CN114415153B - Infrared double-station calibration method and system - Google Patents
Infrared double-station calibration method and system Download PDFInfo
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- CN114415153B CN114415153B CN202111523451.XA CN202111523451A CN114415153B CN 114415153 B CN114415153 B CN 114415153B CN 202111523451 A CN202111523451 A CN 202111523451A CN 114415153 B CN114415153 B CN 114415153B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention provides an infrared double-station calibration method and a calibration system, wherein the calibration method comprises the following steps: calculating differential position information according to satellite positioning signals through the first calibration assembly and the second calibration assembly respectively; the host computer of the first calibration assembly calculates the double-station baseline length and the double-station relative position data according to the first differential position information and the second differential position information, and sends the double-station baseline length and the double-station relative position data to the master station; according to the double-station baseline length and the double-station position data, the main station calculates the direction angle of a turntable aimed at the auxiliary station by the main station, the included angle between the zero degree of the turntable broadside angle of the main station and the northbound direction, and sends the included angle to the auxiliary station; the auxiliary station sets a turntable azimuth zero position according to the included angle between the turntable broadside zero degree of the main station and the north direction, so that the turntable azimuth angles of the auxiliary station and the main station are consistent. The method has the advantages of high positioning precision, good environmental adaptability and the like, is simple in configuration and algorithm implementation, is simple and convenient to operate, greatly improves the use experience of users, and meets the requirement of double-station quick calibration of the infrared detection system.
Description
Technical Field
The invention relates to the field of vehicle-mounted photoelectric equipment, in particular to an infrared double-station calibration method and a calibration system.
Background
The infrared detection system needs to detect the distance and the relative position of the double-station infrared sensor, and generally aims at each other through the double-station infrared to acquire the angular position of the opposite side relative to the mechanical zero position of the shaft angle of the opposite side; and then the manual input is performed after the double-station distance is measured by the handheld laser range finder, so that the double-station distance and the relative position calibration are completed. The method has higher requirement on visibility, the two stations are all in the sight range, and the environmental adaptability is poor; the manual double-station distance measurement is carried out, and the process is complicated and time-consuming. Therefore, a new solution is needed to solve the above-mentioned problems.
Disclosure of Invention
The invention provides an infrared double-station calibration method and an infrared double-station calibration system aiming at the technical problems existing in the prior art.
According to a first aspect of the present invention, there is provided an infrared double station calibration method comprising:
The first calibration assembly and the second calibration assembly receive a first satellite positioning signal and a second satellite positioning signal, and calculate corresponding first differential position information and second differential position information, wherein an antenna of the first calibration assembly is arranged on a main station turntable, an antenna of the second calibration assembly is arranged on a secondary station turntable, and a host of the first calibration assembly and a host of the second calibration assembly are arranged on a system display console;
The host computer of the first calibration assembly receives the second differential position information calculated by the second calibration assembly, calculates double-station baseline length and double-station relative position data according to the first differential position information and the second differential position information, and sends the double-station baseline length and the double-station relative position data to the master station;
According to the double-station baseline length and the double-station position data, the main station calculates the direction angle of a turntable aimed at the auxiliary station by the main station, the included angle between the zero degree of the turntable broadside angle of the main station and the northbound direction, and sends the included angle to the auxiliary station;
The auxiliary station sets a turntable azimuth zero position according to the included angle between the turntable broadside zero degree of the main station and the north direction, so that the turntable azimuth angles of the auxiliary station and the main station are consistent.
According to a second aspect of the invention, there is provided an infrared dual-station calibration system comprising a first calibration assembly and a second calibration assembly, wherein an antenna of the first calibration assembly is mounted on a primary station turntable, an antenna of the second calibration assembly is mounted on a secondary station turntable, and a host of the first calibration assembly and a host of the second calibration assembly are mounted on a system display console;
the first calibration component is used for receiving a first satellite positioning signal and calculating corresponding first differential position information; the system is also used for receiving second differential position information calculated by the second calibration assembly, calculating double-station baseline length and double-station relative position data according to the first differential position information and the second differential position information, and transmitting the double-station baseline length and the double-station relative position data to the master station;
the second calibration component is used for receiving a second satellite positioning signal and calculating corresponding second differential position information;
The main station is used for calculating the direction angle of a turntable aimed at the auxiliary station by the main station, the included angle between the zero degree of the turntable broadside angle of the main station and the northbound direction according to the double-station base line length and the double-station position data, and sending the calculated included angles to the auxiliary station;
and the auxiliary station is used for setting a turntable azimuth zero position according to the included angle between the turntable broadside zero degree of the main station and the north direction, so that the turntable azimuth of the auxiliary station is consistent with that of the main station.
