CN209433013U - A kind of integrated electronic gyroscope high-precision Beidou monitoring stake - Google Patents

A kind of integrated electronic gyroscope high-precision Beidou monitoring stake Download PDF

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Publication number
CN209433013U
CN209433013U CN201920046390.4U CN201920046390U CN209433013U CN 209433013 U CN209433013 U CN 209433013U CN 201920046390 U CN201920046390 U CN 201920046390U CN 209433013 U CN209433013 U CN 209433013U
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China
Prior art keywords
gnss
gnss receiver
power supply
antenna
electronic gyroscope
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CN201920046390.4U
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梁晓东
李荣学
雷创业
杨浩
李胜
龙兴
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Hunan Lianzhi Technology Co Ltd
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Hunan Lianzhi Bridge and Tunnel Technology Co Ltd
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Abstract

The utility model provides a kind of integrated electronic gyroscope high-precision Beidou monitoring stake.Including monitoring pile body, the DTU being mounted on inside monitoring pile body and GNSS receiver, the GNSS measurement antenna being fixed at the top of monitoring pile body and the photovoltaic power supply system being fixed on monitoring pile body.DTU is connected by Serial Port Line and the com interface of GNSS receiver;GNSS measures antenna and is connected by antenna connecting line and the ANT interface of GNSS receiver;Photovoltaic power supply system is connect with DTU and GNSS receiver respectively, provides power supply for equipment.Electronic gyroscope, GNSS board and MCU are integrated on the PCB main board of GNSS receiver, to improve the positioning accuracy and actual effect of Beidou monitoring stake.In the utility model, GNSS measurement antenna receives Beidou navigation satellite-signal, and the mainboard that signal is communicated to GNSS receiver is decoded;GNSS receiver is using the real time data information of the DTU satellite data received and electronic gyroscope while being sent to server, realizes the real-time auxiliary amendment to GNSS calculation result to reach high precision monitor.

