CN117270004B - Engineering mapping method, equipment, system and medium based on satellite positioning - Google Patents
Engineering mapping method, equipment, system and medium based on satellite positioning Download PDFInfo
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- 238000013507 mapping Methods 0.000 title claims abstract description 112
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 238000004590 computer program Methods 0.000 claims description 30
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000006870 function Effects 0.000 claims description 12
- 101150040373 istA gene Proteins 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 abstract description 17
- 238000010586 diagram Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
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Classifications
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
Abstract
The invention provides an engineering mapping method, equipment, a system and a medium based on satellite positioning, which are characterized in that first observation data of a reference station are acquired, and second observation data are acquired; the first observation data are the observation data of all satellites in the field of view of the reference station at the current moment; the second observation data are the observation data of each satellite in the field of view of the mobile mapping equipment at the current moment; determining a delay parameter according to the first observation data and the second observation data; according to the first observation data, the second observation data and the time delay parameter, the monitoring information of the point to be mapped is determined, the time delay parameter is obtained by calculating the influence of the time delay on mapping, then differential calculation is carried out, and the accurate mapping data, namely the position of the point to be mapped, can be obtained by correcting the differential process by utilizing the time delay parameter.
Description
Technical Field
The invention belongs to the technical field of engineering mapping, and particularly relates to an engineering mapping method, equipment, a system and a medium based on satellite positioning.
Background
RTK (Real Time Kinematic, dynamic real-time measurement) combines global navigation satellite system (Global Navigation Satellite System, GNSS) technique, and can accomplish building engineering survey and drawing fast and accurately, RTK mainly measures according to carrier phase principle, utilizes differential technique to control the error between reference station and the mobile station in the allowed range, improves GNSS measuring result's degree of accuracy by a wide margin simultaneously to in time share for the user, greatly improved measuring work's efficiency.
In the prior art, the RTK requires the mobile station to receive the data sent by the base station and the satellite at the same time, and differential calculation is performed on the two data, so that the coordinate difference (i.e. Δx, Δy, Δz) between the base station and the mobile station can be obtained, and then the coordinate difference is added with the coordinate of the reference station, so that the position of the mobile station, i.e. the position information of the mapping point, can be determined. However, a certain transmission delay usually exists in the process of sending a signal to the mobile station by the reference station, so that the RTK cannot synchronously calculate, and the position information of the mapping point is inaccurate.
Disclosure of Invention
In view of the above, the invention provides a satellite positioning-based engineering mapping method, device, system and medium, which aim to solve the problem of inaccurate position information of mapping points in the prior art.
The first aspect of the embodiment of the invention provides an engineering mapping method based on satellite positioning, which is applied to mobile mapping equipment, wherein the mobile mapping equipment is deployed at a to-be-mapped point; the method comprises the following steps:
acquiring first observation data of a reference station and second observation data; the first observation data are the observation data of all satellites in the field of view of the reference station at the current moment; the second observation data are the observation data of each satellite in the field of view of the mobile mapping equipment at the current moment;
determining a delay parameter according to the first observation data and the second observation data;
and determining monitoring information of the point to be mapped according to the first observation data, the second observation data and the time delay parameter.
The second aspect of the embodiment of the invention provides an engineering mapping device based on satellite positioning, which is applied to mobile mapping equipment, wherein the mobile mapping equipment is deployed at a point to be mapped; the device comprises:
the acquisition module is used for acquiring first observation data of the reference station and acquiring second observation data; the first observation data are the observation data of all satellites in the field of view of the reference station at the current moment; the second observation data are the observation data of each satellite in the field of view of the mobile mapping equipment at the current moment;
the calculation module is used for determining a delay parameter according to the first observation data and the second observation data;
and the determining module is used for determining the monitoring information of the point to be mapped according to the first observation data, the second observation data and the time delay parameter.
A third aspect of an embodiment of the present invention provides a mobile mapping apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor executing the computer program to perform the steps of the satellite positioning based engineering mapping method of the first aspect above.
