CN113091695B - Elevation measurement method with plane positioning and millimeter-scale precision - Google Patents

Elevation measurement method with plane positioning and millimeter-scale precision Download PDF

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CN113091695B
CN113091695B CN202110257426.5A CN202110257426A CN113091695B CN 113091695 B CN113091695 B CN 113091695B CN 202110257426 A CN202110257426 A CN 202110257426A CN 113091695 B CN113091695 B CN 113091695B
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胡炼
黄浩
何杰
罗锡文
臧英
陈高隆
王志敏
冯达文
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South China Agricultural University
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Abstract

A has level positioning and millimeter-grade high measurement method of precision, a is by the single set or multiple sets of basic system makes up the reference surface of reference of rotating laser; b, the reference system obtains the altitude of the rotary laser reference surface; c, transmitting the altitude of the step b to a mobile measuring terminal; d, receiving by a mobile measuring terminal; e, moving the measuring terminal to obtain the self altitude and the plane positioning information; f, moving the measuring end to obtain the laser elevation deviation of the laser elevation sensor relative to the rotary laser datum reference surface; g, fusing the altitude of the step b, the laser elevation deviation and the altitude of the step e to obtain a fused elevation value; h, inclination correction is carried out by adopting inclination information of the attitude sensor of the mobile measuring end to obtain a millimeter-grade elevation measurement value; and i, performing projection correction by adopting the inclination information of the attitude sensor to obtain plane positioning with centimeter-level precision. The invention has higher measurement precision, can meet the requirement of the modern intelligent leveling technology, and belongs to the field of intelligent machinery.

Description

Elevation measurement method with plane positioning and millimeter-scale precision
Technical Field
The invention relates to the field of intelligent machinery, in particular to an elevation measurement method with plane positioning and millimeter-scale precision.
Background
At present, the traditional profiling leveling technology is developed into high-precision leveling modes such as a laser leveling technology and a satellite leveling technology in China, wherein the laser leveling technology and the satellite leveling technology greatly improve the traditional leveling mode and greatly improve the construction leveling precision.
The laser leveling technology and the satellite leveling technology are widely applied to various fields around the world, and a GNSS global navigation satellite system is a satellite system covering global autonomous space positioning, integrates navigation systems such as American GPS, China BDS, Russian GLONASS and the like, and has good stability and precision.
Along with the improvement of construction requirements, the demand of elevation measurement with plane positioning and millimeter-scale precision in construction is more and more urgent. However, the laser leveling technique only measures high-precision elevation information, and is difficult to meet the requirements of three-dimensional terrain, path planning, intelligent control and the like of the modern intelligent leveling technique, and the satellite leveling technique is difficult to meet the requirements of high-precision leveling occasions, so a scheme with plane positioning and millimeter-level elevation measurement precision is necessary to be provided.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the elevation measurement method with plane positioning and millimeter-scale precision is high in precision and meets the requirements of the modern intelligent leveling technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
an elevation measurement method with planar positioning and millimeter-scale accuracy, comprising the steps of: a. a rotating laser reference surface is formed by a single set or a plurality of sets of reference systems; b. a position measurement module of the reference system obtains the altitude and the plane positioning information, and the altitude of the rotary laser reference surface is obtained through conversion; c. the altitude of the rotating laser reference surface and the plane positioning information of the position measuring module are transmitted to a mobile measuring end through a communication module of a reference system; d. the mobile measuring end receives the altitude of the rotating laser reference surface; e. GNSS measurement of the mobile measurement end obtains altitude and plane positioning information of the mobile measurement end; f. the laser elevation sensor at the mobile measurement end senses a rotating laser signal of the rotating laser reference surface to obtain laser elevation deviation of the laser elevation sensor relative to the rotating laser reference surface; g. integrating the altitude of the rotary laser datum reference surface, the laser elevation deviation and the altitude of the mobile measuring end to obtain an integrated elevation value; h. inclination correction is carried out on the fusion elevation value by adopting inclination information of an attitude sensor of the mobile measuring end, and a millimeter-grade elevation measurement value is obtained; i. and (3) performing projection correction on the plane positioning information of the mobile measuring end by adopting the inclination information of the attitude sensor of the mobile measuring end to obtain plane positioning with centimeter-level precision.
