CN205670193U - A kind of RTK inclination measuring device based on Sphere Measurement Model - Google Patents

Abstract

This application provides a kind of RTK inclination measuring device based on Sphere Measurement Model, including centering rod, the bottom contact measured amount point of described centering rod；With the support disk that described centering rod intersects setting, the marginal portion of described support disk is provided with at least one GPS, and described GPS is for measuring the coordinate of presently described GPS position；Wherein, the marginal portion of the support disk being provided with described GPS can make axially-movable with described centering rod for axle.The RTK inclination measuring device based on Sphere Measurement Model that the application provides does not requires that centering rod must remain vertical, and bottom the centering rod obtained, the accuracy of coordinate of point to be measured of contact, precision are greatly improved compared to prior art.

Description

A kind of RTK inclination measuring device based on Sphere Measurement Model

Technical field

The application relates to field of measuring technique, more particularly, it relates to a kind of RTK (Real Time based on Sphere Measurement Model Kinematic, real time dynamic differential method) inclination measuring device.

Background technology

When realizing the measurement to quick short steps point, prior art generally utilizes GPS-RTK to measure.

GPS-RTK, during measuring, needs to ensure the vertical of centering rod, and owing to the processing technology of level(l)ing bubble is wanted Ask, the change of external environment affects and the restriction etc. of operator's operation level own, all cannot ensure that centering rod is protected all the time Hold vertically, and the quick short steps point of bad measurement remoter for some positions, such as corner etc., gps signal can blocking due to wall And GPS-RTK cannot be received, now in order to receive gps signal, operator also can deliberately allow the centering of GPS-RTK Bar makes certain angle of inclination to find reception gps signal.Therefore, prior art is utilizing GPS-RTK to be measured to such When point measures, the accuracy of the measurement data of the point to be measured recorded is relatively low.

Utility model content

Based on this, the application provides a kind of RTK inclination measuring device based on Sphere Measurement Model, to solve profit in prior art The problem that the measurement data accuracy that records when measuring with GPS-RTK is relatively low.Technical scheme is as follows:

The application provides a kind of RTK inclination measuring device based on Sphere Measurement Model, including:

Centering rod, the bottom contact measured amount point of described centering rod；

With the support disk that described centering rod intersects setting, the marginal portion of described support disk is provided with at least one GPS, described GPS is for measuring the coordinate of presently described GPS position；

Wherein, the marginal portion of the support disk being provided with described GPS can make axle with described centering rod for axle To motion.

Preferably, the bottom of described centering rod includes bottom tip, and described bottom tip contacts described point to be measured.

Preferably, described centering rod and described support disk intersect vertically setting, described centering rod and described support disk Coupling part remain coplanar with described support disk.

Preferably, also include:

For driving the edge part of support disk controlling to be provided with described GPS to be allocated as the driving dress of axially-movable Put and for according to the control instruction received, controlling described driving means and carry out the controller of action.

Preferably, when the length of described centering rod is equal to the described GPS length apart from the bottom of described centering rod Time, described device also includes:

At the top of described centering rod, one GPS is set.

The technique scheme of application the application, the RTK inclination measuring device bag based on Sphere Measurement Model that the application provides Include centering rod and intersect the support disk of setting with centering rod.Wherein, the bottom contact measured amount point of centering rod, support disk Marginal portion is provided with at least one GPS, and it is in place that described GPS is used for measuring presently described GPS institute The coordinate put.And the marginal portion being provided with the support disk of described GPS can make axially with described centering rod for axle Motion.Therefore, the application is allocated as axially-movable by the edge part of control support disk and controls the position of GPS, from And realize the GPS on diverse location in order to measure the position of the GPS obtaining multiple diverse location Coordinate information, and then based on Sphere Measurement Model, according to the coordinate information of the GPS position of the multiple diverse locations recorded And the length computation of the bottom of GPS distance centering rod obtains the coordinate of the point to be measured of contact bottom centering rod.This The RTK inclination measuring device based on Sphere Measurement Model that application provides does not requires that centering rod must remain vertical, and obtains Bottom centering rod, the accuracy of coordinate of point to be measured of contact, precision are greatly improved compared to prior art.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this The embodiment of application, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to The accompanying drawing provided obtains other accompanying drawing.

