CN111913150A - Station-surveying positioning method based on laser scanning - Google Patents
Station-surveying positioning method based on laser scanning Download PDFInfo
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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Abstract
The invention discloses a station-finding positioning method based on laser scanning, which comprises the following steps: 1. setting a survey station and a plurality of reflective measuring points with known coordinates, wherein at least three reflective measuring points are arranged in a scanning area of the survey station; 2. controlling the measuring station to rotate at a constant speed and continuously transmitting laser signals to scan, and continuously collecting the rotating angle and the laser signals reflected by the reflective measuring points at a high frequency; 3. processing the rotation angle and the laser signals reflected by the reflective measurement points, identifying the identity of each reflective measurement point, and extracting the central angle value of each reflective measurement point relative to the rotation platform of the corresponding measurement station; then, according to the central angle value, obtaining the relative position of each reflective measuring point and the corresponding measuring station; 4. and (4) according to the result of the step (3), calculating the coordinate value of the measuring station by combining the known coordinates of the reflective measuring points. The invention relies on unique coding, receiving and transmitting integration, homodromous rotation, no positioning, high-frequency acquisition, multiple superposition and other technical processing, improves the identification precision of the measuring point and realizes the high-precision positioning of the measuring station.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a station positioning method based on laser scanning, which is mainly used in the industry needing to position a target.
Background
Positioning technology is a support technology for applications such as location-based services, virtual reality, and the like. In order to improve user experience, the requirements on positioning accuracy and instantaneity are higher and higher. Laser is one of the main technical means for realizing accurate positioning of a target due to good monochromaticity and directivity. The method is based on the method of measuring the laser arrival angle (AoA), and the method measures the laser arrival angle by using the characteristic of good laser directivity, and then performs target positioning by using the AoA method. According to the method, a plurality of laser sensitive components are mounted on a target, and the time of the laser reaching a sensor is measured respectively. And calculating the position and the motion trail of the target according to the position difference of each sensor. Due to process limitation, the rotating speed period of a rotating motor of a laser emission base station is often unstable, and the time of laser reaching a sensor fluctuates, so that certain errors exist in the prior art for calculating the laser reaching angle by utilizing the constant rotating angular speed of the motor, and the accuracy of a positioning result is influenced.
Patent document No. 201611200841.2, 6/29/2018, discloses a method for positioning an object by laser scanning, comprising: aiming at any one of N laser rotary scanning devices of a laser emitting device, determining a first reference time and a second reference time in each scanning period of the laser rotary scanning device; the laser receiving device determines a first motor rotation angular velocity of the laser rotary scanning device corresponding to the first time according to the first reference time and the second reference time, and a preset first angle of an angle synchronous signal corresponding to the first reference time and a preset second angle of the angle synchronous signal corresponding to the second reference time; calculating to obtain the rotation angle of the laser rotary scanning device; and the laser receiving device determines the position of the laser receiving device according to the rotation angles of the N laser rotating scanning devices and the coordinates of the N laser rotating scanning devices. However, the technology still has the following defects in practical application:
1. the laser emitting device is located in the scanning device, the laser receiving device is arranged at the position of the target object, and all the devices need to be powered, so that the overall structure of the device is too complex.
2. When scanning and positioning, only one laser rotary scanning device is supported to carry out laser scanning on a monitoring area at the same time, and the working efficiency is low.
3. The linear laser module, the photoelectric switch and the rotation angle adopted by the whole set of equipment are all based on the assumption that two rotation angular velocities are not changed, which indicates that the measurement precision of the whole set of equipment is low, and the actual measurement precision of the whole set of equipment basically does not exceed 1', so that the equipment cannot be used for high-precision positioning service with the precision not lower than 1 ″.
