CN207717986U - A kind of inclination measuring device based on double antenna - Google Patents
A kind of inclination measuring device based on double antenna Download PDFInfo
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- CN207717986U CN207717986U CN201820048154.1U CN201820048154U CN207717986U CN 207717986 U CN207717986 U CN 207717986U CN 201820048154 U CN201820048154 U CN 201820048154U CN 207717986 U CN207717986 U CN 207717986U
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- measuring device
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- inclination measuring
- double antenna
- inclination
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Abstract
The utility model is related to a kind of inclination measuring device based on double antenna, which includes mainly double antenna GNSS system, tilt measurement module, controller, and wherein double antenna GNSS system includes primary antenna, from antenna and GNSS locating modules；By using double antenna measurement method, accurate direction finding message can be obtained, the yaw angle information of tilt measurement module is compensated, to obtain high-precision measurement result, and when carrying out setting-out using the inclination measuring device, setting-out operation can be simplified, improve the flexibility of setting-out.
Description
Technical field
The utility model is related to a kind of measuring device, especially a kind of inclination measuring device based on double antenna.
Background technology
It when existing major part RTK equipment measures, needs vacuole is placed in the middle, allows antenna phase center in the throwing on ground
Shadow point is overlapped with target point, and the latitude and longitude coordinates of antenna phase center are exactly the coordinate of target point, antenna phase center
The height that height subtracts centering rod is exactly the height of target point.
Existing RTK equipment also has small part to support inclination measurement, and centering rod is allowed to tilt a low-angle, and operating personnel will
Bar point 11 is placed on target point, is not had to keep centering rod completely vertical, is then shaken centering rod, acquires multi-group data, pass through
Certain algorithm calculates the coordinate of target point.
This way can mitigate the workload of operating personnel to a certain extent.But still there are many shortcomings：
1, centering rod can only be allowed to tilt a low-angle, when blocking more for top, tilting low-angle still can lead
Cause RTK equipment that can not receive enough satellite datas and exit high-precision fixed bit pattern, so as to cause the measurement of target point
Error is very big.
2, it only with an antenna in inclination measuring device, in inclination measurement, needs to shake centering rod, acquires multigroup number
According to projected length when by being tilted to multigroup centering rod draws circle and the intersection point of multiple circles is asked to obtain coordinate of ground point, measures behaviour
Make cumbersome, measurement accuracy is relatively low, and measurement efficiency is relatively low.
3, the place reached is inconvenient to for some operating personnel, just can only calculates target by estimated distance and orientation
The coordinate of point is very big so as to cause the measurement error of target point.
It is the yaw angle information of equipment to the far-reaching factor of inclination measurement precision, general device uses Geomagnetism Information
Yaw angle is calculated, but this equipment itself and the magnetic interference in the external world of will receive causes yaw angle to calculate inaccuracy to leading
Coordinate of ground point is caused to calculate inaccurate.
The utility model proposes using double antenna to correct the value of yaw angle, to improve coordinate of ground point precision and letter
Change measurement procedure, equipment alignment target point only need to be the disposable high-precision coordinate for obtaining target point by user.
Utility model content
Based on this, the utility model provides a kind of easily operated and high certainty of measurement the inclination measurement based on double antenna
Device.
The inclination measuring device based on double antenna of the utility model include double antenna GNSS system, tilt measurement module,
Controller, wherein double antenna GNSS system include primary antenna, from antenna and GNSS locating modules；Primary antenna, from antenna with
GNSS locating modules are electrically connected, and GNSS locating modules, tilt measurement module are electrically connected with the controller, wherein double antenna GNSS
System is for obtaining the high accuracy positioning information of reference point and the high-precision direction finding information of inclination measuring device；Inclination measurement mould
Block is used to detect the obliquity information of inclination measuring device；The height for the reference point that controller is used to be exported according to double antenna GNSS system
The inclination angle of precision location information and the output of the high-precision direction finding information and tilt measurement module of inclination measuring device, calculates
The high accuracy positioning information of target point.