Description

A kind of integrated electronic gyroscope high-precision Beidou monitoring stake
Technical field
The utility model relates to pit retaining monitoring technical fields, and in particular to a kind of integrated electronic gyroscope high-precision Beidou prison Pile.
Background technique
Exploitation with the mankind to natural environment, geological disaster of various bursts, such as mountain torrents, mud-rock flow etc. are to people's Influence it is increasing, it is some construction in the road, bridge and tunnel etc. in mountain area, once since geological disaster damages, in turn Lead to interruption of communication, the work such as repairing are caused to seriously affect.Therefore how early warning work is carried out to the address disaster being likely to occur It is made for urgent problem to be solved.In the prior art, it usually takes photo by plane qualitative change over the ground by satellite remote sensing technology or using aircraft It is detected, can not find the slight change of geological environment, influence the timeliness to geology environmental monitoring.
Corresponding text lattice can only be converted by receiving satellite-signal by solving existing displacement settlement monitoring stake GNSS receiver Formula is transferred to the relative position that server calculates oneself, cannot obtain oneself exact posture information in the position in real time.
In conclusion it is existing in the prior art to solve to be badly in need of a kind of integrated electronic gyroscope high-precision Beidou monitoring stake Problem.
Utility model content
The utility model aim is to provide a kind of integrated electronic gyroscope high-precision Beidou monitoring stake, must not be real with solution When monitoring and monitoring accuracy poor reliability problem.
To achieve the above object, the utility model provides a kind of integrated electronic gyroscope high-precision Beidou monitoring stake, packet The GNSS measurement day for including monitoring pile body, the DTU being mounted on inside monitoring pile body and GNSS receiver, being fixed at the top of monitoring pile body Line and the photovoltaic power supply system being fixed on monitoring pile body.
DTU is connected by Serial Port Line and the com interface of GNSS receiver;GNSS measure antenna by antenna connecting line with The ANT interface of GNSS receiver connects;Photovoltaic power supply system is connect with DTU and GNSS receiver respectively by power supply line, to set It is standby that power supply is provided.
Electronic gyroscope, GNSS board and MCU are integrated on the PCB main board of GNSS receiver, to improve Beidou prison The positioning accuracy and actual effect of pile.
Preferably, it is connected with 4G antenna on the DTU, to communicate.
Preferably, the GNSS board is OEM board, and OEM board is that a kind of GNSS high accuracy positioning orients board.
Preferably, the photovoltaic power supply system includes photovoltaic panel, photovoltaic controller and battery;Photovoltaic panel passes through A-frame It is fixed on monitoring pile body, photovoltaic controller is connect with photovoltaic panel, battery respectively by power supply line.
Preferably, it is provided with antenna house outside the GNSS measurement antenna, to protect GNSS to measure antenna.
Using the technical solution of the utility model, have the advantages that
(1) a kind of integrated electronic gyroscope high-precision Beidou of the utility model monitors stake, by high-precision electronic gyroscope, MCU (micro-control unit) is integrated on GNSS receiver mainboard, to improve calculation accuracy.The design of the utility model structure is simple, Easy to connect, the insertion of MCU, controllability is strong, at low cost.
(2) in the utility model, GNSS measurement antenna receives Beidou navigation satellite-signal, and signal is communicated to GNSS reception The PCB main board of machine is decoded, and the MCU in GNSS receiver (micro-control unit) reads the appearance in electronic gyroscope at the same time State data and decoding data;GNSS receiver is transmitted the one piece of packing of the attitude data received and decoding data by Serial Port Line It gives DTU (data transmission unit), DTU built-in communication card, the data received is transmitted to server by carrier network and are carried out Clearing analysis;GNSS receiver is using the real time data information of the DTU satellite data received and electronic gyroscope while sending To server, realize the real-time auxiliary amendment to GNSS calculation result to reach high precision monitor.
Other than objects, features and advantages described above, there are also other purposes, feature and excellent for the utility model Point.Below with reference to figure, the utility model is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide a further understanding of the present invention, the utility model Illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.In attached drawing In:
Fig. 1 is Beidou monitoring pilework schematic diagram;
Fig. 2 is Beidou monitoring stake back panel wiring schematic diagram;
Fig. 3 is GNSS receiver schematic diagram;
Fig. 4 is the structural schematic diagram of GNSS receiver mainboard;
Fig. 5 is GNSS receiver main board function control principle drawing;
Fig. 6 is the positioning result (mono- lattice of 2mm) of 1s output;
Fig. 7 is 1min output positioning result (mono- lattice of 0.5mm);
Fig. 8 is 15min output positioning result (mono- lattice of 0.5mm);
Fig. 9 is 1h output positioning result (mono- lattice of north orientation 0.02mm);
Figure 10 is 12h output positioning result (mono- lattice of north orientation 0.02mm);
Figure 11 is to export positioning result for 24 hours;
Figure 12 is east orientation 1h filtering positioning result;
Figure 13 is north orientation 1h filtering positioning result;
Figure 14, which is day, filters positioning result to 1h;
