CN112964252B - Positioning method and system based on inertial measurement unit and RTK receiver - Google Patents
Positioning method and system based on inertial measurement unit and RTK receiver Download PDFInfo
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- CN112964252B CN112964252B CN202110331594.4A CN202110331594A CN112964252B CN 112964252 B CN112964252 B CN 112964252B CN 202110331594 A CN202110331594 A CN 202110331594A CN 112964252 B CN112964252 B CN 112964252B
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- rtk receiver
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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
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- 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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- 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
Abstract
The invention discloses a positioning method and a system based on an inertial measurement unit and an RTK receiver, wherein the measurement system comprises a laser range finder, an RTK receiver, a supporting device and a processing module, the supporting device is used for supporting the RTK receiver, the processing module is used for acquiring the relative position relation between the laser range finder and the RTK receiver, the RTK receiver comprises an inertial measurement unit, and the positioning method comprises the following steps: the RTK receiver acquires positioning information of the current position, wherein the positioning information comprises positioning coordinates and gesture information of the RTK receiver acquired by the inertial measurement unit; acquiring the length distance from the laser range finder to the position to be measured through the laser range finder; and acquiring the position coordinates of the position to be detected according to the relative position relation, the positioning information and the length distance. The invention can realize remote measurement, is convenient for users to use to reduce labor intensity by improving working efficiency, and avoids measurement errors caused by manual measurement of the handrail, thereby improving measurement accuracy.
Description
Technical Field
The invention relates to a positioning method and system based on an inertial measurement unit and an RTK receiver.
Background
RTK (Real-time dynamic) carrier phase difference technology is a difference method for processing the observed quantity of carrier phases of two measuring stations in Real time, and the carrier phases acquired by a reference station are sent to a user receiver to calculate the difference and calculate the coordinates. The method is a new common satellite positioning measurement method, the previous static, quick static and dynamic measurement needs to be solved afterwards to obtain centimeter-level precision, the RTK is a measurement method capable of obtaining centimeter-level positioning precision in real time in the field, the method adopts a carrier phase dynamic real-time differential method, the method is a great milestone for GPS application, the appearance of the method is engineering lofting and landform mapping, and various control measurement brings new measurement principles and methods, so that the operation efficiency is greatly improved.
Because of the limitation of the technical principle and instrument construction of GNSS (Global navigation satellite System) measurement, the current GNSS receiver can only directly obtain the coordinates at the phase center of the receiver antenna, and engineering actually needs to measure the coordinates at the pole tip, so that the measured coordinates need to be converted into the coordinates of the point to be measured in a form of centering and accurately measuring the pole height.
The existing RTK receiver has the defects of single function, complex operation and inconvenient use.
Disclosure of Invention
The invention aims to overcome the defects of single function, complex operation and inconvenient use of an RTK receiver in the prior art, and provides a positioning method, a positioning system and an RTK receiver based on an inertial measurement unit, which can realize remote measurement, bring convenience for a user to use lifting operation efficiency, reduce labor intensity, and stop measurement errors caused by manual measurement of a handrail, thereby improving measurement accuracy.
The invention solves the technical problems by the following technical scheme:
a positioning method based on an inertial measurement unit for a measurement system, the measurement system comprising a laser rangefinder, an RTK receiver, a supporting device and a processing module, the supporting device being configured to support the RTK receiver, the processing module being configured to obtain a relative positional relationship between the laser rangefinder and the RTK receiver, the RTK receiver comprising an inertial measurement unit, the positioning method comprising:
the RTK receiver acquires positioning information of the current position, wherein the positioning information comprises positioning coordinates and attitude information of the RTK receiver, which is acquired by the inertial measurement unit;
acquiring the length distance from the laser range finder to the position to be measured through the laser range finder;
and the processing module acquires the position coordinates of the position to be detected according to the relative position relation, the positioning information and the length distance.
Preferably, the measuring system includes a fixing clamp, the supporting device is a supporting rod, the RTK receiver is disposed at the top end of the supporting rod, the laser range finder is fixed on a target point of the supporting rod below the RTK receiver by the fixing clamp, the relative position relationship includes a distance from the target point to the bottom end of the supporting rod, an included angle between an orientation of the laser range finder and the orientation of the RTK receiver, and a state relationship between the laser range finder and the supporting rod, and the position coordinate of the position to be measured is obtained according to the relative position relationship, the positioning information, and the length distance, and the measuring system includes:
acquiring coordinates of the bottom end of the support rod according to the positioning information and the length of the support rod;
acquiring the coordinates of the laser range finder according to the relative position relation and the coordinates of the bottom end of the supporting rod;
and acquiring the position coordinates of the position to be measured according to the coordinates of the laser range finder, the relative position relation and the length distance.
