CN113311461A - Self-stabilizing ranging-assisted RTK data acquisition system and measuring method thereof - Google Patents
Self-stabilizing ranging-assisted RTK data acquisition system and measuring method thereof Download PDFInfo
- Publication number
- CN113311461A CN113311461A CN202110597706.0A CN202110597706A CN113311461A CN 113311461 A CN113311461 A CN 113311461A CN 202110597706 A CN202110597706 A CN 202110597706A CN 113311461 A CN113311461 A CN 113311461A
- Authority
- CN
- China
- Prior art keywords
- rtk
- measuring unit
- unit
- ranging
- self
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
- G01B15/02—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons for measuring thickness
-
- 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]
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to a self-stabilizing distance measurement assisted RTK data acquisition system and a measuring method thereof, wherein the self-stabilizing distance measurement assisted RTK data acquisition system comprises an RTK measuring unit, a stabilizing unit, a distance measuring unit and a data processing unit; the stabilizing unit comprises a fixed component and a movable component; the distance measuring unit is fixedly connected to the lower side of the RTK measuring unit, the RTK measuring unit and the distance measuring unit are fixedly connected to the movable assembly and move along with the movable assembly, and the movable assembly is used for adjusting a connecting line between the RTK measuring unit and the distance measuring unit to be vertical to a horizontal plane; the data processing unit is in communication connection with the RTK measuring unit and the ranging unit, and the data processing unit stores distance information between the RTK measuring unit and the ranging unit. The complicated fixed measuring rod and the ground distance information measurement are not needed to be carried out manually, and the method has the characteristics of high efficiency, automatic completion and the like.
Description
Technical Field
The invention relates to the field of RTK measurement, in particular to a self-stabilizing distance measurement auxiliary RTK data acquisition system.
Background
The carrier phase differential technology (RTK) is a differential method for processing carrier phase observations of two measurement stations in Real time, and transmits a carrier phase acquired by a reference station to a user receiver for calculating a difference and a coordinate. With the continuous development of the RTK technology, the RTK antenna is more and more widely applied.
When the RTK system measures a large-area, the height difference between the RTK device and the ground needs to be measured manually, and then the actual position information of the ground is obtained by processing the coordinate information and the height difference calculated by the RTK system.
The invention aims to design a self-stabilizing ranging-assisted RTK data acquisition system aiming at the problems in the prior art.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a self-stabilizing ranging-assisted RTK data acquisition system and a measuring method thereof, which can effectively solve the problems in the prior art.
The technical scheme of the invention is as follows:
a self-stabilizing distance measurement assisted RTK data acquisition system comprises an RTK measuring unit, a stabilizing unit, a distance measuring unit and a data processing unit;
the stabilizing unit comprises a fixed component and a movable component;
the distance measuring unit is fixedly connected to the lower side of the RTK measuring unit, the RTK measuring unit and the distance measuring unit are fixedly connected to the movable assembly and move along with the movable assembly, and the movable assembly is used for adjusting a connecting line between the RTK measuring unit and the distance measuring unit to be vertical to a horizontal plane;
the data processing unit is in communication connection with the RTK measuring unit and the ranging unit, and the data processing unit stores distance information between the RTK measuring unit and the ranging unit.
Further, the fixed assembly is connected to a corresponding movable device.
Further, the ranging unit is fixedly connected to the lower side of the RTK measuring unit through a connecting rod.
Further, the distance information is the sum of the length of the connecting rod and the height of the ranging unit.
Further, the stabilizing unit is one of a stabilizer and a holder.
Further, the distance measuring unit is one of a laser distance measuring unit and an acoustic distance measuring unit.
There is further provided a self-stabilized ranging assisted RTK surveying method based on a fixedly arranged reference station, a movably arranged rover station, said rover station being the RTK data acquisition system of claim 1, comprising the steps of:
s1, acquiring distance information L between the RTK measuring unit and the ranging unit;
s2, the stabilizing unit adjusts the movable assembly to enable a connecting line between the RTK measuring unit and the ranging unit to be vertical to a horizontal plane;
s3, the rover station receives the satellite signal and the phase differential signal from the reference station, and T is obtained through differential correction conversiontReference point position P where time RTK measurement unit is located0(xt，yt，zt)；
S4, the distance measuring unit measures height information h between the distance measuring unit and the ground;
s5, calculating and storing the position information P, P ═ x of the target groundt，yt，zt-h-L)。
Further, the ranging unit is fixedly connected to the lower side of the RTK measuring unit through a connecting rod, and the distance information L is the sum of the length of the connecting rod and the height of the ranging unit.