Further, the inclination measuring device based on double antenna further includes laser ranging module, the laser ranging module
It is electrically connected with the controller, for measuring the air line distance between laser ranging module and target point.
Further, the inclination measuring device based on double antenna further includes measuring rod.
Further, the inclination measuring device based on double antenna further includes bluetooth module, mobile network communication module, shows
Display screen and/or antenna flattening mechanism.
It is comprised the steps of using the method that the inclination measuring device based on double antenna measures.
Step 1, GNSS locating modules obtain geodetic coordinates (B of the primary antenna m phase centers under WGS-84 coordinate systemsm,
Lm,Hm), the phase center of primary antenna is reference point, obtains the geodetic coordinates from antenna phase center under WGS-84 coordinate systems
(Bs,Ls,Hs), wherein B is latitude, and L is longitude, and H is height；
Step 2, the earth of the GNSS locating modules according to primary antenna m and from antenna s phase centers under WGS-84 coordinate systems
Coordinate calculates primary antenna and is directed toward from the angle between the vector that the vector and primary antenna of antenna are directed toward due north, i.e. direction finding angle η；
Step 3, geodetic coordinates (B of the controller by the primary antenna phase center under WGS-84 coordinate systemsm,Lm,Hm)
Be converted to the rectangular space coordinate (x under WGS-84 coordinate systemsm,ym,zm)；
Wherein
A be WGS-84 ellipsoid earth major radius, a=6378137.0m, e be the first eccentricity of WGS-84 ellipsoids, e=
8.1819190842622e-2。
Step 4, controller obtains pitch angle α, roll angle β and the yaw angle γ of tilt measurement module output, and uses survey
Yaw angle γ is compensated to angle η, obtains accurate yaw angle γ1。
。
Step 5, target point when controller calculates the coordinate origin for ENU coordinate systems with the phase center of primary antenna
Coordinate (xe,yn,zu):
,
Wherein D indicates primary antenna phase center at a distance from its upright projection point P on tilting ranging oblique line line, L
Represent primary antenna phase center tilt ranging oblique line line on upright projection point P at a distance from target point.
Step 6, rectangular space coordinate (x of the controller according to the phase center of primary antenna under WGS-84 coordinate systemsm,ym,
zm) and coordinate (x of the target point under ENU coordinate systemse,yn,zu), sky of the target point under WGS-84 coordinate systems is calculated
Between rectangular co-ordinate (xt,yt,zt), and by the rectangular space coordinate (xt,yt,zt) target point is converted under WGS-84 coordinate systems
Geodetic coordinates (Bt,Lt,Ht)。
It is comprised the steps of using the setting out method of the inclination measuring device based on double antenna：
The lines coordinate information for waiting for setting-out imported into the inclination measuring device based on double antenna, makes to show by step 1
Display screen shows the laser ranging module of the measuring rod bar point or inclination measuring device that wait for setting-out lines and inclination measuring device
The coordinate points of laser facula；
Step 2, movable inclined measuring device make the measuring rod bar point of the inclination measuring device in display screen or tilt to survey
The coordinate points for measuring the laser facula of the laser ranging module of device are Chong Die with setting-out lines are waited for；
Step 3, to the laser ranging mould of position or inclination measuring device where the measuring rod bar point of inclination measuring device
The position of the laser facula of block is marked.
Further include prompting the measuring rod bar point of inclination measuring device or swashing for inclination measuring device in addition, in step 2
The step of laser facula coordinate of ligh-ranging module is Chong Die with setting-out lines are waited for.
The beneficial effects of the utility model include：
（1）Measuring device is only capable of being measured vertically in the prior art, and in inclination measurement, it is only capable of keeping centering rod opposite
The angle that a very little is tilted in vertical direction measures, and for can be tilted the device of measurement, due to its only with
One antenna needs to shake measuring device when in use, acquires coordinate and the angle of inclination of multiple points, the method by drawing circle,
The coordinate for obtaining target point is measured, measurement method is relatively complicated, and measurement accuracy is relatively low, and measurement efficiency is relatively low；The utility model
By using double antenna GNSS system, inclination measuring device is set to carry out the inclination measurement of high inclination-angle, and by using double days
Line GNSS system can obtain the high accuracy positioning information of reference point and the high-precision direction finding letter of inclination measuring device in real time
Breath, by the high-precision direction finding information of inclination measuring device, in real time compensates yaw angle, so as to obtain target point
High accuracy positioning information.