Preferably, the fixing clamp comprises a first clamping part and a second clamping part, the first clamping part is used for clamping the supporting rod, the second clamping part is used for clamping the laser range finder, the first clamping part is connected with the second clamping part through a rotating shaft, and the axis of the rotating shaft is perpendicular to the supporting rod.
Preferably, the connection position of the support rod and the RTK receiver is provided with a first limiting part, the connection position of the first clamping part and the support rod is provided with a second limiting part, and when the RTK receiver and the first clamping part are limited by the first limiting part and the second limiting part respectively, the included angle between the orientation of the laser range finder and the orientation of the RTK receiver is zero.
Preferably, the positioning method comprises the following steps:
acquiring positioning coordinates of a calibration position through the RTK receiver;
acquiring a calibration distance from a laser range finder to a calibration position through the laser range finder, and acquiring calibration information when the laser range finder measures the calibration distance through the RTK receiver, wherein the calibration information comprises positioning coordinates and gesture information of the RTK receiver acquired by an inertia measurement unit;
acquiring positioning coordinates of the laser range finder according to the calibration information and the position of the laser range finder on the supporting rod;
the processing module obtains the relative position relation between the laser range finder and the RTK receiver according to the positioning coordinates of the laser range finder, the calibration distance, the positioning coordinates of the calibration position and the calibration information.
Preferably, the fixing clamp is used for controlling the roll angle of the laser range finder to be consistent with the roll angle of the RTK receiver.
Preferably, the laser range finder is fixed at the top end or the front side of the RTK receiver through a cradle head, the cradle head is fixed in the horizontal direction, the rotation range of the cradle head in the vertical direction is 180 degrees, the orientation of the laser range finder is consistent with that of the RTK receiver, and the relative position relationship is that between the laser range finder and a receiving antenna of the RTK receiver.
Preferably, the processing module is disposed within the RTK receiver.
The invention also provides a positioning system based on the inertial measurement unit, which is characterized by comprising a laser range finder, an RTK receiver, a supporting device and a processing module, wherein the positioning system is used for realizing the positioning method.
The invention also provides an RTK receiver based on an inertial measurement unit, characterized in that it is used in a measurement system as described above.
On the basis of conforming to the common knowledge in the field, the above preferred conditions can be arbitrarily combined to obtain the preferred examples of the invention.
The invention has the positive progress effects that:
the invention can realize remote measurement, is convenient for users to use to reduce labor intensity by improving working efficiency, and avoids measurement errors caused by manual measurement of the handrail, thereby improving measurement accuracy.
Drawings
Fig. 1 is a schematic structural diagram of a measurement system according to embodiment 1 of the present invention.
Fig. 2 is a schematic structural view of a fixing clamp according to embodiment 1 of the present invention.
Fig. 3 is a flowchart of a positioning method according to embodiment 1 of the present invention.
Fig. 4 is another flowchart of the positioning method of embodiment 1 of the present invention.
Fig. 5 is a flowchart of a positioning method according to embodiment 1 of the present invention.
Detailed Description
The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1 and 2, the present embodiment provides a measuring system, which includes a laser rangefinder 13, an RTK receiver 11, a supporting device 12, and a processing module.
The processing module can be a PC end, a tablet, a mobile phone or a server.
The processing module in this embodiment is integrated in the RTK receiver.
The supporting device is used for supporting the RTK receiver, and the processing module is used for acquiring the relative position relation between the laser range finder and the RTK receiver.
The relative position relation comprises the distance between the laser range finder and the RTK receiver and the included angle of the self posture.
The RTK receiver includes an inertial measurement unit (IMU unit) that can acquire attitude information of the RTK receiver to thereby acquire an attitude of a support device.
The RTK receiver is used for acquiring positioning information of the current position, and the positioning information comprises positioning coordinates and gesture information of the RTK receiver acquired by the inertial measurement unit;
the laser range finder is used for obtaining the length distance from the laser range finder to the position 14 to be measured;
the processing module is used for acquiring the position coordinates of the position to be detected according to the relative position relation, the positioning information and the length distance.
Further, the measuring system comprises a fixed clamp, and the supporting device is a supporting rod.
The support bar is also called a centering bar.
The RTK receiver is arranged at the top end of the supporting rod.
The laser range finder is fixed on a target point of the supporting rod below the RTK receiver through the fixing clamp.
The relative position relationship comprises the distance from the target point to the bottom end of the supporting rod, an included angle between the orientation of the laser range finder and the orientation of the RTK receiver and the state relationship between the laser range finder and the supporting rod.
