CN205317213U - Measuring device is investigated on spot to real estate unit towards room ground is integrative - Google Patents
Measuring device is investigated on spot to real estate unit towards room ground is integrative Download PDFInfo
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- CN205317213U CN205317213U CN201620014011.XU CN201620014011U CN205317213U CN 205317213 U CN205317213 U CN 205317213U CN 201620014011 U CN201620014011 U CN 201620014011U CN 205317213 U CN205317213 U CN 205317213U
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Abstract
The utility model discloses a measuring device is investigated on spot to real estate unit towards room ground is integrative, the device include GPS receiving module, device shell, data processing module, IMU module, power module, the device still includes leveling turn device, inclination measured module and ranging module, the device has two kinds of measurement mode of GPSSINS and top laser range finder, shows accuse equipment through bluetooth and hand -held type and communicates, and the accelerometer zero was inclined to one side during dip meter can compensate IMU simultaneously, and the leveling turn device provides level and transposition for whole device, easy operation, and convenient and fast accords with integrated structural design, is applicable to to investigate the measurement on the spot towards the real estate unit of room ground an organic whole.
Description
Technical field
This utility model belongs to inertial navigation and guidance technical field, is specifically related to a kind of real estate unit on-site inspection measurement apparatus towards premises one.
Background technology
Real estate unit on-site inspection measurement apparatus is in units of ancestor ground, ancestor sea, investigate thoroughly that ancestor ground, ancestor sea and house, forest etc. determine the situation of the real estate unit such as thing, the investigation measurement apparatus including ancestor ground information, ancestor Hisense breath, house (build, structures) information, forest and tree information etc. Inertial technology is based on Newtonian mechanics, utilizing gyroscope and accelerometer (inertial sensor) to measure angular movement information and the line movable information of carrier respectively, resolving these information by airborne computer thus obtaining the course of carrier, attitude, speed and position. Inertial technology is applied to real estate unit on-site inspection fields of measurement, owing to it has autonomy, it is possible to be prevented effectively from the interference of external environment. According to the inertia device mounting means at carrier, gimbaled inertial navigation system and strap-down inertial navigation system can be divided into. The platform-type angular movement that can isolate carrier, can guarantee that certainty of measurement, but structure is complicated, volume is big; Strapdown adopts " digital platform " sub platform entity, is resolved the information such as carrier positions by coordinates computed transition matrix, has volume little, lightweight, the feature that cost is low. Working range is measured wide for real estate unit on-site inspection, feature with a varied topography, adopt strapdown more to meet the job specification of this measurement. High performance strapdown real estate unit on-site inspection measurement apparatus can reduce Inertial Measurement Unit (Inertialmeasurementunit, be called for short IMU) the alignment error impact on certainty of measurement, realize IMU composition integrated with data processing unit, the personnel of being convenient for measuring complete to measure work, it is ensured that the accuracy of real estate unit on-site inspection measurement and high efficiency.
The development of external inertial sensor and application technology thereof develop quickly, the particularly development in an all-round way of high-precision New Solid gyroscope technology, the research work based on the strap-down inertial navigation system of solid-state gyroscope composition becomes the developing direction that inertial survey technique is new. The PHINS system based on optical fibre gyro that iXSEA company of France produces is inertial navigation system the lightest in the world, can providing the true azimuth of carrier, carrier carrier, course speed and three dimensional local information, under differential GPS is assisted, its positioning precision plan-position circular proable error ranges for 0.5 ~ 3m;Another optical fiber compass system OCTANS of the said firm, it may be determined that real north also provides multi-faceted data, but the development and Design that these products fail to measure the inertial measurement system under environment and correlation technique for real estate unit on-site inspection provides direct reference. But there is bigger difference at the inertial navigation set of other field (such as naval vessel, vehicle-mounted etc.) due to working environment, in real estate unit on-site inspection fields of measurement inapplicable.
The existing real estate unit on-site inspection measurement apparatus based on inertial technology at present: be that data acquisition process unit is connected by wired mode with outside handheld device, when gps signal is blocked time, in the face of complicated measurement environment, need to move on tested point by whole equipment, when coordinate known point and tested point are distant, this metering system is wasted time and energy, and has certain limitation. Owing to inertial navigation navigation calculation precision is heavily dependent on the precision of inertial sensor (gyroscope and accelerometer), existing equipment does not have the error of online estimation compensation sensor in real time. And the initial alignment precision of pure inertial navigation affects its navigation calculation precision, existing equipment need to improve in initial alignment link. During field measurement, need many people operation, reduce measurement efficiency; And weight is relatively big, is extremely difficult to the miniaturization of real estate unit on-site inspection measurement apparatus, portability requirements.