A fourth aspect of an embodiment of the invention provides a mapping system comprising: the reference station and the mobile mapping apparatus of the third aspect above.
A fifth aspect of an embodiment of the present invention provides a computer readable storage medium storing a computer program which when executed by a processor implements the steps of the satellite positioning based engineering mapping method of the first aspect above.
The engineering mapping method, equipment, system and medium based on satellite positioning provided by the embodiment of the invention firstly acquire first observation data of a reference station and acquire second observation data; the first observation data are the observation data of all satellites in the field of view of the reference station at the current moment; the second observation data are the observation data of each satellite in the field of view of the mobile mapping equipment at the current moment; determining a delay parameter according to the first observation data and the second observation data; according to the first observation data, the second observation data and the time delay parameter, the monitoring information of the point to be mapped is determined, the time delay parameter is obtained by calculating the influence of the time delay on mapping, then differential calculation is carried out, and the accurate mapping data, namely the position of the point to be mapped, can be obtained by correcting the differential process by utilizing the time delay parameter.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an application scenario diagram of an engineering mapping method based on satellite positioning provided by an embodiment of the present invention;
FIG. 2 is a flow chart of an implementation of a satellite positioning based engineering mapping method provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of signal transmission in an ideal state provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of actual signal transmission;
FIG. 5 is a schematic structural diagram of an engineering mapping apparatus based on satellite positioning according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a mobile mapping device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
Fig. 1 is an application scenario diagram of an engineering mapping method based on satellite positioning according to an embodiment of the present invention. As shown in fig. 1, the mapping system includes a reference station 11 and a mobile mapping device 12;
wherein, receivers are disposed on the reference station 11 and the mobile mapping device 12, and are used for receiving satellite signals, the reference station 11 sends the satellite signals as first observation data to the mobile mapping device 12 after receiving the satellite signals, and the mobile mapping device 12 can also receive second observation data of satellites. The mobile mapping device 12 performs a differential calculation on the first and second observations and combines the known coordinates of the reference station 11 to determine the position of the mobile mapping device 12.
Fig. 2 is a flowchart of an implementation of an engineering mapping method based on satellite positioning according to an embodiment of the present invention. As shown in fig. 2, in some embodiments, a satellite positioning based engineering mapping method is applied to the method shown in fig. 1, the method comprising:
s210, acquiring first observation data of a reference station and acquiring second observation data; the first observation data are the observation data of all satellites in the field of view of the reference station at the current moment; the second observation data is the observation data of each satellite in the field of view of the mobile mapping device at the current moment.
In an embodiment of the invention, the first observation data and the second observation data are position observations of the reference station and the mobile mapping device by satellites. The reference station and the mobile observation device generally have a plurality of satellites in the field of view, and the reference station does not know which satellite signal the mobile observation device receives, so the signals of the satellites in the field of view are generally resolved and then sent to the mobile observation device, and the mobile observation device selects corresponding first observation data from the data sent by the reference station according to the id of the received satellite signals.
S220, determining a delay parameter according to the first observation data and the second observation data.
In some embodiments, the location of the mobile mapping device is not moved during the history period; the third observation data are the observation data of each satellite in the field of view of the historical time reference station; s220 may include: determining a plurality of first moments according to the first observation data, the third observation data and the second observation data; and determining a time delay parameter according to the current time and the first time.
In embodiments of the invention, the mobile mapping device typically remains at the point to be mapped for a period of time during which the distance between the reference station and the mobile mapping device is unchanged, so that historical data during this period of time can be used to remove the effects of transmission delays.
FIG. 3 is a schematic diagram of signal transmission in an ideal state provided by an embodiment of the present invention; fig. 4 is a schematic diagram of actual signal transmission. As shown in fig. 3, in some embodiments, S220 may include:
(1)
wherein delta istAs a function of the time delay parameter,t 1 for the current moment of time,for the first moment of time of day,nas a total number of time instances,t i is the firstiThe time of the history is a time of day,vfor a predetermined relative movement speed with respect to the satellite,x 2 for the second observation data, a second set of data is obtained,x 1 for the first observation data to be taken into account,x 3i is the firstiAnd third observation data corresponding to the historical moments.
