CN115752395A - Measuring prism with inertia autonomous positioning capability and prism tracking method - Google Patents
Measuring prism with inertia autonomous positioning capability and prism tracking method Download PDFInfo
- Publication number
- CN115752395A CN115752395A CN202211349601.4A CN202211349601A CN115752395A CN 115752395 A CN115752395 A CN 115752395A CN 202211349601 A CN202211349601 A CN 202211349601A CN 115752395 A CN115752395 A CN 115752395A
- Authority
- CN
- China
- Prior art keywords
- prism
- total station
- attitude
- inertial
- autonomous positioning
- 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
Landscapes
- Navigation (AREA)
Abstract
The invention provides a measuring prism with inertial autonomous positioning capability and a prism tracking method, comprising an optical prism, an autonomous positioning and attitude determining module and a communication module, wherein the autonomous positioning and attitude determining module is fixedly connected with the optical prism; the optical prism is matched with the total station for use, and the total station can measure the position coordinate of the center of the prism under the condition of common sight; the autonomous positioning and attitude determination module comprises an Inertial Measurement Unit (IMU) and a data processing unit, and is used for autonomously calculating three-dimensional position, speed and attitude information of the prism; and the positioning and attitude determining result obtained by the data processing unit at the optical prism is transmitted to the total station through the communication module, the total station is assisted to pre-judge the position of the prism, and the prism coordinate measured by the total station is transmitted to the data processing unit of the prism in real time under the condition of visual inspection. Because the state quantities such as the position, the speed, the posture and the like of the prism are transmitted to the total station, the searching radius of the total station can be effectively reduced, and the re-capturing and continuous tracking capabilities of the prism after shielding are effectively improved.
Description
Technical Field
The invention relates to the field of surveying and mapping technology and surveying and mapping equipment, in particular to a measuring prism based on an inertial navigation system and having pose autonomous reckoning capability.
Background
The total station is a surveying instrument integrating horizontal angle, vertical angle and distance measurement functions, and usually needs a prism to perform point location measurement. Traditional total powerstation does not possess the function of the automatic prism of alighting, needs the manual prism of alighting to measure when using, and is consuming time hard and can not carry out dynamic tracking to the prism. In order to overcome the above defects, many measuring instrument manufacturers represented by Leica Geosystems add functions of prism automatic tracking and collimation on the basis of the traditional total station, thereby realizing automatic measurement of the total station.
The existing mainstream automatic tracking type total station mainly realizes dynamic tracking and collimation on the prism in an image identification mode, and the prism does not have position calculation capability. This approach has the following drawbacks: 1) Good continuous viewing conditions need to be kept between the prism and the total station, and once a shelter exists, the automatic tracking of the total station to the prism is easily interrupted. 2) The movement speed of the prism relative to the total station cannot be too fast, otherwise tracking failure of the total station is easily caused. 3) The distance between the prism and the total station is limited, and the prism is difficult to track when being too far away or too close. 4) The requirement on the observation environment is high, and effective continuous tracking and collimation can be carried out under the condition of sufficient light.
The publication "CN110220512A" patent name "dynamic positioning system of total station combined inertial measurement unit" installs prism and inertial measurement unit on carrier, and uses the combination of total station and inertial measurement unit to perform dynamic positioning. However, this patent only uses a prism as a cooperative target of the total station for measuring the position coordinates of the carrier. Therefore, the prism in the scheme does not have the position calculation capability, and the tracking and sighting capability of the total station to the prism cannot be improved, and the method is essentially different from the method.
Aiming at the existing problems, a prism tracking scheme capable of overcoming the limitations in the aspects of observation environment, shielding, distance between a prism and a total station, relative movement speed and the like is urgently needed. Therefore, the invention provides a novel prism system and a novel prism method based on an inertial navigation technology, the prism has the autonomous calculation capability of position, speed and posture, and the technical problem of dynamic tracking and collimation of the prism of the existing automatic tracking type total station can be effectively solved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a prism system and a method based on an Inertial Navigation System (INS) technology, and the position of the prism is calculated through the INS, so that the prism is continuously tracked by a total station.
