CN112051597A - Precise single-point positioning method and device - Google Patents
Precise single-point positioning method and device Download PDFInfo
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- CN112051597A CN112051597A CN202011033799.6A CN202011033799A CN112051597A CN 112051597 A CN112051597 A CN 112051597A CN 202011033799 A CN202011033799 A CN 202011033799A CN 112051597 A CN112051597 A CN 112051597A
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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
Abstract
The invention discloses a precise single-point positioning method and a device, which relate to the technical field of satellite navigation positioning, and the device comprises: the server acquires precise ephemeris and clock error data of the GNSS navigation satellite from the Internet; and the field positioning equipment receives the precise ephemeris and clock error data of the visible satellite in the region where the field positioning equipment is located and the original observation data sent by the navigation satellite, which are sent by the server through the Beidou short message channel, and introduces the original observation data, the precise ephemeris and the clock error data into a positioning resolving program to calculate to obtain the spatial position. The invention does not depend on the existing wifi network, the satellite navigation ground reference station and the communication satellite channel, and has the advantages of low use cost, independence, safety and controllability.
Description
Technical Field
The invention relates to the technical field of satellite navigation positioning, in particular to a precise point positioning method and device.
Background
There are two types of methods for performing fast and precise positioning based on GNSS (GPS, BDS, GLONASS, Galileo) and navigation systems in japan, india, or other countries, one being ground-based augmentation technology and RTK technology for performing real-time differentiation based on ground reference stations. The other is a satellite-based augmentation technology, and the mobile terminal receives precise ephemeris and clock error through a satellite communication channel to correct positioning errors. The former ground-based augmentation technology requires the network to transmit the error correction results received and resolved by the ground-based station to the mobile terminal, implementing real-time dynamic differential (RTK technology). The RTK technique usually has a distance within 40-50km and a good accuracy, and as the distance becomes longer, the ionospheric environment and atmospheric conditions of data received by the reference station and the rover station vary greatly, and the correction count calculated by the ground reference station increases in error with respect to the rover station, resulting in a decrease in the positioning accuracy of the rover station. If the mobile terminal is in a non-network area such as a deep mountain old forest, a long sea, a Gobi desert and the like, or in a disaster field such as an earthquake, a landslide, an emergency and the like without a network or with network failure, the existing RTK (real time differential) mobile station cannot receive differential correction data of a foundation station, and is changed into single-machine positioning, the precision of the single-machine positioning is greatly reduced, errors and extreme differences in the positioning are increased, and the reliability of the data is reduced. Another situation is that the mobile terminal is located in a location with a network, but a ground reference station is not built nearby, and if the existing ground reference station is too far away, for example, a border or a remote area is far away from an inland reference station, the positioning accuracy of the RTK is also reduced.
The real-time precise single-point positioning is realized by observing a navigation satellite by using a plurality of ground tracking stations distributed in various regions of the world, calculating a precise satellite orbit and a satellite clock error, and performing positioning calculation by a mobile receiver based on a received broadcast ephemeris, the precise satellite orbit and the satellite clock error, thereby providing reliable positioning precision of a decimeter level or even a centimeter level for users at any position in the world. The real-time precise single-point positioning does not depend on a ground continuous operation reference station (cors station), but needs to utilize a communication satellite to transmit precise ephemeris, clock error and other data in real time. At present, the technology is adopted for strengthening the satellite base at home and abroad. Since the existing satellite-based augmentation requires the renting of satellite communication channels, the comprehensive use cost is very high, and the satellite-based augmentation (WAAS) of the foreign GPS is not popular.
Disclosure of Invention
The embodiment of the invention provides a precise single-point positioning method and device, which can solve the problems in the prior art.
The invention provides a precise single-point positioning method, which comprises the following steps:
the server acquires precise ephemeris and clock error data of the GNSS navigation satellite from the Internet;
and the field positioning equipment receives the precise ephemeris and clock error data of the visible satellite in the region where the field positioning equipment is located, which are sent by the server through the Beidou short message channel, and the original observation data and the broadcast ephemeris sent by the navigation satellite, introduces the original observation data, the precise ephemeris and the clock error data into a positioning calculation program, and calculates to obtain the space position.