The structural representation of a kind of based on Sphere Measurement Model the RTK inclination measuring device that Fig. 1 provides for the application；

Fig. 2 is the structural representation of centering rod in the application.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete Describe, it is clear that described embodiment is only some embodiments of the present application rather than whole embodiments wholely.Based on Embodiment in the application, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of the application protection.

Refer to Fig. 1, it illustrates the structure of a kind of based on Sphere Measurement Model the RTK inclination measuring device that the application provides Schematic diagram, including: centering rod 100 and support disk 200.Wherein,

The bottom contact measured amount point of centering rod 100.

In this application, the bottom of centering rod 100 could be arranged to cone shape, i.e. the bottom of centering rod 100 includes one Bottom tip, as in figure 2 it is shown, this bottom tip is contacted with point to be measured.By bottom tip contact measured amount point, the most right Being accurately positioned of point to be measured.

Support disk 200 intersects setting with described centering rod 100, and the marginal portion of described support disk 200 is provided with At least one GPS 300, described GPS 300 is specifically for measuring presently described GPS 300 position Coordinate.And the marginal portion being provided with the support disk 200 of described GPS 300 in the application can be with described centering Bar 100 makees axially-movable for axle.

In this application, as preferably, support disk 200 and centering rod 100 intersect vertically setting, centering rod 100 He The coupling part of support disk 200 remains coplanar with support disk 200.

Wherein, the marginal portion about the support disk 200 being provided with described GPS 300 in the application can be with The implementation that described centering rod 100 makees axially-movable for axle can include multiple, such as support disk 200 and centering rod 100 Coupling part use and roll connected mode so that support disk 200 overall can make axially-movable with centering rod 100 for axle. Or, support disk 200 and centering rod 100 are attached fixing by the mode such as welding, support disk 200 and centering rod 100 Together make axially-movable etc..

The most in this application, the marginal portion of support disk 200 is provided with at least one GPS 300.And at this In application actual application, in order to reduce design cost, the application preferably only arranges one in the marginal portion of support disk 200 Individual GPS 300.In the following embodiments, the application only arranges a GPS receiver with the marginal portion of support disk 200 Illustrate as a example by machine 300.

In the application actual application, it is arranged on the GPS 300 of marginal portion of support disk 200 first Presently described GPS 300 position is carried out one-shot measurement, it is thus achieved that presently described GPS 300 position After first coordinate information, the angle that the just axially-movable of the marginal portion of support disk 200 is certain, such as 30 °, 60 °, 90 ° etc., and then After GPS 300 changes position, then Current GPS receiver 300 position after changing position is once surveyed Amount, and again obtain the second coordinate information of Current GPS receiver 300 position after changing position.The most in this application, Whenever GPS 300 completes one-shot measurement, it is thus achieved that after a coordinate information, the marginal portion of support disk 200 is the most axially transported Dynamic certain angle, after GPS 300 position change, the current GPS after changing position is connect by GPS 300 again Receipts machine 300 position measures, and again obtains the coordinate of Current GPS receiver 300 position after changing position Information.

Therefore in the application, as preferably, it is also possible to farther include: driving means 400 and controller 500.Wherein, Controller 500 can receive user input control instruction, as control support disk 200 marginal portion axially-movable 30 °, 60 °, 90 ° etc., and then according to the control instruction received, control driving means 400 and carry out action.Driving means 400 now Just the edge part of the support disk 200 that driving control is provided with described GPS 300 is allocated as axially-movable, such as axially-movable 30 °, 60 °, 90 ° etc..

Additionally, work as the length of centering rod 100 in the application to be equal to the GPS 300 length apart from the bottom of centering rod 100 When spending, the application can also arrange a GPS 300 at the top of centering rod 100.Arranged by the top of centering rod 100 The coordinate information that records of GPS 300 it can also be used to calculate the coordinate of point to be measured.

So in the above embodiments of the present application, the application by arranging at least one in the marginal portion of support disk 200 Individual GPS 300, the coordinate information of multiple diverse locations that utilization GPS 300 on diverse location records, real The now calculating to the coordinate information of point to be measured, thus realize the measurement to point coordinates to be measured.

