CN205404807U - Meteorological electro -optical distance measurment(EDM) system that corrects device and correct device based on meteorological phenomena - Google Patents
Meteorological electro -optical distance measurment(EDM) system that corrects device and correct device based on meteorological phenomena Download PDFInfo
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- CN205404807U CN205404807U CN201620150975.7U CN201620150975U CN205404807U CN 205404807 U CN205404807 U CN 205404807U CN 201620150975 U CN201620150975 U CN 201620150975U CN 205404807 U CN205404807 U CN 205404807U
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Abstract
The utility model provides a meteorological electro -optical distance measurment(EDM) system that corrects device and correct device based on meteorological phenomena, system be including meteorological device, electro -optical distance meter ware and the reflect meter of correcting, the meteorological device that corrects includes unmanned aerial vehicle and corresponding ground control module, and ground control system and unmanned aerial vehicle set up wireless communication, the last lift -launch of unmanned aerial vehicle sets up communication module, GNSS module, temperature sensor, baroceptor, humidity transducer and storage module. The utility model discloses system simple structure, the module division of labor is clear and definite, and the scheme easily realizes. The utility model provides a device system can be used for surveing accurately the meteorological element on the distance signal propagation path, can greatly reduce the representative error of meteorological element among the prior art to improve electro -optical distance measurment(EDM)'s precision, provide reliable guarantee for high precision measurement.
Description
Technical field
This utility model belongs to geodesic survey and engineering survey field, particularly relates to a kind of atmospheric correction device and the electro-optical distance measurement system based on atmospheric correction device.
Background technology
Currently, electro-optical distance measurement is widely deployed in geodesic survey and engineering survey field.So-called electro-optical distance measurement includes electromagnetic distance measurement, laser ranging and infrared light range finding, and typical instrument includes laser range finder, total powerstation, three-dimensional laser scanner etc..When propagating in an atmosphere due to light wave or electromagnetic wave, the change of speed can be produced and cause the impact can not ignore, therefore to obtain high-precision range measurement, it is necessary to observation of adjusting the distance applies atmospheric correction.Due to the restriction of condition, current most common method is to measure the Meteorological Elements such as dry humidity and air pressure at instrument and target place simultaneously, and the meansigma methods then taking two places substitutes into formula calculating atmospheric correction.Owing to the Meteorological Elements on distance measuring signal actual propagation path is distributed unfixing rule, thus the error of this method is relatively big, particularly when the skewness of air, will bring great error to range finding.
Utility model content
For solving the problems referred to above, this utility model provides a kind of can be used in and accurately measures the Meteorological Elements on distance measuring signal propagation path and carry out the appliance arrangement of electro-optical distance measurement atmospheric correction.
Technical solutions of the utility model provide a kind of electro-optical distance measurement system based on atmospheric correction device, including atmospheric correction device, electro-optical distance measuring instrument and reflection unit, impact point place is located at by reflection unit, described atmospheric correction device includes unmanned plane and corresponding ground operational module, and ground control system and unmanned plane are set up wireless telecommunications and connected；Described unmanned plane carries communication module, GNSS module, temperature sensor, baroceptor, humidity sensor and memory module are set.
And, electro-optical distance measuring instrument and impact point place are respectively provided with observation pier, reflection unit and electro-optical distance measuring instrument and are respectively disposed on corresponding observation pier.
And, described reflection unit is reflecting prism or reflector plate or directly utilizes impact point place object its own face.
And, center automatic Pilot module at atmospheric correction dress, and be equipped on unmanned plane.
And, described GNSS module includes antenna and receives board, and antenna and reception board connect.
This utility model also provides for the atmospheric correction device of a kind of electro-optical distance measurement, and including unmanned plane and corresponding ground operational module, ground control system and unmanned plane are set up wireless telecommunications and connected；Described unmanned plane carries communication module, GNSS module, temperature sensor, baroceptor, humidity sensor and memory module are set.
And, automatic Pilot module is set, and is equipped on unmanned plane.
And, described GNSS module includes antenna and receives board, and antenna and reception board connect.