Preferably, after the server acquires the precise ephemeris and the clock error data, the server respectively carries out reduction processing on the precise ephemeris and the clock error data according to the characteristics of the precise ephemeris and the clock error data to form an independent data packet of the precise ephemeris and the clock error;
the server splits the independent data packets of the precise ephemeris and the clock error according to the message length limit of the Beidou short messages respectively to obtain 1 or more short messages, and after each group of complete ephemeris and clock error data is split into a plurality of short messages, each short message has a unique label;
and then, the ephemeris and clock error data short messages are respectively sequenced and combined at different sending frequencies to form a Beidou short message broadcasting sequence, and a plurality of pieces of Beidou short message data broadcasted by the server have a redundant structure.
Preferably, after receiving the big dipper short message, the field positioning device unpacks, recombines and restores a plurality of short messages into independent data packets of precise ephemeris and clock error according to the label of the short message, verifies the recombined independent data packets of precise ephemeris and clock error by the field positioning device, and restores the independent data packets of precise ephemeris and clock error into precise ephemeris and clock error data for positioning calculation according to a reverse processing method of data reduction processing after the verification is passed;
and if the number of the independent data packets of the precise ephemeris and the clock error does not pass the verification and/or the data error code does not pass the verification, the outdoor positioning equipment sends a packet loss data label and/or an error code data label request to the server again through a short message channel for reissuing, and the server broadcasts the data which is not successfully received by the outdoor positioning equipment again after receiving the request.
The invention also provides a precise single-point positioning device, which comprises:
the server is used for acquiring precise ephemeris and clock error data of the GNSS navigation satellite from the Internet;
and the field positioning equipment is used for receiving the precise ephemeris and clock error data of the visible satellite in the region where the field positioning equipment is located and the original observation data and the broadcast ephemeris sent by the navigation satellite, which are sent by the server through the Beidou short message channel, importing the original observation data, the precise ephemeris and the clock error data into a positioning calculation program, and calculating to obtain the spatial position.
Preferably, the field positioning device is started in advance at a period of time before positioning is needed, positioning request information is sent to the server when the field positioning device is started, the server receives a request of the field positioning device, precise clock error data and ephemeris data of a needed satellite are selected and organized, and the precise clock error data and the ephemeris data are sent to the field positioning device through the Beidou short message broadcasting device after being subjected to reduction processing.
Preferably, the field locating device comprises a receiving device and a computing device;
the receiving device and the computing device are 2 independent physical units, and the computing device is in communication connection with the receiving device in a wireless or wired mode; or the receiving device and the computing device are integrated into 1 unit;
the computing device has the functions of computing, recording, multi-source information input, conventional display, mixed reality display and information transmission.
The receiving equipment is arranged at the top end of a moving object carrier which needs to be positioned in real time or later, and the maximum zenith space for receiving satellite data is ensured; the receiving device comprises an original observation data receiving module, a Beidou RDSS module, a wireless or wired data transmission module and a power module, wherein the original observation data receiving module and the Beidou RDSS module are respectively connected with an antenna, and the power module supplies power to the original observation data receiving module, the Beidou RDSS module and the data transmission module.
Preferably, the receiving device is attached to a wearable device, the antenna of the receiving device being on top of the wearable device.
Preferably, the receiving device is a moving target body which needs to be positioned in real time or at a later time, such as a vehicle, a ship, an aircraft, and the like, and the receiving device antenna is positioned at the top of a carrier, such as a vehicle, a ship, an aircraft, and the like.
Preferably, the antenna for receiving the original observation data and the antenna connected with the Beidou RDSS module are arranged on the top of head-mounted equipment of field operators or the tops of vehicles and ships, the antenna is kept to have the maximum zenith space, and the receiving equipment and the computing equipment are in a state of continuously starting up to receive and process data;
the surface of the head-mounted equipment is provided with a solar cell panel for converting solar energy into electric energy and storing the electric energy in the power module.
Preferably, the head-mounted device comprises an electronic compass, an inclination angle sensor and a laser range finder;
the zero point of the laser range finder and the space position of the antenna center of the original observation data receiving module have a determined conversion relation;
the distance, the inclination angle data of the laser beam and the azimuth data which are measured by the laser range finder are used for establishing a mapping relation or a coordinate conversion relation between the spatial position of the antenna center of the original observation data receiving module and the ground point to be measured;
the equipment carrier mark points have determined corresponding positions on the ground, and the antenna centers of the top of the vehicle, the ship and the aircraft for receiving the original observation data have determined conversion relations with the equipment carrier mark points.