Specifically, in this application, in order to ensure the accuracy of the coordinate information of final calculated point to be measured, this Application at least needs four coordinate informations that the GPS 300 obtaining four diverse locations records.So at the present embodiment In, for recording by GPS 300 as a example by five coordinate informations of five diverse locations, it is assumed that GPS receiver in the application Machine 300 is apart from a length of S of the bottom of centering rod 100, simultaneously by the marginal portion of axial rotation support disk 200 so that GPS 300 measures five corresponding coordinate informations of acquisition respectively at five diverse locations, such as X₁=(x₁, y₁, h₁)、X₂= (x₂, y₂, h₂)、X₃=(x₃, y₃, h₃)、X₄=(x₄, y₄, h₄)、X₅=(x₅, y₅, h₅) etc..Wherein, X₁、X₂、X₃、X₄、X₅It is GPS The coordinate information that receiver 300 diverse location at five records respectively.

Further, because the GPS in the application 300 is positioned at the marginal portion of support disk 200, then the application When the marginal portion of rotational support disk 200, the end of the positional distance centering rod 100 of the GPS 300 after every time rotating The identical length etc. in portion, therefore, all coordinate informations that GPS 300 records are respectively positioned on a spheroid, centering rod 100 Bottom tip be just the spheroid centre of sphere, as it is shown in figure 1, therefore the application is based on this Sphere Measurement Model, it is right to be calculated The coordinate of the point to be measured of the bottom tip contact of middle bar 100.

First, the application is based on Sphere Measurement Model, by three coordinate informations, such as X₁、X₂、X₃It is calculated centering Approximation (the x of the point to be measured of contact bottom bar 100⁰, y⁰, h⁰)。

Concrete, the Sphere Measurement Model in the application is:

${(x_i-\hat{x})}^2+{(y_i-\hat{y})}^2+{(h_i-\hat{h})}^2=R^2---\left(1\right)$

Wherein, X_i=(x_i, y_i, h_i), i=1,2,3,4 or 5.R is that GPS 300 contacts bottom centering rod 100 Length between point to be measured, i.e. S.The coordinate of the point to be measured of contact bottom centering rod 100 is assumed for the application, that The application asks for be measured some approximation (x⁰, y⁰, h⁰) formula as follows:

$\left\{\begin{array}{c}{(x_1-x^0)}^2+{(y_1-y^0)}^2+{(h_1-h^0)}^2=R^2\\ {(x_2-x^0)}^2+{(y_2-y^0)}^2+{(h_2-h^0)}^2=R^2\\ {(x_3-x^0)}^2+{(y_3-y^0)}^2+{(h_3-h^0)}^2=R^2\end{array}\right.---\left(2\right)$

Concrete next, utilizes the principle of least square based on Sphere Measurement Model, tries to achieve point to be measured by the method for the adjustment of condition equation Coordinate

${(x_i-\hat{x})}^2+{(y_i-\hat{y})}^2+{(h_i-\hat{h})}^2={(x_j-\hat{x})}^2+{(y_j-\hat{y})}^2+{(h_j-\hat{h})}^2---\left(3\right)$

Arrange:

$2(x_i-x_j)\hat{x}+2(y_i-y_j)\hat{y}+2(h_i-h_j)\hat{h}-{x_i}^2-{y_i}^2-{h_i}^2+{x_j}^2+{y_j}^2+{h_j}^2=0---\left(4\right)$

Order:

$\begin{array}{c}2(x_i-x_j)v_x+2(y_i-y_j)v_y+2(h_i-h_j)v_h\\ -{x_i}^2-{y_i}^2-{h_i}^2+{x_j}^2+{y_j}^2+{h_j}^2+2(x_i-x_j)x^0+2(y_i-y_j)y^0+2(h_i-h_j)h^0=0\end{array}---\left(5\right)$

Order

$\begin{array}{c}2(x_i-x_j)=a_{ij},2(y_i-y_j)=b_{ij},2(h_i-h_j)=c_{ij}\\ -{x_i}^2-{y_i}^2-{h_i}^2+{x_j}^2+{y_j}^2+{h_j}^2+2(x_i-x_j)x^0+2(y_i-y_j)y^0+2(h_i-h_j)h^0=w_{ij}\end{array}$

Then:

a_ijv_x+b_ijv_y+c_ijv_h+w_ij=0 (6)

The method utilizing the adjustment of condition equation asks point coordinates to be measured, wherein five groups of coordinate data four conditional equation AV+W of composition =0, wherein:

$A=\left[\begin{array}{ccc}{a}_{12}& b_{12}& c_{12}\\ a_{13}& b_{13}& c_{13}\\ a_{14}& b_{14}& c_{14}\\ a_{15}& b_{15}& c_{15}\end{array}\right],V=\left[\begin{array}{c}{v}_x\\ v_y\\ v_h\end{array}\right],W=\left[\begin{array}{c}{w}_{12}\\ w_{13}\\ w_{14}\\ w_{15}\end{array}\right].$

Adjustment criterion utilizes principle of least square V^TPV=min, owing to observation condition is identical, therefore five groups of observations can be worked as The power observations such as work.

