CN202676915U - Global navigation satellite system receiver - Google Patents

Abstract

The utility model discloses a global navigation satellite system receiver, comprising a satellite receiving antenna, a laser range finder, an attitude sensor, and a main control board, wherein the attitude sensor is used for receiving an azimuth angle, a pitch angle and a roll angle of the satellite receiving antenna; the main control board is used for obtaining a longitude and latitude coordinate and an elevation coordinate of a phase center of the satellite receiving antenna, transforming the longitude and latitude coordinate and the elevation coordinate into a right-angle coordinate under a local coordinate system SG, obtaining coordinate offset of a measured point and the phase center according to the distance, the azimuth angle, the pitch angle and the roll angle between the satellite receiving antenna and the measured point, and calculating a right-angle coordinate of the measured point under local coordinate system SG according to the offset and the right-angle coordinate. Compared with the prior art, the global navigation satellite system receiver improves accuracy of measurement, eliminates a centering rod simultaneously, and reduces the volume. In addition, during measurement, the longitude and latitude coordinate of the satellite receiving antenna has no need to be guaranteed to be identical with a longitude and latitude coordinate of the measured point, thereby reducing the operation difficulties.

Description

Global navigation satellite system receiver

Technical Field

The present application relates to the field of geographic measurement technologies, and in particular, to a global navigation satellite system receiver.

Background

GNSS (Global Navigation satellite System) receivers are used in geodetic applications to measure the coordinates of an object on the earth. Currently, GNSS receivers include non-handheld GNSS receivers and handheld GNSS receivers. The most common of them is a handheld GNSS receiver, which comprises a centering rod, a satellite receiving antenna and a positioning settlement module, which are arranged in a main control board.

The measurement principle of the handheld GNSS receiver is as follows: firstly, acquiring longitude and latitude coordinates of a phase center of a satellite receiving antenna, and taking the longitude and latitude coordinates as longitude and latitude coordinates of a measured point; secondly, acquiring an elevation coordinate of a phase center of the satellite receiving antenna and an elevation coordinate of the centering rod, and taking the difference between the two elevation coordinates as an elevation coordinate of a measured point; and finally, converting the longitude and latitude coordinates and the elevation coordinates of the measured point into rectangular coordinates under a carrier coordinate system.

In order to ensure that the longitude and latitude coordinates of the satellite receiving antenna are the same as the longitude and latitude coordinates of the measured point, in the coordinate measuring process, the tip of the centering rod is abutted on the measured point, the angle of the centering rod is adjusted according to the position of the leveling vacuole, the centering rod is kept perpendicular to the plane of the satellite receiving antenna, the axis passes through the phase center of the satellite receiving antenna, the plane of the satellite receiving antenna is adjusted to be in the horizontal position, the phase center of the satellite receiving antenna is enabled to be coincident with the measured point, and therefore the longitude and latitude coordinates of the satellite receiving antenna are the same as the longitude and latitude coordinates of the measured point, and the measuring accuracy is further ensured.

However, in the actual coordinate measurement process, the centering rod cannot be guaranteed to be perpendicular to the plane of the satellite receiving antenna, so that the longitude and latitude coordinates of the satellite receiving antenna are inconsistent with the longitude and latitude coordinates of the north point, and the measurement accuracy is reduced. Therefore, it is urgently needed to provide a new gnss receiver, which changes the existing position measurement method and improves the measurement accuracy.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present application provides a gnss receiver and a position measurement method that are different from the conventional position measurement method, so as to improve the measurement accuracy.

In order to achieve the above purpose, the present application discloses the following solutions:

the application provides a global navigation satellite system receiver, including satellite receiving antenna, still includes: is arranged at the back of the satellite receiving antenna, a beam axis passes through the phase center of the satellite receiving antenna, and a local coordinate system S between the satellite receiving antenna and a measured point is measured_GA laser range finder for a lower distance;

an attitude sensor connected to the satellite receiving antenna for measuring an azimuth angle, a pitch angle and a roll angle of the satellite receiving antenna, the local coordinate system S_GAdopting a length unit dimension;

the laser range finder is connected with the satellite receiving antenna and the attitude sensor and is used for acquiring longitude and latitude coordinates and elevation coordinates of a phase center of the satellite receiving antenna and converting the longitude and latitude coordinates and the elevation coordinates into a local coordinate system S_GAccording to the rectangular coordinate, the coordinate offset of the measured point and the phase center is obtained according to the distance, the azimuth angle, the pitch angle and the roll angle between the satellite receiving antenna and the measured point, and the measured point in the local coordinate system S is calculated according to the coordinate offset and the rectangular coordinate_GLower rectangular coordinate main control board.