In order to achieve the purpose, the invention provides a measuring prism with inertial autonomous positioning capability, which comprises an optical prism, an autonomous positioning and attitude determining module and a communication module, wherein the autonomous positioning and attitude determining module is fixedly connected with the optical prism;
the optical prism is matched with the total station for use, and the total station can measure the position coordinate of the center of the prism under the condition of common sight; the autonomous positioning and attitude determining module comprises an Inertial Measurement Unit (IMU) and a data processing unit, and under the condition of giving initial position, speed and attitude information, the three-dimensional position, speed and attitude information of the prism are autonomously calculated;
the inertial measurement unit is used for measuring the three-axis angular velocity vector and the three-axis non-gravitational acceleration of the carrier;
the data processing unit is used for fusing and processing IMU original data and prism center coordinates measured by a total station to realize combined positioning and attitude determination calculation to obtain prism position, speed and attitude calculation results;
the communication module is used for wireless communication and data transmission between the optical prism and the total station, a positioning and attitude determining result obtained by the data processing unit at the optical prism is transmitted to the total station through the communication module to assist the total station in prejudging the position of the prism, and under the condition of a visual inspection, the prism coordinate measured by the total station is transmitted to the data processing unit of the prism in real time through the communication module.
Moreover, the inertial measurement unit is composed of three gyros and three accelerometers.
Moreover, the wireless communication form between the optical prism and the total station is WIFI or Bluetooth.
The invention also provides a prism tracking method realized by the measuring prism with the inertial self-positioning capability, which comprises the following steps,
erecting a total station and a prism, aiming the total station at the prism, and synchronously recording measurement data of the IMU and the total station according to a time sequence by a data processing unit;
initializing the position, the speed and the posture of an autonomous positioning and posture determining module at the optical prism;
moving the prism, and performing inertial navigation calculation on the acquired IMU data to obtain prism position, speed, attitude, acceleration and angular speed information;
when the total station is in communication with the prism, the total station tracks and aims at the prism, measures the position coordinate of the prism in real time, sends the position coordinate to a data processing unit of the prism through a communication module, and performs data fusion with a prism positioning and attitude determining result obtained by inertial navigation resolving to obtain a prism combined positioning and attitude determining result;
the data processing unit of the prism predicts the position, the speed and the attitude information of the prism through an inertial navigation resolving result, and assists the total station to track the prism more stably;
when the total station tracks the prism and is interrupted, the total station prejudges the position of the prism based on the received prism prediction positioning and attitude determination information, aims at the predicted position, searches for the prism in a nearby range, and enables the prism to be aimed again and track the prism.
And moreover, the position coordinates of the prism are obtained by measuring through the total station to realize the initialization of the position.
Moreover, the speed initialization is realized by making the prism still and setting the initial speed of the prism to 0; or the difference between the prism positions at two moments in time.
Moreover, the pose initialization is implemented as a static analytic coarse alignment or a dynamic alignment.
Moreover, the total station observation value and the inertial navigation resolving result are fused in a Kalman filtering or graph optimization mode.
Compared with the prior art, the invention has the following beneficial effects:
because the optical prism has the autonomous calculation capability on the position, the speed and the posture, the state quantities such as the position, the speed and the posture of the optical prism can be effectively calculated in real time and transmitted to the total station, the search radius of the total station can be effectively reduced, and the re-capturing and continuous tracking capability of the prism after shielding is effectively improved.
The scheme of the invention is simple and convenient to implement, has strong practicability, solves the problems of low practicability and inconvenient practical application of the related technology, can improve the user experience, and has important market value.
Drawings
FIG. 1 is a schematic diagram of the system components of a prism according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the operation of the system when the total station is in communication with a prism according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of the present invention that re-tracks the prism after a break in visibility (occlusion);
in the figure, 1 — prism; 2-a communication module; 3-Inertial Measurement Unit (IMU); 4-a data processing unit; 5-a total station; 6 — predicted position of prism; 7-prism search range.
Detailed Description
The technical scheme of the invention is concretely explained by combining the drawings and the embodiment.
The measuring prism with the inertia autonomous positioning capability comprises an optical prism 1, an autonomous positioning and attitude determining module and a communication module 2. The optical prism is matched with the total station for use, and the total station can measure the position coordinate of the center of the prism under the condition of common sight.