Preferably, the mobile positioning device and the server end are provided with position comparison modules, and the position comparison modules are used for comparing the dynamic positioning data of the mobile positioning device with preset position data and generating alarm information according to a threshold value.
Preferably, the raw data receiving antenna unit device can be used independently, the raw data receiving antenna unit device is provided with a connecting structure for connecting a centering rod, the centering rod enables a spatial position of an antenna center of the raw observation data receiving module to establish a determined position corresponding relation with a ground point to be measured, the centering rod is a straight rod connected with the inside of the head-mounted device or an arched rod connected with the outside of the head-mounted device, and the centering rod is provided with length scales.
The precise single-point positioning method and the device have the beneficial effects that:
the method and the device provided by the invention do not depend on the existing wifi network, the satellite navigation ground reference station and the communication satellite channel, and transmit the precise ephemeris and clock error to the mobile terminal based on the Beidou short message channel, thereby realizing the rapid and precise single-point positioning. The invention has the advantages of low use cost, independence, safety, controllability and independence on foreign satellites. The wearable product structure with the antenna arranged at the top of the head-mounted device is beneficial to the maximum zenith search space of the navigation satellite, and the continuous receiving of original observation data is ensured, so that the precision of real-time precision positioning is achieved. From the economic cost, the precise point positioning method provided by the invention is more economic than the scheme of carrying out precise point positioning by utilizing a satellite communication channel at present.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a precise point positioning method according to the present invention.
FIG. 2 is a schematic diagram of a precise single-point positioning apparatus.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a precise single-point positioning method, which includes the following steps:
step 1, acquiring precise ephemeris and clock error data of a GNSS navigation satellite from the Internet, and storing the acquired precise ephemeris and clock error data in a local database of a server.
In the embodiment of the invention, after the server acquires the precise ephemeris and clock error data, the precise ephemeris and clock error data are separated and compressed, and after the data are separated and compressed, the server respectively reduces the precise ephemeris and clock error data according to the characteristics of the precise ephemeris and clock error data to form independent data packets of the precise ephemeris and the clock error, and the independent data packets are stored in the local database.
The ephemeris and clock error data may be obtained from data broadcast by an igs (internet GNSS service) or other mechanism free of charge.
And 2, the field positioning equipment sends positioning request information to the server, and the server responds to the positioning request information to split the independent data packets of the precise ephemeris and the clock error according to the message length limit of the Beidou short message respectively to obtain 1 or more short messages with unique labels. And sequencing and combining the short messages according to different sending frequencies to form a Beidou short message broadcasting sequence.
In the embodiment of the invention, the short messages of the precise ephemeris and the clock difference are set with broadcasting periods which are different, wherein the broadcasting period of the short message of the precise ephemeris is long, and the broadcasting period of the short message of the clock difference is short.
And after receiving the positioning request information, the server selects an independent data packet of the precise ephemeris and the clock error required by the field positioning equipment from a local database, and then splits the data of the selected independent data packet of the precise ephemeris and the clock error. Specifically, according to the position data sent by the field positioning equipment, which satellites are in the equipment receiving range (zenith) can be known, and the independent data packets of the precise ephemeris and the clock error required by the field positioning equipment are dynamically adjusted according to the entering and leaving of the visible satellites at the zenith of the position.
Meanwhile, when a Beidou short message broadcasting sequence is formed, data is organized in an inter-group redundancy mode, so that the information quantity of short message broadcasting and the reliability of short message transmission are improved. Specifically, in the Beidou short message broadcasting sequence, the current short message includes the second half of the previous short message and the first half of the next short message. In the last, current and next short messages, if the current transmission is lost or has errors and only the last and next short messages are correctly received, the complete Beidou short message broadcasting sequence can still be recovered by using the data organization mode. Under the mode of continuously broadcasting a plurality of short messages, as long as 2 continuous short messages are not transmitted and lost or errors occur, the resolving processing of the field positioning equipment is not influenced, the frequency of requesting for rebroadcasting is reduced, the reliability is improved, the link of applying for retransmission to the broadcasting equipment is avoided, the consumption of a mobile terminal power supply is reduced, and the working time of the power supply is prolonged.