The processing module is used for acquiring the coordinates of the bottom end of the supporting rod according to the positioning information and the length of the supporting rod;
the processing module is used for acquiring the coordinates of the laser range finder according to the relative position relation and the coordinates of the bottom end of the supporting rod;
the processing module is used for acquiring the position coordinates of the position to be detected according to the coordinates of the laser range finder, the relative position relation and the length distance.
Further, the fixing clamp comprises a first clamping part 21 and a second clamping part 22, the first clamping part is used for clamping the supporting rod, the second clamping part is used for clamping the laser range finder, the first clamping part is connected with the second clamping part through a rotating shaft 23, and the axis of the rotating shaft is perpendicular to the supporting rod.
Preferably, the connection position of the support rod and the RTK receiver is provided with a first limiting part, the connection position of the first clamping part and the support rod is provided with a second limiting part, and when the RTK receiver and the first clamping part are limited by the first limiting part and the second limiting part respectively, the included angle between the orientation of the laser range finder and the orientation of the RTK receiver is zero.
In order to improve the accuracy of remote measurement, the RTK receiver is also used for acquiring positioning coordinates of a calibration position through the RTK receiver;
the laser range finder is used for acquiring the calibration distance from the laser range finder to the calibration position, the RTK receiver is used for acquiring the calibration information when the laser range finder measures the calibration distance, and the calibration information comprises positioning coordinates and the posture information of the RTK receiver acquired by the inertial measurement unit;
the processing module is used for acquiring the positioning coordinates of the laser range finder according to the calibration information and the position of the laser range finder on the supporting rod;
the processing module is used for acquiring the relative position relation between the laser range finder and the RTK receiver according to the positioning coordinates of the laser range finder, the calibration distance, the positioning coordinates of the calibration position and the calibration information.
The fixed clamp is used for controlling the roll angle of the laser range finder to be consistent with the roll angle of the RTK receiver.
The laser range finder is fixed at the top end or the front face of the RTK receiver through a cradle head, the cradle head is fixed in the horizontal direction, the rotation range of the vertical direction is 180 degrees, the orientation of the laser range finder is consistent with the orientation of the RTK receiver, and the relative position relationship is that between the laser range finder and a receiving antenna of the RTK receiver.
Referring to fig. 3, with the positioning system and the RTK receiver, this embodiment further provides a positioning method, including:
step 100, the RTK receiver collects positioning information of the current position, wherein the positioning information comprises positioning coordinates and gesture information of the RTK receiver, which is acquired by an inertial measurement unit;
step 101, obtaining the length distance from a laser range finder to a position to be measured through the laser range finder;
step 102, the processing module obtains the position coordinates of the position to be detected according to the relative position relation, the positioning information and the length distance.
Referring to fig. 4, specifically, step 102 includes:
step 1021, acquiring coordinates of the bottom end of the support rod according to the positioning information and the length of the support rod;
step 1022, acquiring the coordinates of the laser range finder according to the relative position relationship and the coordinates of the bottom end of the supporting rod;
step 1023, obtaining the position coordinates of the position to be measured according to the coordinates of the laser range finder, the relative position relationship and the length distance.
Since the accurate coordinates of the bottom of the support rod are given by the high-precision inclination measurement type receiver, the coordinate value of the center of the distance meter can be calculated easily by measuring the length parameter of the fixing clamp of the distance meter and centering the rod parameter.
Since the attitude data of the receiver is already given by the IMU module of the high-precision tilt measurement type receiver, the attitude of the rangefinder is only different from the attitude of the rangefinder (the roll angle is strictly controlled by the fixture to be consistent with the receiver, and the orientation angle can also be set to be consistent with the receiver).
Through the above six parameters (three translation parameters, three rotation parameters), a coordinate system with the range finder as the origin is established. When the distance meter is aligned to the to-be-measured point, the coordinates of the to-be-measured point on the coordinate system taking the distance meter as an origin (in fact, the to-be-measured point is only on the longitudinal plane of the coordinate system) can be calculated through the distance reading and the pitch angle reading of the distance meter, and then the position of the to-be-measured point on the ground coordinate system can be obtained.
Referring to fig. 5, in order to improve the accuracy of the remote measurement, step 100 includes, before:
step 200, collecting positioning coordinates of a calibration position through the RTK receiver;
step 201, acquiring a calibration distance from a laser range finder to a calibration position through the laser range finder, and acquiring calibration information when the laser range finder measures the calibration distance through the RTK receiver, wherein the calibration information comprises positioning coordinates and gesture information of the RTK receiver acquired by an inertial measurement unit;
step 202, acquiring positioning coordinates of the laser range finder according to the calibration information and the position of the laser range finder on the supporting rod;
step 203, the processing module obtains a relative positional relationship between the laser range finder and the RTK receiver according to the positioning coordinates of the laser range finder, the calibration distance, the positioning coordinates of the calibration position and the calibration information.