4. When there are a plurality of measurement targets, there is a difficulty that the measurement targets cannot be accurately identified.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a station measurement positioning method based on laser scanning, which can partially eliminate the influence caused by machining errors and the like, thereby automatically and accurately positioning the station measurement with high precision.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a station positioning method based on laser scanning is characterized by comprising the following steps:
step 1: setting a survey station and a plurality of reflective measuring points with known coordinates, wherein at least three reflective measuring points are arranged in a scanning area of the survey station, and each reflective measuring point has a unique code;
step 2: controlling the measuring station to rotate at a constant speed, continuously emitting laser signals to scan the reflective measuring points in the rotating process, and continuously collecting the rotating angle and the laser signals reflected by the reflective measuring points at a high frequency;
and step 3: analyzing and processing the rotation angle and the laser signals reflected by the reflective measurement points, identifying the identity of each reflective measurement point according to the unique code, and extracting the central angle value of each reflective measurement point relative to the rotation platform of the corresponding measurement station; then, according to the central angle value, obtaining the relative position of each reflective measuring point and the corresponding measuring station;
and 4, step 4: and (4) according to the result of the step (3), combining the known coordinates of the reflective measuring points, and solving the coordinate values of the measuring stations by relying on a polar coordinate rear intersection method.
In the step 1, the reflective measuring point comprises a reflective material, and the unique code of the reflective measuring point is a bar code or an electronic label arranged on the reflective material.
In the step 1, the number of the measuring stations is at least one, and the measuring stations are all provided with identity identification numbers.
In the step 2, the collection frequency of the high-frequency collection is 0.1-10 MHz.
In the step 3, the angle measurement precision of the reflective measuring point relative to the central angle of the rotating platform is not less than 1'.
In the step 3, the calculation method of the central angle value of the reflective measuring point relative to the rotating platform comprises the following steps:
wherein the content of the first and second substances,
the central angle value of the reflective measuring point relative to the rotating platform is obtained; alpha and beta are rotation angle values when the laser reflection signal exists at the reflection measuring point respectively; k is the number of sampling points under the minimum scale of the encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y are the number of readings at the alpha and beta angle values, respectively.
In the step 3, when the measuring station rotates for multiple circles, each reflection measuring point extracts multiple central angle values, then the multiple central angle values are subjected to adjustment processing, and then the relative positions of the reflection measuring points and the corresponding measuring station are obtained according to the central angle values after the adjustment processing.
In the step 4, when the number of the reflective measuring points corresponding to the measuring station exceeds three, the adjustment can be carried out to obtain the final coordinate value of the measuring station.
The station comprises a rotating mechanism and a target identification and positioning mechanism, wherein the rotating mechanism comprises a driver, a rotating platform driven by the driver and an encoder used for calculating the rotating angle of the rotating platform; the target identification positioning mechanism comprises a main controller, a laser transmitter and a laser receiver which are all fixed on the rotary platform, the laser transmitter, the laser receiver, a driver and an encoder are all connected with the main controller, and the main controller is used for driving the laser transmitter to transmit laser signals, is used for recording reflected laser signals received by the laser receiver, and is used for controlling the rotary platform to rotate and is used for recording the rotation angle value of the encoder through the driver.
And the laser transmitter and the laser receiver are transversely fixed above the rotating platform.
The main controller is also connected with a power supply voltage stabilizing module and a wireless communication module.
The rotating mechanism further comprises a support, a limiting column is arranged on the upper portion of the support, and the rotating platform is installed on the support through the limiting column.
The invention has the advantages that:
1. the invention has the advantage of partially eliminating the influence caused by machining errors and the like. Specifically, the invention relies on the technical treatment of integrated receiving and transmitting, homodromous rotation, no need of positioning, high-frequency acquisition, multiple superposition and the like, can eliminate the influence of machining errors and the like, and improves the positioning precision of the measuring station.
2. The unique code is arranged on the reflective measuring point, so that the identity of the reflective measuring point can be rapidly confirmed, and the position of the measuring station can be rapidly positioned.
3. The invention supports the simultaneous position identification of a plurality of stations, does not interfere with each other, and has high operation efficiency and wide application range. In addition, when the number of the measuring stations is multiple, each measuring station is provided with an identity identification number, and the identity identification numbers are combined with the unique codes of the light reflection measuring points, so that data matching between the measuring stations and the corresponding light reflection measuring points can be realized, and the positioning accuracy is further ensured.
4. The angle measurement precision of the reflective measuring point relative to the central angle of the rotating platform is set to be not less than 1', so that the measurement precision of the invention can reach or exceed the positioning precision of a high-precision total station.
