis electronic compass and can measure a three-dimensional angle, and when each point obtains the coordinate, a three-dimensional azimuth angle can be obtained, so that the direction towards which the laser distance measurement is faced can be judged, and the mirror image points can be eliminated) so as to obtain the coordinate of the measured point.
In this embodiment, the chip of the RTK built-in electronic compass may be HMC5883L, FXOS8700CQ, and other types.
In another specific embodiment, four measuring points are selected, and the coordinates and the distance to the measured point of the four measuring points are respectively tested. As long as the requirement that four measuring points are not on the same plane is met, and a three-dimensional structure can be formed between any three measuring points and a measured point (namely the measured point is not located in a plane formed by any three measuring points), a common solution obtained by solving equations is a solution of the measured point by selecting any two three-dimensional structures containing the measured point (each three-dimensional structure can obtain solutions of two measured points, the two solutions are symmetrical about the plane formed by the three measuring points).
Has the advantages that: the RTK-based measuring method measures the coordinates of at least three measuring points and the distances from the measuring points to the measured points through the RTK and the visible laser ranging modules, obtains the coordinates of the measured points according to the coordinates and the distances, does not need to contact the measured points, protects the safety of users and equipment, does not need other equipment for measurement, improves the measuring efficiency, saves the workload, realizes the measurement of the measuring points, and eliminates the measuring blind areas.
Based on the same inventive concept, the present application further provides an RTK measurement system, please refer to fig. 5 and 6, fig. 5 is a structural diagram of an embodiment of the RTK measurement system of the present invention; fig. 6 is a flowchart of an embodiment of a measurement method of an RTK performed by the RTK measurement system of the present invention, and the RTK measurement system of the present invention is specifically described with reference to fig. 5 and 6.
In this embodiment, the RTK measurement system includes an RTK and a visible light ranging module, the visible light ranging module is disposed at an antenna phase center of the RTK, and the RTK measurement system executes the following RTK measurement method through the RTK and the visible light ranging module.
In this embodiment, the visible ranging module is disposed at the antenna phase center of the RTK.
In a specific embodiment, the visible ranging module is installed at the phase center of the L1 frequency band of the RTK satellite antenna, and the coordinates of the visible ranging module are obtained by measuring the coordinates at the phase center of the antenna through the RTK.
In this embodiment, the frequency bands of the RTK satellite antenna may include a plurality of satellite frequency bands, and the current antenna mainly uses a two-layer measurement antenna structure, where the upper layer is a high frequency band and the lower layer is a low frequency band. The phase center of the high frequency band is above the antenna, so the visible light ranging module can also be placed at the phase centers of the frequency points of B1 of Beidou, L1 of Glonass and L1 of Galileo. Because there is high frequency range antenna structure in antenna phase place center department of low-frequency range, can not place the thing. However, RTK also exists in which a single-band satellite antenna or other type of antenna is provided, and it is also possible to place the visible light ranging module at the phase center of an arbitrary band of the satellite antenna and to take the coordinates at the phase center of the band as the coordinates of the visible light ranging module, as long as the antenna is provided with a space for accommodating the visible light ranging module.
In this embodiment, the coordinates of the RTK bottom and the centering rod of the RTK on the ground can be calculated from the coordinates at the antenna phase center.
In this embodiment, the visible light ranging module is connected to the RTK through the multi-core connector, and the RTK communicates and supplies power to the visible light ranging module through the multi-core connector.
S201: and acquiring a measured point, and selecting at least three measuring points according to the measured point, wherein at least one measuring point is not positioned on a plane formed by the measured point and other measuring points.
In this embodiment, the visible light ranging module is a visible laser ranging module.
In other embodiments, the infrared ranging module may also be disposed on the RTK, and the distance between the point and the measured point is measured by the infrared ranging module.
In this embodiment, the measured points to be measured are determined, and the measuring points are selected according to the measured points, the number of the measuring points can be 3, 4 or other numbers, and it is only necessary that at least one measuring point is not located on the plane formed by the measured points and other measuring points.
In a specific embodiment, the number of the measuring points is 3, and a connecting line of the 3 measuring points and the measured point forms a three-dimensional structure graph.
S202: and acquiring the coordinates of the visible light ranging module and the distance from the visible light ranging module to the measured point when the RTK is positioned at the measuring point.
In this embodiment, the step of acquiring the coordinates of the visible light ranging module when the RTK is located at the measurement point specifically includes: and when the RTK is positioned at the measuring point, acquiring the coordinate of the phase center of the antenna, and determining the coordinate of the visible light ranging module according to the coordinate.
In this embodiment, when the RTK is located at a measurement point, the distance between the visible ranging module and the measured point is obtained through the visible ranging module.
S203: and acquiring the coordinates of the measured point according to the coordinates and the distance.
In this embodiment, the step of obtaining the coordinates of the measured point according to the coordinates and the distance specifically includes: and forming a three-dimensional structure by a measuring point which is not positioned on a plane formed by other measuring points and the measured point, any two other measuring points and the measured point, and determining the coordinates of the measured point according to the three-dimensional structure and an electronic compass built in the RTK.