Summary of the invention
For the deficiencies in the prior art, the utility model proposes a kind of real estate unit on-site inspection measurement apparatus towards premises one, this device is communicated with outside hand-held display panel control by bluetooth, one metering system more easily is brought by introducing laser range finder and leveling turn device, accelerate the measurement efficiency of field operation, it is possible to tackle more complicated measurement environment. Additionally, introduce dipmeter estimation compensation sensor (accelerometer) error, improve measurement device precision, there is metering system various, the advantage such as easy operation, overcome that prior art metering system is single, measure the problem that efficiency is low and certainty of measurement is low.
To achieve these goals, the technical solution adopted in the utility model is:
The present invention towards premises one real estate unit on-site inspection measurement apparatus, this device includes GPS receiver module, crust of the device, data processing module, IMU module, supply module, described GPS receiver module includes GPS and connecting rod, and described connecting rod is arranged on the upper surface center of described crust of the device; Being provided with connecting plate in described crust of the device, described crust of the device is divided into upper shell and lower house by described connecting plate; Described supply module is arranged in described lower house; It is characterized in that, this device also includes leveling turn device, measurement of dip angle module and range finder module; Described leveling turn device is positioned at bottom lower house, described data processing module, IMU module and measurement of dip angle module are arranged in described device upper shell, described IMU module is arranged at described upper shell center, including IMU support and IMU, described data processing module is connected with IMU by its communication interface; Described measurement of dip angle module includes dipmeter and support, and described support is arranged at described IMU module upper surface.
It is provided with described dipmeter on the bracket; Described range finder module is arranged at the upper surface of described upper shell, and including laser range finder and magnetic heading, described laser range finder, magnetic heading and connecting rod center are point-blank.
Further, this device also includes hand-held display panel control, and described data processing module includes DSP module and bluetooth communication, and described DSP module is arranged on described support, is communicated with described hand-held display panel control by bluetooth module.
Further, the horizontal plane of described dipmeter is parallel with IMU two horizontal sensitive axes place plane.
Compared with prior art, the beneficial effects of the utility model are:
1) connecting rod is arranged on the upper surface center of whole crust of the device, it is ensured that the measuring basis of described GPS and described IMU is unified, eliminates the measurement error owing to device each several part measuring basis disunity causes, improves the certainty of measurement of device.
2) dipmeter can estimate in real time and described in online compensation in IMU the zero of accelerometer partially, be effectively increased the certainty of measurement of IMU.
3) DSP module is communicated with outside hand-held display panel control by bluetooth module so that device has better operability, reduces the coupling between device each several part, meet the structural design of integration, meanwhile, decrease and measure required human cost, improve measurement efficiency.
4) described laser range finder, described IMU and described leveling turn device, constitute a kind of metering system of system.
5) by introducing laser range finder and leveling turn device, in conjunction with IMU gyroscope north searching so that system has two kinds of metering systems, adds the metering system of device so that device can adapt to more complicated externally measured environment. Leveling turn device provides the transposition of four-position rotation position and optional position to IMU, and device is carrying out four positions initially on time, leveling turn device can provide the level of certain precision for device, thus improve the precision that IMU tetra-position is initially directed at, and then improve the certainty of measurement of device.
6) magnetic heading is initially directed at the initial orientation providing rough for device, it is possible to be effectively improved the initial alignment precision of device, thus improving the navigation calculation precision of IMU, and then improves the certainty of measurement of device.
Accompanying drawing explanation
Fig. 1 is this utility model real estate unit on-site inspection measurement apparatus composition structured flowchart;
Fig. 2 is this utility model real estate unit on-site inspection measurement apparatus structural representation;
Fig. 3 is IMU supporting structure schematic diagram in this utility model real estate unit on-site inspection measurement apparatus;
Fig. 4 is leveling turn device schematic diagram in this utility model real estate unit on-site inspection measurement apparatus;
Fig. 5 is range finder module scheme of installation in this utility model real estate unit on-site inspection measurement apparatus;
Fig. 6 is hand-held display panel control structure chart in this utility model real estate unit on-site inspection measurement apparatus.
In figure: 1, GPS, 2, connecting rod, 3, laser range finder, 4, magnetic heading, 5, DSP module, 6, dipmeter, 7, support, 8, IMU support, 9, upper shell, 10, connecting plate, 11, lower house, 12, supply module, 15, leveling turn device, 21, bottom surface, 22, left surface, 23, leading flank, 24, right flank, 25, trailing flank, 26, upper side.
Detailed description of the invention
Below in conjunction with Figure of description and embodiment, technical solutions of the utility model are described in further detail.
