CN114485554A - GNSS continuous operation reference station pier top level standard elevation joint measurement method - Google Patents
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Abstract
The invention provides a GNSS continuous operation reference station pier top water standard elevation joint measurement method, which comprises the following steps: acquiring a vertical distance observation value, a height difference observation value and a virtual observation value of a level mark point; constructing an elevation net adjustment model according to the obtained elevation difference observation value and the virtual observation value; calculating the elevation net adjustment according to the elevation net adjustment model and the vertical distance observation value to obtain a horizontal standard elevation value of the pier top of the GNSS continuous operation reference station; checking the height value of the obtained GNSS continuously-operated reference station pier top level standard, and realizing height joint measurement of the GNSS continuously-operated reference station pier top; the elevation joint measurement of the GNSS continuously-operated reference station pier top is realized, the measurement difficulty is greatly reduced, and the measurement efficiency is improved.
Description
Technical Field
The disclosure belongs to the technical field of surveying and mapping, and particularly relates to a GNSS continuous operation reference station pier top level standard elevation joint measurement method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
A Global Navigation Satellite System (GNSS) continuously operating reference station is a national important spatial data infrastructure, is a dynamic, high-precision spatial and time reference for geospatial positioning, and provides efficient and convenient Navigation and positioning services for various industries. The traditional leveling method is used for maintaining the elevation datum, and the operation period is long and the difficulty is high.
To solve this problem, modern elevation references are based on high-precision elevation reference surfaces (geodetic surfaces or quasi-geodetic surfaces), and dynamic maintenance of the elevation references can be achieved only by using the GNSS geodetic height. The GNSS continuous operation reference station is provided with the GNSS observation mark, the gravity mark and the leveling mark in parallel, an integrated infrastructure integrating multiple functions of GNSS continuous observation, absolute gravity observation, leveling combined measurement and the like is formed, and the GNSS continuous operation reference station is an important node for maintaining regional elevation benchmarks. Because the GNSS continuous operation reference station is influenced by the motion of the crust block and the ground settlement, the reliability of the elevation datum is poor, and the application service of the surveying and mapping datum is seriously influenced. Therefore, elevation joint measurement needs to be performed on the GNSS continuous operation reference station to update the leveling elevation of the reference station, so as to maintain the current situation of elevation reference, and how to efficiently and highly accurately acquire the leveling elevation of the GNSS continuous operation reference station is a key problem to be solved.
According to the knowledge of the inventor, the elevation joint measurement of the reference station for GNSS continuous operation at present mainly adopts methods of triangular elevation, geometric leveling, steel ruler measurement and the like, so that the problems of complex operation, low precision and the like exist; meanwhile, during operation, an antenna needs to be removed, and data receiving of the GNSS continuous operation reference station and real-time navigation positioning service of the reference station network are directly influenced.
Disclosure of Invention
In order to solve the problems, the invention provides a method for height joint measurement of a pier top level standard of a GNSS continuous operation reference station, which takes an antenna chassis node as an observation object, does not need to remove a GNSS antenna, and does not influence the navigation positioning service of the reference station; a high-precision laser tracker is adopted, the concept of virtual observation quantity is introduced, the integral leveling net adjustment of the joint measurement is carried out, a mathematical model is strict, and the joint measurement precision can be greatly improved; the method for checking the height difference between the known leveling points by adopting the rank-deficient free net leveling is adopted, the influence of the elevation change of the main leveling point and the auxiliary leveling point is prevented, the elevation joint measurement of the GNSS continuous operation reference station pier top is realized, the measurement difficulty is greatly reduced, and the measurement efficiency is improved.
According to some embodiments, the scheme of the disclosure provides a GNSS continuous operation reference station pier top level standard elevation joint measurement method, which adopts the following technical scheme:
a GNSS continuous operation reference station pier top level standard elevation joint measurement method comprises the following steps:
acquiring a vertical distance observation value, a height difference observation value and a virtual observation value of a level mark point;
constructing an elevation net adjustment model through the obtained elevation difference observed value and the virtual observed value;
calculating the elevation net adjustment according to the elevation net adjustment model and the vertical distance observation value to obtain a horizontal standard elevation value of the pier top of the GNSS continuously-operating reference station;
and checking the height value of the obtained GNSS continuously-operated reference station pier top level standard, and realizing height joint measurement of the GNSS continuously-operated reference station pier top.
As a further technical limitation, in the process of acquiring the vertical distance observation value of the leveling mark point, the antenna chassis node is taken as an observation object, without removing the GNSS antenna, and based on the antenna horizontal extension rod and the target ball arranged in the groove of the antenna horizontal extension rod, the tracking observation of the vertical distance observation value is performed by using a high-precision laser tracker.