And step 3, the broadcasting equipment adopts a multi-Beidou-card carousel mode to transmit the Beidou short message broadcasting sequence to field positioning equipment.
In order to improve the positioning convergence speed of the field positioning equipment, the field positioning equipment is started in advance in a period of time before positioning is needed, positioning request information is sent to a server when the field positioning equipment is started, and a Beidou short message broadcasting sequence sent by broadcasting equipment is received.
And 4, after receiving the Beidou short message broadcasting sequence, the field positioning equipment unpacks, recombines and restores a plurality of short messages into independent data packets of the precise ephemeris and the clock error according to the labels of the short messages, verifies the recombined independent data packets of the precise ephemeris and the clock error, and restores the independent data packets of the precise ephemeris and the clock error into the precise ephemeris and the clock error data for positioning calculation according to a reverse processing method of data reduction processing by the field positioning equipment after the verification is passed.
In the embodiment of the invention, the check of the field positioning equipment on the recombined precise ephemeris and clock error independent data packets comprises the check of the number of short messages and the check of data error codes, if the number of the precise ephemeris and clock error independent data packets does not pass the check and/or the check of the data error codes does not pass, for example, the check result indicates that the received precise ephemeris and clock error independent data packets are lost or wrong, the field positioning equipment sends a lost packet data label and/or an error code data label and a reissue request to the server again through a short message channel, and the server sends data which is not successfully received by the field positioning equipment again after receiving the request.
And 5, the field positioning equipment receives the original observation data and the broadcast ephemeris transmitted by the navigation satellite, introduces the original observation data, the precise ephemeris and the clock error data into a positioning calculation program, and calculates to obtain the space position of the field positioning equipment.
In the embodiment of the invention, based on the same purpose of receiving the Beidou short message broadcasting sequence, the field positioning equipment is started in advance for a period of time before positioning is needed, and the original observation data is received after the field positioning equipment is started. And the positioning calculation program adopts the precise ephemeris and clock error data to carry out error correction calculation on the original observation data to obtain the space position of the field positioning equipment.
Based on the same inventive concept, the invention also provides a precise single-point positioning device, and the implementation of the device can refer to the implementation of the method, and repeated details are not repeated. As shown in fig. 2, the apparatus includes:
and the server is used for acquiring the precise ephemeris and clock error data of the GNSS navigation satellite from the Internet and storing the acquired precise ephemeris and clock error data in a local database.
And the field positioning equipment is used for sending positioning request information to the server, the server responds to the positioning request information to split the precision ephemeris and clock error data to obtain 1 or more short messages, and the short messages are sequenced and combined to form a Beidou short message broadcasting sequence.
And the broadcasting equipment is used for sending the Beidou short message broadcasting sequence to field positioning equipment.
And after receiving the Beidou short message broadcasting sequence, the field positioning equipment unpacks and recombines a plurality of short messages into precise ephemeris and clock error data. Meanwhile, the field positioning equipment receives original observation data sent by a navigation satellite, the original observation data, the precise ephemeris and the clock error data are imported into a positioning calculation program, and the spatial position of the field positioning equipment is calculated.
In an embodiment of the invention, the field positioning device comprises a receiving device and a computing device, wherein the receiving device and the computing device are 2 independent physical units, and the computing device is in communication connection with the receiving device in a wireless or wired mode; or the receiving device and the computing device are integrated into 1 unit; the receiving device is placed on top of the device carrier; the computing device has the functions of computing, recording, multi-source information input, conventional display, mixed reality display and information transmission. The receiving equipment used by field workers is wearable equipment and comprises an original observation data receiving module, a Beidou RDSS module, a wireless or wired data transmission module and a wireless or wired power transmission module, wherein the original observation data receiving module and the Beidou RDSS module are respectively connected with an antenna, and the power supply module supplies power to the original observation data receiving module, the Beidou RDSS module and the data transmission module.
In a preferred embodiment, the antenna of the raw observation data receiving module and the antenna of the Beidou RDSS module are both arranged on the top of head-mounted equipment of field workers or a vehicle or a ship, the antenna is kept to have the maximum zenith space, and the receiving equipment and the computing equipment are in a state of being continuously started to receive and process data. The position of the head-mounted device is not affected by the human body on receiving satellite signals.