In a specific embodiment, the names of the 3 measurement points are A, B, C respectively, the measured point is M, the equation is solved for the three-dimensional structure formed by the measurement points and the measured point, and under the condition that the coordinates of A, B, C and the distance from A, B, C to M are known, two solutions can be obtained, and the coordinate points corresponding to the two solutions are symmetrical about the plane formed by the three measurement points. Because the distance measurement module has directivity, the mirror image points in two solutions can be removed through the electronic compass built in the RTK (the laser distance measurement is installed on the instrument in a directional mode, for example, only the front side of the instrument can be faced, the square of the instrument is used for aligning the measured point in each measurement, the electronic compass is a three-axis electronic compass and can measure a three-dimensional angle, and when each point obtains the coordinate, a three-dimensional azimuth angle can be obtained, so that the direction towards which the laser distance measurement is faced can be judged, and the mirror image points can be eliminated) so as to obtain the coordinate of the measured point.
In this embodiment, the chip of the RTK built-in electronic compass may be HMC5883L, FXOS8700CQ, and other types.
In another specific embodiment, the coordinates and the distances to the measured point of the four measuring points are respectively tested through the four measuring points. As long as the requirement that four measuring points are not on the same plane is met, and a three-dimensional structure can be formed between any three measuring points and the measured point (namely the measured point is not located in a plane formed by any three measuring points), the solution equations obtain a common solution of the measured point by selecting any two three-dimensional structures containing the measured point (each three-dimensional structure can obtain solutions of two measured points, the two solutions are symmetrical about the plane formed by the three measuring points).
Has the advantages that: the RTK measuring system of the invention arranges the visible light ranging module at the antenna phase center of the RTK, measures the coordinates of at least three measuring points and the distances from the measuring points to the measured points through the RTK and the visible light ranging module, obtains the coordinates of the measured points according to the coordinates and the distances without contacting the measured points, protects the safety of users and equipment, does not need other equipment for measurement, improves the measuring efficiency, saves the workload, realizes the measurement of the measuring points, and eliminates the blind area of measurement.
In the embodiments provided in the present invention, it should be understood that the disclosed devices, modules and circuits may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the structural components of the modules may be divided into only one logical function, and other divisions may be made in practice, for example, a plurality of modules or modules may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, devices or indirect coupling or communication connection, and may be in an electrical, mechanical or other form.
The components described as separate parts may or may not be physically separate, and the components shown may or may not be physically separate, may be located in one place, or may be distributed in a plurality of places. Some or all of them can be selected according to actual needs to achieve the purpose of the embodiment.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. An RTK-based measurement method, wherein a visible light ranging module is disposed at an antenna phase center of an RTK, the measurement method comprising:
s101: acquiring a measured point, and selecting at least three measuring points according to the measured point, wherein at least one measuring point is not positioned on a plane formed by the measured point and other measuring points;
s102: acquiring the coordinates of the visible light ranging module and the distance from the visible light ranging module to the measured point when the RTK is positioned at the measuring point;
s103: and acquiring the coordinates of the measured point according to the coordinates and the distance.
2. The RTK-based measurement method of claim 1, wherein the visible light ranging module is a visible laser ranging module.
3. The RTK-based measurement method of claim 1, wherein the step of acquiring the coordinates of the visible ranging module when the RTK is located at the measurement point specifically comprises:
and acquiring coordinates at the center of the antenna phase, and determining the coordinates of the visible light ranging module according to the coordinates.
4. The RTK-based measurement method according to claim 1, wherein the step of acquiring the coordinates of the measured point from the coordinates and the distance specifically includes:
and forming a three-dimensional structure by a measuring point which is not positioned on a plane formed by other measuring points and the measured point, any two other measuring points and the measured point, and determining the coordinates of the measured point according to the three-dimensional structure and an electronic compass built in the RTK.
5. The RTK-based measurement method according to claim 1, wherein the step of acquiring the coordinates of the measured point from the coordinates and the distance specifically includes:
and forming a three-dimensional structure by a measuring point which is not positioned on a plane formed by other measuring points and the measured point, any two other measuring points and the measured point, and acquiring the coordinates of the measured point according to the three-dimensional structure and the measuring point which is not positioned on the plane formed by the measuring points.
6. An RTK measurement system, comprising an RTK, a visible light ranging module, the visible light ranging module being disposed at an antenna phase center of the RTK, the RTK measurement system performing a measurement method of the RTK by the RTK, the visible light ranging module as follows:
s201: acquiring a measured point, and selecting at least three measuring points according to the measured point, wherein at least one measuring point is not positioned on a plane formed by the measured point and other measuring points;
s202: acquiring the coordinates of the visible light ranging module and the distance from the visible light ranging module to the measured point when the RTK is positioned at the measuring point;
s203: and acquiring the coordinates of the measured point according to the coordinates and the distance.
7. The RTK measurement system of claim 6, wherein the visible ranging module is a visible laser ranging module.
8. The RTK measurement system of claim 6, wherein the step of acquiring the coordinates of the visible ranging module when the RTK is located at the measurement point specifically comprises:
and acquiring coordinates at the center of the antenna phase, and determining the coordinates of the visible light ranging module according to the coordinates.
9. The RTK measurement system according to claim 6, wherein the step of acquiring the coordinates of the measured point from the coordinates and the distance specifically includes:
and forming a three-dimensional structure by a measuring point which is not positioned on a plane formed by other measuring points and the measured point, any two other measuring points and the measured point, and determining the coordinates of the measured point according to the three-dimensional structure and an electronic compass built in the RTK.
10. The RTK measurement system according to claim 6, wherein the step of acquiring the coordinates of the measured point from the coordinates and the distance specifically includes:
and forming a three-dimensional structure by a measuring point which is not positioned on a plane formed by other measuring points and the measured point, any two other measuring points and the measured point, and acquiring the coordinates of the measured point according to the three-dimensional structure and the measuring point which is not positioned on the plane formed by the measuring points.
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