5. The invention limits the frequency of high-frequency acquisition to 0.1-10MHz, and can effectively record the rotation angle and the laser signal, thereby achieving the purpose of subdividing the angle and improving the angle identification precision.
6. The station mainly comprises a rotating mechanism and a target identification and positioning mechanism, and the station adopting the structure has the advantages of simple structure and convenience in moving and installation. The measuring station has the advantages of small overall size, low cost, high efficiency, stability, reliability and wide application scene, and can be used for measuring long-term displacement and short-term displacement. In addition, the laser receiving and transmitting integrated design in the station solves the problem of synchronism of laser transmitting and receiving signals; the target has a certain width, and the data precision is improved through high-frequency acquisition; the rotating mechanism is not intermittent, and multiple times of acquisition are carried out, so that the data precision is improved; and a plurality of measuring stations are supported to work simultaneously, so that the working efficiency is improved.
7. The main controller is also connected with a power supply voltage stabilizing module and a wireless communication module, wherein the power supply voltage stabilizing module has stable and high-precision voltage output and enough load capacity, and is favorable for providing a stable power supply for a station, and the wireless communication module can realize remote communication and uploading of measured data so as to facilitate terminal display and big data analysis.
8. The rotary platform is supported by the bracket, so that the stability of the station measuring device is ensured.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the identification and positioning of a survey station of the present invention;
FIG. 3 is a schematic diagram of the construction of the station of the present invention;
FIG. 4 is a schematic structural view of a light reflection station scanned by the station of the present invention;
FIG. 5 is a schematic diagram of the operation of the station of the present invention;
labeled as: 1. the device comprises a measuring station 2, a light reflection measuring point 3, a rotary platform 4, a main controller 5, a laser transmitter 6, a laser receiver 7, a power supply voltage stabilizing module 8, a wireless communication module 9, a limiting column 10, a light reflection material 11 and a support.
Detailed Description
The invention discloses a station-finding positioning method based on laser scanning, which specifically comprises the following steps as shown in figure 1:
step 1: the method comprises the steps of arranging a measuring station 1 and a plurality of light reflection measuring points 2 with known coordinates, wherein at least three light reflection measuring points 2 are arranged in a scanning area of the measuring station 1 at any time, and each light reflection measuring point 2 has a unique code.
In the step, no matter the measuring station 1 is fixed or movable, at least three reflective measuring points 2 are arranged in the scanning area of the measuring station 1, and even in the moving process of the measuring station 1, at least three reflective measuring points 2 are required in the scanning area of the measuring station 1 so as to position the measuring station 1.
Furthermore, the number of the measuring stations 1 is at least one, and the measuring stations are all provided with identity identification numbers, the identity identification numbers adopt unique codes of equipment or wireless modules, and in practical application, the number of the measuring stations 1 is usually multiple, so that the identity identification numbers are arranged on the measuring stations 1 and then combined with the reflective measuring points 2 with the unique codes, and the reflective measuring points 2 corresponding to each measuring station 1 can be definitely obtained, so that the data matching of the measuring stations 1 and the corresponding reflective measuring points 2 is realized, and the positioning accuracy is ensured.
In this step, the reflective measuring point 2 comprises a reflective material 10, and the reflective material 10 can reflect the laser signal on the way. The unique code of the reflective measuring point 2 is a bar code or an electronic label arranged on the reflective material 10, and when the measuring station 1 scans the reflective measuring point 2, the identity of the reflective measuring point 2 can be identified by analyzing the unique code.
Step 2: the measuring station 1 is controlled to rotate at a constant speed, laser signals are continuously emitted to scan the reflective measuring points 2 in the rotating process, and meanwhile, the rotating angle and the laser signals reflected by the reflective measuring points 2 are continuously collected at a high frequency.
In the step, the survey station 1 is controlled to rotate at a low speed, and the acquisition frequency of high-frequency acquisition is 0.1-10MHz, so that the sampling frequency is improved and the identification precision of the reflective survey point 2 is improved on the premise of not influencing the processing speed.