In an embodiment of the present invention, in the present invention,v、x 1 、x 2 、x 3i are vectors, namely at the first momentt 0 For a mobile surveying device, when it receives the satellite signal and the reference station signal, it is not known that a time delay has occurred in the process, and therefore at a first timet 0 Is unknown. As shown in fig. 4, the receiver in the mobile mapping device receives the second observation data transmitted by the satellitex 2 And a first observed signal of the reference stationx 1 Then differential operation is carried out, i.ex 2 -x 1 Comprising the difference of coordinates of a reference station and a mobile surveying device and the time delayt 1 -t 0 The satellite motion causes errors during the time period.
Since the mobile mapping device is not in motion,x 2 -x 3i comprising the coordinate difference between the reference station and the mobile mapping equipmentt 1 -t i The satellite motion causes errors during the time period.
Thus, it is [ ]x 2 -x 3i )-(x 2 -x 1 ) Namely, ist 0 -t i The influence of satellite motion on observation during a time period divided by a preset relative movement speed with the satellite, plust i Can be considered to calculatet 0 ，t 1 -t 0 The time delay parameter is specifically the time delay duration. In order to ensure the accuracy of the calculation, the above calculation needs to be performed for each of a plurality of history times. The more historic moments obtained, the more accurate the calculation.
In some embodiments, the target satellite is a satellite that is within both the field of view of the reference station and the field of view of the mobile mapping device; s220 may include: determining first differential data according to the first observation data and the second observation data of the first target satellite; determining second differential data according to the first observation data and the second observation data of the second target satellite; wherein the first target satellite is any one target satellite; the second target satellite is any target satellite except the first target satellite; and determining a time delay parameter according to the first differential data and the second differential data.
In the embodiment of the invention, when the position of the mobile mapping equipment changes or enough historical data is not acquired, the calculation of the time delay can be realized in a multi-satellite cooperative mode.
In some embodiments, determining the delay parameter from the first differential data and the second differential data includes:
(2)
wherein delta istAs a function of the time delay parameter,mfor the number of combinations of the target satellites,y 2j is the firstjSecond differential data for a second target satellite of the set of target satellites,y 1j is the firstjFirst differential data for a first target satellite in the set of target satellites,v j is the firstjThe relative movement speed of the group target satellites.
In the embodiment of the invention, the differential data, i.e. the distance between the reference station and the mobile monitoring device, is due to the satellite movementThe error caused by the motion, and thus the differential data is practically equal to the sum of the distance and the error. The direction and speed of movement are different for different satellites, and the errors produced are also different.y 2j -y 1j I.e. error 2 minus error 1, represents the difference in motion error between every two satellites. It can be considered that the positioning of the two satellites at the initial time is accurate, errors are generated during the subsequent movement, one is error 2, the other is error 1, and the error 2 is subtracted by the error 1 and then divided by the error 1v j I.e., the time period during which the error is generated. Wherein,v j is the firstjVector sum of the relative movement speeds of the first target satellite and the second target satellite within the group of target satellites.
In the embodiment of the invention, satellites in the field of view are grouped in pairs, and the more satellites in the field of view, the more accurate the calculation.
In some embodiments, the location of the mobile mapping device is not moved during the history period; the third observation data are the observation data of each satellite in the field of view of the historical time reference station; the target satellite is a satellite which is simultaneously in the field of view of the reference station and the field of view of the mobile mapping equipment; s220 may include: determining a plurality of first moments according to the first observation data, the third observation data and the second observation data; determining a first parameter according to the current time and a plurality of first times; determining first differential data according to the first observation data and the second observation data of the first target satellite; determining second differential data according to the first observation data and the second observation data of the second target satellite; wherein the first target satellite is any one target satellite; the second target satellite is any target satellite except the first target satellite; determining a second parameter according to the first differential data and the second differential data; and determining a time delay parameter according to the first parameter and the second parameter.