This utility model provides a kind of atmospheric correction device and the electro-optical distance measurement system based on atmospheric correction device, and system structure is simple, and clearly, scheme is easily achieved in the module division of labor.The thered is provided equipment of this utility model can be used in the Meteorological Elements accurately measuring on distance measuring signal propagation path, can greatly reduce Meteorological Elements representive error of the prior art, thus improving the precision of electro-optical distance measurement, providing for high-acruracy survey and ensureing reliably.
Accompanying drawing explanation
Fig. 1 is the atmospheric correction structure drawing of device of this utility model embodiment.
Fig. 2 is system structure schematic diagram of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical solutions of the utility model are illustrated.
Referring to Fig. 1, this utility model embodiment provides a kind of atmospheric correction device, including:
Ground control module 12, for controlling the state of flight of unmanned plane；Unmanned plane 11, for flying along distance measuring signal propagation path；Communication module 13, for the data interaction between unmanned plane and ground control module；GNSS module 14, farther includes antenna and receives board, is used for providing coordinate and temporal information, antenna and reception board to connect；Temperature sensor 15, for measuring the temperature of current location；Baroceptor 16, for measuring the air pressure of current location；Humidity sensor 17, for measuring the humidity of current location；Memory module 18, is used for recording aforesaid time, coordinate, temperature, air pressure, humidity information.Described ground control system 12 and unmanned plane 11 carry out communication by radio communication mode；Described communication module 13, GNSS module 14, temperature sensor 15, baroceptor 16, humidity sensor 17, memory module 18 are all equipped on unmanned plane 11.When being embodied as, each several part can adopt existing procucts.Owing to unmanned plane 11 volume is little, move flexibly, manipulation conveniently, and is equipped with GNSS location, therefore can accurately according to predetermined airline operation.Unmanned plane 11 is generally built-in with central processing element, and communication module 13, GNSS module 14, temperature sensor 15, baroceptor 16, humidity sensor 17, memory module 18 are connected with central processing element respectively, it is achieved data acquisition storage etc. control.Time specifically used, prebriefed pattern generates according to the rough coordinates of electro-optical distance measuring instrument and target, and the rough coordinates of electro-optical distance measuring instrument and target can be easily obtained by multiple prior art in advance, (correction at this point for distance can adopt prior art for the time being) is measured including with GNSS method or electro-optical distance measuring instrument, its precision is not required to too high, and it is enough to reach decimetre even meter level.
Distance measuring signal described in the utility model includes electromagnetic wave, laser, infrared light, described electro-optical distance measuring instrument refers to and uses at least one signal in aforementioned distance measuring signal to carry out the instrument found range, including but not limited to laser range finder, total powerstation, three-dimensional laser scanner.
As preferably, unmanned plane can carry automatic Pilot module 19 further, in order to its can when with ground control system communicating interrupt, even without ground control system, remain to fly according to predetermined track and scheme.
As preferably, the precision of temperature sensor 15 should reach 0.2 DEG C, and the precision of baroceptor should reach 0.5hpa, and the precision of humidity sensor should reach 10%, in order to guarantees the precision of surveyed Meteorological Elements and thus calculated atmospheric correction value.
As preferably, GNSS module 14 can adopt Differential positioning mode further, described Differential positioning mode includes single base station RTK, network RTK, single base station RTD, network RTD, GPS wide area differential GPS, spaceborne difference, post processing pseudo range difference, post processing phase contrast grade, adopt Differential positioning mode to improve GNSS positioning precision further, make course line more accurately approach the propagation path of distance measuring signal.
In the present embodiment, unmanned plane adopts four rotor types；GNSS module 14 comprises GNSS antenna and receives board, and wherein GNSS antenna is fixed on unmanned plane top, receives board and is placed in inside unmanned plane, and GNSS location adopts network RTK method, such that it is able to obtain the coordinate of cm class precision in real time；Each sensor accuracy of UAV flight is: temperature sensor precision 0.1 DEG C, baroceptor precision 0.3hPa, humidity sensor precision 10%；Memory module internal memory 8G；Unmanned plane, simultaneous with automatic Pilot module, can realize automated intelligent flight after good to design course line and relative parameters setting.