Preferably, the method further comprises the following steps: the camera is arranged on the back of the satellite receiving antenna;

and the display screen is connected with the main control panel.

Preferably, the attitude sensor comprises at least one of an accelerometer, a gyroscope and a compass.

Preferably, the laser range finder comprises a laser emitting component and a laser receiving component, and the laser emitting component and the laser receiving component are respectively connected with the main control board.

According to the specific embodiments provided herein, the present application discloses the following technical effects:

the laser range finder in the global navigation satellite system receiver disclosed by the application measures the local coordinate system S between the satellite receiving antenna and the measured point_GThe attitude sensor measures the azimuth angle, the pitch angle and the roll angle of the satellite receiving antenna; the main control board obtains longitude and latitude coordinates and elevation coordinates of the phase center of the satellite receiving antenna and converts the longitude and latitude coordinates and the elevation coordinates into a local coordinate system S_GAccording to the rectangular coordinate, the coordinate offset of the measured point and the phase center is obtained according to the distance, the azimuth angle, the pitch angle and the roll angle between the satellite receiving antenna and the measured point, and the measured point in the local coordinate system S is calculated according to the coordinate offset and the rectangular coordinate_GRectangular coordinates of the lower.

From the above process, it can be seen that the gnss receiver disclosed in the present application changes the existing position measurement method, and measures the measured point in the local coordinate system S according to the coordinate offset of the measured point and the phase center, and the rectangular coordinate of the phase center_GAnd the rectangular coordinate of the base plate, thereby improving the measurement accuracy. Meanwhile, the GNSS receiver omits a centering rod, and the size of the receiver is reduced. In addition, in the measuring process, the longitude and latitude coordinates of the satellite receiving antenna are not required to be ensured to be the same as the longitude and latitude coordinates of the measured point, and the operation difficulty is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for a person skilled in the art to obtain other drawings without any inventive exercise.

FIG. 1 is a schematic diagram of a GNSS receiver disclosed in the present application;

FIG. 2 is a schematic diagram of another GNSS receiver disclosed in the present application;

FIG. 3 is a flow chart of a position measurement method disclosed herein;

FIG. 4 is a carrier coordinate system S in the position measurement method disclosed in the present application_CAnd schematic diagrams of azimuth angle, pitch angle and roll angle under the coordinate system;

fig. 5 is a flowchart of step 102 of the position measurement method disclosed in the present application.

Detailed Description

In the existing GNSS receiver, the centering rod needs to be perpendicular to the plane of the satellite receiving antenna, and the axis of the centering rod passes through the phase center of the satellite receiving antenna, so that the longitude and latitude coordinates of the satellite receiving antenna are ensured to be the same as the longitude and latitude coordinates of a measured point, and the measurement accuracy is further ensured. However, in the actual coordinate measurement process, the centering rod cannot be guaranteed to be perpendicular to the plane of the satellite receiving antenna, so that the longitude and latitude coordinates of the satellite receiving antenna are inconsistent with the longitude and latitude coordinates of the north point, and the measurement accuracy is reduced. Therefore, the application discloses a new GNSS receiver, which changes the existing position measurement method and improves the measurement accuracy.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1, a schematic diagram of a GNSS receiver disclosed in the present application is shown, which may include: a satellite receiving antenna 11, a laser range finder 12, an attitude sensor (not shown in the figure) and a main control board (not shown in the figure).

Wherein the laser distance measuring instrument 12 is installed at the back of the satellite receiving antenna 11, and the beam axis passes through the phase center of the satellite receiving antenna 11 for measuring the local coordinate system S between the satellite receiving antenna 11 and the measured point_GThe lower distance. The laser rangefinder 12 may include a laser transmitter assembly and a laser receiver assembly, each connected to the main control board.