The invention provides an infrared double-station calibration method and a calibration system, which are based on a mode that a main station and a secondary station use two groups of calibration components to cooperate, and under the premise of mutual aiming of double stations, the length of a double-station base line and the relative position data of the double stations are obtained in real time; and by combining known parameters of the double-station turntable, the automatic and rapid calibration function of the distance and the relative position of the infrared double-station turntable is automatically realized. The method has the advantages of high positioning precision, good environmental adaptability and the like, is simple in configuration and algorithm implementation, is simple and convenient to operate, greatly improves the use experience of users, and meets the requirement of double-station quick calibration of the infrared detection system.
Drawings
FIG. 1 is a flow chart of an infrared double-station calibration method provided by the invention;
FIG. 2 is a flow chart of information transmission of an infrared dual station calibration method;
FIG. 3-1 is a schematic side view of a primary station and a secondary station;
FIG. 3-2 is a schematic top view of a primary station and a secondary station;
fig. 4 is a schematic structural diagram of an infrared dual-station calibration system provided by the invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1, an infrared double-station calibration method includes: receiving a first satellite positioning signal and a second satellite positioning signal through a first calibration component and a second calibration component respectively, and calculating corresponding first differential position information and second differential position information, wherein an antenna of the first calibration component is arranged on a main station turntable, an antenna of the second calibration component is arranged on a secondary station turntable, and a host of the first calibration component and a host of the second calibration component are arranged on a system display console; the host computer of the first calibration assembly receives the second differential position information calculated by the second calibration assembly, calculates double-station baseline length and double-station relative position data according to the first differential position information and the second differential position information, and sends the double-station baseline length and the double-station relative position data to the master station; the main station is used for calculating the direction angle of a turntable aimed at the auxiliary station by the main station, the included angle between the zero degree of the turntable broadside angle of the main station and the northbound direction according to the double-station base line length and the double-station position data, and sending the calculated included angles to the auxiliary station; and the auxiliary station is used for setting a turntable azimuth zero position according to the included angle between the turntable broadside zero degree of the main station and the north direction, so that the turntable azimuth of the auxiliary station is consistent with that of the main station.
Specifically, two calibration component antennas are respectively installed on an A station and a B station turntable, in the embodiment of the invention, the A station is a main station, the B station is a secondary station, a first calibration component antenna is installed on the A station turntable, a second calibration component antenna is installed on the B station turntable, and a calibration component host is installed in a system display console drawer. The 2 calibration assemblies respectively comprise a host computer of 1 built-in GNSS receiver and 1 GNSS measurement antenna, and can perform centimeter-level positioning calculation.
The method comprises the following specific steps of:
(1) The first calibration assembly and the second calibration assembly receive satellite positioning signals through the GNSS measurement antenna;
(2) The first calibration assembly and the second calibration assembly receive satellite positioning signals through a GNSS receiver for resolving, and corresponding first differential position information and second differential position information are resolved;
(3) Inputting the second differential position information calculated by the second calibration component into the first calibration component host;
(4) The first calibration assembly host calculates the double-station baseline length and the double-station relative position data in real time according to the first differential position information and the second differential position information, and sends the calculated double-station baseline length and the double-station relative position data to the infrared detection system A station;
(5) The infrared detection system A station calculates the distance between the two stations and the relative north-positive included angle between the AB stations according to the double-station baseline length and the double-station relative position data, and obtains the included angle between the turntable broadside angle 0 degrees and the north-positive coordinate system;
(6) Recording the azimuth angle of a turntable aimed at a station B, and sending the interval between the station A and the station B and the relative north-oriented included angle between the station AB to the station B to obtain the included angle between the turntable shipside angle 0 DEG and the north-oriented coordinate system, and simultaneously sending a calibration command to the station B;
(7) And setting a rotary table azimuth zero position by the station B, so that the azimuth zero positions of the station A and the rotary table of the station B are kept consistent, and calibration is completed.