And step 3: analyzing and processing the rotation angle and the laser signals reflected by the reflective measuring points 2, identifying the identity of each reflective measuring point 2 according to the unique code, and extracting the central angle value of each reflective measuring point 2 relative to the rotating platform 3 of the corresponding measuring station 1; then, according to the central angle value, the relative position of each reflective measuring point 2 and the corresponding measuring station 1 is obtained;
in this step, the angle measurement accuracy of the reflective measurement point 2 relative to the central angle of the rotating platform 3 is not less than 1 ″, when the reflective measurement point 2 is scanned, the reflected laser signal acquired at high frequency presents a regular change characteristic, and accordingly, the reflective center of the reflective measurement point 2 can be analyzed, as shown in fig. 2, the calculation method of the central angle value of the reflective measurement point 2 relative to the rotating platform 3 is as follows:
wherein the content of the first and second substances,
the central angle value of the reflective measuring point 2 relative to the rotating platform 3 is shown; alpha and beta are rotation angle values when the reflection measuring point 2 has laser reflection signals respectively; k is the number of sampling points under the minimum scale of the encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y are the number of readings at the alpha and beta angle values, respectively.
Furthermore, when the measuring station 1 rotates for multiple circles, each reflective measuring point 2 extracts multiple central angle values, after the multiple central angle values are extracted, the multiple central angle values are subjected to adjustment processing, and then the relative position of the reflective measuring point 2 and the corresponding measuring station 1 is obtained according to the central angle values after the adjustment processing. The principle of the adjustment processing is that when two adjacent scans reach the same measuring point, the central angle value should be constant 360 degrees. The measuring precision of the central angle can be improved through adjustment processing, and then the positioning precision is improved.
And 4, step 4: and (4) according to the result of the step (3), combining the known coordinates of the reflective measuring points (2), and solving the coordinate values of the measuring station (1) by relying on a polar coordinate rear intersection method.
In this step, when the number of the reflective measuring points 2 corresponding to the measuring station 1 exceeds three, that is, when there are four, five, or even more reflective measuring points 2 in the scanning area of the measuring station 1, the final coordinate value of the measuring station 1 should be obtained through adjustment. The adjustment method is various, and may not be limited to the following adjustment methods: when the number of the reflective measuring points 2 exceeds three, each combination comprises three different reflective measuring points 2. For example, when the number of the reflective stations 2 is 4, the combination of the reflective stations is four 123, 234, 124 and 134. At this time, coordinate values of the four stations 1 are obtained, and the four coordinate values are adjusted to obtain the final coordinate value of the station 1. Because the coordinate values are subjected to adjustment, the obtained final coordinate values are also obtained comprehensively according to the data of the four reflective measuring points 2, and the finally obtained coordinate values of the measuring station 1 have high precision.
In the invention, as shown in fig. 3-4, the measuring station 1 comprises a rotating mechanism, an object identification and positioning mechanism, a power supply voltage stabilization module 7 and a wireless communication module 8, wherein the rotating mechanism comprises a driver, a rotating platform 3 driven by the driver and an encoder for calculating the rotating angle of the rotating platform 3; target identification positioning mechanism is including all fixing main control unit 4 on rotary platform 3, laser emitter 5 and laser receiver 6 are all transversely fixed in rotary platform 3's top, laser emitter 5, laser receiver 6, a driver, the encoder, power supply voltage stabilizing module 7 and wireless communication module 8 all are connected with main control unit 4, main control unit 4 is used for driving laser emitter 5 transmission laser signal, be used for recording laser receiver 6 received reflection laser signal, be used for through the rotatory angle value that is used for recording the encoder of drive control rotary platform 3 rotation. The main controller 4 locates the position of the station 1 based on the received reflected laser signal and known data relating to the angle of rotation of the encoder and the like. As shown in fig. 5, the functions of the components are as follows:
a rotating mechanism: the command from the main controller 4 can be quickly responded, and the subdivided angle flag can be fed back to the main controller 4. When the main controller 4 collects the high-frequency signal fed back by the laser receiver 6 at high frequency, the encoder can accurately feed back the current subdivided scale value to the main controller 4 after the main controller 4 sends an instruction.
The main controller 4: is the core component of the whole measuring device, and is mainly used for driving a laser transmitter 5 to transmit a laser signal, receiving a reflected laser signal from a laser receiver 6, controlling the rotation of the platform body through a driver, reading data of an encoder, and identifying a target according to the received reflected laser signal and the data of the encoder. Meanwhile, the test data can be wirelessly uploaded to a remote end by communicating with the wireless communication module 8.