This utility model provides the electro-optical distance measurement system based on atmospheric correction device accordingly, including atmospheric correction device, electro-optical distance measuring instrument and reflection unit, impact point place is located at by reflection unit, described atmospheric correction device includes unmanned plane and corresponding ground operational module, and ground control system and unmanned plane are set up wireless telecommunications and connected；Described unmanned plane carries communication module, GNSS module, temperature sensor, baroceptor, humidity sensor and memory module are set.Referring to Fig. 2, in an embodiment, total powerstation 21 is for the distance of determining instrument to target place 22, and described impact point 22 is added has reflecting prism, reflecting prism and total powerstation 21 to be all positioned on observation pier 23.
For ease of implementing for the purpose of the reference phase, it is provided that when utilizing the Meteorological Elements representive error that the provided system of this utility model reduces traditional measurement method, it is proposed that the work process following steps of employing:
Step 1, obtains the rough coordinates of electro-optical distance measuring instrument and impact point, and obtains the two determined linear equation, as the design course line 31 of unmanned plane during flying；Can setting up reflecting prism, reflector plate on described impact point or directly utilize object its own face reflection distance measuring signal, the precision of described rough coordinates is at about 10 meters:
Step 2, inputs ground control module by design course line, sets the parameters such as Meteorological Elements sampling interval, flight speed, the round number of times of flight:
In embodiment, those skilled in the art will design course line input ground control module 12 and automatic Pilot module 19, the sampling interval arranging each meteorological sensor 15,16,17 is 5 seconds, GPGGA information output (comprising coordinate and temporal information) of GNSS module 14 is spaced apart 1 second, arranges 2 meters per second of unmanned plane 11 flight speed, comes and goes each flight 1 time.GPGGAG is the key data of GPS location, is also use the widest data.
Step 3, unmanned plane is along design course line shuttle flight, and electro-optical distance measuring instrument repeatedly repeats range finding during this period for impact point, measures the Meteorological Elements on distance measuring signal propagation path in range finding simultaneously:
The implementation of range finding is, unmanned plane is along design course line shuttle flight, and electro-optical distance measuring instrument repeatedly repeats range finding during this period, until unmanned plane during flying terminates；The single range finding of described geodimeter, it is consuming time generally between 1～5 second, but repeated measurement repeatedly can improve the reliability of result, when using total powerstation, also can simultaneous observation horizontal angle, vertical angle:
In embodiment, unmanned plane is along design course line shuttle flight, and electro-optical distance measuring instrument repeatedly repeats range finding during this period, and every minor tick 30 seconds, until unmanned plane during flying terminates.
The implementation measuring Meteorological Elements is, when electro-optical distance measuring instrument starts to find range, at electro-optical distance measuring instrument or target proximity, open unmanned plane power and the communication module of lift-launch, GNSS module, temperature sensor, baroceptor, humidity sensor, memory module, letting unmanned plane fly away makes it according to design airline operation, and by aforementioned sample interval by acquired time, coordinate, temperature, air pressure, humidity information write memory module.
By the setting of those skilled in the art, unmanned plane can send observation to ground control system at predetermined intervals by communication module, checks and as Backup Data for ground observation personnel.
By the setting of those skilled in the art, unmanned plane could be arranged to hover a period of time every one section of predeterminable range, so that aforementioned temperature sensor, baroceptor, humidity sensor can better adapt to the atmospheric environment of hovering position, each hovering point provides Meteorological Elements measured value more accurately.
In embodiment, total powerstation 21 range finding is set to be synchronously performed with unmanned plane 11 flight；When total powerstation 11 starts to find range, the communication module 13 of unmanned plane 11 power and lift-launch thereof is opened near total powerstation 21, GNSS module 14, temperature sensor 15, baroceptor 16, humidity sensor 17, memory module 18, letting unmanned plane 11 fly away makes it according to design airline operation, described design course line will exceed about 2m than distance measuring signal propagation path, but the mensuration that this distance is for Meteorological Elements, its representive error can be ignored, and by aforementioned sample interval by the acquired time, coordinate, temperature, air pressure, humidity information write memory module 18, described information is sent to ground control module 12 in real time by communication system simultaneously.
Step 4, according to the temperature obtained, air pressure, humidity measurements, asks for respective meansigma methods, as the average Meteorological Elements measured value on distance measuring signal propagation path；Being found range during unmanned plane during flying by total powerstation from averaged, excluding gross error, as waiting to correct distance value D0.When being embodied as, elimination of rough difference can adopt prior art.