The attitude sensor is connected with the satellite receiving antenna 11 and is used for measuring the azimuth angle, the pitch angle and the roll angle of the satellite receiving antenna 11. The attitude sensor includes at least one of an accelerometer, a gyroscope, and a compass, by which the azimuth angle, the pitch angle, and the roll angle of the satellite receiving antenna 11 are measured. Wherein: the local coordinate system S_GThe unit dimension of length is adopted.

The main control board is connected with the satellite receiving antenna 11, the attitude sensor and the laser range finder 12, and is used for acquiring longitude and latitude coordinates and elevation coordinates of a phase center of the satellite receiving antenna 11 and converting the longitude and latitude coordinates and the elevation coordinates into a local coordinate system S_GAccording to the rectangular coordinate, the coordinate offset of the measured point and the phase center is obtained according to the distance, the azimuth angle, the pitch angle and the roll angle between the satellite receiving antenna 11 and the measured point, and the measured point in the local coordinate system S is calculated according to the coordinate offset and the rectangular coordinate_GRectangular coordinates of the lower.

When the GNSS receiver measures the rectangular coordinate of a measured point, firstly, the attitude of the satellite receiving antenna 11 is adjusted, so that a light spot formed on the surface of the measured point by the laser range finder 12 coincides with the measured point, thereby avoiding measurement errors and ensuring the measurement accuracy. For ease of operation, the GNSS receiver disclosed herein may further include a camera and a display screen, as shown in fig. 2. Fig. 2 is a schematic diagram of another GNSS receiver disclosed in the present application based on fig. 1. Wherein the camera 15 is mounted on the back of the satellite receiving antenna 11. The display screen 16 is connected to the main control board.

The camera 15 is used to take images of the ground and display the images on the display screen 16 through the main control panel. The operator observes the image on the display screen 16 and adjusts the attitude of the GNSS receiver so that the light spot formed on the surface of the measured point by the laser range finder 12 coincides with the measured point.

Referring to fig. 3, a flowchart of the method for measuring a position of a GNSS receiver according to the present application may include the following steps:

step 101: acquiring longitude and latitude coordinates and elevation coordinates of the phase center of the satellite receiving antenna, and converting the longitude and latitude coordinates and the elevation coordinates into a local coordinate system S_GRectangular coordinates of the lower.

The coordinate conversion of the satellite receiving antenna adopts the existing coordinate conversion method, which is not described again.

It should be noted that: before the position measuring method disclosed by the application is executed, the attitude of the satellite receiving antenna is adjusted in advance, so that a light spot formed on the surface of a measured point by the laser range finder is superposed with the measured point, the occurrence of measuring errors is avoided, and the accuracy is ensured.

Step 102: and measuring the azimuth angle, the pitch angle and the roll angle of the satellite receiving antenna.

In the present embodiment, the local coordinate system S is predefined_GComprises the following steps: the origin O is a point on the earth's surface, X_GThe axis is parallel to the horizontal plane of the origin and points to the geographical north pole; y is_GThe axis is parallel to the horizontal plane where the origin is located and points to the east-righting direction; z_GAxis and X_GOY_GPlane parallel to and X_G,Y_GThe shaft constitutes a right-hand system; s_GUsing unit dimension of length and defining coordinate system S_G' and S_G", points are respectively equal to S_GConsistent, dimension is m/s respectively²And Gauss;

predefining a carrier coordinate system S of a GNSS receiver_CComprises the following steps: the origin O is the antenna phase center; x_CThe axis is parallel to the plane of the antenna and points to the front along the direction of the GNSS receiver body; y is_CThe axis being parallel to the plane of the antenna and parallel to X_CThe axes are orthogonal, and the direction is perpendicular to the GNSS receiver body and points to the right; z_CAxis perpendicular to X_COY_CPlane parallel to and X_C、Y_CForming a right-hand system, the carrier coordinate system S_CAnd said local coordinate system S_GAre the same and take the unit dimension of length. Defining a coordinate system S simultaneously_G' and S_G", points and S_CConsistent, dimension is m/s respectively²And Gauss.