The laser emitter 5: the laser is driven and controlled by the main controller 4, is point or linear laser, and has the characteristics of high precision, small diffusion, long irradiation distance, collimation and the like.
The laser receiver 6: for receiving the reflected laser signal projected by the laser transmitter 5, the receiving circuit can convert the receiving tube optical signal into a corresponding voltage signal and provide the voltage signal to the main controller 4.
Power supply voltage stabilizing module 7: mainly for main control unit 4, laser emitter 5 and wireless communication module 8 provide stable voltage output, this power supply voltage stabilizing module 7 accessible outside direct current vary voltage, also can convert into the VCC power supply voltage of main control unit 4, laser emitter 5 and the 8 demands of wireless communication module through the lithium cell energy storage, this power supply voltage stabilizing module 7 has voltage output and sufficient load capacity of stabilizing the high accuracy.
The wireless communication module 8: the method and the device are used for realizing remote communication, uploading of measured data and wireless networking so as to facilitate display and big data analysis of the terminal.
In the invention, the rotating mechanism further comprises a support 11, the support 11 is preferably a triangular frame, a limiting column 9 is arranged at the upper part of the support 11, and the rotating platform 3 is installed on the support 11 through the limiting column 9. When the laser receiving device is used, the rotary platform 3 is driven by the driver to rotate on the support 11, so that the laser transmitter 5 and the laser receiver 6 on the rotary platform 3 are driven to transmit laser signals and receive reflected laser signals.
The invention is mainly applied to the industry needing accurate positioning, for example, the invention can be applied to an automatic warehouse, when the invention is applied to the warehouse, the reflective measuring points 2 can be arranged on the peripheral walls of the warehouse, and the measuring station 1 is arranged on the equipment needing positioning or moving in the warehouse, thus the accurate position of the equipment in the warehouse can be obtained at any time.
In the invention, as long as the relative position between the reflection measuring point 2 and the corresponding measuring station 1 can be accurately obtained, the position of the measuring station 1 can be accurately positioned. Based on this, the applicant has verified the following scheme of the invention:
1. device selection
2. Content of the experiment
A fixed point is selected on the site for arranging a measuring station 1, two light reflection measuring points 2 are respectively arranged in the visual range of the measuring station 1, light reflection materials 10 with unique codes are distributed on the light reflection measuring points 2, and the horizontal distances between the fixed point and the two light reflection measuring points 2 are respectively 38 meters and 70 meters.
3. Procedure of the test
(1) The rotating platform 3 is erected on a fixed point through a measuring tripod in a centering way, and then the starting device continuously rotates for 10 circles at a low speed.
(2) And controlling the measuring station 1 to continuously rotate and continuously emit laser signals, and continuously acquiring the rotation angle and the laser signals reflected by the two reflective measuring points 2 at the sampling frequency of 1MHz to acquire alpha, beta, X and Y of each reflective measuring point 2 in each circle.
(3) And substituting the data into the following formula to calculate the central angle value of the reflective measuring point 2 relative to the rotating platform 3:
wherein the content of the first and second substances,
the central angle of the reflective measuring point 2 relative to the rotating platform 3 is shown; alpha and beta are rotation angle values when the reflection measuring point 2 has laser reflection signals respectively; k is the number of sampling points under the minimum scale of the encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y are the number of readings at the angle alpha and beta values, respectively; n is the number of turns of the rotary table;
psi is the angular difference between the 1 st and 2 nd retroreflective sites 2 and 2 nd retroreflective site 2 in the plane of rotation.
4. Comparison of tests
A total station instrument with the model of Lycra TCA2003 is erected at the position of a rotary platform 3 and respectively irradiates two reflective measuring points 2 and psi under 1 survey.
5. Verification result
| The invention obtains the result | Total station obtaining results | |
| ψ | 36°48′36.43″ | 36°48′36.2″ |
Experimental data show that the invention can accurately measure the angle relative to a total station, and the precision can reach 1'. Based on this, the invention enables accurate positioning of the station 1.