Further, the elevation difference observation value of the leveling mark point is the elevation difference between the leveling mark point and the antenna chassis node, and is equal to the sum of the vertical height of the high-precision laser tracker and the vertical distance observation value of the leveling mark point in value.
As a further technical limitation, the virtual observation value of the level mark point is the difference between the actual value of the elevation observation value of the center point of the GNSS antenna chassis and the elevation observation value of the antenna chassis.
As a further technical limitation, when the elevation net adjustment model is constructed, the net adjustment is calculated by adopting an indirect adjustment model.
Further, the elevation net adjustment model comprises an indirect adjustment model and a stochastic model.
Further, an indirect adjustment model is adopted for adjustment of the net, and an elevation net adjustment model is established.
Further, the error calculation of the elevation net adjustment model is carried out by adopting a least square principle.
Further, the adjustment result is related to the error, the vertical distance observation value and the height difference observation value of the elevation net adjustment model.
Further, a height value of a pier top horizontal standard of the GNSS continuous operation reference station is obtained by adopting gravity center standard rank deficiency free net adjustment checking.
Compared with the prior art, the beneficial effect of this disclosure is:
the antenna chassis node is used as an observation object, a GNSS antenna does not need to be removed, and navigation and positioning services of a reference station are not influenced; a high-precision laser tracker is adopted, the concept of virtual observation quantity is introduced, the integral leveling net adjustment of the joint measurement is carried out, a mathematical model is strict, and the joint measurement precision can be greatly improved; the method for checking the height difference between the known leveling points by adopting the rank-deficient free net leveling is adopted, the influence of the elevation change of the main leveling point and the auxiliary leveling point is prevented, the elevation joint measurement of the GNSS continuous operation reference station pier top is realized, the measurement difficulty is greatly reduced, and the measurement efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a flowchart of a method for joint measurement of elevation of a pier top level standard of a GNSS continuous operation reference station according to a first embodiment of the disclosure;
FIG. 2 is a schematic diagram of an external structure of a GNSS continuous operation reference station pier in a first embodiment of the disclosure;
fig. 3 is a schematic structural diagram of an antenna extension rod in one embodiment of the present disclosure;
FIG. 4 is a top view structural diagram of an elevation joint measurement of a GNSS continuous operation reference station pier top level standard in a first embodiment of the disclosure;
FIG. 5 is a schematic diagram of a top view of a data observation process of GNSS continuous operation reference station pier top level standard elevation joint measurement in a first embodiment of the present disclosure;
the antenna comprises a GNSS antenna 1, an antenna connecting rod 2, a GNSS continuous operation reference station pier column 4, the ground 5, an antenna horizontal extension rod 6, an antenna horizontal extension rod groove 7 and an antenna base.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example one
The first embodiment of the disclosure introduces a height joint measurement method for a reference station pier top level standard of GNSS continuous operation.
The embodiment provides a height joint measurement method for a pier top horizontal standard of a GNSS continuous operation reference station, which comprises the steps of directly measuring the vertical distance of an antenna chassis node by using a laser tracker, and performing leveling of a leveling net to obtain a national height value of the pier top horizontal standard 1985; compared with the traditional leveling elevation joint measurement, the measurement difficulty is greatly reduced, and the measurement efficiency is greatly improved; the antenna chassis node is used as an observation object, a GNSS antenna does not need to be removed, and the navigation and positioning service of the reference station is not influenced; a high-precision laser tracker is adopted, the concept of virtual observation quantity is introduced, the integral leveling net adjustment of the joint measurement is carried out, a mathematical model is strict, and the joint measurement precision can be greatly improved; and the height difference value between the known leveling points is checked by adopting a rank-deficient free net adjustment method, so that the influence of the elevation change of the main leveling point and the auxiliary leveling point is prevented, and the elevation joint measurement of the pier top of the GNSS continuous operation reference station is realized.
As shown in fig. 1, a GNSS continuous operation reference station pier top level standard elevation joint measurement method includes the following steps:
acquiring a vertical distance observation value, a height difference observation value and a virtual observation value of a level mark point;
constructing an elevation net adjustment model according to the obtained elevation difference observation value and the virtual observation value;
calculating the elevation net adjustment according to the elevation net adjustment model and the vertical distance observation value to obtain a horizontal standard elevation value of the pier top of the GNSS continuously-operating reference station;
and checking the height value of the obtained GNSS continuously-operated reference station pier top level standard, and realizing height joint measurement of the GNSS continuously-operated reference station pier top.