Definition of $A_Z=\left(\begin{array}{ccc}\cos \mathrm{\ψ}& \sin \mathrm{\ψ}& 0\\ -\sin \mathrm{\ψ}& \cos \mathrm{\ψ}& 0\\ 0& 0& 1\end{array}\right),$ $A_Y=\left(\begin{array}{ccc}\cos \mathrm{\θ}& 0& -\sin \mathrm{\θ}\\ 0& 1& 0\\ \sin \mathrm{\θ}& 0& \cos \mathrm{\θ}\end{array}\right),$ $A_X=\left(\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\γ}& \sin \mathrm{\γ}\\ 0& \sin \mathrm{\γ}& \cos \mathrm{\γ}\end{array}\right),$ Wherein A is_ZRepresenting a GNSS receiver in a carrier coordinate system S_CAfter the Z axis of the GNSS receiver rotates by an angle psi, each point on the GNSS receiver rotatesCoordinate transformation matrix before and after, A_YRepresenting a GNSS receiver in a carrier coordinate system S_CAfter the Y axis of the GNSS receiver rotates by an angle theta, a coordinate transformation matrix of each point on the GNSS receiver before and after the rotation, A_XRepresenting a GNSS receiver in a carrier coordinate system S_CAfter the X axis rotates by an angle gamma, a coordinate transformation matrix of each point on the GNSS receiver before and after the rotation is carried out, psi is an azimuth angle, theta is a pitch angle, gamma is a roll angle, and the azimuth angle psi is the angle of the GNSS receiver around Z_CAngle of rotation of axis, along Z_CWhen the axis is observed in the positive direction, the clockwise rotation is positive, and the pitch angle theta is equal to the angle of the GNSS receiver around Y_CAngle of rotation of the shaft, along Y_CWhen the axis is observed in the positive direction, the clockwise rotation is positive, and the roll angle gamma is the X-ray angle of the GNSS receiver around the X_CAngle of rotation of axis, along X_CWhen the shaft is observed in the positive direction, the clockwise rotation is positive; and the azimuth angle psi ∈ [0, 2 π ∈ ]]Angle of pitch

Roll angle gamma E [ -pi, pi [ ]]As shown in fig. 4.

The azimuth, pitch, and roll angles of the satellite receiving antenna may be measured by at least one of an accelerometer, a gyroscope, and a compass. Referring to fig. 5, the specific implementation process of step 102 may include the following steps:

step 1021: acquired in a coordinate systemThe lower three gravitational acceleration components g_xc,g_yc,g_zcAnd the corresponding relation among the azimuth angle, the pitch angle and the roll angle is as follows: $\stackrel{\‾}{G}=\left(\begin{array}{c}{g}_{\mathrm{xc}}\\ g_{\mathrm{yc}}\\ g_{\mathrm{zc}}\end{array}\right)=A_X{A}_Y\left(\begin{array}{c}0\\ 0\\ g\end{array}\right)=g\left(\begin{array}{c}-\sin \mathrm{\θ}\\ \cos \mathrm{\θ}\sin \mathrm{\γ}\\ \cos \mathrm{\θ}\cos \mathrm{\γ}\end{array}\right),$ wherein

Denotes S_C' relative S_G' gravity acceleration vector after rotating psi, theta, gamma is at S_C' projection coordinate of the lower, g is gravity acceleration value, at S_C' and S_GThe' pointing directions are the same as each other,is an initial vector of $\stackrel{\‾}{G}=\left(\begin{array}{c}0\\ 0\\ g\end{array}\right).$

Step 1022: acquired in a coordinate systemThree geomagnetic field components m near the lower measured point_xc,m_yc,m_zcAnd the corresponding relation among the azimuth angle, the pitch angle and the roll angle is as follows:

$\stackrel{\‾}{M}=\left(\begin{array}{c}{m}_{\mathrm{xc}}\\ m_{\mathrm{yc}}\\ m_{\mathrm{zc}}\end{array}\right)=A_x{A}_y{A}_z\left(\begin{array}{c}{m}_{x0}\\ m_{y0}\\ m_{z0}\end{array}\right)=\left(\begin{array}{ccc}\cos \mathrm{\θ}& 0& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}\sin \mathrm{\γ}& \cos \mathrm{\γ}& \cos \mathrm{\θ}\sin \mathrm{\γ}\\ \sin \mathrm{\θ}\cos \mathrm{\γ}& -\sin \mathrm{\γ}& \cos \mathrm{\θ}\cos \mathrm{\γ}\end{array}\right)\left(\begin{array}{c}{m}_{x0}\cos \mathrm{\ψ}+m_{y0}\sin \mathrm{\ψ}\\ -m_{x0}\sin \mathrm{\ψ}+m_{y0}\cos \mathrm{\ψ}\\ m_{z0}\end{array}\right),$

wherein,

denotes S_C"relative S_G"the geomagnetic field vector at the measured point after rotating Ψ, θ, γ is at S_C"projection coordinate of down, m_x0，m_y0And m_z0Is at the same time

And S_G"the directions are the same as each other,

the initial component of (a).