Preferably, the elevation measurement method with plane positioning and millimeter-scale precision adopts a reference end and a mobile measurement end; the reference end comprises a single set or a plurality of sets of reference systems, and each set of reference system comprises a position measuring module, a laser transmitter and a communication module; the mobile measuring terminal comprises a GNSS, a laser elevation sensor, an attitude sensor and a communication module.
Preferably, the position measurement module uses GNSS static measurement or total station measurement.
Preferably, in step a, when a single set of reference systems is used, the rotating laser reference plane is the rotating laser plane of the laser transmitter of the reference system.
Preferably, in step a, when a plurality of sets of reference systems are adopted, the rotating laser reference surface is the same reference plane or a stepped reference plane, the position measurement module of the reference system obtains altitude and plane positioning information, and the communication module of the reference system transmits the altitude of the rotating laser reference surface and the plane positioning information of the position measurement module to the mobile measurement end.
Preferably, in the step level reference plane, only the laser transmitters of the reference systems corresponding to the same step level plane are started to work simultaneously; for the laser transmitters of the reference systems corresponding to different step planes, the altitude of the reference surface sent by the communication module of the reference end is compared with the current positioning altitude of the GNSS of the mobile measuring end, and the comparison result is fed back to the reference end through the communication module of the mobile measuring end to determine whether to start the laser transmitter of the reference system corresponding to the step plane and whether to close the laser transmitters of the reference systems corresponding to other step planes. And the distance between the GNSS of the reference end and the GNSS of the mobile measuring end is calculated according to the plane positioning information of the position measuring module of the reference end and the GNSS plane positioning information of the mobile measuring end, the nearest reference system is used as a reference, the mobile measuring end feeds back to all references through the communication module, and the laser transmitters of other references except the reference are closed.
Preferably, in step f, when the laser elevation sensor does not detect the laser incidence, the elevation height of the rotating laser reference surface sent by the reference end is compared with the elevation height of the mobile measuring end, and the laser elevation sensor of the mobile measuring end is adjusted by the motor to sense the laser surface according to the compared value.
Preferably, in step b, the position measuring module of the reference system is mounted on the relatively rotating laser plane SiThe position of the vertical distance is fixed, and the position measuring module of the reference system measures and obtains the millimeter-grade altitude H1SiThe altitude H of the rotating laser reference surface is obtained through relative position conversionSi。
In the step e, the GNSS antenna of the mobile measuring end is arranged on the laser elevation sensor, and the relative vertical distance is h1The attitude sensor is arranged on the laser elevation sensor and the GNSS antenna of the mobile measuring end, and the angle of the GNSS antenna is fixed.
In step g, the GNSS of the mobile surveying terminal receives altitude H2 and GNSS elevation deviation Δ H of the mobile surveying terminal1＝H2-HSi-h1Laser elevation deviation delta H of laser elevation sensor relative to rotating laser plane Si2(ii) a According to the variance characteristic of the laser elevation sensor, adopting a variable coefficient weighted filtering algorithm to obtain the GNSS elevation deviation delta H of the mobile measuring terminal1Deviation from laser elevation Δ H2The elevation fusion deviation delta H and the elevation fusion value H3 are obtained through fusion,
ΔH＝αkΔH1+(1-αk)ΔH2(k＝1，2，3，...)