Based on A, B two stations and two groups of calibration assemblies matched, the invention acquires the length of the base line of the two stations and the azimuth angle and the pitch angle of the connecting line of the two stations relative to the north direction in real time on the premise of mutual aiming of the two stations; and by combining known parameters of the double-station turntable, the automatic and rapid calibration function of the distance and the relative position of the infrared double-station turntable is automatically realized. The method has the advantages of high positioning precision, good environmental adaptability and the like, is simple in configuration and algorithm implementation, is simple and convenient to operate, greatly improves the use experience of users, and meets the requirement of double-station quick calibration of the infrared detection system.
Example two
An infrared double-station calibration method mainly comprises the following steps:
S1, receiving a first satellite positioning signal and a second satellite positioning signal through a first calibration component and a second calibration component respectively, and calculating corresponding first differential position information and second differential position information, wherein an antenna of the first calibration component is arranged on a main station turntable, an antenna of the second calibration component is arranged on a secondary station turntable, and a host of the first calibration component and a host of the second calibration component are arranged on a system display console.
According to the invention, the quick calibration configuration based on the calibration component is determined according to the use environment and the use requirement of the infrared detection system.
As shown in FIG. 2, two calibration component antennas are respectively arranged at the right end of a turntable telescopic rod of an A station and on a turntable central shaft of a B station, wherein the A station is a main station, the B station is a secondary station, the azimuth angle of the turntable of the A station is used as a reference, the azimuth angle of the turntable of the B station is calibrated, and a calibration component host is arranged in a system display console drawer.
When calibration is carried out, the station A infrared sensor and the station B infrared sensor aim at each other, and the first calibration assembly and the second calibration assembly receive satellite positioning signal antennas through GNSS measurement antennas. The first calibration component host and the second calibration component host receive satellite positioning signals through the GNSS receiver to perform calculation, and respectively calculate corresponding first differential position information and second differential position information.
S2, the host computer of the first calibration assembly receives the second differential position information calculated by the second calibration assembly, calculates double-station baseline length and double-station relative position data according to the first differential position information and the second differential position information, and sends the double-station baseline length and the double-station relative position data to the master station.
Specifically, the second differential position information calculated by the second calibration component is input into the first calibration component host, and the first calibration component host calculates parameters such as the length l of the double-station base line, the azimuth angle alpha 1 and the pitch angle beta 1 of the double-station connecting line relative to the north direction according to the first differential position information calculated by the first calibration component host and the second differential position information input, and sends the parameters to the infrared detection system A station.
The other way of resolving the double-station baseline length and the double-station relative position data is that the master station receives the first differential position information sent by the first calibration assembly and the second differential position information sent by the second calibration assembly; and according to the first differential position information and the second differential position information, calculating the double-station baseline length and double-station relative position data. The first calibration assembly and the second calibration assembly send the calculated first differential position information and second differential position information to a main station of the infrared detection system, and the main station calculates the double-station baseline length and the double-station relative position data according to the first differential position information and the second differential position information.
And S3, the main station calculates the direction angle of a turntable aimed at the auxiliary station by the main station, the included angle between the zero degree of the turntable broadside angle of the main station and the northbound direction according to the double-station base line length and the double-station position data, and sends the calculated included angles to the auxiliary station.
As an embodiment, the master station calculates, according to the double-station baseline length and the double-station position data, an included angle between a direction angle of a turntable of the master station aiming at the auxiliary station, a zero angle of a turntable of the master station and a north-oriented direction, including: taking the antenna connecting lines at two ends of the telescopic rod of the main station as an X axis, and taking the direction perpendicular to the X axis from the azimuth axis center of the main station as 0 DEG of the azimuth angle of the turntable; calculating a turntable direction angle from a main station right antenna to a secondary station and a height difference from the main station right antenna to the secondary station according to the inertial navigation heading of the main station telescopic rod antenna connecting line and the azimuth angle of the double station connecting line relative to the positive north direction; calculating the projection distance from the right antenna of the main station to the auxiliary station based on the length of the base line of the double stations and the height difference from the right antenna of the main station to the auxiliary station; calculating the coordinates of the auxiliary station according to the radius of the telescopic rod of the turntable of the main station, the projection distance from the right antenna of the main station to the auxiliary station and the direction angle of the turntable from the right antenna of the main station to the auxiliary station; calculating a turntable direction angle of aiming the main station to the auxiliary station according to the rotation radius of the azimuth axis of the main station and the coordinates of the auxiliary station; and calculating the included angle between the zero degree of the turntable broadside angle of the main station and the northbound direction according to the turntable direction angle of the main station aiming at the auxiliary station and the station azimuth angle of the main station.