Further, after step S2, the method further includes the steps of:
s2.1, measuring the height between the distance measuring unit and the ground for multiple times through the distance measuring unit, and if the heights measured for multiple times are consistent, entering the step S3.
Further, step S5 is followed by the step of:
s6, moving the rover station for a plurality of times and repeating the steps S2-S5 until the rover station closes the path in the area to be measured.
Accordingly, the present invention provides the following effects and/or advantages:
the system provided by the invention can effectively replace a measuring rod when an RTK measuring system is used for large-area measurement, an RTK measuring unit does not need to be fixed through the measuring rod, and the stable work is not needed to be completed through multiple times of standing of the measuring rod, the system can be directly moved to a required position and automatically measure the distance between the measuring rod and the ground through a distance measuring unit, and a data processing unit can directly output accurate actual position information through reference point position information obtained by conversion of the RTK measuring unit. The whole process does not need to manually fix the measuring rod and measure ground distance information and the like, and has the characteristics of high efficiency, automatic completion and the like.
The distance measuring unit is connected through the stabilizing unit, more specifically, the stabilizing unit is one of a cradle head, a stabilizer and the like, the connecting line between the distance measuring unit and the RTK measuring unit can be automatically adjusted to be perpendicular to the horizontal plane quickly, stably and automatically, the work of manually erecting a station, righting the RTK measuring unit and the like is reduced, and the work efficiency is greatly improved.
The method provided by the invention can automatically measure the position information in the area, the precision of the method accords with the working requirement, and the method can move for many times and automatically measure for many times without manual operation, thereby completing the measurement under a closed path and outputting data.
The precision of the distance measuring unit is one order of magnitude smaller than that of an RTK measuring unit, and the P point coordinate (x, y, z) corresponding to the target position finally is processed according to the precision of an RTK measuring system, so that the precision requirement of RTK measurement is met.
It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.
Drawings
Fig. 1 is a schematic structural diagram of the first embodiment.
Fig. 2 is a schematic view of an operating state according to the first embodiment.
Fig. 3 is a schematic flow chart of the second embodiment.
FIG. 4 is a table of comparative experimental data.
Detailed Description
To facilitate understanding of those skilled in the art, the structure of the present invention will now be described in further detail by way of examples in conjunction with the accompanying drawings:
referring to fig. 1, a self-stabilized ranging assisted RTK data acquisition system includes an RTK measuring unit 1, a stabilizing unit 2, a ranging unit 3, and a data processing unit 4,
the stabilizing unit 2 comprises a fixed component 201 and a movable component 202; in this embodiment, the fixing member 201 is connected to a movable device, such as a four-wheeled beach vehicle, a tricycle, a shoulder-carried support, a cart, etc., and can be moved and stably parked at a certain position by holding the fixing member 201 by an operator for moving the stabilizing unit 2 in the area to be measured. In this embodiment, the movable assembly 202 may be a device capable of automatically adjusting multiple directions, such as a cradle head, a stabilizer, or a device capable of electrically adjusting multiple directions, and senses the direction of the movable assembly 202 through an internal sensor and controls the movable assembly 202 through a plurality of internal motors, thereby achieving a subsequent vertical effect. In this embodiment, the stabilizing unit 2 is a device such as a cradle head, a stabilizer, etc. which is available on the market directly, and the structure or the working principle thereof will not be described in detail herein.
The distance measuring unit 3 is fixedly connected to the lower side of the RTK measuring unit 1, the RTK measuring unit 1 and the distance measuring unit 3 are fixedly connected to the movable assembly 202 and move along with the movable assembly 202, and the movable assembly 202 is used for adjusting a connecting line between the RTK measuring unit 1 and the distance measuring unit 3 to be vertical to a horizontal plane; in this embodiment, the distance measuring unit 3 is fixedly connected to the lower side of the RTK measuring unit 1 through a connecting rod 5, the distance measuring unit 3 can be fixed to be located at the lower side of the RTK measuring unit 1 through the connecting rod 5, the length of the connecting rod 5 is fixed, and the distance between the connecting rod 5 and the RTK measuring unit can also be fixed, so that the distance measuring unit 3 can be conveniently and directly measured by an operator and then stored in the data processing unit 4 in advance.
