CN112817025B - Positioning method, positioning device, positioning equipment and computer readable storage medium - Google Patents
Positioning method, positioning device, positioning equipment and computer readable storage medium Download PDFInfo
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- CN112817025B CN112817025B CN202011543454.5A CN202011543454A CN112817025B CN 112817025 B CN112817025 B CN 112817025B CN 202011543454 A CN202011543454 A CN 202011543454A CN 112817025 B CN112817025 B CN 112817025B
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The application discloses a positioning method, a positioning device, positioning equipment and a computer readable storage medium, wherein the positioning method comprises the following steps: step S1, judging whether the to-be-positioned point is an accessible position point of the positioning vehicle, if so, executing step S2, and if not, executing step S3; s2, obtaining a positioning result of the to-be-positioned point according to first positioning data of the positioning vehicle on the to-be-positioned point; and step S3, obtaining a positioning result of the to-be-positioned point according to second positioning data and distance data, wherein the second positioning data are positioning data of the positioning vehicle on a first position point, the distance data are distance data between the to-be-positioned point and the first position point, and the first position point is an reachable position point of the positioning vehicle. The method solves the technical problems that the prior positioning method needs to measure and position the measuring equipment to reach the measuring point position and the operation mode is inflexible.
Description
Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a positioning method, apparatus, device, and computer readable storage medium.
Background
In GPS measurement, such as static, quick static and dynamic measurement, the accuracy of centimeter level can be obtained by post-resolving, and real-time differential positioning is a measurement method capable of obtaining the accuracy of centimeter level in real time in the field, so that the field operation efficiency is greatly improved. For the existing positioning method, the measuring equipment needs to reach the measuring point position to perform measurement positioning, and the operation mode is inflexible.
Disclosure of Invention
The application provides a positioning method, a positioning device, positioning equipment and a computer readable storage medium, which solve the technical problems that the prior positioning method needs to measure and position when measuring equipment reaches a measuring point position, and the operation mode is inflexible.
In view of this, a first aspect of the present application provides a positioning method, including:
step S1, judging whether the to-be-positioned point is an accessible position point of the positioning vehicle, if so, executing step S2, and if not, executing step S3;
s2, obtaining a positioning result of the to-be-positioned point according to first positioning data of the positioning vehicle on the to-be-positioned point;
and S3, obtaining a positioning result of the to-be-positioned point according to second positioning data and distance data, wherein the second positioning data are positioning data of the positioning vehicle on a first position point, the distance data are distance data between the to-be-positioned point and the first position point, and the first position point is an reachable position point of the positioning vehicle.
Optionally, the first positioning data includes: attitude information of the inertial navigation unit and/or positioning data of the Beidou unit.
Optionally, step S2 specifically includes:
calculating a first coordinate of the to-be-positioned point under an inertial navigation unit vehicle body coordinate system;
calculating the geodetic coordinates of the to-be-positioned point;
and correcting the first coordinate to a second coordinate under a projection coordinate system according to the attitude information and the geodetic coordinate of the positioning vehicle to obtain a positioning result of the to-be-positioned point.
Optionally, the distance data includes: and the interval angle is an angle measured by the total station positioned on the first position point.
Optionally, the distance data includes: the distance, the relative azimuth and the attitude information, wherein the relative azimuth is an angle measured by the total station positioned on the first position point, and the attitude information is the attitude information of the inertial navigation unit positioned on the first position point.
Optionally, according to the second positioning data and the distance data, a positioning result of the to-be-positioned point is obtained, which specifically includes:
calculating a third coordinate of the to-be-positioned point under an inertial navigation unit vehicle body coordinate system;
correcting the vector of the third coordinate to a vector under a projection coordinate system according to the gesture information;
and obtaining a positioning result of the to-be-measured point according to the inertial navigation center coordinates output by the inertial navigation unit and the corrected vector.
Optionally, the method further comprises:
and responding to the data editing request, and performing data editing operation on the positioning result.
Optionally, the data editing operation includes at least one of:
add, delete, modify, format, and output.
A second aspect of the present application provides a positioning device, comprising:
the judging unit is used for judging whether the to-be-positioned point is an accessible position point of the positioning vehicle, if so, triggering the first positioning unit, and if not, triggering the second positioning unit;
the first positioning unit is used for obtaining a positioning result of the to-be-positioned point according to first positioning data of the positioning vehicle on the to-be-positioned point;
the second positioning unit is used for obtaining a positioning result of the to-be-positioned point according to second positioning data and distance data, wherein the second positioning data are positioning data of the positioning vehicle on a first position point, the distance data are distance data between the to-be-positioned point and the first position point, and the first position point is an reachable position point of the positioning vehicle.