Specifically, the antenna connection lines at two ends of the telescopic rod of the main station are taken as an X axis, the direction perpendicular to the X axis, which passes through the azimuth axis center of the main station, is taken as the azimuth angle 0 DEG of the turntable, as shown in fig. 3, wherein 3-1 is a side view schematic diagram of two stations, and fig. 3-2 is a top view schematic diagram of two stations.
Knowing the inertial navigation heading alpha 4 of the connecting line of the telescopic rod antenna of the station A, the method calculates:
turntable azimuth angle from main station right antenna to auxiliary station:
α3＝α1-(α4-270°)；
Master station right antenna to secondary station height difference:
H＝l×sin(β1)；
According to the known a station data: the radius L of the telescopic rod, the distance M between the telescopic rod and the azimuth axis, the rotation radius R of the azimuth axis, the rotation radius R of the pitching axis and the height difference h from the telescopic rod to the pitching axis are calculated:
Projection distance of main station right antenna to auxiliary station:
D＝l×cos(arcsin(H/l))；
B station coordinates: x=l+d×sin α3, y=d×cos α3-M.
Projection distance of a station to B station:
station a is aimed at the turret azimuth of station B:
Then it is possible to obtain:
Station a looks at station B's local azimuth:
Z＝α+(α4-270°)；
Pitch angle of station a to see station B:
The included angle between the station A broadside angle 0 DEG and the positive north direction is as follows: knowing the azimuth angle alpha A of the station A turntable, calculating the included angle (alpha A -Z) between the station A shipway angle 0 DEG and the northbound direction, transmitting the station A turntable azimuth angle, the pitching angle and the included angle between the shipway angle 0 DEG and the northbound direction to the station B, and transmitting a calibration command to the station B.
S4, the auxiliary station sets a turntable azimuth zero position according to the included angle between the turntable broadside zero degree of the main station and the north direction, so that the turntable azimuth of the auxiliary station is consistent with that of the main station.
It can be understood that the station B sets the azimuth zero position of the turntable according to the received calibration command sent by the station A, so that the azimuth zero positions of the turntable of the station A and the station B are kept consistent, and calibration is completed.
Example III
Referring to fig. 4, the infrared dual-station calibration system includes a first calibration component 41 and a second calibration component 42, an antenna of the first calibration component is installed on a turntable of a main station 43, an antenna of the second calibration component is installed on a turntable of a secondary station 44, and a host of the first calibration component 41 and a host of the second calibration component 42 are installed on a system display console 45.
The first calibration component 41 is configured to receive a first satellite positioning signal and calculate corresponding first differential position information; and is further configured to receive the second differential position information calculated by the second calibration component 42, calculate a dual-station baseline length and dual-station relative position data according to the first differential position information and the second differential position information, and send the dual-station baseline length and the dual-station relative position data to the master station 43. The second calibration component 42 is configured to receive a second satellite positioning signal and calculate corresponding second differential position information. The master station 43 is configured to calculate, according to the double-station baseline length and the double-station position data, a turntable direction angle of the master station 43 aiming at the auxiliary station 44, an included angle between a turntable broadside angle zero degree of the master station 43 and north direction, and send the calculated included angle to the auxiliary station 44. And the auxiliary station 44 is configured to set a turntable azimuth zero according to an included angle between the turntable broadside zero degree of the main station 43 and the north direction, so that the turntable azimuth of the auxiliary station 44 is consistent with that of the main station 43.
It can be understood that the infrared double-station calibration system provided by the invention corresponds to the infrared double-station calibration method provided by the foregoing embodiments, and the relevant technical features of the infrared double-station calibration system can refer to the relevant technical features of the infrared double-station calibration method, which are not described herein.