Then N_aa=AP^-1A^T, V=-P^-1A^TN_aa ^-1W.Due toTherefore can be Try to achieve the coordinate of this point to be measured eventually.

Therefore the technique scheme of the application is applied, RTK inclination measurement based on the Sphere Measurement Model dress that the application provides Put and include centering rod 100 and intersect the support disk 200 arranged with centering rod 100.Wherein, the bottom contact of centering rod 100 is treated Measuring point, the marginal portion of support disk 200 is provided with at least one GPS 300, and described GPS 300 is used for surveying Measure the coordinate of presently described GPS 300 position.And be provided with the support disk 200 of described GPS 300 Marginal portion can make axially-movable with described centering rod 100 for axle.Therefore, the application is by controlling the limit of support disk 200 Edge portion axially moves and controls the position of GPS 300, thus the GPS 300 realized on diverse location is used To measure the coordinate information of the GPS position obtaining multiple diverse location, and then based on Sphere Measurement Model, according to recording The coordinate information of GPS position of multiple diverse locations and GPS 300 apart from the end of centering rod 100 The length computation in portion obtains the coordinate of the point to be measured of contact bottom centering rod 100.It is based on Sphere Measurement Model that the application provides RTK inclination measuring device does not require that centering rod must remain vertical, and the accuracy of coordinate of point to be measured obtained, essence Degree is greatly improved compared to prior art.

Meanwhile, the application only need to arrange in the marginal portion of support disk 200 GPS 300 can realize right The acquisition of point coordinates information to be measured, this greatly reduces design cost compared to prior art.

It should be noted that in this article, the relational terms of such as first and second or the like is used merely to a reality Body or operation separate with another entity or operating space, and deposit between not necessarily requiring or imply these entities or operating Relation or order in any this reality.And, term " includes ", " comprising " or its any other variant are intended to Comprising of nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include that those are wanted Element, but also include other key elements being not expressly set out, or also include for this process, method, article or equipment Intrinsic key element.In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that Including process, method, article or the equipment of described key element there is also other identical element.

Above a kind of based on Sphere Measurement Model RTK inclination measuring device provided herein is described in detail, Principle and the embodiment of the application are set forth by specific case used herein, and the explanation of above example is simply used The present processes and core concept thereof is understood in help；Simultaneously for one of ordinary skill in the art, according to the application's Thought, the most all will change, and in sum, this specification content should not be construed as Restriction to the application.

Claims (5)

1. a RTK inclination measuring device based on Sphere Measurement Model, it is characterised in that including:

Centering rod, the bottom contact measured amount point of described centering rod；

With the support disk that described centering rod intersects setting, the marginal portion of described support disk is provided with at least one GPS and connects Receipts machine, described GPS is for measuring the coordinate of presently described GPS position；

Wherein, the marginal portion of the support disk being provided with described GPS can make axially fortune with described centering rod for axle Dynamic.

RTK inclination measuring device based on Sphere Measurement Model the most according to claim 1, it is characterised in that described centering rod Bottom include bottom tip, described bottom tip contacts described point to be measured.

RTK inclination measuring device based on Sphere Measurement Model the most according to claim 1 and 2, it is characterised in that described centering Bar and described support disk intersect vertically setting, and the coupling part of described centering rod and described support disk remains with described Support disk is coplanar.

RTK inclination measuring device based on Sphere Measurement Model the most according to claim 1, it is characterised in that also include:

For drive the edge part of support disk controlling to be provided with described GPS be allocated as axially-movable driving means and For according to the control instruction received, controlling described driving means and carry out the controller of action.

RTK inclination measuring device based on Sphere Measurement Model the most according to claim 1, it is characterised in that when described centering The length of bar is equal to described GPS when the length of the bottom of described centering rod, and described device also includes:

At the top of described centering rod, one GPS is set.