The surface of the head-mounted equipment is also provided with a solar cell panel for converting solar energy into electric energy and storing the electric energy in a power supply. The head-mounted equipment comprises an electronic compass, an inclination angle sensor and a laser range finder; the zero point of the laser range finder and the space position of the antenna center of the original observation data receiving module have a determined conversion relation; the distance, the inclination angle data of the laser beam and the azimuth data which are measured by the laser range finder are used for establishing a mapping relation or a coordinate conversion relation between the spatial position of the antenna center of the original observation data receiving module and the ground point to be measured; the equipment carrier mark point has a determined corresponding position on the ground, and the antenna center for receiving the original observation data at the top of the vehicle or the ship has a determined conversion relation with the equipment carrier mark point.
The computing device is a mobile terminal such as a mobile phone or a pad, and performs data communication with the receiving device in a wireless communication manner such as bluetooth or WiFi, or connects the computing device with the receiving device through a communication cable to perform wired communication.
The precise single-point positioning equipment is internally provided with a position dynamic comparison module which is used for comparing dynamic positioning data with preset position data and generating alarm information according to a threshold value.
The head-mounted device is provided with a display screen, preferably a transparent display screen, and all sensor data and positioning data and related navigation, augmented reality and other graphic and image information on the head-mounted device can be displayed on the display screen and mutually transmitted with the computing device in a wireless or wired mode.
The head-mounted equipment can transmit environment information, body information and the like of field workers to the server, and the information is forwarded to a specified receiving device by the server.
The field positioning equipment comprises an electronic compass and a three-dimensional tilt angle sensor.
The original data receiving antenna unit equipment is provided with a connecting structure for connecting a centering rod, the centering rod enables the space position of the antenna center of the original observation data receiving module to establish a determined position corresponding relation with a ground control point, the centering rod can be a straight rod or an arched rod, and the centering rod is provided with length scales.
The method comprises the steps of scribing lines on the edge of the head-mounted device by taking the center of an antenna for receiving original observation data as the center to form a plurality of radiation lines, scribing 2 or more than 2 radiation lines by taking a ground point to be measured as the center, and establishing a position corresponding relation determined between the space position of the center of the antenna of an original observation data receiving module and a ground control point through the superposition of the radiation lines of the head-mounted device and the radiation lines of the point to be measured.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A precise single-point positioning method is characterized by comprising the following steps:
the server acquires precise ephemeris and clock error data of the GNSS navigation satellite from the Internet;
and the field positioning equipment receives the precise ephemeris and clock error data of the visible satellite in the region where the field positioning equipment is located, which are sent by the server through the Beidou short message channel, and the original observation data and the broadcast ephemeris sent by the navigation satellite, introduces the original observation data, the precise ephemeris and the clock error data into a positioning calculation program, and calculates to obtain the space position.
2. The precise single-point positioning method according to claim 1, wherein after the server acquires the ephemeris and the clock error data, the server respectively carries out reduction processing on the ephemeris and the clock error data according to the characteristics of the ephemeris and the clock error data to form independent data packets of the ephemeris and the clock error;
the server splits the independent data packets of the precise ephemeris and the clock error according to the message length limit of the Beidou short messages respectively to obtain 1 or more short messages, and after each group of complete ephemeris and clock error data is split into a plurality of short messages, each short message has a unique label;
and then, the ephemeris and clock error data short messages are respectively sequenced and combined at different sending frequencies to form a Beidou short message broadcasting sequence, and a plurality of pieces of Beidou short message data broadcasted by the server have a redundant structure.
3. The precise single-point positioning method according to claim 2, wherein after receiving the big dipper short message, the field positioning device unpacks, recombines and restores a plurality of short messages into independent data packets of precise ephemeris and clock error according to the label of the short message, and verifies the recombined independent data packets of precise ephemeris and clock error, the verification of the field positioning device on the recombined independent data packets of precise ephemeris and clock error comprises the detection of short message number and the detection of data error, and after the verification is passed, the field positioning device restores the independent data packets of precise ephemeris and clock error into the precise ephemeris and clock error data for positioning calculation according to the inverse processing method of data reduction processing;
if the number of the independent data packets of the precise ephemeris and the clock error does not pass the verification and/or the data error code does not pass the verification, the outdoor positioning equipment sends a packet loss data label and/or an error code data label and a complementary sending request to the server again through a short message channel, and the server broadcasts the data which is not successfully received by the outdoor positioning equipment again after receiving the request.