Step 1023: obtaining a geomagnetic declination angle delta and a geomagnetic field vector

The corresponding relationship is as follows: tg δ ═ m_y0/m_x0。

Step 1024: according to said three gravitational acceleration components g_xc,g_yc,g_zcCorresponding relation with the azimuth angle, the pitch angle and the roll angle, and three geomagnetic field components m_xc,m_yc,m_zcCorresponding relation with the azimuth angle, the pitch angle and the roll angle, and geomagnetic declination angle delta and geomagnetic field vector

And measuring the azimuth angle, the pitch angle and the roll angle of the satellite receiving antenna.

Step 103: according to the azimuth angle, the pitch angle and the roll angle, obtaining a local coordinate system S of a laser beam emitted by the laser range finder_GDirection vector of down and local coordinate system S of the laser beam_GAngle of orientation of down.

Wherein, in the carrier coordinate system S_CAnd a local coordinate system S_GThe laser beams are in the carrier coordinate system S with the same direction_CDirection vector of $\stackrel{\→}{L}=\left(\begin{array}{c}0\\ 0\\ 1\end{array}\right),$ $\stackrel{\→}{i}=\left(\begin{array}{c}1\\ 0\\ 0\end{array}\right),$ $\stackrel{\→}{j}=\left(\begin{array}{c}0\\ 1\\ 0\end{array}\right),$ $\stackrel{\→}{k}=\left(\begin{array}{c}0\\ 0\\ 1\end{array}\right)$ Respectively a carrier coordinate system S_CUnit vector on the x, y, z axis below.

The specific implementation process of step 103 may include the following steps:

step 1031: obtaining a GNSS receiver around the carrier coordinate system S_CAfter the Z-axis rotation azimuth psi, in the local coordinate system S_GDirection vector of lower laser beam

Is composed of $\left(\begin{array}{c}0\\ 0\\ 1\end{array}\right),$ Vector after rotation

Is composed of $\left(\begin{array}{c}-\sin \mathrm{\ψ}\\ \cos \mathrm{\ψ}\\ 0\end{array}\right),$

Vector after rotation

Is composed of $\left(\begin{array}{c}\cos \mathrm{\ψ}\\ \sin \mathrm{\ψ}\\ 0\end{array}\right).$

Step 1032: obtaining a direction vector of a laser beamWound around

Vector after rotation of theta

Is composed of $\left(\begin{array}{c}\cos \mathrm{\ψ}\sin \mathrm{\θ}\\ \sin \mathrm{\ψ}\sin \mathrm{\θ}\\ \cos \mathrm{\θ}\end{array}\right),$

Wound around

Vector after rotating beta

Is composed of $=\left(\begin{array}{c}\cos \mathrm{\θ}\cos \mathrm{\ψ}\\ \cos \mathrm{\θ}\sin \mathrm{\ψ}\\ \sin \mathrm{\θ}\end{array}\right).$

In the present embodiment, first, a laser beam is acquiredWound around

Direction vector of laser beam after rotation of theta

In a local coordinate system S_GThe lower xy in-plane projection vector is $\left(\begin{array}{c}\cos \mathrm{\ψ}\\ \sin \mathrm{\ψ}\\ 0\end{array}\right)\sin \mathrm{\θ},$

In a local coordinate system S_GThe projection vector on the lower z-axis is $\left(\begin{array}{c}0\\ 0\\ \cos \mathrm{\θ}\end{array}\right),$ The direction vector of the laser beam