The autonomous positioning and attitude determination module comprises an Inertial Measurement Unit (IMU) 3 and a data processing unit 4, and can autonomously calculate the three-dimensional position, speed and attitude information of the prism under the condition of giving initial position, speed and attitude information. During specific implementation, the prism is fixedly connected with the IMU, the inertial measurement unit 3 (IMU) is connected with the data processing unit 4 to form an autonomous positioning and attitude determining module, and the autonomous positioning and attitude determining module is connected with the communication module. The inertia measurement unit 3 is composed of three gyroscopes and three accelerometers and is used for measuring the triaxial angular velocity vector and the triaxial non-gravitational acceleration of the carrier. And carrying out time synchronization on the original measurement value of the IMU by taking a local crystal oscillator of the data recording system as a reference, and stamping a time tag.
And the data processing unit 4 is used for fusing and processing IMU original data and prism center coordinates measured by the total station to realize combined positioning and attitude determination calculation. The data processing unit 4 can be implemented by using an existing chip such as a cpu.
The communication module 2 is used for wireless communication and data transmission between the optical prism and the total station, the positioning and attitude determination result obtained by the data processing unit 4 at the optical prism is transmitted to the total station through the communication module 2 to assist the total station in predicting the position of the prism, and under the condition of general sight, the coordinates of the prism measured by the total station are transmitted to the data processing unit of the prism through the communication module in real time.
The communication form includes but not limited to WIFI, bluetooth and the like.
In the embodiment, the communication module 2 realizes wireless communication and data transmission between the optical prism and the total station 5 through WiFi.
Referring to fig. 2 and 3, the specific operation mode of the prism tracking method implemented by the measuring prism according to the embodiment of the present invention includes the following specific steps:
1) The prism is fixed on the measuring rod, the total station 5 is erected and aimed at the prism to measure the three-dimensional position coordinates of the prism in real time. Then data acquisition is carried out, and a data processing unit is started.
After the arrangement is completed, the position, the speed and the posture of the autonomous positioning and posture determining module at the optical prism are initialized. In specific implementation, the position coordinates of the prism can be obtained by measuring through a total station so as to realize the initialization of the position. There are a number of methods for velocity initialization, including, but not limited to, letting the prism stand still, setting the initial velocity of the prism to 0; alternatively, the speed or the like is calculated using the difference between the prism positions at two times. There are a variety of methods for pose initialization including, but not limited to, static resolving coarse alignment, dynamic alignment, and the like.
2) And (4) supporting the measuring rod, enabling the rod point to touch the ground, and determining an initial roll angle and a pitch angle by utilizing the output of an accelerometer in the IMU.
Setting the initial pitch angle as theta, the initial roll angle as phi, and the output of the three axes x, y and z of the accelerometer as a respectively in the standing period x ，a y ，a z If the normal gravity acceleration is recorded as g, the calculation formula of the pitch angle is
The roll angle is calculated by the formula
3) A coarse heading angle is set. The rod tip touches the ground and the measuring rod is shaken. And performing inertial navigation calculation on the obtained IMU data to obtain one trajectory line, and measuring the prism by using the total station 5 to obtain the other trajectory line. And the included angle between the two sections of track lines is the course angle error. And subtracting the course angle error on the basis of the rough course angle, so that the error can be corrected, and a more accurate course angle can be obtained.
4) When the tip touches the ground and there is no relative sliding, the tip speed can be considered zero, i.e. the tip speed is zero
Because the IMU is fixedly connected with the rod point through the rigid body, the initial speed of the IMU
Can be obtained from the projection of the speed of the rod tip by the compensation formula of the lever arm effect of the speed, so that
Wherein the content of the first and second substances,
is the projection of the rotational angular velocity of the earth in n system,
is the projection of the rotational angular velocity of the earth in the b system,
is a direction cosine matrix corresponding to the posture,
is the output of the IMU gyroscope,
the projection of the lever arm vector from the IMU center to the lever point contact point under the b system, and x represents an inverse symmetric matrix.
5) And moving the measuring rod, and performing inertial navigation calculation on the acquired IMU data to obtain information such as position, speed, attitude, acceleration and angular speed of the prism. This step can be implemented by using the prior art, and is not described in detail.
6) When the total station 5 is in a communication with the prism, the total station 5 tracks and aims at the prism, measures the position coordinate of the prism in real time, sends the position coordinate to a data processing unit of the prism through a communication module, and performs data fusion with a prism positioning and attitude determination result obtained by inertial navigation resolving in a Kalman filtering manner to obtain a combined positioning and attitude determination result of the prism.