H3＝HSi+ΔH
Figure BDA0002963454680000031
Figure BDA0002963454680000032
wherein, Δ H1Is the GNSS elevation deviation; deltaH2Is laser elevation deviation; hSiIs the altitude of the rotating laser plane Si; alpha is alphakVariance α by laser receiver for weighting coefficientsLaserAnd GNSS variance αGNSSAnd (c) determining that a and b represent absolute elevation values corresponding to different positions on the laser elevation sensor.
Preferably, in step H, the attitude sensor detects a roll angle Φ and a pitch angle θ of the laser elevation sensor and the GNSS at the mobile measurement end, corrects the fusion elevation H3, and performs tilt correction to obtain a millimeter-level elevation H ═ H3cos Φ cos θ.
Preferably, in step i, the GNSS at the mobile surveying end receives the planar positioning information (X0, Y0), the attitude sensor detects the roll angle Φ and the pitch angle θ of the laser elevation sensor and the GNSS at the mobile surveying end, and the tilt information of the attitude sensor performs projection correction on the planar positioning information of the GNSS at the mobile surveying end, where the projection correction is
Figure BDA0002963454680000041
The invention has the following advantages:
1. according to the invention, the elevation information with millimeter-scale precision and the centimeter-scale plane positioning information are measured by adopting GNSS and laser sensing, and the measuring precision is higher.
2. The rotary laser reference surface can be composed of a plurality of sets of laser reference systems, and can meet the requirement of large-area construction; the stepped reference plane can also meet the requirements of non-planar terrain construction.
3. The invention combines the satellite positioning technology and the laser sensing technology, improves the elevation precision, has plane information, and can be used in the fields of concrete leveling, road construction surveying and mapping, road paving control, intelligent agricultural leveling and the like.
4. The requirements of three-dimensional terrain, path planning, intelligent control and the like of the modern intelligent leveling technology can be met.
Drawings
FIG. 1 is a flow chart of a method of elevation measurement with planar positioning and millimeter-scale accuracy.
FIG. 2 is a schematic representation of a rotating laser datum reference surface of the present invention comprised of multiple sets of datum systems.
Fig. 3 is a schematic view of the present invention as applied to the operation of a grader.
The system comprises a tripod, a communication module, a laser emitter, a position measurement module, a GNSS, a laser elevation sensor, a communication module, an attitude sensor, a flat shovel, a tractor and a lifting platform, wherein the tripod is 1, the communication module is 2, the laser emitter is 3, the position measurement module is 4, the GNSS is 5, the laser elevation sensor is 6, the communication module is 7, the communication module is used for moving a measurement end, the attitude sensor is 8, the flat shovel is 9, the tractor is 10, and the lifting platform is 11.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
Example one
Referring to fig. 3, the present embodiment specifically describes an elevation measurement method with planar positioning and millimeter-scale accuracy by using a motorgrader, in which a rotating laser reference surface is composed of a single set of reference system, and a position measurement module adopts a GNSS, and includes a laser emitter, a laser elevation sensor, a communication module at a reference end, a GNSS at a mobile measurement end, a communication module at a mobile measurement end, a controller of the motorgrader, an attitude sensor at the mobile measurement end, a tripod, a leveling blade, and a tractor.
The tripod is erected on the ground, the laser emitter is mounted on the tripod, the position measuring module GNSS of the reference system is mounted at a position which is fixed in vertical distance relative to the rotating laser surface Si, and the communication module of the reference end is fixed on the tripod.
Fixing a laser elevation sensor on a mast of an implement, wherein the elevation zero position of the laser elevation sensor is the longitudinal center of a photoelectric sensor array, and a GNSS of a mobile measuring end is arranged at the center of the photoelectric sensor array at a relative vertical distance h1And the position and attitude sensor is arranged on the laser elevation sensor, the angle of the GNSS antenna of the mobile measuring end is fixed, and the communication module of the mobile measuring end is fixed above the attitude sensor.
And setting GNSS parameters of the reference end and the GNSS parameters of the mobile measuring end through the handheld interactive software, and simultaneously starting the reference system and the grader controller.