（2）By using laser ranging module, convenient for particular point（Such as the target point that survey crew can not reach）Into
Row high accuracy positioning.
（3）When carrying out setting-out using the inclination measuring device based on double antenna, setting-out operation can be simplified, improve setting-out
Flexibility.
Description of the drawings
Fig. 1 is the schematic diagram of the utility model measuring device and measuring method.
Fig. 2 is measuring device schematic diagram of the utility model with measuring rod.
Fig. 3 is measuring device schematic diagram of the utility model with laser ranging module.
Fig. 4 is measuring device schematic diagram of the utility model with measuring rod and laser ranging module.
Fig. 5 is the schematic diagram that measuring device display screen shows content in the prior art.
Fig. 6 is the schematic diagram for the appearance that the utility model measuring device display screen is shown.
Specific implementation mode
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.
The inclination measuring device based on double antenna of the utility model include double antenna GNSS system, tilt measurement module,
Controller, wherein double antenna GNSS system include primary antenna m, from antenna s and GNSS locating module；It is primary antenna m, equal from antenna s
It is electrically connected with GNSS locating modules, GNSS locating modules, tilt measurement module are electrically connected with the controller, wherein double antenna
GNSS system is for obtaining the high accuracy positioning information of reference point and the high-precision direction finding information of inclination measuring device；It tilts and surveys
Amount module is used to detect the inclination angle of inclination measuring device；The height for the reference point that controller is used to be exported according to double antenna GNSS system
The inclination angle of precision location information and the output of the high-precision direction finding information and tilt measurement module of inclination measuring device, calculates
The high accuracy positioning information of target point.
The inclination measuring device based on double antenna further includes laser ranging module 2, the laser ranging module and control
Device is electrically connected, for measuring the air line distance between laser ranging module and target point.Laser ranging module can send out laser
Light 22, and laser facula 21 is formed on the ground.
In another preferred embodiment, the inclination measuring device based on double antenna includes measuring rod 1, on measuring rod 1
Having control cabinet 3, GNSS locating modules, tilt measurement module, controller may be contained in the control cabinet 3 on measuring rod, wherein
It is located at from antenna s close to the position of bar point 11, primary antenna m is located at close to the position of handle 12.
The inclination measuring device based on double antenna can also include bluetooth module, mobile network communication module, display
Screen and/or antenna flattening mechanism, wherein mobile network communication module are used to obtain differential data from CORS networks.
The measuring principle of the inclination measuring device based on double antenna is as follows：
Step 1, GNSS locating modules obtain geodetic coordinates (B of the primary antenna m phase centers under WGS-84 coordinate systemsm,
Lm,Hm), the phase center of primary antenna is reference point, obtains the geodetic coordinates from antenna phase center under WGS-84 coordinate systems
(Bs,Ls,Hs), wherein B is latitude, and L is longitude, and H is height；
Step 2, the earth of the GNSS locating modules according to primary antenna m and from antenna s phase centers under WGS-84 coordinate systems
Coordinate calculates primary antenna and is directed toward from the angle between the vector that the vector and primary antenna of antenna are directed toward due north, i.e. direction finding angle η；
Step 3, geodetic coordinates (B of the controller by the primary antenna phase center under WGS-84 coordinate systemsm,Lm,Hm)
Be converted to the rectangular space coordinate (x under WGS-84 coordinate systemsm,ym,zm)；
Wherein
A be WGS-84 ellipsoid earth major radius, a=6378137.0m, e be the first eccentricity of WGS-84 ellipsoids, e=
8.1819190842622e-2。
Step 4, controller obtains pitch angle α, roll angle β and the yaw angle γ of tilt measurement module output, and uses survey
Yaw angle γ is compensated to angle η, obtains accurate yaw angle γ1。
。
Step 5, target point when controller calculates the coordinate origin for ENU coordinate systems with the phase center of primary antenna
Coordinate (xe,yn,zu):
,
Wherein D indicates primary antenna phase center at a distance from its upright projection point P on tilting ranging oblique line line, L
Represent primary antenna phase center tilt ranging oblique line line on upright projection point P at a distance from target point.