A third aspect of the present application provides a positioning device comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the positioning method according to the first aspect according to instructions in the program code.
A fourth aspect of the present application provides a computer readable storage medium for storing program code for performing the positioning method of the first aspect.
From the above technical scheme, the application has the following advantages:
the application provides a positioning method, which comprises the following steps: step S1, judging whether the to-be-positioned point is an accessible position point of the positioning vehicle, if so, executing step S2, and if not, executing step S3; s2, obtaining a positioning result of the to-be-positioned point according to first positioning data of the positioning vehicle on the to-be-positioned point; and step S3, obtaining a positioning result of the to-be-positioned point according to second positioning data and distance data, wherein the second positioning data are positioning data of the positioning vehicle on a first position point, the distance data are distance data between the to-be-positioned point and the first position point, and the first position point is an reachable position point of the positioning vehicle. In the method, the reachable to-be-positioned point and the unreachable to-be-positioned point can be measured, and compared with the existing mode that measurement equipment can be measured and positioned only when reaching the measuring point, the method is flexible in operation mode, and is not only applicable to the reachable to-be-positioned point, but also applicable to the unreachable to-be-positioned point, so that the technical problems that the existing positioning method needs to be measured and positioned when the measuring equipment reaches the measuring point position and is inflexible in operation mode are solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a flowchart of a first embodiment of a positioning method according to an embodiment of the present application;
fig. 2 is a flow chart of a second embodiment of a positioning method in the embodiments of the present application;
fig. 3 is a schematic structural diagram of an embodiment of a positioning device according to an embodiment of the present application.
Detailed Description
The embodiment of the application provides a positioning method, a positioning device, positioning equipment and a computer readable storage medium, which solve the technical problems that the prior positioning method needs to measure and position when measuring equipment reaches a measuring point position and the operation mode is inflexible.
In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Referring to fig. 1, a flowchart of a first embodiment of a positioning method in an embodiment of the present application is shown.
The positioning method in the embodiment comprises the following steps:
step 101, judging whether the to-be-positioned point is an accessible position point of the positioning vehicle, if so, executing step 102, and if not, executing step 103.
It should be noted that, whether the to-be-positioned point is an reachable position point is determined according to the geographical environment where the to-be-positioned point is located, if the to-be-positioned point is located in water or on a steep mountain, the to-be-positioned point is an unreachable position point, otherwise, if the to-be-positioned point is located on a flat road or on a hillside, the to-be-positioned point is an reachable position point. It should be understood that the above-mentioned determination of whether the to-be-positioned point is the reachable position point in the present embodiment is merely an illustrative example, and those skilled in the art may also set other ways according to the above description, which is not limited and repeated specifically.
Step 102, obtaining a positioning result of the to-be-positioned point according to first positioning data of the positioning vehicle on the to-be-positioned point.
When the to-be-positioned point is an reachable position point, the positioning vehicle can reach the to-be-positioned point, and after the positioning vehicle is driven to the to-be-positioned point, the to-be-positioned point can be positioned according to the positioning data of the positioning vehicle at the to-be-positioned point, and a positioning result of the to-be-positioned point is obtained, so that the reachable to-be-positioned point is positioned.
And 103, obtaining a positioning result of the to-be-positioned point according to second positioning data and distance data, wherein the second positioning data are positioning data of the positioning vehicle on a first position point, the distance data are distance data between the to-be-positioned point and the first position point, and the first position point is an reachable position point of the positioning vehicle.
When the to-be-positioned point is not an reachable position point, namely the to-be-positioned point is an unreachable position point, the positioning vehicle cannot reach the to-be-positioned point, so that a first position point is determined, the first position point is the reachable position point of the positioning vehicle, and a positioning result of the to-be-positioned point is obtained through second positioning data and distance data measured at the first position point, so that the location of the unreachable to-be-positioned point is realized.
In this embodiment, the reachable to-be-positioned point and the unreachable to-be-positioned point can be measured, and compared with the existing method that the measurement equipment needs to reach the measuring point to perform measurement positioning, the operation mode is flexible, and the method is not only applicable to the reachable to-be-positioned point, but also applicable to the unreachable to-be-positioned point, thereby solving the technical problems that the existing positioning method needs to reach the measuring point to perform measurement positioning and the operation mode is inflexible.