The data processing unit 4 is communicatively connected with the RTK measuring unit 1 and the ranging unit 3, and the data processing unit 4 stores distance information between the RTK measuring unit 1 and the ranging unit 3. The data processing unit 4 is a unit having functions of processing data and storing data, and the data processing unit 4 stores distance information between the RTK measuring unit 1 and the ranging unit 3, which is stored in the data processing unit 4, and in this embodiment, the distance information is the sum of the length of the connecting rod 5 and the height of the ranging unit.
The working principle is as follows: referring to fig. 2, length information L of the connecting rod 5 is pre-stored in the data processing unit 4, and the stabilizing unit 2 adjusts the movable assembly 202 so that a connecting line between the RTK measuring unit 1 and the ranging unit 3 is perpendicular to a horizontal plane; the data processing unit 4 receives the satellite signal and the phase difference signal from the reference station via the RTK measuring unit 1, and then the data processing unit obtains T by a difference correction conversiontReference point position P where time RTK measurement unit 1 is located0(xt，yt，zt) (ii) a Distance measuring unit 3 measures the distance between distance measuring unit 3 and the groundHeight information h of (a); finally, the data processing unit 4 calculates and stores the position information P of the target ground, where P is (x)t，yt，zth-L) to finally obtain the position of the measured point.
Further, the fixed component 201 is connected to a corresponding movable device, and the beach vehicle is connected to the embodiment.
Further, the distance information is the sum of the length of the connecting rod 5 and the height of the ranging unit.
Further, the stabilizing unit 2 is one of a stabilizer and a pan/tilt head.
Further, the distance measuring unit 3 is one of a laser distance measuring unit and an acoustic distance measuring unit.
And (3) precision analysis:
accuracy of the RTK measurement unit:
RTK measurement plane accuracy (x)t，yt) Comprises the following steps: . + -. 10mm +1ppm RMS.
RTK measurement elevation accuracy (z)t) Comprises the following steps: . + -. 20mm +1ppm RMS.
Accuracy of the ranging unit:
the measuring distance is less than or equal to 50m, and the measuring precision is as follows: plus or minus 1 mm.
Because the laser ranging precision is one order of magnitude smaller than the RTK measurement precision in the measurement range, the P point coordinate (x, y, z) of the final corresponding target position is processed according to the RTK measurement system precision, and the precision requirement of RTK measurement is met.
Example two
Further, there is provided a self-stabilized ranging assisted RTK measurement method, based on a fixedly disposed base station and a movably disposed rover station, where the rover station is the RTK data acquisition system according to the first embodiment, with reference to fig. 3, including the following steps:
s1, acquiring distance information L between the RTK measuring unit and the ranging unit;
s2, the stabilizing unit adjusts the movable assembly to enable a connecting line between the RTK measuring unit and the ranging unit to be vertical to a horizontal plane;
s2.1, measuring the height between the distance measuring unit and the ground for multiple times through the distance measuring unit, and if the heights measured for multiple times are consistent, entering the step S3;
s3, the rover station receives the satellite signal and the phase differential signal from the reference station, and T is obtained through differential correction conversiontReference point position P where time RTK measurement unit is located0(xt，yt，zt)；
S4, the distance measuring unit measures height information h between the distance measuring unit and the ground;
s5, calculating and storing the position information P, P ═ x of the target groundt，yt，zt-h-L)；
S6, moving the rover station for a plurality of times and repeating the steps S2-S5 until the rover station closes the path in the area to be measured.
Further, the ranging unit is fixedly connected to the lower side of the RTK measuring unit through a connecting rod, and the distance information L is length information of the connecting rod.
The working principle of this embodiment is similar to that of the first embodiment, and will not be described herein again.
Experimental data
By the system and the method provided by the invention, in 5 months of 2021, during the measurement of the quan beach in Fuzhou city of Fujian province, the quan beach belongs to beach terrain, and the ground surface is uneven and loose. The invention is compared with the measurement accuracy of the traditional method, fig. 4 is a comparative experiment data table, and X, Y, Z in fig. 4 respectively represents the coordinates measured on the quan beach. As can be seen from fig. 4, the system and method provided by the present application do not require manual rod-holding measurement, so the measurement data of the present application are stable and closer to the actual coordinates, and the deviation thereof is less than 1, while the traditional method requires manual rod-holding measurement and introduces an error, the contact depth between the bottom of the measuring rod and the soft beach surface under the beach terrain cannot be accurately controlled, the error between the XYZ data obtained by the traditional method and the actual coordinates is larger, and the deviation thereof may be greater than 2.5. Meanwhile, the system has the characteristic of greatly shortening the measurement time, the trolley automatically travels, the system automatically stabilizes and measures the sand, the sand is measured on a 1km by 0.2km sand beach according to a 1:500 scale, the time required by the traditional tool and the measurement method is about 8-10 hours, the time required by the system and the measurement method is about 2-3 hours, and the efficiency is greatly improved.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.