According to the infrared double-station calibration method and system provided by the embodiment of the invention, based on a mode that two groups of calibration components are matched by two stations of a main station and a secondary station, the length of a double-station base line, the azimuth angle and the pitch angle of a double-station connecting line relative to the north direction are obtained in real time on the premise of mutual aiming of the double stations; and by combining known parameters of the double-station turntable, the automatic and rapid calibration function of the distance and the relative position of the infrared double-station turntable is automatically realized. The method has the advantages of high positioning precision, good environmental adaptability and the like, is simple in configuration and algorithm implementation, is simple and convenient to operate, greatly improves the use experience of users, and meets the requirement of double-station quick calibration of the infrared detection system.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. An infrared double-station calibration method is characterized by comprising the following steps:
Receiving a first satellite positioning signal and a second satellite positioning signal through a first calibration component and a second calibration component respectively, and calculating corresponding first differential position information and second differential position information, wherein an antenna of the first calibration component is arranged on a main station turntable, an antenna of the second calibration component is arranged on a secondary station turntable, and a host of the first calibration component and a host of the second calibration component are arranged on a system display console;
The host computer of the first calibration assembly receives the second differential position information calculated by the second calibration assembly, calculates double-station baseline length and double-station relative position data according to the first differential position information and the second differential position information, and sends the double-station baseline length and the double-station relative position data to the master station; or the master station receives the first differential position information sent by the first calibration component and the second differential position information sent by the second calibration component; according to the first differential position information and the second differential position information, calculating the double-station baseline length and double-station relative position data; the double-station relative position data comprise an azimuth angle alpha 1 and a pitch angle beta 1 of a double-station connecting line relative to the north direction, and the double-station baseline length refers to the length of a connecting line between an antenna of the first calibration assembly and an antenna of the second calibration assembly;
According to the double-station baseline length and the double-station position data, the main station calculates the direction angle of a turntable aimed at the auxiliary station by the main station, the included angle between the zero degree of the turntable broadside angle of the main station and the northbound direction, and sends the included angle to the auxiliary station;
The auxiliary station sets a turntable azimuth zero position according to the included angle between the turntable broadside zero degree of the main station and the north direction, so that the turntable azimuth angles of the auxiliary station and the main station are consistent;
The main website according to two station baseline length and two station position data, calculate the revolving stage direction angle that the main website aimed to the auxiliary website, the revolving stage bulwark zero degree of main website and the right contained angle of north to the auxiliary website to the sending includes:
Taking the antenna connecting lines at two ends of the telescopic rod of the main station as an X axis, and taking the direction perpendicular to the X axis from the azimuth axis center of the main station as 0 DEG of the azimuth angle of the turntable;
calculating a turntable direction angle from a main station right antenna to a secondary station and a height difference from the main station right antenna to the secondary station according to the inertial navigation heading of the main station telescopic rod antenna connecting line and the azimuth angle of the double station connecting line relative to the positive north direction;
calculating the projection distance from the right antenna of the main station to the auxiliary station based on the length of the base line of the double stations and the height difference from the right antenna of the main station to the auxiliary station;
calculating the coordinates of the auxiliary station according to the radius of the telescopic rod of the turntable of the main station, the projection distance from the right antenna of the main station to the auxiliary station and the direction angle of the turntable from the right antenna of the main station to the auxiliary station;
Calculating a turntable direction angle of aiming the main station to the auxiliary station according to the rotation radius of the azimuth axis of the main station and the coordinates of the auxiliary station;
And calculating the included angle between the zero degree of the turntable broadside angle of the main station and the northbound direction according to the turntable direction angle of the main station aiming at the auxiliary station and the station azimuth angle of the main station.
2. The method for calibrating the infrared double-station according to claim 1, wherein the calculating the turntable direction angle from the right antenna of the main station to the auxiliary station and the height difference from the right antenna of the main station to the auxiliary station according to the inertial navigation heading of the telescopic rod antenna connection of the main station and the azimuth angle of the double-station connection relative to the north direction comprises the following steps:
α3＝α1-(α4-270°)；
H＝l×sin(β1)；
Wherein, alpha 1 is the azimuth angle of the double-station connecting line relative to the positive north direction, alpha 4 is the inertial navigation course angle of the connecting line of the telescopic rod antenna of the main station, and alpha 3 is the turntable direction angle from the right antenna of the main station to the auxiliary station;
l is the length of a double-station base line, beta 1 is the pitch angle of the double-station connecting line relative to the positive north direction, and H is the height difference from the right antenna of the main station to the auxiliary station.
3. The method for calibrating an infrared double station according to claim 2, wherein calculating the projection distance from the right antenna of the main station to the auxiliary station based on the double station base line length and the height difference from the right antenna of the main station to the auxiliary station comprises:
D＝l×cos(arcsin(H/l))；
and D is the projection distance from the right antenna of the main station to the auxiliary station.