The above is an embodiment one of a positioning method provided in the embodiments of the present application, and the following is an embodiment two of a positioning method provided in the embodiments of the present application.
Referring to fig. 2, a flow chart of a second embodiment of a positioning method in the embodiments of the present application is shown.
The positioning method in the embodiment comprises the following steps:
step 201, determining whether the to-be-positioned point is an accessible position point of the positioning vehicle, if so, executing step 202, and if not, executing step 203.
It should be noted that, the description of step 201 in this embodiment is the same as the description of step 101 in the first embodiment, and specific reference may be made to the description of step 101, which is not repeated here.
Step 202, obtaining a positioning result of the to-be-positioned point according to first positioning data of the positioning vehicle on the to-be-positioned point.
In this embodiment, the first positioning data includes: attitude information of the inertial navigation unit and/or positioning data of the Beidou unit.
When the first positioning data is: when the attitude information of the inertial navigation unit and/or the positioning data of the Beidou unit are/is obtained, the positioning result of the to-be-positioned point is obtained according to the first positioning data of the positioning vehicle on the to-be-positioned point, and the specific calculation mode comprises the following steps:
calculating a first coordinate of a to-be-positioned point under an inertial navigation unit vehicle body coordinate system; it can be appreciated that the positioning data of the beidou unit in this embodiment includes: a first coordinate and a geodetic coordinate;
calculating the geodetic coordinates of the to-be-positioned point;
and correcting the first coordinate to a second coordinate under the projection coordinate system according to the attitude information and the geodetic coordinate to obtain a positioning result of the to-be-positioned point.
Wherein, the gesture information of locating car includes: heading angle, pitch angle, roll angle.
And 203, obtaining a positioning result of the to-be-positioned point according to second positioning data and distance data, wherein the second positioning data is positioning data of the positioning vehicle on a first position point, the distance data is distance data between the to-be-positioned point and the first position point, and the first position point is an reachable position point of the positioning vehicle.
In this embodiment, the distance data includes: the distance, the relative azimuth and the attitude information are spaced, the relative azimuth is an angle measured by the total station positioned at the first position point, and the attitude information is the attitude information of the inertial navigation unit positioned at the first position point.
In this embodiment, the obtaining a positioning result of the to-be-positioned point according to the second positioning data and the distance data specifically includes:
calculating a third coordinate of the to-be-positioned point under the inertial navigation unit vehicle body coordinate system;
correcting the vector of the third coordinate to a vector under a projection coordinate system according to the gesture information;
and obtaining a positioning result of the to-be-measured point according to the inertial navigation center coordinates output by the inertial navigation unit and the corrected vector.
Wherein, the gesture information of locating car includes: heading angle, pitch angle, roll angle. It will be appreciated that the third coordinate is calculated based on the second positioning data, the separation distance and the relative orientation, and this part is a conventional coordinate conversion calculation, which will not be described in detail herein.
And 204, responding to the data editing request, and performing data editing operation on the positioning result.
After the positioning result of the to-be-positioned point is obtained, the measuring personnel can edit the positioning result. Specific editing operations include at least one of:
addition, deletion, modification, formatting, and output include:
step 205, judging whether the data transmission of the positioning vehicle is interrupted, if so, outputting an alarm signal.
It can be understood that in this embodiment, the first positioning data, the second positioning data and the distance data are further monitored for data anomalies, that is, before the positioning result is calculated according to the above data, whether the first positioning data, the second positioning data and the distance data are located in the respective corresponding numerical ranges is determined, if yes, the data are indicated to be normal, if not, the data are indicated to be anomalous, and anomaly alarm is performed. And through monitoring of data abnormality, the calculation accuracy of the positioning result is ensured.
It may be understood that, in this embodiment, the positioning vehicle is provided with an inertial navigation unit module, a beidou module, an RTK module, a total station module and a range finder module, where the inertial navigation unit module is configured to provide gesture information and position information of a to-be-positioned point, the RTK module is configured to provide positioning information of an antenna point, the total station module is configured to provide an interval angle between the to-be-positioned point and a first position point, and the range finder module is configured to provide an interval distance between the to-be-positioned point and the first position point.