Wound aroundDirection after theta rotation $\stackrel{\→}{L_{\mathrm{ZY}}}=\left(\begin{array}{c}\cos \mathrm{\ψ}\sin \mathrm{\θ}\\ \sin \mathrm{\ψ}\sin \mathrm{\θ}\\ 0\end{array}\right)+\left(\begin{array}{c}0\\ 0\\ \cos \mathrm{\θ}\end{array}\right)=\left(\begin{array}{c}\cos \mathrm{\ψ}\sin \mathrm{\θ}\\ \sin \mathrm{\ψ}\sin \mathrm{\θ}\\ \cos \mathrm{\θ}\end{array}\right),$

Wound around

Vector after rotating beta

$\stackrel{\→}{1^{\′\′}}=\left(\begin{array}{c}\cos \mathrm{\ψ}\\ \sin \mathrm{\ψ}\\ 0\end{array}\right)\cos \mathrm{\θ}+\left(\begin{array}{c}0\\ 0\\ \sin \mathrm{\θ}\end{array}\right)=\left(\begin{array}{c}\cos \mathrm{\ψ\θ}\cos \mathrm{\ψ}\\ \cos \mathrm{\ψ\θ}\sin \mathrm{\ψ}\\ \sin \mathrm{\θ}\end{array}\right).$

Step 1033: obtaining a direction vector of a laser beamIn that

On-axis projection vector

Is composed of $\left(\begin{array}{c}\cos \mathrm{\θ}\cos \mathrm{\ψ}\\ \cos \mathrm{\θ}\sin \mathrm{\ψ}\\ \sin \mathrm{\θ}\end{array}\right)\sin 2\mathrm{\θ}.$ Direction vector of laser beam

Perpendicular to the carrier coordinate system S_CComponent of x-axis of

Is composed of $\cos 2\mathrm{\θ}\left(\begin{array}{c}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\\ -\sin \mathrm{\ψ}\sin \mathrm{\θ}\\ \cos \mathrm{\θ}\end{array}\right),$ And

component and carrier coordinate system S_CThe vector integral quantity of x-axis of

Is composed of $\cos 2\mathrm{\θ}\left(\begin{array}{c}-\sin \mathrm{\ψ}\\ \cos \mathrm{\ψ}\\ 0\end{array}\right).$

Wherein the direction vector of the laser beam

In that

On-axis projection vector

$\stackrel{\→}{L_{{\mathrm{ZY}}_{1^{\′\′}}}}=\left(\begin{array}{c}\cos \mathrm{\θ}\cos \mathrm{\ψ}\\ \cos \mathrm{\θ}\sin \mathrm{\ψ}\\ \sin \mathrm{\θ}\end{array}\right)\left|\stackrel{\→}{L_{\mathrm{ZY}}}\right|\cos (\stackrel{\→}{L_{\mathrm{ZY}}},\stackrel{\→}{1^{\′\′}})=$

$\left(\begin{array}{c}\cos \mathrm{\θ}\cos \mathrm{\ψ}\\ \cos \mathrm{\θ}\sin \mathrm{\ψ}\\ \sin \mathrm{\θ}\end{array}\right)\stackrel{\→}{L_{\mathrm{ZY}}}\·\stackrel{\→}{1^{\′\′}}=\left(\begin{array}{c}\cos \mathrm{\θ}\cos \mathrm{\ψ}\\ \cos \mathrm{\θ}\sin \mathrm{\ψ}\\ \sin \mathrm{\θ}\end{array}\right)\sin 2\mathrm{\θ}.$

Vector quantity

Perpendicular to the carrier coordinate system S_CX-axis component of

$\stackrel{\→}{L_{\mathrm{ZY}\⊥1}}=\stackrel{\→}{L_{\mathrm{ZY}}}-\stackrel{\→}{L_{{\mathrm{ZY}}_{1^{\′\′}}}}=\left(\begin{array}{c}\cos \mathrm{\ψ}\sin \mathrm{\θ}\\ \sin \mathrm{\ψ}\sin \mathrm{\θ}\\ \cos \mathrm{\θ}\end{array}\right)-\left(\begin{array}{c}\cos \mathrm{\θ}\cos \mathrm{\ψ}\\ \cos \mathrm{\θ}\sin \mathrm{\ψ}\\ \sin \mathrm{\θ}\end{array}\right)\sin 2\mathrm{\θ}=$