Claims (10)
1. The utility model provides a from supplementary RTK data acquisition system of steady range finding, contains RTK measuring unit, stable unit, range unit, data processing unit, its characterized in that:
the stabilizing unit comprises a fixed component and a movable component;
the distance measuring unit is fixedly connected to the lower side of the RTK measuring unit, the RTK measuring unit and the distance measuring unit are fixedly connected to the movable assembly and move along with the movable assembly, and the movable assembly is used for adjusting a connecting line between the RTK measuring unit and the distance measuring unit to be vertical to a horizontal plane;
the data processing unit is in communication connection with the RTK measuring unit and the ranging unit, and the data processing unit stores distance information between the RTK measuring unit and the ranging unit.
2. A self-stabilized ranging assisted RTK data acquisition system according to claim 1, characterized by: the fixed assembly is connected to a corresponding mobile device.
3. A self-stabilized ranging assisted RTK data acquisition system according to claim 1, characterized by: the ranging unit is fixedly connected to the lower side of the RTK measuring unit through a connecting rod.
4. A self-stabilized ranging assisted RTK data acquisition system according to claim 3, characterized by: the distance information is the sum of the length of the connecting rod and the height of the ranging unit.
5. A self-stabilized ranging assisted RTK data acquisition system according to claim 1, characterized by: the stabilizing unit is one of a stabilizer and a holder.
6. A self-stabilized ranging assisted RTK data acquisition system according to claim 1, characterized by: the distance measuring unit is one of a laser distance measuring unit and an acoustic distance measuring unit.
7. A self-stabilized ranging assisted RTK surveying method based on a fixedly set reference station, a movably set rover station, said rover station being the RTK data acquisition system of claim 1, characterized by: comprises the following steps:
s1, acquiring distance information L between the RTK measuring unit and the ranging unit;
s2, the stabilizing unit adjusts the movable assembly to enable a connecting line between the RTK measuring unit and the ranging unit to be vertical to a horizontal plane;
s3, the rover station receives the satellite signal and the phase differential signal from the reference station, and T is obtained through differential correction conversiontReference point position P where time RTK measurement unit is located0(xt，yt，zt)；
S4, the distance measuring unit measures height information h between the distance measuring unit and the ground;
s5, calculating and storing the position information P, P ═ x of the target groundt，yt，zt-h-L)。
8. The self-stabilized ranging assisted RTK measurement method according to claim 7, characterized in that: the distance measuring unit is fixedly connected to the lower side of the RTK measuring unit through a connecting rod, and the distance information L is the sum of the length of the connecting rod and the height of the distance measuring unit.
9. The self-stabilized ranging assisted RTK measurement method according to claim 7, characterized in that: after step S2, the method further includes the steps of:
s2.1, measuring the height between the distance measuring unit and the ground for multiple times through the distance measuring unit, and if the heights measured for multiple times are consistent, entering the step S3.