Wherein, 1, monitoring pile body, 2, DTU, 2.1,4G antenna, 3, GNSS receiver, 3.1, electronic gyroscope, 3.2, OEM Board, 3.3, Serial Port Line, 4, GNSS measurement antenna, 4.1, antenna connecting line, 5, photovoltaic power supply system, 5.1, photovoltaic panel, 5.2, Photovoltaic controller, 5.3, battery, 5.4, power supply line.
Specific embodiment
The embodiments of the present invention are described in detail below in conjunction with attached drawing, but the utility model can be according to power Benefit requires to limit and the multitude of different ways of covering is implemented.
Embodiment 1:
Referring to figs. 1 to 4, a kind of integrated electronic gyroscope high-precision Beidou monitors stake, including monitors pile body 1, is mounted on DTU2 and GNSS receiver 3 inside pile body are monitored, the GNSS measurement antenna 4 monitored at the top of pile body is fixed on and is fixed on prison Photovoltaic power supply system 5 on pile body;It is provided with antenna house outside the GNSS measurement antenna 4, to protect GNSS to measure day Line.
DTU2 is connect by Serial Port Line 3.3 with the com interface of GNSS receiver 3;GNSS measures antenna 4 and is connected by antenna Line 4.1 is connect with the ANT interface of GNSS receiver 3;Photovoltaic power supply system 5 is connect with DTU2 and GNSS respectively by power supply line 5.4 Receipts machine 3 connects, and provides power supply for equipment;4G antenna 2.1 is connected on the DTU2, to communicate.
Electronic gyroscope 3.1, GNSS board and MCU are integrated on the PCB main board of GNSS receiver 3, to improve north The positioning accuracy and actual effect of bucket monitoring stake.The preferred OEM board 3.2 of GNSS board, OEM board 3.2 are a kind of GNSS high Precision positioning and directing board.
The photovoltaic power supply system 5 includes photovoltaic panel 5.1, photovoltaic controller 5.2 and battery 5.3;Photovoltaic panel 5.1 passes through three Angle support is fixed on monitoring pile body 1, and photovoltaic controller 5.2 is connected with photovoltaic panel 5.1, battery 5.3 respectively by power supply line 5.4 It connects.
The performance technologies index of the GNSS receiver is as shown in the table:
The physical index of the GNSS receiver is as shown in the table:
Outer dimension 141mm × 138.5mm × 70mm (not including antenna socket)
Installation dimension 70mm×124mm
Weight <750g
Operating temperature - 45 DEG C~+65 DEG C
Storage temperature - 45 DEG C~+85 DEG C
Humidity 95% frozen-free
Referring to Fig. 5, a kind of above-mentioned integrated electronic gyroscope high-precision Beidou monitoring stake workflow is as follows:
(1) GNSS measures antenna and receives Beidou navigation satellite-signal, signal be communicated to the OEM board of GNSS receiver into Row decoding, the MCU in GNSS receiver (micro-control unit) reads the attitude data in electronic gyroscope and decoding at the same time Data.
(2) GNSS receiver sends the attitude data received and one piece of packing of decoding data to DTU by Serial Port Line, The data received are transmitted to server by carrier network and carry out clearing analysis by DTU built-in communication card.
(3) GNSS receiver using the real time data information of the DTU satellite data received and electronic gyroscope while being sent out Server is given, realizes the real-time auxiliary amendment to GNSS calculation result to reach high precision monitor.
Embodiment 2:
The present embodiment is the detection for the positioning calculation timeliness to Beidou monitoring stake.
Test equipment and tool: two groups of integrated electronic gyroscope high-precision Beidou monitoring stakes, GNSS measure antenna, tripod Measuring instrument.(explanation: the deformation in order to preferably simulate foundation pit in actual use, the present embodiment not by GNSS receiver, The elements such as DTU are fixed on detection pile body, and replace photovoltaic power supply system to power to relevant device using power supply box.)
Specific test process is as follows:
(1) two GNSS receiver for being connected with DTU is all placed in power supply box, and connects power supply;Two GNSS measure day Line is one of to be used as benchmark station antenna, is placed on detection pier, fixed;Another GNSS measures antenna as rover station Antenna is placed on tripod measuring instrument.
(2) differential data and positioning result pass through server transport, and static immobilization tests 25h+.Preceding data for 24 hours are rejected, The data of 1.5h are included in analysis to strike-machine afterwards for 24 hours.Base station output differential data, contain original satellite observation data (Beidou, GPS pseudorange, carrier phase, navigation message etc.) and coordinate information, monitoring point is not only by data link reception from base station Data will also acquire Satellite Observations, and form difference observation in system and handled in real time, while providing Centimeter Level Positioning result can achieve millimetre-sized precision after initialization along with smooth, filtering algorithm.
(3) different output Accuracy Analysis, (gpenu sentence is custom instruction, function digit to output gpenu sentence Export the location structure of different filtering), output includes 1s, 1min, 15min, 1h, 12h, data smooth for 24 hours, and matlab is read Afterwards, the mean value, standard deviation and peak-to-peak value in each direction are calculated, unit is rice, and having done smooth and filtering algorithm is advantageous in that: taking Real-time results per second may be Centimeter Level, and the result after taking 24 hours is exactly grade.The result of output is exactly relative to base The northeast day position at quasi- station, as shown in the table:
From upper table statistical data:
(1) 1s output east orientation standard deviation be 1.94mm, north orientation standard deviation be 2.09mm, day to standard deviation be 6.53mm;