In the specific implementation, the kalman filtering method may refer to the prior art, and the present invention is not repeated. And the total station observation value and the inertial navigation resolving result are fused in an implementation mode, including but not limited to Kalman filtering, graph optimization and the like.
7) When the total station 5 is in perspective with the prism, the current position and speed of the prism of the total station predicts the position of the prism at the next moment, and the total station is assisted to adjust the angle in advance (see step 9), so that the total station can track the collimation prism more stably.
The prediction method provided by the invention is that the current time (t) position of the prism is set as r n (t) velocity v n (t), with a time interval Δ t, it is predictableThe position of the prism at the next time (t + Deltat) is
r n (t+Δt)＝r n (t)+v n (t)Δt (4)
8) When the total station tracking prism is interrupted, the prism travels to a position which is in communication with the total station and stops, zero-speed correction is carried out, namely, the zero-speed is used as an observation value to carry out Kalman filtering measurement updating, and error divergence of inertial navigation is slowed down. In particular, the position of the prism may be adjusted by a user carrying the measuring stick.
9) And the data processing unit calculates the rotation angle of the total station according to the orientation of the total station and the position of the prism at the current moment.
Setting the coordinates of the center position of the prism as (E, N, U) and the azimuth angle of the total station as alpha H The height angle is alpha v Then horizontal angle Δ α of rotation required for the total station H And an altitude angle delta alpha V Is composed of
Wherein, E, N, U respectively mean east, north, height, are used for describing the position of prism under the coordinate system with total powerstation as the origin of coordinates.
10 According to the result obtained in the step 9), after the total station rotates to a specified angle, setting a total station searching range 7 according to the position uncertainty of the prism, and searching the prism by the total station within the specified range.
Let the slant distance between the prism and the total station be d s Error in prism horizontal direction position predicted by Kalman filtering is sigma H Error in vertical position is σ V Then the search range of the prism in the horizontal direction is
Vertical direction search range
11 Step 6-7 is repeated if the total station 5 searches for a prism within the search range 7, and step 8-10 is repeated if a prism cannot be searched.
In specific implementation, a person skilled in the art can implement the automatic operation process by using a computer software technology, and a system device for implementing the method, such as a readable storage medium storing a corresponding computer program according to the technical solution of the present invention and a device including the corresponding computer program, should also be within the scope of the present invention.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (8)
1. A measurement prism that possesses inertia autonomous localization ability characterized by: the system comprises an optical prism, an autonomous positioning and attitude determining module and a communication module, wherein the autonomous positioning and attitude determining module is fixedly connected with the optical prism;
the optical prism is matched with the total station for use, and the total station can measure the position coordinate of the center of the prism under the condition of common sight; the autonomous positioning and attitude determining module comprises an Inertial Measurement Unit (IMU) and a data processing unit, and under the condition of giving initial position, speed and attitude information, the three-dimensional position, speed and attitude information of the prism are autonomously calculated;
the inertial measurement unit is used for measuring the three-axis angular velocity vector and the three-axis non-gravitational acceleration of the carrier;
the data processing unit is used for fusing and processing IMU original data and prism center coordinates measured by a total station to realize combined positioning and attitude determination calculation to obtain prism position, speed and attitude calculation results;
the communication module is used for wireless communication and data transmission between the optical prism and the total station, a positioning and attitude determining result obtained by the data processing unit at the optical prism is transmitted to the total station through the communication module to assist the total station in prejudging the position of the prism, and under the condition of a visual inspection, the prism coordinate measured by the total station is transmitted to the data processing unit of the prism in real time through the communication module.
2. The prism for inertial autonomous positioning capability of claim 1, wherein: the inertial measurement unit is composed of three gyros and three accelerometers.
3. The prism for inertial autonomous positioning capability of claim 1, wherein: the wireless communication form between the optical prism and the total station is WIFI or Bluetooth.