Step 6, rectangular space coordinate (x of the controller according to the phase center of primary antenna under WGS-84 coordinate systemsm,ym,
zm) and coordinate (x of the target point under ENU coordinate systemse,yn,zu), sky of the target point under WGS-84 coordinate systems is calculated
Between rectangular co-ordinate (xt,yt,zt), and by the rectangular space coordinate (xt,yt,zt) target point is converted under WGS-84 coordinate systems
Geodetic coordinates (Bt,Lt,Ht)。
In addition, existing setting out method is all that the lines of setting-out will be needed to be separated into the point in a determining deviation before construction,
When construction personnel's site operation, the information of these points is imported in measuring apparatus, then looks for these points using measuring apparatus, such as
Shown in Fig. 5, the display 41 of measuring apparatus show it is discrete after point 81 and measuring device measurement point 51 position relationship, put
When sample, the position of measuring device need to be adjusted, so that its measurement point 51 is overlapped with point 81, is then marked.This method is in setting-out
Shi Bixu finds advance discrete good point, it is inconvenient in that looking for a little troublesome, needs ceaselessly to move back and forth equipment into
The point can be directed at.
And when the inclination measuring device based on double antenna of the utility model being used to carry out setting-out, construction personnel is without prior
The line of setting-out will be needed to be separated into and need the point of setting-out, but the lines coordinate information for needing setting-out is directly imported into inclination and is surveyed
It measures in device, construction personnel holds inclination measuring device, at this point, display screen 4 can show the measuring rod bar point of inclination measuring device
11 or inclination measuring device laser ranging module laser facula 21 coordinate points 5 and wait for the position relationships of setting-out lines 8, such as
Shown in Fig. 6, construction personnel is by sweeping the bar point 11 or laser facula 21 of inclination measuring device, when bar point 11 or laser facula 21
Coordinate points 5 with when setting-out lines are Chong Die, incline measurement device can remind sharp 11 positions of construction personnel's bar or laser facula 21
Position, which has been located in, waits on setting-out lines, can mark the point.In this way, during setting-out, bar point 11 or laser facula are found
21 is more Chong Die with a point than finding bar point 11 or laser facula 21 with the intersection point of a line, easy to be very much, and construction personnel can
According to the curvature of lines, the density of layout point is adjusted at any time, keeps setting-out more flexible.
Setting out method using the inclination measuring device based on double antenna is as follows：
The lines coordinate information for waiting for setting-out imported into the inclination measuring device based on double antenna, makes to show by step 1
Display screen 4, which is shown, waits for the measuring rod bar point 11 of setting-out lines 8 and inclination measuring device or the laser ranging mould of inclination measuring device
The coordinate points 5 of the laser facula 21 of block；
Step 2, movable inclined measuring device make the measuring rod bar point 11 of the inclination measuring device in display screen 4 or tilt
The coordinate points 5 of the laser facula 21 of the laser ranging module of measuring device are Chong Die with setting-out lines 8 are waited for；
Step 3, the laser ranging to position or inclination measuring device where the measuring rod bar point 11 of inclination measuring device
The position of the laser facula 21 of module is marked.
Can also include the measuring rod bar point 11 or inclination measurement dress of prompt inclination measuring device in addition, in step 2
The step of 21 coordinate of laser facula for the laser ranging module set is Chong Die with setting-out lines are waited for, i.e., when the measurement of inclination measuring device
21 coordinate of laser facula of the laser ranging module of bar bar point 11 or inclination measuring device is tilted and is surveyed with when setting-out lines are Chong Die
Amount device sends out prompt tone and/or display screen display overlapping prompting message.