In this embodiment, the reachable to-be-positioned point and the unreachable to-be-positioned point can be measured, and compared with the existing method that the measurement equipment needs to reach the measuring point to perform measurement positioning, the operation mode is flexible, and the method is not only applicable to the reachable to-be-positioned point, but also applicable to the unreachable to-be-positioned point, thereby solving the technical problems that the existing positioning method needs to reach the measuring point to perform measurement positioning and the operation mode is inflexible.
The above is a second embodiment of a positioning method provided in the embodiments of the present application, and the following is an application example of the positioning method provided in the embodiments of the present application.
The detailed operation flow of the positioning method in the application example is as follows:
1) And the user designs the coordinates of each offset point and other engineering parameters of the inertial navigation unit, the RTK antenna and the like according to the field environment. The offset point coordinates comprise RTK offset, range finder offset, total station offset, inertial navigation unit measuring line points and the like; the engineering parameters comprise ellipsoid parameters, projection parameters, central meridian, seven parameters, elevation fitting parameters, four parameters, correction parameters, vertical adjustment parameters, engineering basic information, equipment selection information (equipment model, connection parameters and the like) and the like of a coordinate system.
2) The user selects whether the graphic file data needs to be imported according to the needs. The graphic files comprise graphic files such as CAD DXF (DXF), DWG (DWG) and the like.
3) The user connects each hardware device to ensure the normal operation of the device and perform the initialization operation of the device. Among other things, the initialization operations include self-calibration, parameter binding, realignment, initialization of the RTK, and the like.
4) And for the reachable to-be-positioned point, the user directly drives the geodetic vehicle to the to-be-positioned point to perform measurement calculation, and a positioning result is obtained. The calculation in this step includes projection calculation, posture correction, coordinate conversion calculation, and the like.
5) For the inaccessible to-be-positioned point, a user searches for a proper first position point for parking for the geodetic vehicle, and then calculates to obtain a positioning result of the to-be-positioned point through the angle distance measured by the total station and the range finder and the posture information output by the inertial navigation unit. The calculation in this step includes projection calculation, posture correction, coordinate conversion calculation, and the like.
6) The user further screens the measured positioning result to form a final positioning result, wherein the processing in the step comprises the operations of adding, deleting, inquiring, modifying, formatting and outputting.
The above is an application example of a positioning method provided in the embodiments of the present application, and the following is an embodiment of a positioning device provided in the embodiments of the present application.
Referring to fig. 3, a schematic structural diagram of an embodiment of a positioning device in an embodiment of the present application is shown.
A positioning device in this embodiment includes:
a judging unit 301, configured to judge whether the to-be-positioned point is an accessible position point of the positioning vehicle, if yes, trigger the first positioning unit 302, and if no, trigger the second positioning unit 303;
the first positioning unit 302 is configured to obtain a positioning result of the to-be-positioned point according to first positioning data of the positioning vehicle on the to-be-positioned point;
the second positioning unit 303 is configured to obtain a positioning result of the to-be-positioned point according to second positioning data and distance data, where the second positioning data is positioning data of the positioning vehicle on the first position point, the distance data is distance data between the to-be-positioned point and the first position point, and the first position point is an reachable position point of the positioning vehicle.
In this embodiment, the reachable to-be-positioned point and the unreachable to-be-positioned point can be measured, and compared with the existing method that the measurement equipment needs to reach the measuring point to perform measurement positioning, the operation mode is flexible, and the method is not only applicable to the reachable to-be-positioned point, but also applicable to the unreachable to-be-positioned point, thereby solving the technical problems that the existing positioning method needs to reach the measuring point to perform measurement positioning and the operation mode is inflexible.
The embodiment of the application also provides an embodiment of the positioning device, wherein the device comprises a processor and a memory; the memory is used for storing the program codes and transmitting the program codes to the processor; the processor is configured to execute the positioning method according to the first or second embodiments according to the instructions in the program code.
The present application further provides an embodiment of a computer readable storage medium, where the computer readable storage medium is used to store program code, and the program code is used to execute the positioning method of the first embodiment or the second embodiment.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, systems and units may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein.
In several embodiments provided herein, it should be understood that the disclosed system or unit may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, e.g., the division of the units is merely a logical functional division, and there may be additional divisions when implemented, e.g., multiple units or components may be combined or integrated into another grid network to be installed, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected as needed to achieve the objectives of the embodiment.