The above-mentioned method for monitoring historical data requires a fixed period of time for moving the mapping device, and the multi-satellite monitoring method brings a larger calculation amount, so as to balance the calculation amount and the mapping time. Both methods can be used for monitoring simultaneously.
In some embodiments, determining the delay parameter from the first parameter and the second parameter comprises:
(3)
wherein delta ist 1 As a first parameter, deltat 2 As a second parameter, the first parameter is,ω 1 as a first weight to be used,ω 2 as a result of the second weight being set,ω 1 =n/(n+m)，ω 2 =m/(n+m)。
s230, according to the first observation data, the second observation data and the time delay parameter, monitoring information of the point to be mapped is determined.
In some embodiments, determining monitoring information for a point to be mapped based on the first observation data, the second observation data, and the time delay parameter includes: determining current differential data according to the first observation data and the second observation data; and determining monitoring information of the point to be mapped according to the current differential data, the time delay parameter and the position of the reference station.
In the embodiment of the invention, the monitoring information of the point to be mapped is determined according to the current differential data, the time delay parameter and the position of the reference station, and the method comprises the following steps:
(4)
wherein (X, Y, Z) is the current differential data, (X) 0 ，Y 0 ，Z 0 ) As a result of the position of the reference station,λ 1 、λ 2 、λ 3 the influence of satellite motion on positioning in unit time is represented by preset influence parameters, and can be measured by experiments.
In summary, the beneficial effects of the invention are as follows: the influence of time delay on mapping is calculated firstly to obtain time delay parameters, then differential calculation is carried out, and the time delay parameters are utilized to correct the differential process, so that accurate mapping data, namely the position of the to-be-measured drawing point, can be obtained.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an engineering mapping apparatus based on satellite positioning according to an embodiment of the present invention. As shown in fig. 5, in some embodiments, the satellite positioning based engineering mapping apparatus 5 includes:
an obtaining module 510, configured to obtain first observation data of a reference station, and obtain second observation data; the first observation data are the observation data of all satellites in the field of view of the reference station at the current moment; the second observation data are the observation data of each satellite in the field of view of the mobile mapping equipment at the current moment;
a calculation module 520, configured to determine a delay parameter according to the first observation data and the second observation data;
the determining module 530 is configured to determine monitoring information of the point to be mapped according to the first observation data, the second observation data, and the time delay parameter.
Optionally, the position of the mobile mapping device is not moved during the history period; the third observation data are the observation data of each satellite in the field of view of the historical time reference station; a calculation module 520 for: determining a plurality of first moments according to the first observation data, the third observation data and the second observation data; and determining a time delay parameter according to the current time and the first time.
Optionally, the calculating module 520 is configured to:
wherein delta istAs a function of the time delay parameter,t 1 for the current moment of time,for the first moment of time of day,nas a total number of time instances,t i is the firstiThe time of the history is a time of day,vfor a predetermined relative movement speed with respect to the satellite,x 2 for the second observation data, a second set of data is obtained,x 1 for the first observation data to be taken into account,x 3i is the firstiAnd third observation data corresponding to the historical moments.
Optionally, the target satellite is a satellite that is simultaneously within the field of view of the reference station and the field of view of the mobile mapping device; a calculation module 520 for: determining first differential data according to the first observation data and the second observation data of the first target satellite; determining second differential data according to the first observation data and the second observation data of the second target satellite; wherein the first target satellite is any one target satellite; the second target satellite is any target satellite except the first target satellite; and determining a time delay parameter according to the first differential data and the second differential data.
Optionally, the calculating module 520 is configured to:
wherein delta istAs a function of the time delay parameter,mfor the number of combinations of the target satellites,y 2j is the firstjSecond differential data for a second target satellite of the set of target satellites,y 1j is the firstjFirst differential data for a first target satellite in the set of target satellites,v j is the firstjThe relative movement speed of the group target satellites.