Step 5, the temperature asked for by abovementioned steps 4 gained, air pressure, humidity, distance average substitute into the atmospheric correction formula preset, and can adopt the atmospheric correction formula that electro-optical distance measuring instrument manufacturer provides when being embodied as, and calculate atmospheric correction value Δ D；Atmospheric correction value Δ D is put on and waits to correct distance value D0, distance value D=D after being corrected0+ Δ D, completes atmospheric correction.
Due to each apparatus manufacture, every kind of instrument distance measuring signal wavelength and with reference to Meteorological Elements all variant, atmospheric correction computing formula is different, can consult instrument product description confirm.
In embodiment, the temperature asked for aforementioned, air pressure, humidity meansigma methods substitute into the atmospheric correction formula that electro-optical distance measuring instrument manufacturer provides, and calculate atmospheric correction value Δ D, and the atmospheric correction formula that producer provides is (unit is ppm):
Δ D=Δ D ' D0·10-6
Wherein, Δ D ' is proportionality coefficient, and p represents atmospheric gas pressure (hPa), and t represents atmospheric temperature (DEG C), and e represents relative humidity (%), α=1/273.16.
When being embodied as, above step can adopt computer software technology to realize automatically running.Those skilled in the art can set concrete steps according to prior art voluntarily.This utility model claims circuit hardware design, is not related to the improvement of software aspects.
Specific embodiment described herein is only to this utility model spirit explanation for example.Described specific embodiment can be made various amendment or supplements or adopt similar mode to substitute by this utility model person of ordinary skill in the field, but without departing from spirit of the present utility model or surmount the scope that appended claims is defined.
Claims (8)
1. the electro-optical distance measurement system based on atmospheric correction device, it is characterized in that: include atmospheric correction device, electro-optical distance measuring instrument and reflection unit, impact point place is located at by reflection unit, described atmospheric correction device includes unmanned plane and corresponding ground operational module, and ground control system and unmanned plane are set up wireless telecommunications and connected；Described unmanned plane carries communication module, GNSS module, temperature sensor, baroceptor, humidity sensor and memory module are set.
2. according to claim 1 based on the electro-optical distance measurement system of atmospheric correction device, it is characterised in that: electro-optical distance measuring instrument and impact point place are respectively provided with observation pier, reflection unit and electro-optical distance measuring instrument and are respectively disposed on corresponding observation pier.
3. according to claim 2 based on the electro-optical distance measurement system of atmospheric correction device, it is characterised in that: described reflection unit is reflecting prism or reflector plate or directly utilizes impact point place object its own face.
4. based on the electro-optical distance measurement system of atmospheric correction device according to claim 1 or 2 or 3, it is characterised in that: center automatic Pilot module at atmospheric correction dress, and be equipped on unmanned plane.
5. based on the electro-optical distance measurement system of atmospheric correction device according to claim 1 or 2 or 3, it is characterised in that: described GNSS module includes antenna and receives board, and antenna and reception board connect.
6. the atmospheric correction device of an electro-optical distance measurement, it is characterised in that: including unmanned plane and corresponding ground operational module, ground control system and unmanned plane are set up wireless telecommunications and are connected；Described unmanned plane carries communication module, GNSS module, temperature sensor, baroceptor, humidity sensor and memory module are set.
7. the atmospheric correction device of electro-optical distance measurement according to claim 6, it is characterised in that: automatic Pilot module is set, and is equipped on unmanned plane.
8. the atmospheric correction device of electro-optical distance measurement according to claim 6 or 7, it is characterised in that: described GNSS module includes antenna and receives board, and antenna and reception board connect.
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| CN201620150975.7U CN205404807U (en) | 2016-02-29 | 2016-02-29 | Meteorological electro -optical distance measurment(EDM) system that corrects device and correct device based on meteorological phenomena |
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| CN201620150975.7U CN205404807U (en) | 2016-02-29 | 2016-02-29 | Meteorological electro -optical distance measurment(EDM) system that corrects device and correct device based on meteorological phenomena |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107727061A (en) * | 2017-09-27 | 2018-02-23 | 武汉霸云创新科技有限公司 | A kind of electro-optical distance measurement system and method for autonomous atmospheric correction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107727061A (en) * | 2017-09-27 | 2018-02-23 | 武汉霸云创新科技有限公司 | A kind of electro-optical distance measurement system and method for autonomous atmospheric correction |
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