(2) the east orientation standard deviation of 1min output is 1.24mm, and north orientation standard deviation is 0.99mm, and day is to standard deviation 3.87mm;
(3) the east orientation standard deviation of 15min output is 0.74mm, and north orientation standard deviation is 0.59mm, and day is to standard deviation 2.07mm;
(4) 1h output east orientation standard deviation be 0.54mm, north orientation standard deviation be 0.35mm, day to standard deviation be 1.03mm;
(5) 12h output east orientation standard deviation be 0.05mm, north orientation standard deviation be 0.08mm, day to standard deviation be 0.07mm;
(6) the east orientation standard deviation exported for 24 hours be 0.05mm, north orientation standard deviation be 0.04mm, day to standard deviation be 0.05mm.
Every group of data positioning result, as shown in Fig. 6~11.In terms of statistical data, the east orientation and north orientation of 15min data are filtered Standard deviation is respectively less than 1mm;The day of filtering 1h data is to standard deviation close to 1mm.From the point of view of the distribution at the midpoint Fig. 6~11, the time Longer, standard deviation is smaller, data transmission it is more steady, discreteness is smaller, data receiver it is more timely, loss it is fewer.To demonstrate,prove A kind of integrated electronic gyroscope high-precision Beidou monitoring stake of the utility model is illustrated and improves positioning calculation actual effect.
Embodiment 3:
The present embodiment is the detection for the monitoring accuracy to Beidou monitoring stake.
Test equipment and tool: two groups of integrated electronic gyroscope high-precision Beidous monitoring stake equipment (one group as base station, Another group is used as rover station), tripod measuring instrument.
Illustrate: the deformation in order to preferably simulate foundation pit in actual use, the present embodiment not by GNSS receiver, The elements such as DTU are fixed on detection pile body, and replace photovoltaic power supply system to power to relevant device using power supply box.
Specific test process is as follows:
(1) two GNSS receiver for being connected with DTU is all placed in power supply box, and connects power supply;Two GNSS measure day Line is one of to be used as a reference value antenna, is placed on detection pier, fixed;Another GNSS measures antenna as rover station Antenna is placed on tripod measuring instrument, and flowing station antenna can carry out millimeter along horizontal and elevation direction on tripod measuring instrument Grade is mobile.
(2) when the testing time is 14:00~20:00, after ready, when 14:15, is initially powered up test, at the beginning of this time testing The beginningization time is 1h (it is recommended that 12h or more).Then during the test, (randomly selecting time point) adjustment one at regular intervals The displacement of secondary flowing station antenna, simulates the deformation of foundation pit in actual use.
(3) in 15:15, flowing station antenna is moved into 4mm in the horizontal direction.
(4) in 16:15, flowing station antenna is moved into 5mm along elevation direction.
(5) in 18:58, flowing station antenna is moved into 6mm in the horizontal direction.
(6) positioning result can be real-time transmitted to server by the GNSS receiver of rover station, by reading the positioning uploaded As a result it is compared with the parameter really moved.
The coordinate that this test uses is northeast day coordinate, and moving horizontally in test process is mainly moved along north orientation, East orientation is substantially unchanged, and day is analyzed as follows to i.e. elevation direction, specific data.
As shown in figure 12, abscissa indicates the time, and what ordinate indicated is east orientation distance, and minimum scale is 0.1mm, from As can be seen that the position of east orientation is without too big variation in figure, changing value is in millimeter, and peak-to-peak value 1mm, i.e., changing value is in 1mm Interior fluctuation.
As shown in figure 13, abscissa indicates the time, and what ordinate indicated is north orientation distance, and ordinate is 1mm, root per small lattice It is learnt according to the positioning result that real time settlement uploads:
(1) there is the fluctuation of 1mm or so in north orientation position when test starts.
(2) it monitors that 15:15 in afternoon has moved horizontally 4mm, tends towards stability after a hour, changing value is in 1mm or so.
(3) monitor that north orientation position is more steady in 16:15 to 18:58 time, changing value is in 1mm or so.
(4) it monitors that 18:58 has moved horizontally 6mm, tends towards stability after a hour, changing value is in 1mm or so.
(5) learn that the time of variation and parameter are consistent with what is really moved according to the positioning result of real time settlement.
As shown in figure 14, abscissa indicates the time, and what ordinate indicated is day to distance, and ordinate is 1mm, root per small lattice The positioning result analysis uploaded according to real time settlement is learnt:
(1) elevation location has the fluctuation of 1mm or so when test starts.
(2) it detects that 16:15 elevation in afternoon moves 5mm, tends towards stability after a hour, changing value is in 1mm or so.
(3) 15:15 in afternoon has unknown jump point, changing value about 3mm to 16:15 elevation.
(4) there is 2mm jump point in 19:18 elevation, it may be possible to mobile and horizontal apart from when subtle effects are caused to elevation, not shadow Ring measurement result.
From analyzing above: east orientation position is stablized, and displacement is fluctuated in 1mm;North orientation (horizontal direction) detects 4.5mm It is changed with 4mm each primary;Elevation (elevation direction) has the fluctuation of 3mm and 2mm each primary.Test result error is true value 2mm's Fluctuation range (RMS), test result meets the requirements.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.