In addition, the functional units in the embodiments of the present application may be integrated in one processing unit, or may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The above embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (8)
1. A positioning method, comprising:
step S1, judging whether the to-be-positioned point is an accessible position point of the positioning vehicle, if so, executing step S2, and if not, executing step S3;
s2, obtaining a positioning result of the to-be-positioned point according to first positioning data of the positioning vehicle on the to-be-positioned point;
s3, obtaining a positioning result of the to-be-positioned point according to second positioning data and distance data, wherein the second positioning data are positioning data of the positioning vehicle on a first position point, the distance data are distance data between the to-be-positioned point and the first position point, and the first position point is an reachable position point of the positioning vehicle;
the distance data includes: the distance, the relative azimuth and the attitude information, wherein the relative azimuth is an angle measured by a total station positioned on the first position point, and the attitude information is the attitude information of an inertial navigation unit positioned on the first position point;
obtaining a positioning result of the to-be-positioned point according to the second positioning data and the distance data, wherein the positioning result specifically comprises the following steps:
calculating a third coordinate of the to-be-positioned point under an inertial navigation unit vehicle body coordinate system;
correcting the vector of the third coordinate to a vector under a projection coordinate system according to the gesture information;
and obtaining a positioning result of the to-be-measured point according to the inertial navigation center coordinates output by the inertial navigation unit and the corrected vector.
2. The positioning method according to claim 1, wherein the first positioning data includes: attitude information of the inertial navigation unit and/or positioning data of the Beidou unit.
3. The positioning method according to claim 2, wherein step S2 specifically includes:
calculating a first coordinate of the to-be-positioned point under an inertial navigation unit vehicle body coordinate system;
calculating the geodetic coordinates of the to-be-positioned point;
and correcting the first coordinate to a second coordinate under a projection coordinate system according to the attitude information and the geodetic coordinate to obtain a positioning result of the to-be-positioned point.
4. The positioning method as set forth in claim 1, further comprising:
and responding to the data editing request, and performing data editing operation on the positioning result.
5. The positioning method of claim 4, wherein the data editing operation comprises at least one of:
add, delete, modify, format, and output.
6. A positioning device, comprising:
the judging unit is used for judging whether the to-be-positioned point is an accessible position point of the positioning vehicle, if so, triggering the first positioning unit, and if not, triggering the second positioning unit;
the first positioning unit is used for obtaining a positioning result of the to-be-positioned point according to first positioning data of the positioning vehicle on the to-be-positioned point;
the second positioning unit is used for obtaining a positioning result of the to-be-positioned point according to second positioning data and distance data, wherein the second positioning data are positioning data of the positioning vehicle on a first position point, the distance data are distance data between the to-be-positioned point and the first position point, and the first position point is an reachable position point of the positioning vehicle;
the distance data includes: the distance, the relative azimuth and the attitude information, wherein the relative azimuth is an angle measured by a total station positioned on the first position point, and the attitude information is the attitude information of an inertial navigation unit positioned on the first position point;
the second positioning unit is specifically configured to:
calculating a third coordinate of the to-be-positioned point under an inertial navigation unit vehicle body coordinate system;
correcting the vector of the third coordinate to a vector under a projection coordinate system according to the gesture information;
and obtaining a positioning result of the to-be-measured point according to the inertial navigation center coordinates output by the inertial navigation unit and the corrected vector.
7. A positioning device, the device comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to perform the positioning method of any one of claims 1 to 5 according to instructions in the program code.
8. A computer readable storage medium, characterized in that the computer readable storage medium is for storing a program code for performing the positioning method of any one of claims 1 to 5.
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| CN202011543454.5A CN112817025B (en) | 2020-12-23 | 2020-12-23 | Positioning method, positioning device, positioning equipment and computer readable storage medium |
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| CN101169476A (en) * | 2007-11-20 | 2008-04-30 | 哈尔滨师范大学 | Forest canopy hilly land multi-stage accuracy automatic positioning technology |
| CN108710140B (en) * | 2018-04-19 | 2022-07-05 | 广州南方卫星导航仪器有限公司 | Position coordinate correction method and system of fixed reference station and improved RTK rapid measurement method and system |
| CN110941001B (en) * | 2019-12-23 | 2021-02-26 | 北京讯腾智慧科技股份有限公司 | Positioning data acquisition method, system, terminal and storage medium in complex environment |
| CN111190204B (en) * | 2020-01-08 | 2022-06-21 | 中国地质大学（武汉） | Real-time positioning device and method based on Beidou double antennas and laser range finder |
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