4. Prism tracking method implemented by a measurement prism with inertial autonomous positioning capability according to claim 1 or 2 or 3, characterized in that: comprises the following steps of (a) carrying out,
erecting a total station and a prism, aiming the total station at the prism, and synchronously recording measurement data of the IMU and the total station according to a time sequence by a data processing unit;
initializing the position, the speed and the posture of an autonomous positioning and posture determining module at the optical prism;
moving the prism, and performing inertial navigation resolving on the obtained IMU data to obtain prism position, speed, attitude, acceleration and angular velocity information;
when the total station is in communication with the prism, the total station tracks and aims at the prism, measures the position coordinate of the prism in real time, sends the position coordinate to a data processing unit of the prism through a communication module, and performs data fusion with a prism positioning and attitude determining result obtained by inertial navigation resolving to obtain a prism combined positioning and attitude determining result;
the data processing unit of the prism predicts the position, the speed and the attitude information of the prism through an inertial navigation resolving result, and assists the total station to track the prism more stably;
when the total station instrument tracks the prism and is interrupted, the total station instrument judges the position of the prism in advance based on the received prism prediction positioning and attitude determination information, aims at the predicted position, searches the prism in a nearby range, and enables the prism to be aimed again and track the prism.
5. The prism tracking method implemented by the measurement prism with inertial autonomous positioning capability according to claim 4, characterized in that: and the position coordinates of the prism are obtained by measuring with the total station to realize the initialization of the position.
6. The prism tracking method implemented by the measurement prism with inertial autonomous positioning capability according to claim 4, characterized in that: the speed initialization implementation mode is that the prism is made to be static, and the initial speed of the prism is set to be 0; or the difference between the prism positions at two moments in time.
7. The prism tracking method implemented by the measurement prism with inertial autonomous positioning capability according to claim 4, characterized in that: the pose initialization is implemented by statically resolving a coarse alignment or a dynamic alignment.
8. Prism tracking method implemented by a measurement prism with inertial autonomous positioning capability according to claim 4 or 5 or 6 or 7, characterized in that: the total station observation value and the inertial navigation resolving result are fused in a Kalman filtering or graph optimization mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211349601.4A CN115752395A (en) | 2022-10-31 | 2022-10-31 | Measuring prism with inertia autonomous positioning capability and prism tracking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211349601.4A CN115752395A (en) | 2022-10-31 | 2022-10-31 | Measuring prism with inertia autonomous positioning capability and prism tracking method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115752395A true CN115752395A (en) | 2023-03-07 |
Family
ID=85354654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211349601.4A Pending CN115752395A (en) | 2022-10-31 | 2022-10-31 | Measuring prism with inertia autonomous positioning capability and prism tracking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115752395A (en) |
-
2022
- 2022-10-31 CN CN202211349601.4A patent/CN115752395A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107727079B (en) | Target positioning method of full-strapdown downward-looking camera of micro unmanned aerial vehicle | |
| CN111089587B (en) | Inclined RTK course initialization method | |
| EP2434256B1 (en) | Camera and inertial measurement unit integration with navigation data feedback for feature tracking | |
| US9618344B2 (en) | Digital map tracking apparatus and methods | |
| CN108873038A (en) | Autonomous parking localization method and positioning system | |
| US10309786B2 (en) | Navigational and location determination system | |
| CN110487267B (en) | Unmanned aerial vehicle navigation system and method based on VIO & UWB loose combination | |
| Ladetto et al. | Digital magnetic compass and gyroscope integration for pedestrian navigation | |
| EP1019862B1 (en) | Method and apparatus for generating navigation data | |
| CN109269471A (en) | A kind of novel GNSS receiver inclinometric system and method | |
| CN109186597B (en) | Positioning method of indoor wheeled robot based on double MEMS-IMU | |
| US10132634B2 (en) | Inertial navigation system and method | |
| CN110325822B (en) | Cradle head pose correction method and cradle head pose correction device | |
| CN105928515A (en) | Navigation system for unmanned plane | |
| El-Sheimy | Georeferencing component of LiDAR systems | |
| US20140249750A1 (en) | Navigational and location determination system | |
| Hu et al. | Kilometer sign positioning-aided INS/odometer integration for land vehicle autonomous navigation | |
| JP2009204385A (en) | Targeting device, method, and program | |
| US10006770B2 (en) | Remote location determination system | |
| CN110260860A (en) | Indoor moving measurement and positioning method for determining posture and system based on foot inertial sensor | |
| EP3748294A1 (en) | Direction finder | |
| CN116839591A (en) | Track tracking and positioning filtering system and fusion navigation method of rescue unmanned aerial vehicle | |
| CN114264302B (en) | Inclination measuring device and method for initializing inertial navigation system thereof | |
| CN115752395A (en) | Measuring prism with inertia autonomous positioning capability and prism tracking method | |
| US20230349699A1 (en) | Absolute heading estimation with constrained motion |
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 |