Claims (5)

1. a kind of integrated electronic gyroscope high-precision Beidou monitors stake, which is characterized in that including monitoring pile body (1), be mounted on prison DTU (2) and GNSS receiver (3) inside pile body, GNSS measurement antenna (4) being fixed at the top of monitoring pile body and fixed Photovoltaic power supply system (5) on monitoring pile body;
DTU (2) is connect by Serial Port Line (3.3) with the com interface of GNSS receiver (3);GNSS measurement antenna (4) passes through antenna Connecting line (4.1) is connect with the ANT interface of GNSS receiver (3);Photovoltaic power supply system (5) by power supply line (5.4) respectively with DTU (2) and GNSS receiver (3) connection, provide power supply for equipment;
Electronic gyroscope (3.1), GNSS board and MCU are integrated on the PCB main board of GNSS receiver (3), to improve north The positioning accuracy and actual effect of bucket monitoring stake.
2. a kind of integrated electronic gyroscope high-precision Beidou according to claim 1 monitors stake, which is characterized in that described 4G antenna (2.1) are connected on DTU (2), to communicate.
3. a kind of integrated electronic gyroscope high-precision Beidou according to claim 2 monitors stake, which is characterized in that described GNSS board is OEM board (3.2), and OEM board (3.2) is that a kind of GNSS high accuracy positioning orients board.
4. a kind of integrated electronic gyroscope high-precision Beidou according to claim 3 monitors stake, which is characterized in that the light Lying prostrate power supply system (5) includes photovoltaic panel (5.1), photovoltaic controller (5.2) and battery (5.3);Photovoltaic panel is solid by A-frame It is scheduled in monitoring pile body (1), photovoltaic controller (5.2) is connected with photovoltaic panel (5.1), battery (5.3) respectively by power supply line (5.4) It connects.
5. a kind of integrated electronic gyroscope high-precision Beidou monitoring stake, feature described in any one according to claim 1~4 It is, antenna house is provided with outside GNSS measurement antenna (4), to protect GNSS to measure antenna.
CN201920046390.4U 2019-01-11 2019-01-11 A kind of integrated electronic gyroscope high-precision Beidou monitoring stake Active CN209433013U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109581420A (en) * 2019-01-11 2019-04-05 湖南联智桥隧技术有限公司 A kind of integrated electronic gyroscope high-precision Beidou monitoring stake
CN116054975A (en) * 2023-04-03 2023-05-02 湖南联智科技股份有限公司 GNSS receiver wireless communication detection equipment and detection method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109581420A (en) * 2019-01-11 2019-04-05 湖南联智桥隧技术有限公司 A kind of integrated electronic gyroscope high-precision Beidou monitoring stake
WO2020143228A1 (en) * 2019-01-11 2020-07-16 湖南联智桥隧技术有限公司 High-precision beidou monitoring pile integrated with electronic gyroscope
CN116054975A (en) * 2023-04-03 2023-05-02 湖南联智科技股份有限公司 GNSS receiver wireless communication detection equipment and detection method

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Address after: No.168, Section 2, Yanhe Road, Wangcheng economic and Technological Development Zone, Changsha City, Hunan Province

Patentee after: Hunan Lianzhi Technology Co.,Ltd.

Address before: 410019 No.168, Section 2, Yanhe Road, Wangcheng Economic Development Zone, Changsha City, Hunan Province

Patentee before: HUNAN LIANZHI BRIDGE AND TUNNEL TECHNOLOGY Co.,Ltd.