As shown in Figure 1-2, this utility model is towards the real estate unit on-site inspection measurement apparatus of premises one, and this device includes GPS receiver module, crust of the device, data processing module, IMU module, supply module 12, hand-held display panel control; Described GPS receiver module includes GPS 1 and connecting rod 2, and described connecting rod 2 is arranged on the upper surface center of described crust of the device; Being provided with connecting plate 10 in described crust of the device, described crust of the device is divided into upper shell 9 and lower house 11 by described connecting plate 10;Described supply module 12 is arranged in described lower house 11; This device also includes leveling turn device 15, measurement of dip angle module and range finder module; Described leveling turn device 15 is positioned at bottom lower house 11, described data processing module, IMU module and measurement of dip angle module are arranged in described device upper shell 9, described IMU module is arranged at described upper shell 9 center, including IMU support 8 and IMU, described IMU is made up of three gyros and three accelerometers; Described data processing module is connected with described IMU by its communication interface; Described data processing module includes DSP module 5 and bluetooth communication, and described DSP module 5 is arranged on described support 7, is communicated with described hand-held display panel control by bluetooth module. Described measurement of dip angle module includes dipmeter 6 and support 7, and described support 7 is arranged at described IMU module upper surface; Described support 7 is provided with described dipmeter 6; Described range finder module is arranged at the upper surface of described upper shell 9, and including laser range finder 3 and magnetic heading 4, described laser range finder 3, magnetic heading 4 and connecting rod 2 center are point-blank.
As it is shown on figure 3, described IMU support 8 is hexahedron structure, including bottom surface 21, left surface 22, leading flank 23, right flank 24, trailing flank 25 and upper side 26, described right flank 24, the center position of trailing flank 25 and upper side 26 is respectively arranged with installing hole or mounting groove, described accelerometer is respectively arranged in described right flank 24, in the installing hole of trailing flank 25 and upper side 26 or mounting groove, described gyro is respectively arranged at the outer surface of above-mentioned installing hole or mounting groove, and in the same direction gyro sensitive axes and accelerometer sensitive axle on the same line, three axle gyros and three axis accelerometer can be mutually perpendicular to when installing, make device volume little, and gyro and accelerometer on same direction are arranged on same straight line, reduce the alignment error of IMU.
Meanwhile, described left surface 22, leading flank 23, right flank 24, trailing flank 25 and upper side 26 are also respectively provided with the hole alleviating IMU support 2 weight or groove.
As shown in Figure 4, described leveling turn device 15 includes adjustable base and platform plane, the upper end of adjustable base is provided with a turn device, described turn device includes a turntable and a governor motion making described turntable rotate in the horizontal plane, the upper end of described turntable is provided with a levelling device, described levelling device includes two arc maintenances with circular arc plane of oscillation and sets a table, and described tabletop of platform is positioned at described two arc maintenances and sets a table upper and can swing on described circular arc plane of oscillation. So, leveling turn device provides the transposition of four-position rotation position and optional position to IMU, and device is carrying out four positions initially on time, leveling turn device can provide the horizontal level of certain precision for device, thus improve the precision that IMU tetra-position is initially directed at, and then improve the certainty of measurement of device.
As shown in Figure 5, described laser range finder 3 and described magnetic heading 4 are arranged on the upper surface of upper shell 9, make laser range finder 3, connecting rod 2 center and magnetic heading 4 center point-blank, in horizontal plane fibre optic gyroscope is so utilized to obtain the centrage of laser range finder 3 and the angle of geographical real north, add the distance that laser range finder 3 obtains, the position of tested point can be obtained by current location known point.Additionally, the quiet pedestal of strapdown inertial navigation system is initially on time, horizontal gyro sensitive axes is higher with geographical north orientation angle north finding precision when 30 °-60 °, and therefore, described magnetic heading 4 can for azimuth initially that punctual offer is rough for IMU.
As shown in Figure 6, hand-held display panel control is the flat board with touch screen, and adopting ARM9 embedded controller is control centre, by wireless blue tooth and data acquisition module communication, survey crew is mutual with the data acquisition module in device by flat board, convenient and swift, has ease for operation.
Described connecting rod 2 is arranged on the upper surface center of crust of the device, when measurement process needs applying GPS, GPS 1 can be connected to the upper end of connecting rod 2, ensure that the measuring basis of described GPS 1 and described IMU is unified, make IMU measure point and measure point on same vertical line with GPS, reduce measurement error, eliminate the measurement error owing to device each several part measuring basis disunity causes, improve the certainty of measurement of device. Additionally, obtain the positional information measuring point, can be used for revising the IMU navigation positioning error resolving out.