Position measurement module GNSS static measurement of reference system obtains measurement module GNSS millimeter-level altitude H1SiThe altitude H of the rotating laser reference surface is obtained through conversionSi。
Altitude H of rotary laser reference surfaceSiAnd the data is transmitted to the mobile measuring terminal through the communication module.
The mobile measuring end receives the altitude H of the rotary laser reference surfaceSi。
The GNSS measurement of the mobile surveying end obtains altitude H2 and planar positioning information (X0, Y0) of the mobile surveying end.
And comparing the altitude of the reference surface sent by the base station with the current positioning altitude H2 of the GNSS of the mobile measuring terminal, and lifting the laser elevation sensor to a range capable of sensing laser.
The laser elevation sensor of the mobile measuring end senses the rotating laser signal to obtain the laser elevation deviation delta H of the laser elevation sensor relative to the reference surface2。
The GNSS of the mobile measuring terminal receives and obtains the altitude H2 and the GNSS elevation deviation delta H of the mobile measuring terminal1＝H2-HSi-h1Laser elevation deviation delta H of laser elevation sensor relative to datum reference plane Si2(ii) a According to the variance characteristic of the laser elevation sensor, adopting a variable coefficient weighted filtering algorithm to obtain the GNSS elevation deviation delta H of the mobile measuring terminal1Deviation from laser elevation Δ H2Obtaining elevation fusion deviation delta H and elevation fusion value H3 through fusion
ΔH＝αkΔH1+(1-αk)ΔH2(k＝1,2,3,...)
H3＝HSi+ΔH
Figure BDA0002963454680000051
Figure BDA0002963454680000052
Wherein Δ H1Is the GNSS elevation deviation; Δ H2Is laser elevation deviation; hSiIs the altitude of the rotating laser plane Si; alpha is alphakVariance α by laser receiver for weighting coefficientsLaserAnd GNSS variance αGNSSAnd (c) determining that a and b represent absolute elevation values corresponding to different positions on the laser elevation sensor.
The attitude sensor detects a roll angle phi and a pitch angle theta of the laser elevation sensor and the GNSS of the mobile measurement end, the fusion elevation H3 is corrected, and the inclination correction is carried out to obtain a millimeter-level elevation H ═ H3cos phi cos theta.
The GNSS of the mobile measuring end receives plane positioning information (X0, Y0), the attitude sensor detects the roll angle phi and the pitch angle theta of the laser elevation sensor and the GNSS of the mobile measuring end, the inclination information of the attitude sensor performs projection correction on the plane positioning information of the GNSS of the mobile measuring end, and the projection correction value is
Figure BDA0002963454680000061
Obtaining corrected millimeter-grade elevation deviation delta H through millimeter-grade elevation calculationCorrection of＝H-HSiFor the obtained millimeter-level elevation deviation Δ HCorrection ofAnd judging whether the electromagnetic valve is switched on or not, and driving the oil cylinder to realize the movement of the land leveling shovel. The measuring method can obtain the millimeter-scale absolute elevation and can know the plane position information of the land scraper in real time.
Example two
In this embodiment, referring to fig. 2, it is described that the rotating laser reference surface is composed of a plurality of sets of reference systems.
When a plurality of sets of reference systems with reference surfaces formed by the same reference plane are used, the reference systems are respectively named as a reference 1 and a reference 2.