$\left(\begin{array}{c}\cos \mathrm{\ψ}\sin \mathrm{\θ}(1-{2\cos }^2\mathrm{\θ})\\ \sin \mathrm{\ψ}\sin \mathrm{\θ}(1-{2\cos }^2\mathrm{\θ})\\ \cos \mathrm{\θ}(1-{2\sin }^2\mathrm{\θ})\end{array}\right)=2\mathrm{\θ}\left(\begin{array}{c}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\\ -\sin \mathrm{\ψ}\sin \mathrm{\θ}\\ \cos \mathrm{\θ}\end{array}\right).$

Component and carrier coordinate system S_CThe vector integral quantity of x-axis of

$\stackrel{\→}{L_{\mathrm{ZY}\⊥2}}=\stackrel{\→}{L_{\mathrm{ZY}\⊥1}}\×\stackrel{\→}{1^{\′\′}}=\cos 2\mathrm{\θ}\left|\begin{array}{ccc}\stackrel{\→}{i}& \stackrel{\→}{j}& \stackrel{\→}{k}\\ -\cos \mathrm{\ψ}\sin \mathrm{\θ}& \sin \mathrm{\ψ}\sin \mathrm{\θ}& \cos \mathrm{\θ}\\ \cos \mathrm{\β}\cos \mathrm{\ψ}& \cos \mathrm{\β}\sin \mathrm{\ψ}& \sin \mathrm{\θ}\end{array}\right|=$

$\cos 2\mathrm{\θ}[(-\sin \mathrm{\ψ})\stackrel{\→}{i}+\left(\cos \mathrm{\ψ}\right)\stackrel{\→}{j}]=\cos 2\mathrm{\θ}\left(\begin{array}{c}-\sin \mathrm{\ψ}\\ \cos \mathrm{\ψ}\\ 0\end{array}\right).$

Then the process of the first step is carried out,

two by two orthogonal.

Wherein, $\stackrel{\→}{1^{\′\′}}=\left(\begin{array}{c}\cos \mathrm{\θ}\cos \mathrm{\ψ}\\ \cos \mathrm{\θ}\sin \mathrm{\ψ}\\ \sin \mathrm{\θ}\end{array}\right),$ $\stackrel{\→}{L_{\mathrm{ZY}\⊥1}}=\cos 2\mathrm{\θ}\left(\begin{array}{c}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\\ -\sin \mathrm{\ψ}\sin \mathrm{\θ}\\ \cos \mathrm{\θ}\end{array}\right),$

$\stackrel{\→}{L_{\mathrm{ZY}\⊥2}}=\cos 2\mathrm{\θ}\left(\begin{array}{c}-\sin \mathrm{\ψ}\\ \cos \mathrm{\ψ}\\ 0\end{array}\right).$

step 1034: limiting the pitch angle according to the GNSS receiver use environment

The transverse roll angle

At the pitch angle

Roll angle

In case of acquiring a component

Wound around

Component of rotation gamma

In that

Projection vector of $\left(\begin{array}{c}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\\ -\sin \mathrm{\ψ}\sin \mathrm{\θ}\\ \cos \mathrm{\θ}\end{array}\right)\cos \mathrm{\γ},$ Component(s) of

In that

Projection vector of $\left(\begin{array}{c}-\sin \mathrm{\ψ}\\ \cos \mathrm{\ψ}\\ 0\end{array}\right)\sin \mathrm{\γ},$ Then component

Is composed of $\left(\begin{array}{c}-\mathrm{co\ψ}s\sin \mathrm{\θ}\\ -\sin \mathrm{\ψ}\sin \mathrm{\θ}\\ \cos \mathrm{\θ}\end{array}\right)\cos \mathrm{\γ}+\left(\begin{array}{c}-\sin \mathrm{\ψ}\\ \cos \mathrm{\ψ}\\ 0\end{array}\right)\sin \mathrm{\γ}.$

So as to limit the pitch angle

Roll angle

To avoid the possibility that the sign of the trigonometric function may change in different quadrants, which may cause the trigonometric function to be unable to be calculated using one equation.