Optionally, the position of the mobile mapping device is not moved during the history period; the third observation data are the observation data of each satellite in the field of view of the historical time reference station; the target satellite is a satellite which is simultaneously in the field of view of the reference station and the field of view of the mobile mapping equipment; a calculation module 520 for: determining a plurality of first moments according to the first observation data, the third observation data and the second observation data; determining a first parameter according to the current time and a plurality of first times; determining first differential data according to the first observation data and the second observation data of the first target satellite; determining second differential data according to the first observation data and the second observation data of the second target satellite; wherein the first target satellite is any one target satellite; the second target satellite is any target satellite except the first target satellite; determining a second parameter according to the first differential data and the second differential data; and determining a time delay parameter according to the first parameter and the second parameter.
Optionally, the determining module 530 is configured to: determining current differential data according to the first observation data and the second observation data; and determining monitoring information of the point to be mapped according to the current differential data, the time delay parameter and the position of the reference station.
The engineering mapping device based on satellite positioning provided in this embodiment may be used to execute the above method embodiments, and its implementation principle and technical effects are similar, and this embodiment will not be described here again.
Fig. 6 is a schematic structural diagram of a mobile mapping device according to an embodiment of the present invention. As shown in fig. 6, an embodiment of the present invention provides a mobile mapping apparatus 6, the mobile mapping apparatus 6 of which embodiment includes: a processor 60, a memory 61 and a computer program 62 stored in the memory 61 and executable on the processor 60. The processor 60, when executing the computer program 62, implements the steps of the various embodiments of satellite positioning based engineering mapping method described above, such as the steps shown in fig. 2. Alternatively, the processor 60, when executing the computer program 62, performs the functions of the modules/units of the system embodiments described above, e.g., the functions of the modules shown in fig. 5.
By way of example, the computer program 62 may be partitioned into one or more modules/units, which are stored in the memory 61 and executed by the processor 60 to complete the present invention. One or more of the modules/units may be a series of computer program instruction segments capable of performing particular functions for describing the execution of the computer program 62 in the mobile mapping device 6.
The mobile mapping device 6 may be a mobile mapping device or a server, and the mobile mapping device may be a mobile phone, an MCU, an ECU, an industrial personal computer, etc., which are not limited herein, and the server may be a physical server, a cloud server, etc., which are not limited herein. The mobile mapping device 6 may include, but is not limited to, a processor 60, a memory 61. It will be appreciated by those skilled in the art that fig. 6 is merely an example of mobile mapping device 6 and is not limiting of mobile mapping device 6, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., a mobile mapping device may also include an input-output device, a network access device, a bus, etc.
The processor 60 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the mobile mapping device 6, such as a hard disk or a memory of the mobile mapping device 6. The memory 61 may also be an external storage device of the mobile mapping device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the mobile mapping device 6. Further, the memory 61 may also include both internal and external storage units of the mobile mapping device 6. The memory 61 is used to store computer programs and other programs and data required by the mobile mapping device. The memory 61 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the invention provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps in the engineering mapping method embodiment based on satellite positioning when being executed by a processor.