The tripod erects subaerial, and laser emitter installs on lift platform, and lift platform installs on the tripod. The respective reference systems are turned on simultaneously. The position measurement module GNSS static measurement of each reference system obtains the height H1 of millimeter level of the measurement module GNSSS1、H1S2...H1SiThe altitude H of each rotary laser reference surface is obtained through conversionS1、HS2...HSi. Benchmark 1 rotates the altitude H of the laser surface S1 through the communication moduleS1The receiving module of the reference i transmits the rotating laser plane S to the reference 21Altitude H ofS1Altitude H of Si with rotating laser plane s2S2...HSiComparing, adjusting the lifting platform to the rotary laser surfaces S1 and S2.. Si with equal altitude H according to the compared valueS1＝HS2...HSi。
When a plurality of sets of reference systems form a step-level reference surface, only the laser transmitters of the reference systems on the same step plane are started to work simultaneously. For the laser transmitters of different step plane reference systems, the altitude H of the reference plane is sent by the base station end communication moduleSiAnd comparing the GNSS plane positioning information of the reference end with the GNSS current positioning altitude H2 of the mobile measuring end to obtain whether the laser elevation sensor can be adjusted to the step plane within the measuring range, and then feeding back the comparison result to the base station end through the communication module to determine whether to turn on the laser transmitter of the reference system of the step plane and turn off the laser transmitters of the reference systems of other step planes.
And the distance between the GNSS of the reference end and the GNSS of the mobile measuring end is calculated according to the GNSS plane positioning information of the reference end and the GNSS plane positioning information of the mobile measuring end, the nearest reference system is used as a reference, the mobile measuring end feeds back to all references through the communication module, and the laser transmitters of other references except the reference are closed.
The embodiment is not described in the first embodiment.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention. The protection scope of the invention is not limited to the above, and the invention can also be used in the fields of concrete leveling, road construction, intelligent agricultural leveling and the like. These variations are all within the scope of the present invention.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (9)

1. An elevation measurement method with planar positioning and millimeter-scale precision is characterized in that: the method comprises the following steps:
a. a rotating laser reference surface is formed by a single set or a plurality of sets of reference systems;
b. a position measurement module of the reference system obtains the altitude and the plane positioning information, and the altitude of the rotary laser reference surface is obtained through conversion;
c. the altitude of the rotating laser reference surface and the plane positioning information of the position measuring module are transmitted to a mobile measuring end through a communication module of a reference system;
d. the mobile measuring end receives the altitude of the rotating laser reference surface;
e. GNSS measurement of the mobile measurement end obtains altitude and plane positioning information of the mobile measurement end;
f. the laser elevation sensor at the mobile measuring end senses the rotating laser signal to obtain the laser elevation deviation of the laser elevation sensor relative to the rotating laser datum reference surface;
g. integrating the altitude of the rotary laser datum reference surface, the laser elevation deviation and the altitude of the mobile measuring end to obtain an integrated elevation value;
h. inclination correction is carried out on the fusion elevation value by adopting inclination information of an attitude sensor of the mobile measuring end, and a millimeter-grade elevation measurement value is obtained;
i. performing projection correction on the plane positioning information of the mobile measuring end by adopting the inclination information of the attitude sensor of the mobile measuring end to obtain plane positioning with centimeter-level precision;
in the step b, the position measuring module of the reference system is arranged at a position which is a fixed vertical distance relative to the rotating laser plane Si, and the position measuring module of the reference system measures and obtains the millimeter-level altitude H1SiThe altitude H of the rotating laser reference surface is obtained through relative position conversionSi；
In the step e, the GNSS antenna of the mobile measuring end is arranged on the laser elevation sensor, and the relative vertical distance is h1The attitude sensor is arranged at the laser elevation sensor and the GNSS antenna of the mobile measuring end, and the angle of the GNSS antenna is fixed;
in step g, the GNSS of the mobile surveying terminal receives altitude H2 and GNSS elevation deviation Δ H of the mobile surveying terminal1＝H2-HSi-h1Laser elevation deviation delta H of laser elevation sensor relative to rotating laser plane Si2(ii) a According to the variance characteristic of the laser elevation sensor, adopting a variable coefficient weighted filtering algorithm to obtain the GNSS elevation deviation delta H of the mobile measuring terminal1Deviation from laser elevation Δ H2The elevation fusion deviation delta H and the elevation fusion value H3 are obtained through fusion,
ΔH＝αkΔH1+(1-αk)ΔH2k is a positive integer
H3＝HSi+ΔH
Figure FDA0003309646640000021
Figure FDA0003309646640000022
Wherein, Δ H1Is the GNSS elevation deviation; Δ H2Is laser elevation deviation; hSiIs the altitude of the rotating laser plane Si; alpha is alphakVariance α by laser receiver for weighting coefficientsLaserAnd GNSS variance αGNSSAnd (c) determining that a and b represent absolute elevation values corresponding to different positions on the laser elevation sensor.