Described data acquisition module is communicated with outside hand-held display panel control by bluetooth communication, and described dipmeter 6 is connected on described IMU support 8 by described support 7. The horizontal plane of described dipmeter 6 is parallel with IMU two horizontal sensitive axes place plane, owing to inclinator has higher certainty of measurement, two horizontal angles that inclinator obtains compare with two horizontal angles of accelerometer resolving after alignment error compensates, the zero offset of also compensated acceleration meter can be estimated in real time, improve the service precision of sensor, thus improving the calculation accuracy of inertial navigation.
This utility model is after power-on, first on outside hand-held display panel control, the working method under different measuring environment is selected according to ARM control instruction, again through DSP data collecting module collected various kinds of sensors, data such as GPS, gyro and accelerometer, through DSP module 5, the data of collection are resolved, calculation result is sent in ARM hand-held set by bluetooth communication and shows measurement result in real time on the one hand, it is achieved device online resolution; On the other hand by the data storage after resolving, facilitate industry in data to process, improve certainty of measurement further.
Claims (3)
1., towards a real estate unit on-site inspection measurement apparatus for premises one, this device includes GPS receiver module, crust of the device, data processing module, IMU module, supply module (12); Described GPS receiver module includes GPS (1) and connecting rod (2), and described connecting rod (2) is arranged on the upper surface center of described crust of the device; Being provided with connecting plate (10) in described crust of the device, described crust of the device is divided into upper shell (9) and lower house (11) by described connecting plate (10); Described supply module (12) is arranged in described lower house (11); It is characterized in that, this device also includes leveling turn device (15), measurement of dip angle module and range finder module; Described leveling turn device (15) is positioned at lower house (11) bottom, described data processing module, IMU module and measurement of dip angle module are arranged in described device upper shell (9), described IMU module is arranged at described upper shell (9) center, including IMU support (8) and IMU, described data processing module is connected with IMU by its communication interface;Described measurement of dip angle module includes dipmeter (6) and support (7), and described support (7) is arranged at described IMU module upper surface; Described support (7) is provided with described dipmeter (6); Described range finder module is arranged at the upper surface of described upper shell (9), and including laser range finder (3) and magnetic heading (4), described laser range finder (3), magnetic heading (4) and connecting rod (2) center are point-blank.
2. the real estate unit on-site inspection measurement apparatus towards premises one according to claim 1, it is characterized in that: this device also includes hand-held display panel control, described data processing module includes DSP module (5) and bluetooth communication, described DSP module (5) is arranged on described support (7), is communicated with described hand-held display panel control by bluetooth module.
3. the real estate unit on-site inspection measurement apparatus towards premises one according to claim 1, it is characterised in that: the horizontal plane of described dipmeter (6) is parallel with IMU two horizontal sensitive axes place plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620014011.XU CN205317213U (en) | 2016-01-08 | 2016-01-08 | Measuring device is investigated on spot to real estate unit towards room ground is integrative |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620014011.XU CN205317213U (en) | 2016-01-08 | 2016-01-08 | Measuring device is investigated on spot to real estate unit towards room ground is integrative |
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| CN205317213U true CN205317213U (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620014011.XU Expired - Fee Related CN205317213U (en) | 2016-01-08 | 2016-01-08 | Measuring device is investigated on spot to real estate unit towards room ground is integrative |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111044040A (en) * | 2019-12-30 | 2020-04-21 | 哈尔滨工业大学 | All-terrain multi-sensor data acquisition platform for unmanned equipment |
| CN111947695A (en) * | 2020-08-11 | 2020-11-17 | 上海合频电子科技有限公司 | Leveling compensation device in photoelectric measuring instrument |
| CN117249811A (en) * | 2023-11-20 | 2023-12-19 | 中国建筑一局(集团)有限公司 | Distributed inclination monitoring system and method for super high-rise building |
-
2016
- 2016-01-08 CN CN201620014011.XU patent/CN205317213U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111044040A (en) * | 2019-12-30 | 2020-04-21 | 哈尔滨工业大学 | All-terrain multi-sensor data acquisition platform for unmanned equipment |
| CN111947695A (en) * | 2020-08-11 | 2020-11-17 | 上海合频电子科技有限公司 | Leveling compensation device in photoelectric measuring instrument |
| CN117249811A (en) * | 2023-11-20 | 2023-12-19 | 中国建筑一局(集团)有限公司 | Distributed inclination monitoring system and method for super high-rise building |
| CN117249811B (en) * | 2023-11-20 | 2024-03-29 | 中国建筑一局(集团)有限公司 | Distributed inclination monitoring system and method for super high-rise building |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160615 Termination date: 20180108 |