4. The method for calibrating an infrared double station according to claim 3, wherein calculating the coordinates of the secondary station according to the radius of the telescopic rod of the turntable of the primary station, the projection distance from the right antenna of the primary station to the secondary station, and the turntable direction angle from the right antenna of the primary station to the secondary station comprises:
x＝L+D×sinα3；
y＝D×cosα3-M；
wherein, (x, y) is the x, y coordinates of secondary station, L is the primary station telescopic link radius, M is primary station telescopic link and azimuth axis interval.
5. The method for calibrating an infrared double station according to claim 4, wherein the calculating the direction angle of a turntable of the main station aiming at the auxiliary station according to the rotation radius of the azimuth axis of the main station and the coordinates of the auxiliary station comprises the following steps:
calculating the projection distance d from the main station to the auxiliary station:
calculating the azimuth angle of a turntable of the main station aiming at the auxiliary station:
6. The method of claim 5, wherein the master station calculates a turret directional angle of the master station aiming at the secondary station based on the double-station baseline length and the double-station position data, and transmits the turret directional angle of the master station aiming at the secondary station to the secondary station, and further comprising:
Calculating a geodetic azimuth Z of aiming of the main station to the auxiliary station:
Z＝α+(α4-270°)；
calculating a pitch angle beta of aiming of the main station to the auxiliary station:
wherein r is the rotation radius of the pitching axis of the main station, and h is the height difference from the telescopic rod of the main station to the pitching axis;
Correspondingly, the included angle between the main station and the positive north direction is (alpha A -Z).
7. The infrared double-station calibration system is characterized by comprising a first calibration assembly and a second calibration assembly, wherein an antenna of the first calibration assembly is arranged on a main station turntable, an antenna of the second calibration assembly is arranged on an auxiliary station turntable, and a host of the first calibration assembly and a host of the second calibration assembly are arranged on a system display console;
The first calibration component is used for receiving a first satellite positioning signal and calculating corresponding first differential position information; the system comprises a first calibration component, a second calibration component, a first differential position information and a second differential position information, wherein the first differential position information is used for receiving the first differential position information and the second differential position information, the second differential position information is used for calculating a double-station base line length and double-station relative position data, the double-station base line length and the double-station relative position data are transmitted to a main station, the double-station relative position data comprise an azimuth angle alpha 1 and a pitch angle beta 1 of a double-station connecting line relative to the north direction, and the double-station base line length refers to the length of the connecting line between an antenna of the first calibration component and an antenna of the second calibration component;
the second calibration component is used for receiving a second satellite positioning signal and calculating corresponding second differential position information;
The main station is used for calculating the direction angle of a turntable aimed at the auxiliary station by the main station, the included angle between the zero degree of the turntable broadside angle of the main station and the northbound direction according to the double-station base line length and the double-station position data, and sending the calculated included angles to the auxiliary station;
The auxiliary station is used for setting a turntable azimuth zero position according to the included angle between the turntable broadside zero degree of the main station and the north direction, so that the turntable azimuth angles of the auxiliary station and the main station are consistent;
The main website according to two station baseline length and two station position data, calculate the revolving stage direction angle that the main website aimed to the auxiliary website, the revolving stage bulwark zero degree of main website and the right contained angle of north to the auxiliary website to the sending includes:
Taking the antenna connecting lines at two ends of the telescopic rod of the main station as an X axis, and taking the direction perpendicular to the X axis from the azimuth axis center of the main station as 0 DEG of the azimuth angle of the turntable;
calculating a turntable direction angle from a main station right antenna to a secondary station and a height difference from the main station right antenna to the secondary station according to the inertial navigation heading of the main station telescopic rod antenna connecting line and the azimuth angle of the double station connecting line relative to the positive north direction;
calculating the projection distance from the right antenna of the main station to the auxiliary station based on the length of the base line of the double stations and the height difference from the right antenna of the main station to the auxiliary station;
calculating the coordinates of the auxiliary station according to the radius of the telescopic rod of the turntable of the main station, the projection distance from the right antenna of the main station to the auxiliary station and the direction angle of the turntable from the right antenna of the main station to the auxiliary station;
Calculating a turntable direction angle of aiming the main station to the auxiliary station according to the rotation radius of the azimuth axis of the main station and the coordinates of the auxiliary station;
And calculating the included angle between the zero degree of the turntable broadside angle of the main station and the northbound direction according to the turntable direction angle of the main station aiming at the auxiliary station and the station azimuth angle of the main station.
Priority Applications (1)
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