The utility model can in real time compensate yaw angle by using double-antenna structure, and acquisition refers to north in high precision
Information, when carrying out inclination measurement to target point, it is only necessary to which one-shot measurement can be obtained high-precision measurement result, overcome existing skill
It is unable to that the multigroup measurement number of measuring device acquisition need to be shaken to same target point during inclination measurement or inclination measurement in art
According to cumbersome, the not high defect of measurement accuracy of measurement.In addition, the utility model uses the inclination measurement based on double antenna
When device carries out setting-out, setting-out operation can be simplified, improve the flexibility of setting-out.
The specific application example that the above is only the utility model does not constitute the scope of protection of the utility model any limit
System.Any technical scheme formed by adopting equivalent transformation or equivalent replacement, all fall within the utility model rights protection scope it
It is interior.
Claims (6)
1. a kind of inclination measuring device based on double antenna, which is characterized in that including double antenna GNSS system, inclination measurement mould
Block, controller, wherein double antenna GNSS system include primary antenna, from antenna and GNSS locating modules；Primary antenna, from antenna with
GNSS locating modules are electrically connected, and GNSS locating modules, tilt measurement module are electrically connected with the controller；
Double antenna GNSS system is used to obtain the high accuracy positioning information of reference point and the high-precision direction finding of inclination measuring device
Information；
Tilt measurement module is used to detect the obliquity information of inclination measuring device；
The high accuracy positioning information and inclination measuring device for the reference point that controller is used to be exported according to double antenna GNSS system
High-precision direction finding information and tilt measurement module output obliquity information, calculate the high accuracy positioning information of target point.
2. the inclination measuring device according to claim 1 based on double antenna, which is characterized in that further include laser ranging mould
Block, the laser ranging module are electrically connected with the controller, for measuring the air line distance between laser ranging module and target point.
3. the inclination measuring device according to claim 1 based on double antenna, which is characterized in that further include measuring rod.
4. the inclination measuring device according to claim 1 based on double antenna, which is characterized in that tilt measurement module exports
Obliquity information include pitch angle α, roll angle β and yaw angle γ.
5. the inclination measuring device according to claim 4 based on double antenna, height of the controller based on inclination measuring device
Precision direction finding message compensates yaw angle γ, obtains accurate yaw angle γ1。
6. the inclination measuring device according to claim 1 based on double antenna, which is characterized in that further include bluetooth module,
Mobile network communication module, display screen and/or antenna flattening mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820048154.1U CN207717986U (en) | 2018-01-12 | 2018-01-12 | A kind of inclination measuring device based on double antenna |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820048154.1U CN207717986U (en) | 2018-01-12 | 2018-01-12 | A kind of inclination measuring device based on double antenna |
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| Publication Number | Publication Date |
|---|---|
| CN207717986U true CN207717986U (en) | 2018-08-10 |
Family
ID=63051584
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820048154.1U Active CN207717986U (en) | 2018-01-12 | 2018-01-12 | A kind of inclination measuring device based on double antenna |
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| CN (1) | CN207717986U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108051835A (en) * | 2018-01-12 | 2018-05-18 | 武汉桓参工程科技有限公司 | A kind of inclination measuring device and measurement and setting out method based on double antenna |
| CN111190204A (en) * | 2020-01-08 | 2020-05-22 | 中国地质大学（武汉） | Real-time positioning device and method based on Beidou double antennas and laser range finder |
-
2018
- 2018-01-12 CN CN201820048154.1U patent/CN207717986U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108051835A (en) * | 2018-01-12 | 2018-05-18 | 武汉桓参工程科技有限公司 | A kind of inclination measuring device and measurement and setting out method based on double antenna |
| CN108051835B (en) * | 2018-01-12 | 2024-02-09 | 武汉桓参工程科技有限公司 | Inclination measuring device based on double antennas and measuring and lofting method |
| CN111190204A (en) * | 2020-01-08 | 2020-05-22 | 中国地质大学（武汉） | Real-time positioning device and method based on Beidou double antennas and laser range finder |
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