Step 1035: according to the vector

Sum component L_ZY⊥3Obtaining the direction vector of the laser beam

Wound around

Vector after rotating by gamma angle

Is composed of $\left(\begin{array}{c}\cos \mathrm{\θ}\cos \mathrm{\ψ}\\ \cos \mathrm{\θ}\sin \mathrm{\ψ}\\ \sin \mathrm{\θ}\end{array}\right)\sin 2\mathrm{\θ}+\left(\begin{array}{c}-\cos \mathrm{\ψ}\sin \mathrm{\θ}\\ -\sin \mathrm{\ψ}\sin \mathrm{\θ}\\ \cos \mathrm{\θ}\end{array}\right)\cos \mathrm{\γ}+\left(\begin{array}{c}-\sin \mathrm{\ψ}\\ \cos \mathrm{\ψ}\\ 0\end{array}\right)\sin \mathrm{\γ},$ Then vector

Is the direction vector of the laser beam

In a carrier coordinate system S_CRelative to a local coordinate system S_GRotate in turn

After theta, gamma, in the local coordinate system S_GThe direction vector of the laser beam below.

Step 104: obtaining a local coordinate system S between the satellite receiving antenna and the measured point measured by the laser range finder_GAnd obtaining a local coordinate system S between the measured point and the phase center according to the direction angle of the laser beam and the distance_GThe coordinate offset of down.

Suppose that the distance is D and the direction angle is theta_x，θ_y，θ_zThen the coordinate offset is: Δ x ═ D cos θ_x，Δy＝D*cosθ_y，Δz＝D*cosθ_z+μ。

Wherein the deviation between the origin represented by μ and the origin of elevation can be calculated by using the existing method, which is not further described.

Step 105: measuring the local coordinate system S of the measured point according to the coordinate offset and the rectangular coordinate_GRectangular coordinates of the lower.

Wherein, the rectangular coordinate of the measured point is X = X_G+Δx，Y=Y_G+Δy，Z=Z_G+Δz，X_G，Y_GAnd Z_GRespectively satellite receiving antenna in a local coordinate system S_GCoordinates on the respective axes below.

By applying the technical scheme, the GNSS receiver disclosed by the application changes the existing position measurement method, and calculates the local coordinate system S of the measured point according to the coordinate offset of the measured point and the phase center and the rectangular coordinate of the phase center_GAnd the rectangular coordinate of the base plate, thereby improving the measurement accuracy. Meanwhile, the GNSS receiver omits a centering rod, and the size of the receiver is reduced. In addition, in the measuring process, the longitude and latitude coordinates of the satellite receiving antenna are not required to be ensured to be the same as the longitude and latitude coordinates of the measured point, and the operation difficulty is reduced.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The principle and the implementation of the present application are explained herein by applying specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, the specific embodiments and the application range may be changed. In view of the above, the description should not be taken as limiting the application.

Claims (4)

1. A global navigation satellite system receiver comprising a satellite receiving antenna, further comprising: is arranged at the back of the satellite receiving antenna, a beam axis passes through the phase center of the satellite receiving antenna, and a local coordinate system S between the satellite receiving antenna and a measured point is measured_GA laser range finder for a lower distance;

an attitude sensor connected to the satellite receiving antenna for measuring an azimuth angle, a pitch angle and a roll angle of the satellite receiving antenna, the local coordinate system S_GAdopting a length unit dimension;

the laser range finder is connected with the satellite receiving antenna and the attitude sensor and is used for acquiring longitude and latitude coordinates and elevation coordinates of a phase center of the satellite receiving antenna and converting the longitude and latitude coordinates and the elevation coordinates into a local coordinate system S_GAccording to the rectangular coordinate, the coordinate offset of the measured point and the phase center is obtained according to the distance, the azimuth angle, the pitch angle and the roll angle between the satellite receiving antenna and the measured point, and the measured point in the local coordinate system S is calculated according to the coordinate offset and the rectangular coordinate_GLower rectangular coordinate main control board.

2. The global navigation satellite system receiver of claim 1, further comprising: the camera is arranged on the back of the satellite receiving antenna;

and the display screen is connected with the main control panel.

3. The global navigation satellite system receiver of claim 1 or 2, wherein the attitude sensor comprises at least one of an accelerometer, a gyroscope, and a compass.

4. The gnss receiver of claim 1 or 2, wherein the laser range finder includes a laser emitting assembly and a laser receiving assembly, the laser emitting assembly and the laser receiving assembly being respectively connected to the main control board.

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