By measuring a known point, a fixed difference from the receiver orientation angle is given.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (8)
1. A positioning method based on an inertial measurement unit for a measurement system, the measurement system comprising a laser rangefinder, an RTK receiver, a support device for supporting the RTK receiver, and a processing module for acquiring a relative positional relationship between the laser rangefinder and the RTK receiver, the RTK receiver comprising an inertial measurement unit, the positioning method comprising:
the RTK receiver acquires positioning information of the current position, wherein the positioning information comprises positioning coordinates and attitude information of the RTK receiver, which is acquired by the inertial measurement unit;
acquiring the length distance from the laser range finder to the position to be measured through the laser range finder;
the processing module acquires the position coordinates of the position to be detected according to the relative position relation, the positioning information and the length distance;
wherein the measuring system comprises a fixed clamp, the supporting device is a supporting rod, the RTK receiver is arranged at the top end of the supporting rod, the laser range finder is fixed on a target point of the supporting rod below the RTK receiver through the fixed clamp, the relative position relationship comprises the distance from the target point to the bottom end of the supporting rod, the included angle between the orientation of the laser range finder and the orientation of the RTK receiver and the state relationship between the laser range finder and the supporting rod,
the processing module obtains the position coordinates of the position to be detected according to the relative position relation, the positioning information and the length distance, and the processing module comprises:
acquiring coordinates of the bottom end of the support rod according to the positioning information and the length of the support rod;
acquiring the coordinates of the laser range finder according to the relative position relation and the coordinates of the bottom end of the supporting rod;
and acquiring the position coordinates of the position to be measured according to the coordinates of the laser range finder, the relative position relation and the length distance.
2. The positioning method according to claim 1, wherein the fixing clamp comprises a first clamping part and a second clamping part, the first clamping part is used for clamping the supporting rod, the second clamping part is used for clamping the laser range finder, the first clamping part is connected with the second clamping part through a rotating shaft, and the axis of the rotating shaft is perpendicular to the supporting rod.
3. The positioning method as set forth in claim 2, wherein a first limiting member is disposed at a connection position of the support rod and the RTK receiver, a second limiting member is disposed at a connection position of the first clamping portion and the support rod, and an included angle between an orientation of the laser range finder and an orientation of the RTK receiver is zero when the RTK receiver and the first clamping portion are limited by the first limiting member and the second limiting member, respectively.
4. The positioning method as set forth in claim 1, wherein the positioning method includes:
acquiring positioning coordinates of a calibration position through the RTK receiver;
acquiring a calibration distance from a laser range finder to a calibration position through the laser range finder, and acquiring calibration information when the laser range finder measures the calibration distance through the RTK receiver, wherein the calibration information comprises positioning coordinates and gesture information of the RTK receiver acquired by an inertia measurement unit;
acquiring positioning coordinates of the laser range finder according to the calibration information and the position of the laser range finder on the supporting rod;
the processing module obtains the relative position relation between the laser range finder and the RTK receiver according to the positioning coordinates of the laser range finder, the calibration distance, the positioning coordinates of the calibration position and the calibration information.
5. The positioning method of claim 4 wherein the fixture is used to control the roll angle of the laser rangefinder to be consistent with the roll angle of the RTK receiver.
6. The positioning method of claim 1, wherein the laser rangefinder is fixed on the top end or the front face of the RTK receiver through a cradle head, the cradle head is fixed in a horizontal direction, the rotation range in a vertical direction is 180 degrees, the orientation of the laser rangefinder is consistent with the orientation of the RTK receiver, and the relative positional relationship is a relative positional relationship between the laser rangefinder and a receiving antenna of the RTK receiver.
7. The positioning method of claim 1 wherein the processing module is disposed within the RTK receiver.
8. An inertial measurement unit based measurement system comprising a laser rangefinder, an RTK receiver, a support device and a processing module, the measurement system being adapted to implement the positioning method of any of claims 1 to 7.
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| CN114910933B (en) * | 2022-03-10 | 2024-03-19 | 苏州天硕导航科技有限责任公司 | RTK receiver system with vision measurement function, board card and measurement method |
| CN114755699A (en) * | 2022-04-29 | 2022-07-15 | 上海井融网络科技有限公司 | RTK receiver and lofting method |
| CN115096269B (en) * | 2022-07-06 | 2023-10-31 | 苏州天硕导航科技有限责任公司 | Photogrammetry method, photogrammetry system and GNSS receiver |
| CN117233780A (en) * | 2023-09-05 | 2023-12-15 | 上海司南卫星导航技术股份有限公司 | Control method of measurement system, measurement system and computer readable medium |
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