The computer readable storage medium stores a computer program 62, the computer program 62 comprising program instructions which, when executed by the processor 60, implement all or part of the processes of the above described embodiments, or may be implemented by means of hardware associated with the instructions of the computer program 62, the computer program 62 being stored in a computer readable storage medium, the computer program 62, when executed by the processor 60, implementing the steps of the various method embodiments described above. The computer program 62 comprises computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The computer readable storage medium may be an internal storage unit of the mobile mapping device of any of the preceding embodiments, such as a hard disk or a memory of the mobile mapping device. The computer readable storage medium may also be an external storage device of the mobile mapping device, such as a plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card) or the like, which are provided on the mobile mapping device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the mobile mapping device. The computer readable storage medium is used to store a computer program and other programs and data needed by the mobile mapping device. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/mobile mapping device and method may be implemented in other ways. For example, the apparatus/mobile mapping device embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (8)
1. The engineering mapping method based on satellite positioning is characterized by being applied to mobile mapping equipment, wherein the mobile mapping equipment is deployed at a to-be-measured mapping point; the method comprises the following steps:
acquiring first observation data of a reference station and second observation data; the first observation data are the observation data of all satellites in the field of view of the reference station at the current moment; the second observation data are the observation data of all satellites in the field of view of the mobile mapping equipment at the current moment;
determining a delay parameter according to the first observation data and the second observation data;
determining monitoring information of a point to be mapped according to the first observation data, the second observation data and the time delay parameter;
when the position of the mobile mapping device is not moved in the historical period and the third observation data is the observation data of each satellite in the field of view of the historical time reference station, determining a delay parameter according to the first observation data and the second observation data, including:
determining a plurality of first moments according to the first observation data, the third observation data and the second observation data;
determining a time delay parameter according to the current time and a plurality of first times;
determining a delay parameter according to the first observation data and the second observation data, wherein the delay parameter comprises:
wherein delta istAs a function of the time delay parameter(s),t 1 for the current moment of time,for the first moment of time indicated in the description,nas a total number of time instances,t i is the firstiThe time of the history is a time of day,vfor a predetermined relative movement speed with respect to the satellite,x 2 for the second observation data to be taken into account,x 1 for the first observation data to be taken into account,x 3i is the firstiAnd third observation data corresponding to the historical moments.
2. The engineering mapping method based on satellite positioning of claim 1, wherein determining a delay parameter from the first observation data and the second observation data when a target satellite is a satellite that is simultaneously in a field of view of a reference station and a field of view of a mobile mapping apparatus comprises:
determining first differential data according to the first observation data and the second observation data of the first target satellite;
determining second differential data according to the first observation data and the second observation data of the second target satellite; wherein the first target satellite is any one target satellite; the second target satellite is any target satellite except the first target satellite;
and determining the time delay parameter according to the first differential data and the second differential data.
3. The satellite positioning based engineering mapping method of claim 2, wherein determining the delay parameter from the first differential data and the second differential data comprises:
wherein delta istAs a function of the time delay parameter(s),mfor the number of combinations of the target satellites,y 2j is the firstjSecond differential data for a second target satellite of the set of target satellites,y 1j is the firstjFirst differential data for a first target satellite in the set of target satellites,v j is the firstjThe relative movement speed of the group target satellites.
4. The engineering mapping method based on satellite positioning according to claim 1, wherein when the position of the mobile mapping device is not moved in a history period and the third observation data is the observation data of each satellite in the field of view of the reference station at the history time, and the target satellite is the satellite in the field of view of the reference station and the field of view of the mobile mapping device at the same time, determining the delay parameter according to the first observation data and the second observation data includes:
determining a plurality of first moments according to the first observation data, the third observation data and the second observation data;
determining a first parameter according to the current time and a plurality of first times;
determining first differential data according to the first observation data and the second observation data of the first target satellite;
determining second differential data according to the first observation data and the second observation data of the second target satellite; wherein the first target satellite is any one target satellite; the second target satellite is any target satellite except the first target satellite;
determining a second parameter according to the first differential data and the second differential data;
and determining the time delay parameter according to the first parameter and the second parameter.
5. The engineering mapping method based on satellite positioning according to any one of claims 1-4, wherein determining monitoring information of a point to be mapped according to the first observation data, the second observation data and the time delay parameter includes:
determining current differential data according to the first observation data and the second observation data;
and determining the monitoring information of the to-be-tested drawing point according to the current differential data, the time delay parameter and the position of the reference station.
6. A mobile mapping device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the satellite positioning based engineering mapping method as claimed in any one of the preceding claims 1 to 5 when the computer program is executed.
7. A mapping system, comprising: a reference station and a mobile mapping apparatus as claimed in claim 6 above.
8. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the steps of the satellite positioning based engineering mapping method as claimed in any one of the preceding claims 1 to 5.
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