2. A method of elevation measurement with planar positioning and millimeter accuracy in accordance with claim 1, wherein: adopting a reference end and a mobile measuring end; the reference end comprises a single set or a plurality of sets of reference systems, and each set of reference system comprises a position measuring module, a laser transmitter and a communication module; the mobile measuring terminal comprises a GNSS, a laser elevation sensor, an attitude sensor and a communication module.
3. A method of elevation measurement with planar positioning and millimeter accuracy in accordance with claim 2, wherein: the position measurement module adopts GNSS static measurement or total station instrument measurement.
4. A method of elevation measurement with planar positioning and millimeter accuracy in accordance with claim 2, wherein: in the step a, when a single set of reference system is adopted, the rotating laser reference surface is the rotating laser surface of the laser emitter of the reference system.
5. A method of elevation measurement with planar positioning and millimeter accuracy in accordance with claim 2, wherein: in the step a, when a plurality of sets of reference systems are adopted, the rotary laser reference surfaces are the same reference plane or a stepped reference plane, the position measurement module of the reference system obtains altitude and plane positioning information, and the altitude of the rotary laser reference surfaces and the plane positioning information of the position measurement module are transmitted to the mobile measurement end through the communication module of the reference system.
6. A method of elevation measurement with planar positioning and millimeter accuracy in accordance with claim 5, wherein: in the step level reference plane, only the laser transmitters of the reference systems corresponding to the same step level plane are started to work simultaneously; for the laser transmitters of the reference systems corresponding to different step planes, comparing the altitude of the reference surface sent by the communication module of the reference end with the current positioning altitude of the GNSS of the mobile measuring end, feeding the comparison result back to the reference end through the communication module of the mobile measuring end, and determining whether to start the laser transmitter of the reference system corresponding to the step plane and whether to close the laser transmitters of the reference systems corresponding to other step planes; and the distance between the GNSS of the reference end and the GNSS of the mobile measuring end is calculated according to the plane positioning information of the position measuring module of the reference end and the GNSS plane positioning information of the mobile measuring end, the nearest reference system is used as a reference, the mobile measuring end feeds back to all references through the communication module, and the laser transmitters of other references except the reference are closed.
7. A method of elevation measurement with planar positioning and millimeter accuracy in accordance with claim 1, wherein: in the step f, when the laser elevation sensor does not detect laser incidence, the laser elevation sensor at the mobile measuring end is adjusted to sense the laser surface by comparing the altitude of the rotary laser reference surface sent by the reference end with the altitude of the mobile measuring end.
8. A method of elevation measurement with planar positioning and millimeter accuracy in accordance with claim 1, wherein: in the step H, the attitude sensor detects a roll angle phi and a pitch angle theta of the laser elevation sensor and the GNSS of the mobile measurement end, the fusion elevation H3 is corrected, and the inclination correction is carried out to obtain a millimeter-level elevation H which is H3cos phi cos theta.
9. A method of elevation measurement with planar positioning and millimeter accuracy in accordance with claim 8, wherein: in the step i, the GNSS of the mobile measuring end receives plane positioning information (X0, Y0), the attitude sensor detects the roll angle phi and the pitch angle theta of the laser elevation sensor and the GNSS of the mobile measuring end, the inclination information of the attitude sensor performs projection correction on the plane positioning information of the GNSS of the mobile measuring end, and the projection correction value is
Figure FDA0003309646640000031
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