While the invention has been described with reference to specific embodiments, any feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise; all of the disclosed features, or all of the method or process steps, may be combined in any combination, except mutually exclusive features and/or steps.
Claims (10)
1. A station positioning method based on laser scanning is characterized by comprising the following steps:
step 1: arranging a measuring station (1) and a plurality of reflecting measuring points (2) with known coordinates, wherein at least three reflecting measuring points (2) are arranged in a scanning area of the measuring station (1), and each reflecting measuring point (2) is provided with a unique code;
step 2: controlling the measuring station (1) to rotate at a constant speed, continuously emitting laser signals to scan the reflective measuring points (2) in the rotating process, and continuously collecting the rotating angle and the laser signals reflected by the reflective measuring points (2) at a high frequency;
and step 3: analyzing and processing the rotation angle and the laser signals reflected by the reflective measuring points (2), identifying the identity of each reflective measuring point (2) according to the unique code, and extracting the central angle value of each reflective measuring point (2) relative to the rotating platform (3) of the corresponding measuring station (1); then, according to the central angle value, the relative position of each reflective measuring point (2) and the corresponding measuring station (1) is obtained;
and 4, step 4: and (4) according to the result of the step (3), combining the known coordinates of the reflective measuring points (2), and solving the coordinate values of the measuring station (1) by relying on a polar coordinate rear intersection method.
2. The station positioning method based on laser scanning as claimed in claim 1, wherein: in the step 1, the light reflection measuring points (2) comprise light reflection materials (10), and the unique codes of the light reflection measuring points (2) are bar codes or electronic labels arranged on the light reflection materials (10).
3. The station positioning method based on laser scanning as claimed in claim 1, wherein: in the step 1, the number of the measuring stations (1) is at least one, and the measuring stations are all provided with identity identification numbers.
4. The station positioning method based on laser scanning as claimed in claim 1, wherein: in the step 2, the collection frequency of the high-frequency collection is 0.1-10 MHz.
5. The station positioning method based on laser scanning as claimed in claim 1, wherein: in the step 3, the angle measurement precision of the reflective measuring point (2) relative to the central angle of the rotating platform (3) is not less than 1'.
6. The station positioning method based on laser scanning as claimed in claim 1, wherein: in the step 3, the calculation method of the central angle value of the reflective measuring point (2) relative to the rotating platform (3) comprises the following steps:
wherein phi is a central angle value of the reflective measuring point (2) relative to the rotating platform (3); alpha and beta are rotation angle values when the light reflection measuring point (2) has laser reflection signals respectively; k is the number of sampling points under the minimum scale of the encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y are the number of readings at the alpha and beta angle values, respectively.
7. The station positioning method based on laser scanning as claimed in claim 1, wherein: in the step 3, when the measuring station (1) rotates for a plurality of circles, a plurality of central angle values are extracted from each reflective measuring point (2), then the central angle values are subjected to adjustment processing, and then the relative position of the reflective measuring point (2) and the corresponding measuring station (1) is obtained according to the central angle values after the adjustment processing.
8. The station positioning method based on laser scanning as claimed in claim 1, wherein: in the step 4, when the number of the reflective measuring points (2) corresponding to the measuring station (1) exceeds three, the final coordinate value of the measuring station (1) can be obtained by adjustment.
9. A method of laser scanning based station positioning according to any of claims 1-8, characterized by: the station (1) comprises a rotating mechanism and an object recognition and positioning mechanism, wherein the rotating mechanism comprises a driver, a rotating platform (3) driven by the driver and an encoder used for calculating the rotating angle of the rotating platform (3); target identification positioning mechanism is including all fixing main control unit (4), laser emitter (5) and laser receiver (6) on rotary platform (3), laser emitter (5), laser receiver (6), driver and encoder all are connected with main control unit (4), main control unit (4) are used for driving laser emitter (5) transmission laser signal, are used for recording reflection laser signal that laser receiver (6) received, are used for controlling rotary platform (3) rotation and are used for recording the rotation angle value of encoder through the driver.
10. The station positioning method based on laser scanning as claimed in claim 9, wherein: the main controller (4) is also connected with a power supply voltage stabilizing module (7) and a wireless communication module (8).
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