10. The self-stabilized ranging assisted RTK measurement method according to claim 7, characterized in that: step S5 is followed by further comprising:
s6, moving the rover station for a plurality of times and repeating the steps S2-S5 until the rover station closes the path in the area to be measured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110597706.0A CN113311461A (en) | 2021-05-31 | 2021-05-31 | Self-stabilizing ranging-assisted RTK data acquisition system and measuring method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110597706.0A CN113311461A (en) | 2021-05-31 | 2021-05-31 | Self-stabilizing ranging-assisted RTK data acquisition system and measuring method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113311461A true CN113311461A (en) | 2021-08-27 |
Family
ID=77376199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110597706.0A Pending CN113311461A (en) | 2021-05-31 | 2021-05-31 | Self-stabilizing ranging-assisted RTK data acquisition system and measuring method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113311461A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116295312A (en) * | 2023-05-19 | 2023-06-23 | 山东华信勘察测绘有限公司 | Land caliber convenient to adjust |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104359430A (en) * | 2014-10-14 | 2015-02-18 | 华南农业大学 | Laser-ranging-based dynamic paddy field flatness detection device and method thereof |
| CN106364687A (en) * | 2016-09-26 | 2017-02-01 | 武汉天易航科技有限公司 | High-precision ortho-image tripod head |
| CN108107462A (en) * | 2017-12-12 | 2018-06-01 | 中国矿业大学 | The traffic sign bar gesture monitoring device and method that RTK is combined with high speed camera |
| CN112197760A (en) * | 2020-11-16 | 2021-01-08 | 河南科技大学 | Unmanned aerial vehicle terrain mapping device and method based on laser ranging and self-stabilizing cradle head |
| CN212423316U (en) * | 2020-06-23 | 2021-01-29 | 北京易科泰生态技术有限公司 | Phenotype analysis platform of field intelligent robot |
-
2021
- 2021-05-31 CN CN202110597706.0A patent/CN113311461A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104359430A (en) * | 2014-10-14 | 2015-02-18 | 华南农业大学 | Laser-ranging-based dynamic paddy field flatness detection device and method thereof |
| CN106364687A (en) * | 2016-09-26 | 2017-02-01 | 武汉天易航科技有限公司 | High-precision ortho-image tripod head |
| CN108107462A (en) * | 2017-12-12 | 2018-06-01 | 中国矿业大学 | The traffic sign bar gesture monitoring device and method that RTK is combined with high speed camera |
| CN212423316U (en) * | 2020-06-23 | 2021-01-29 | 北京易科泰生态技术有限公司 | Phenotype analysis platform of field intelligent robot |
| CN112197760A (en) * | 2020-11-16 | 2021-01-08 | 河南科技大学 | Unmanned aerial vehicle terrain mapping device and method based on laser ranging and self-stabilizing cradle head |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116295312A (en) * | 2023-05-19 | 2023-06-23 | 山东华信勘察测绘有限公司 | Land caliber convenient to adjust |
| CN116295312B (en) * | 2023-05-19 | 2023-08-25 | 山东华信勘察测绘有限公司 | Land caliber convenient to adjust |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106956270B (en) | Six-degree-of-freedom mechanical arm for automatic charging pile of electric automobile and control method of six-degree-of-freedom mechanical arm | |
| CN108871209B (en) | Large-size workpiece moving measurement robot system and method | |
| CN109141223A (en) | A kind of efficiently accurate calibration method of the laser interferometer light path based on PSD | |
| CN108801142A (en) | A kind of super workpiece double-movement measurement robot system and method | |
| CN110108255B (en) | Universal mobile data acquisition and processing tunnel detection system for multiple scanners | |
| CN103148865B (en) | Camera model standardization method and standardization device | |
| CN112964252B (en) | Positioning method and system based on inertial measurement unit and RTK receiver | |
| CN107457784B (en) | GPS (Global positioning System) Beidou differential positioning and navigation method for substation inspection robot | |
| CN106705880B (en) | A kind of large caliber reflecting mirror face shape profile detection method and device in place | |
| CN108489382A (en) | A kind of AGV dynamic pose measuring methods based on space multi-point constraint | |
| CN104625720A (en) | Automatic solar wing butt joint method based on laser tracker and adjusting parallel platform | |
| CN113311461A (en) | Self-stabilizing ranging-assisted RTK data acquisition system and measuring method thereof | |
| CN113538595B (en) | Method for improving geometric precision of remote sensing stereo image by using laser height measurement data in auxiliary manner | |
| CN104006789A (en) | Device and method for measuring spatial dynamic angle | |
| CN112526483A (en) | Three-dimensional laser scanning device integrating spatial positioning and orienting method thereof | |
| CN114434036B (en) | Three-dimensional vision system for gantry robot welding of large ship structural member and operation method | |
| CN113790690B (en) | Clamping posture adjusting system and adjusting method for linear displacement sensor for calibration | |
| CN110333523A (en) | A kind of railway line three-dimensional data generation method for RTG automatically walk system | |
| CN107917693A (en) | One kind is based on anallatic inclination measuring device and measuring method | |
| CN112817019A (en) | Vibroseis vehicle working point positioning error compensation method based on attitude information | |
| CN110871824B (en) | Method and system for monitoring surrounding environment of track | |
| CN111752308B (en) | Method for correcting moving scanning posture in circular shield tunnel | |
| CN207675158U (en) | One kind being based on anallatic inclination measuring device | |
| CN215894958U (en) | Detection system for precision of cold rolling grinding machine | |
| CN114739426A (en) | Coal mining machine positioning correction system and method based on portable mobile UWB base station platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210827 |