The external structure of the GNSS continuously-operating reference station pier mark is shown in FIG. 2, and the pier top level mark elevation joint measurement is carried out based on the structure, as shown in FIGS. 3, 4 and 5, the specific process is as follows:
(1) observation of
(1.1) determining 4 known level mark points near the bottom of the GNSS observation pier shown in FIG. 4, and the elevation value H thereof1，H2，H3，H4In which H is1The main level points and the auxiliary level points. At the level mark point H1And a tripod is erected, the height of the high-precision laser tracker is greater than 1 meter, and the tripod is used for placing the laser tracker in leveling and centering. Referring to FIG. 3, the antenna horizontally extending rod 5 is connected to the point "a" on the top edge of the GNSS antenna base 7 to place the target ballThe laser tracking device is arranged in a groove 6 of a horizontal extension rod of an antenna, and the position of a target ball is repeatedly adjusted according to the zenith distance angle value measured by the laser tracking instrument, so that the central point of the target ball is ensured to be positioned in the vertical direction of a level mark point.
As shown in fig. 5, the laser tracker is fixed in a horizontal direction to perform the first vertical distance observation of the target ball, and the laser tracker is rotated to perform the second, third and fourth vertical distance observation at intervals of 90 ° horizontal angles, so as to obtain the average value of the four measurements, thereby eliminating the influence of leveling and automatic leveling of the laser tracker on the vertical distance measurement. Obtaining the average value S of vertical distance observation values1Measuring the slant height of the instrument in three directions by taking a 120-degree horizontal angle as an interval, performing vertical correction, or directly measuring the vertical height of the instrument in three directions, and obtaining the average value of the vertical height of the instrument as L1To obtain a known level point H1Height difference h from antenna chassis node a1Comprises the following steps:
h1＝S1+L1
(1.2) successively applying the above-mentioned method to the known level point H2，H3，H4Erecting a laser tracker for observation, and measuring a vertical distance observation value S2，S3，S4The vertical heights of the corresponding instruments are respectively L2，L3，L4To obtain a known level point H2，H3，H4Height difference h between the antenna chassis nodes b, c and d2，h3，h4Comprises the following steps:
h2＝S2+L2
h3＝S3+L3
h4＝S4+L4
as shown in FIG. 5, chassis center point H for GNSS antenna0The true elevation value should be different from the elevation values of the antenna chassis a, b, c and d by a constant which is the external dimension of the antenna and can be accurately obtained, and is set as k, that is
h1'＝h2'＝h3'＝h4'＝k
Due to antenna chassis manufacturingAnd the presence of observation errors, h1'，h2'，h3'，h4' it is not possible to have exactly k, and it is considered a virtual observer that is expected to be k, i.e.: e (h)1')＝E(h2')＝E(h3')＝E(h4')＝k。
(2) Net adjustment
Because the actual observation conditions of the 4 height differences are consistent, the horizontal distance between the known leveling point and the antenna chassis node is close, and the number of the measuring stations is 1. 4 height difference observed values h obtained by measurement1，h2，h3，h4And 4 virtual observations h1'，h2'，h3'，h4' all considered as uncorrelated equal-precision observations.
And (4) carrying out net adjustment by adopting an indirect adjustment model, and establishing an elevation net adjustment model. In this embodiment, the number of observations n is 8, the number of necessary observations t is 5, and the number of redundant observations r is n-t is 3.
(2.1) Indirect adjustment model
Function model:
wherein the height difference observed value
Coefficient matrix
Is a quantity to be solved, and represents the antenna chassis a, b, c and d and the central point H of the antenna chassis0Elevation of (d);
d＝[-H1 -H2 -H3 -H4 0 0 0 0]。
random modeling:
D＝σ0 2Q＝σ0 2P-1
wherein σ0Take 1 and P the identity matrix (8X 8).
(2.2) adjustment calculation
Error equation:
wherein the content of the first and second substances,
is the elevation correction number of unknown point, L is L- (BX DEG + d), L is
The observed value of (1).
According to the principle of least squares, VTPV is min, then B is obtainedTSubstituting PV to 0 for the error equation:
the adjustment results are:
therefore, the height value of the GNSS continuous operation reference station pier top level standard can be obtained.
(2.3) considering that there may be settlement variation in 4 known level points, performing level elevation inspection on the known points by using a barycentric standard rank deficiency free net adjustment, wherein the barycentric standard equation is as follows:
STX＝0
wherein ST＝[1 1 1 1 1 1 1 1 1]。
In the embodiment, the antenna chassis node is taken as an observation object, a GNSS antenna is not removed, and the real-time navigation and positioning service of the reference station is not influenced; a high-precision laser tracker is adopted, the concept of virtual observation quantity is introduced, the integral leveling net adjustment of the joint measurement is carried out, a mathematical model is strict, and the joint measurement precision can be greatly improved; the method of rank-deficient free net adjustment is adopted to carry out the height difference value check among the known leveling points, so as to prevent the influence of the elevation change of the main leveling point and the auxiliary leveling point; auxiliary facilities are not needed, fast joint measurement of the elevation of the pier top of the GNSS continuous operation reference station is achieved, the measurement difficulty is greatly reduced, and the measurement efficiency is improved.