4. A precision single-point positioning apparatus for implementing the positioning method of any one of claims 1 to 3, comprising:
the server is used for acquiring precise ephemeris and clock error data of the GNSS navigation satellite from the Internet;
and the field positioning equipment is used for receiving the precise ephemeris and clock error data of the visible satellite in the region where the field positioning equipment is located and the original observation data and the broadcast ephemeris sent by the navigation satellite, which are sent by the server through the Beidou short message channel, importing the original observation data, the precise ephemeris and the clock error data into a positioning calculation program, and calculating to obtain the spatial position.
5. The precision single point positioning apparatus of claim 4, wherein the field positioning device comprises a receiving device and a computing device;
the receiving device and the computing device are 2 independent physical units, and the computing device is in communication connection with the receiving device in a wireless or wired mode; or the receiving device and the computing device are integrated into 1 unit; the field positioning equipment is started in advance at a period of time before positioning is needed, positioning request information is sent to the server when the field positioning equipment is started, and a Beidou short message broadcasting sequence sent by broadcasting equipment is received;
the receiving device is placed on top of the device carrier;
the computing device has the functions of computing, recording, multi-source information input, conventional display, mixed reality display and information transmission.
6. The precise single-point positioning device according to claim 5, wherein the receiving device is a wearable device and comprises a raw observation data receiving module, a Beidou RDSS module, a wireless or wired data transmission module and a power supply module, wherein the raw observation data receiving module and the Beidou RDSS module are respectively connected with an antenna, and the power supply module supplies power to the raw observation data receiving module, the Beidou RDSS module and the data transmission module.
7. The precise single-point positioning device according to claim 6, wherein the antenna for receiving the raw observation data and the antenna connected with the Beidou RDSS module are installed on the top of the head-mounted equipment of field workers or the tops of vehicles and ships, the antenna is kept to have the maximum zenith space, and the receiving equipment and the computing equipment are in a state of being continuously started to receive and process data;
the surface of the head-mounted equipment is provided with a solar cell panel for converting solar energy into electric energy and storing the electric energy in the power module.
8. The precise single point location apparatus of claim 7, wherein the head-mounted device includes an electronic compass, a tilt sensor, and a laser rangefinder thereon;
the zero point of the laser range finder and the space position of the antenna center of the original observation data receiving module have a determined conversion relation;
the distance, the inclination angle data of the laser beam and the azimuth data which are measured by the laser range finder are used for establishing a mapping relation or a coordinate conversion relation between the spatial position of the antenna center of the original observation data receiving module and the ground point to be measured;
the equipment carrier mark point has a determined corresponding position on the ground, and the antenna center for receiving the original observation data at the top of the vehicle or the ship has a determined conversion relation with the equipment carrier mark point.
9. The precise single point positioning device of claim 7, further comprising a dynamic position comparison module, wherein the dynamic position comparison module is configured to compare the dynamic positioning data with preset position data and generate alarm information according to a threshold.
10. The precise single-point positioning device of claim 7, wherein the original data receiving antenna unit equipment is provided with a connecting structure for connecting a centering rod, the centering rod enables a spatial position of an antenna center of the original observation data receiving module to establish a determined position corresponding relation with a ground point to be measured, the centering rod is a straight rod or a slave arched rod, and the centering rod is provided with length scales.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112964223A (en) * | 2021-01-25 | 2021-06-15 | 中铁第一勘察设计院集团有限公司 | Control measurement method based on railway Beidou/GNSS continuous operation reference station |
| CN113031039A (en) * | 2021-03-08 | 2021-06-25 | 北京华宸万泰科技有限公司 | Intelligent high-precision position service method under non-network condition |
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2020
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112964223A (en) * | 2021-01-25 | 2021-06-15 | 中铁第一勘察设计院集团有限公司 | Control measurement method based on railway Beidou/GNSS continuous operation reference station |
| CN113031039A (en) * | 2021-03-08 | 2021-06-25 | 北京华宸万泰科技有限公司 | Intelligent high-precision position service method under non-network condition |
| CN113031039B (en) * | 2021-03-08 | 2023-12-22 | 北京华宸万泰科技有限公司 | Intelligent high-precision location service method under non-network condition |
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