Based on the method introduced by the embodiment, the elevation joint measurement of the GNSS continuous operation reference station can be performed with high precision and high efficiency, the measurement workload is greatly reduced compared with the traditional method, the measurement efficiency and the joint measurement precision are greatly improved, the method has important significance for establishing and maintaining a national coordinate frame and performing wide-area real-time precision positioning by utilizing the GNSS continuous operation reference station, is used for promoting the wide use of modern surveying and mapping benchmarks, improving the surveying and mapping geographic information service with higher precision and wider range for users, and greatly promoting the application of the surveying and mapping geographic information to generate remarkable effects.
Example two
The second embodiment of the disclosure introduces an example of a GNSS continuous operation reference station pier top level standard elevation joint measurement method.
The embodiment aims to provide a GNSS continuous operation reference station pier top level standard elevation joint measurement method, which comprises the following specific calculation method: the elevation values of four known points and the height difference between 4 nodes of the chassis and the known points are shown in table 1:
TABLE 1 known Point elevation and elevation Difference observed values (unit: m)
Taking the model number antenna as an example, k is 47.5mm, h can be obtained from the external dimension of the antenna1'＝h'2＝h3'＝h'40.0475 m. Net adjustment was carried out according to the method of the present invention. Iterate until convergence, yielding H0＝7.9542m，
Namely, the embodiment can realize high-precision normal high-speed joint measurement in the sub-millimeter order.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. A GNSS continuous operation reference station pier top level standard elevation joint measurement method is characterized by comprising the following steps:
acquiring a vertical distance observation value, a height difference observation value and a virtual observation value of a level mark point;
constructing an elevation net adjustment model through the obtained elevation difference observed value and the virtual observed value;
calculating the elevation net adjustment according to the elevation net adjustment model and the vertical distance observation value to obtain a horizontal standard elevation value of the pier top of the GNSS continuously-operating reference station;
and checking the height value of the obtained GNSS continuously-operated reference station pier top level standard, and realizing height joint measurement of the GNSS continuously-operated reference station pier top.
2. The GNSS continuous operation reference station pier top level mark elevation joint measurement method as claimed in claim 1, wherein in the process of obtaining the elevation observation value of the level mark point, the antenna chassis node is taken as an observation object, without removing the GNSS antenna, and based on the antenna horizontal extension rod and the target ball arranged in the groove of the antenna horizontal extension rod, a high-precision laser tracker is adopted to perform tracking observation of the elevation observation value.
3. The GNSS continuous-operation reference station pier top level alignment method of claim 2, wherein the elevation difference observation value of the level mark point is the elevation difference between the level mark point and the antenna chassis node, and is equal to the sum of the vertical height of the high-precision laser tracker and the vertical distance observation value of the level mark point in value.
4. The method for GNSS continuous operation reference station pier top level elevation joint survey as claimed in claim 1, wherein the virtual observation value of the level mark point is the difference between the actual observation value of the difference observation value of the center point of the GNSS antenna chassis and the difference observation value of the elevation of the antenna chassis.
5. The method for height joint measurement of the GNSS continuous operation reference station pier top level standard as claimed in claim 1, wherein the calculation of the elevation net adjustment is performed by using an indirect adjustment model when constructing the elevation net adjustment model.
6. The method for elevation co-survey of the GNSS continuous operation reference station pier top level standard as claimed in claim 5, wherein the elevation net adjustment model comprises an indirect adjustment model and a stochastic model.
7. The method for jointly measuring the elevation of the horizontal standard of the pier top of the GNSS continuous operation reference station as claimed in claim 6, wherein an indirect adjustment model is used for adjustment of the height network to establish the elevation network adjustment model.
8. The GNSS continuous operation reference station pier top level standard elevation joint measurement method as claimed in claim 7, wherein the error calculation of the elevation net adjustment model is performed by using the least square principle.
9. The method of claim 8, wherein the adjustment results relate to errors, vertical range observations, and elevation difference observations of the elevation net adjustment model.
10. The method for jointly surveying the elevation of the GNSS continuously operating reference station pier top level standard according to claim 1, wherein the obtained elevation value of the GNSS continuously operating reference station pier top level is checked by a barycentric benchmark rank deficient free net adjustment.
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